Redo RTAB-Map SpatialLM/MetaScenes runs with --metric: real scale (no 2.6 m squash), floor fixed (I64)

.gitattributes

@@ -1552,3 +1552,28 @@ P64/Metascenes2_Spatiallm2_RTABMAP1/objects/25_air_conditioner.glb filter=lfs di
 P64/Metascenes2_Spatiallm2_RTABMAP1/objects/26_painting.glb filter=lfs diff=lfs merge=lfs -text
 P64/Metascenes2_Spatiallm2_RTABMAP1/scene_fixed.glb filter=lfs diff=lfs merge=lfs -text
 P64/Metascenes2_Spatiallm2_RTABMAP1/scene_physics.glb filter=lfs diff=lfs merge=lfs -text
+I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_chandelier.glb filter=lfs diff=lfs merge=lfs -text
+I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_curtain.glb filter=lfs diff=lfs merge=lfs -text
+I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_curtain.glb filter=lfs diff=lfs merge=lfs -text
+I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/04_chandelier.glb filter=lfs diff=lfs merge=lfs -text
+I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/05_curtain.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_sideboard.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chair.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/02_chair.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_chair.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_chair.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_carpet.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_desk.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_chair.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_chair.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_carpet.glb filter=lfs diff=lfs merge=lfs -text
+I64/Metascenes1_Spatiallm1_RTABMAP1/objects/12_painting.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_dining_table.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_dining_table.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_chandelier.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_dining_table.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_chandelier.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_dining_table.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_dining_table.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_chandelier.glb filter=lfs diff=lfs merge=lfs -text
+P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_cupboard.glb filter=lfs diff=lfs merge=lfs -text

I12X/Metascenes5_Spatiallm5_RTABMAP1/assets_license.json

@@ -9,14 +9,6 @@
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-  "name": "Crystal Chandelier",
-  "author": "Platrium",
-  "license": "by",
-  "source": "https://sketchfab.com/3d-models/6df3fcc1561c4a26910ea52919f66fb8"
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- {
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   "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867"
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   "name": "Chandolier2",
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 ]

I12X/Metascenes5_Spatiallm5_RTABMAP1/candidates.json

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I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/00_painting.glb

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I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.json

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I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.log

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I12X/Metascenes5_Spatiallm5_RTABMAP1/placements.json

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 }

I12X/Metascenes5_Spatiallm5_RTABMAP1/retrieval.log

@@ -1,15 +1,9 @@
-9 boxes, 9 after de-duplication: ['painting', 'chandelier', 'chandelier', 'chandelier', 'chandelier', 'painting', 'floor-standing_lamp', 'cushion', 'curtain']
+3 boxes, 3 after de-duplication: ['painting', 'chandelier', 'chandelier']
 training from scratch for pointbert.
 model size:
 32.70M
 [encoder] ULIP-2-PointBERT-10k-xyzrgb-pc-vit_g-objaverse_shapenet-pretrained.pt: 226 tensors, missing [], unexpected []
-[bbox_0] painting         scan pts    619  16 cand  best a8c2b341 sim 0.128 chamfer 0.074 iou 0.38
-[bbox_1] chandelier       scan pts    852  13 cand  best 6df3fcc1 sim 0.141 chamfer 0.173 iou 1.00
-[bbox_2] chandelier       scan pts  23569  13 cand  best c64c45bf sim 0.252 chamfer 0.143 iou 0.89
-[bbox_3] chandelier       scan pts   4847  13 cand  best 366b5008 sim 0.161 chamfer 0.216 iou 0.99
-[bbox_4] chandelier       scan pts    822  13 cand  best c64c45bf sim 0.085 chamfer 0.177 iou 0.88
-[bbox_5] painting         scan pts    729  16 cand  best 3bfc45bc sim 0.174 chamfer 0.095 iou 0.48
-[bbox_6] floor-standing_lamp: no Objaverse-LVIS category, skipped
-[bbox_7] cushion          scan pts    882  16 cand  best 7d52600a sim 0.038 chamfer 0.107 iou 0.91
-[bbox_8] curtain          scan pts   2108  16 cand  best a83e1baf sim 0.19 chamfer 0.095 iou 0.65
-done in 34 s -> /home/lehoangan/LHAN/metascenes/out/I12X_Spatiallm5_RTABMAP1
+[bbox_0] painting         scan pts    566  16 cand  best a8c2b341 sim 0.122 chamfer 0.076 iou 0.46
+[bbox_1] chandelier       scan pts  22536  13 cand  best c64c45bf sim 0.26 chamfer 0.140 iou 0.88
+[bbox_2] chandelier       scan pts   7306  13 cand  best 366b5008 sim 0.188 chamfer 0.201 iou 0.99
+done in 17 s -> /home/lehoangan/LHAN/metascenes/out/I12X_Spatiallm5_RTABMAP1

I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_fixed.glb

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+size 11492776

I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_physics.glb

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I12X/Metascenes6_Spatiallm6_RTABMAP2/assets_license.json

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+  "name": "Chandolier2",
+  "author": "Davor Mulalic",
   "license": "by",
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+  "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59"
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-  "author": "Platrium",
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+  "author": "Lustron.ru",
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+  "author": "jesseroberts",
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+  "source": "https://sketchfab.com/3d-models/5b9e03a46de84bd58d3894cab9f40a78"
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   "license": "by",
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+  "source": "https://sketchfab.com/3d-models/5b9e03a46de84bd58d3894cab9f40a78"
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P64/Metascenes2_Spatiallm2_RTABMAP1/objects/12_chandelier.glb → I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_chandelier.glb

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 size 1032836

I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/01_chandelier.glb

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I12X/{Metascenes5_Spatiallm5_RTABMAP1/objects/08_curtain.glb → Metascenes6_Spatiallm6_RTABMAP2/objects/02_curtain.glb}

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I12X/{Metascenes5_Spatiallm5_RTABMAP1/objects/07_cushion.glb → Metascenes6_Spatiallm6_RTABMAP2/objects/03_curtain.glb}

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I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/{02_chandelier.glb → 04_chandelier.glb}

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I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/05_curtain.glb

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I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.json

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 {
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    ]
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I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.log

@@ -2,8 +2,10 @@
 === End simulate ===
 === Begin simulate ===
 === End simulate ===
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-02_chandelier          mcmc 0.000 m  sim 0.000 m 0.0 deg  (hanging/flat, fixed)
-03_cushion             mcmc 0.000 m  sim 0.213 m 1.6 deg
-physics done in 0 s, loss 0.0280 / 0.0000
+02_curtain             mcmc 0.000 m  sim 0.000 m 0.0 deg  (hanging/flat, fixed)
+03_curtain             mcmc 0.000 m  sim 0.000 m 0.0 deg  (hanging/flat, fixed)
+04_chandelier          mcmc 0.000 m  sim 0.000 m 0.0 deg  (hanging/flat, fixed)
+05_curtain             mcmc 0.000 m  sim 0.000 m 0.0 deg  (hanging/flat, fixed)
+physics done in 4 s, loss 0.0000 / 0.0000

I12X/Metascenes6_Spatiallm6_RTABMAP2/placements.json

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+   "box": "bbox_3",
+   "label": "curtain",
+   "lvis": [
+    "curtain"
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+   "uid": "5b9e03a46de84bd58d3894cab9f40a78",
+   "url": "https://objaverse.allenai.org/explore/?query=5b9e03a46de84bd58d3894cab9f40a78",
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+    1.5250572140468923
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+    2.328125,
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+    2.3125
+   ],
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+   "transform": [
+    [
+     -0.04237991722435948,
+     -1.5567012824616808e-07,
+     0.0,
+     -3.259407854337754
+    ],
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+     0.0,
+     1.0
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+   ]
+  },
+  {
+   "name": "04_chandelier",
+   "box": "bbox_4",
    "label": "chandelier",
    "lvis": [
     "chandelier"
    ],
    "uid": "c64c45bf1d804b659b37693d4284e867",
    "url": "https://objaverse.allenai.org/explore/?query=c64c45bf1d804b659b37693d4284e867",
-   "scan_points": 23257,
-   "sim": 0.23288077116012573,
-   "chamfer": 0.1363261868225061,
-   "iou": 0.8755527031250849,
+   "scan_points": 10520,
+   "sim": 0.2335265725851059,
+   "chamfer": 0.13124340415549673,
+   "iou": 0.9707214752038984,
    "hanging": true,
    "flat": false,
    "box_center": [
-    -1.0649100805471163,
-    0.31707234512495663,
-    2.175637878497091
+    -2.2463761374473745,
+    6.810713338030155,
+    2.0500572140468925
    ],
    "box_size": [
-    0.953125,
-    0.953125,
-    1.0625
+    0.796875,
+    0.71875,
+    1.75
    ],
    "box_angle": -3.1416,
    "transform": [
     [
-     0.010520406635590106,
-     7.728722268911404e-08,
+     -0.008795749810083532,
+     -6.461718618162474e-08,
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     [
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@@ -168,49 +274,49 @@
    ]
   },
   {
-   "name": "03_cushion",
+   "name": "05_curtain",
    "box": "bbox_5",
-   "label": "cushion",
+   "label": "curtain",
    "lvis": [
-    "cushion"
-   ],
-   "uid": "4a29a96da559495ca9ff2c06847ebbe9",
-   "url": "https://objaverse.allenai.org/explore/?query=4a29a96da559495ca9ff2c06847ebbe9",
-   "scan_points": 5108,
-   "sim": 0.08118731528520584,
-   "chamfer": 0.10124678350036333,
-   "iou": 0.2641411501624335,
-   "hanging": false,
+    "curtain"
+   ],
+   "uid": "b0bd00b700a3451da1cb4ad9b082c3e0",
+   "url": "https://objaverse.allenai.org/explore/?query=b0bd00b700a3451da1cb4ad9b082c3e0",
+   "scan_points": 13180,
+   "sim": 0.23085758090019226,
+   "chamfer": 0.10112974980679287,
+   "iou": 0.31626207682719054,
+   "hanging": true,
    "flat": false,
    "box_center": [
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+    -2.2463761374473745,
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+    1.5250572140468923
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-    5.0,
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+    2.328125,
+    0.109375,
+    2.3125
    ],
-   "box_angle": -1.5708000000000002,
+   "box_angle": -3.1416,
    "transform": [
     [
-     1.2443750462778955e-05,
-     -3.387709129062978,
+     -0.8470042180166336,
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+     7.146474637713845
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     [
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@@ -221,5 +327,5 @@
    ]
   }
  ],
- "seconds": 22.9
+ "seconds": 23.8
 }

I12X/Metascenes6_Spatiallm6_RTABMAP2/retrieval.log

@@ -1,10 +1,12 @@
-7 boxes, 4 after de-duplication: ['curtain', 'chandelier', 'chandelier', 'cushion']
+6 boxes, 6 after de-duplication: ['chandelier', 'chandelier', 'curtain', 'curtain', 'chandelier', 'curtain']
 training from scratch for pointbert.
 model size:
 32.70M
 [encoder] ULIP-2-PointBERT-10k-xyzrgb-pc-vit_g-objaverse_shapenet-pretrained.pt: 226 tensors, missing [], unexpected []
-[bbox_0] curtain          scan pts   8203  16 cand  best 331d57e5 sim 0.198 chamfer 0.083 iou 0.89
-[bbox_1] chandelier       scan pts  34527  13 cand  best 6df3fcc1 sim 0.246 chamfer 0.172 iou 0.60
-[bbox_2] chandelier       scan pts  23257  13 cand  best c64c45bf sim 0.233 chamfer 0.136 iou 0.88
-[bbox_5] cushion          scan pts   5108  16 cand  best 4a29a96d sim 0.081 chamfer 0.101 iou 0.26
-done in 23 s -> /home/lehoangan/LHAN/metascenes/out/I12X_Spatiallm6_RTABMAP2
+[bbox_0] chandelier       scan pts  14150  13 cand  best 366b5008 sim 0.192 chamfer 0.186 iou 0.99
+[bbox_1] chandelier       scan pts  21717  13 cand  best c64c45bf sim 0.23 chamfer 0.147 iou 0.88
+[bbox_2] curtain          scan pts  22552  16 cand  best 5b9e03a4 sim 0.357 chamfer 0.103 iou 0.40
+[bbox_3] curtain          scan pts   5103  16 cand  best 5b9e03a4 sim 0.359 chamfer 0.104 iou 0.40
+[bbox_4] chandelier       scan pts  10520  13 cand  best c64c45bf sim 0.234 chamfer 0.131 iou 0.97
+[bbox_5] curtain          scan pts  13180  16 cand  best b0bd00b7 sim 0.231 chamfer 0.101 iou 0.32
+done in 28 s -> /home/lehoangan/LHAN/metascenes/out/I12X_Spatiallm6_RTABMAP2

I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_fixed.glb

@@ -1,3 +1,3 @@
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-oid sha256:02c976bc462540ede936fb22255b4c380359d7d9cd477d8db2b62206c51305ec
-size 12108636
+oid sha256:0073e002f52e413d475d4bf98743da12e0d47b2321bb7cf32c6677b58409041b
+size 25775192

I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_physics.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:97cae98270f2d220b36419910f9d7e435378a0c3569ef8c8e31ab1e780021003
-size 12108552
+oid sha256:d7b45db28ab6828f59cae3f7c887b8dffacf59b50bbca2d62db9f8a5bb22cf53
+size 25775036

I12X/Spatiallm5_RTABMAP1/layout.txt

@@ -1,27 +1,10 @@
-wall_0=Wall(-1.5315612673912231,-2.432706944853055,0.0,0.1611963530739886,-2.432706944853055,0.0,2.58519062783191,0.0)
-wall_1=Wall(-1.5315612673912231,-2.432706944853055,0.0,-1.5315612673912231,8.25396249894873,0.0,2.58519062783191,0.0)
-wall_2=Wall(0.1611963530739886,-2.432706944853055,0.0,0.1611963530739886,-2.2751534667806177,0.0,2.58519062783191,0.0)
-wall_3=Wall(0.7569974597884617,-2.432706944853055,0.0,4.409514389079424,-2.432706944853055,0.0,2.58519062783191,0.0)
-wall_4=Wall(0.7569974597884617,-2.432706944853055,0.0,0.7569974597884617,-2.2751534667806177,0.0,2.58519062783191,0.0)
-wall_5=Wall(4.409514389079424,-2.432706944853055,0.0,4.409514389079424,8.25396249894873,0.0,2.58519062783191,0.0)
-wall_6=Wall(0.1611963530739886,-2.2751534667806177,0.0,0.7569974597884617,-2.2751534667806177,0.0,2.58519062783191,0.0)
-wall_7=Wall(0.1611963530739886,8.016121354058871,0.0,0.8819974597884617,8.016121354058871,0.0,2.58519062783191,0.0)
-wall_8=Wall(0.1611963530739886,8.016121354058871,0.0,0.1611963530739886,8.25396249894873,0.0,2.58519062783191,0.0)
-wall_9=Wall(0.8819974597884617,8.016121354058871,0.0,0.8819974597884617,8.25396249894873,0.0,2.58519062783191,0.0)
-wall_10=Wall(-1.5315612673912231,8.25396249894873,0.0,0.1611963530739886,8.25396249894873,0.0,2.58519062783191,0.0)
-wall_11=Wall(0.8819974597884617,8.25396249894873,0.0,4.409514389079424,8.25396249894873,0.0,2.58519062783191,0.0)
-door_0=Door(wall_0,-0.4430025402115383,-2.432706944853055,0.9001078852908413,1.04,2.4600000000000004)
-door_1=Door(wall_1,-1.5315612673912231,-1.972706944853055,0.9001078852908413,0.9199999999999999,2.4600000000000004)
-door_2=Door(wall_1,-1.5315612673912231,-1.972706944853055,0.9001078852908413,0.9199999999999999,2.4600000000000004)
-door_3=Door(wall_3,2.5569974597884615,-2.432706944853055,0.9001078852908413,2.68,2.4600000000000004)
-window_0=Window(wall_10,-0.8815612673912231,8.25396249894873,1.0501078852908412,1.3,2.2)
-window_1=Window(wall_11,2.6819974597884615,8.25396249894873,1.0501078852908412,2.62,2.2)
-bbox_0=Bbox(painting,-1.4430025402115383,-0.5763875167856067,1.0001078852908412,-1.5708000000000002,1.46875,0.109375,1.46875)
-bbox_1=Bbox(chandelier,0.48199745978846176,4.073612483214394,1.8001078852908412,-3.1416,0.390625,0.390625,1.75)
-bbox_2=Bbox(chandelier,1.4569974597884618,5.048612483214393,1.8001078852908412,-3.1416,1.171875,1.15625,1.75)
-bbox_3=Bbox(chandelier,2.4819974597884613,5.048612483214393,1.8001078852908412,-3.1416,1.171875,1.15625,1.75)
-bbox_4=Bbox(chandelier,0.48199745978846176,5.048612483214393,1.8001078852908412,-3.1416,0.390625,0.390625,1.75)
-bbox_5=Bbox(painting,-1.4430025402115383,5.198612483214394,1.0001078852908412,-1.5708000000000002,0.765625,0.109375,1.46875)
-bbox_6=Bbox(floor-standing_lamp,3.081997459788462,6.648612483214393,1.0001078852908412,-3.1416,1.21875,1.21875,2.25)
-bbox_7=Bbox(cushion,-0.9180025402115384,8.048612483214393,0.37510788529084127,-1.5708000000000002,0.59375,1.1875,0.109375)
-bbox_8=Bbox(curtain,-0.9180025402115384,8.273612483214393,1.4001078852908413,-0.009817500000000479,1.1875,0.109375,2.0)
+wall_0=Wall(-1.4333981277271772,-2.12892471111818,0.0,4.4376032056341534,-2.12892471111818,0.0,2.4213215209556367,0.0)
+wall_1=Wall(-1.4333981277271772,-2.12892471111818,0.0,-1.4333981277271772,7.725613167959154,0.0,2.4213215209556367,0.0)
+wall_2=Wall(4.4376032056341534,-2.12892471111818,0.0,4.4376032056341534,7.725613167959154,0.0,2.4213215209556367,0.0)
+wall_3=Wall(-1.4333981277271772,7.725613167959154,0.0,4.4376032056341534,7.725613167959154,0.0,2.4213215209556367,0.0)
+door_0=Door(wall_0,1.5103575509194882,-2.12892471111818,0.9500189192371711,3.5200000000000005,2.52)
+window_0=Window(wall_3,-0.8396424490805117,7.725613167959154,0.975018919237171,1.06,2.3000000000000003)
+window_1=Window(wall_3,2.4853575509194883,7.725613167959154,0.975018919237171,2.52,2.3000000000000003)
+bbox_0=Bbox(painting,-1.3646424490805118,-0.6239819800168747,1.000018919237171,-1.5708000000000002,1.234375,0.109375,1.234375)
+bbox_1=Bbox(chandelier,1.3103575509194885,4.701018019983126,1.9000189192371708,-3.1416,1.015625,1.015625,0.953125)
+bbox_2=Bbox(chandelier,-0.31464244908051175,6.526018019983125,1.9000189192371708,-3.1416,1.015625,1.015625,0.953125)

I12X/Spatiallm5_RTABMAP1/pipeline.log

@@ -1,8 +1,8 @@
 [pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm5_RTABMAP1
-up axis (input frame) = [-0.018 -0.006 -1.   ]  floor=-1.259 ceiling=1.175 raw height=2.434
-scale factor = 1.0683
-wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm5_RTABMAP1/intermediate/aligned.ply: 601222 pts, extent min [-1.62 -3.72 -2.01] max [5.51 9.47 2.68]
-[pipeline] cropped: kept 429260/601222 points
+up axis (input frame) = [-0.018 -0.006 -1.   ]  floor=-1.268 ceiling=1.175 raw height=2.443
+scale factor = 1.0000
+wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm5_RTABMAP1/intermediate/aligned.ply: 594514 pts, extent min [-1.52 -3.51 -1.87] max [5.16 8.86 2.52]
+[pipeline] cropped: kept 429773/594514 points
 /home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:47: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
   _TORCH_CUSTOM_FWD = amp.custom_fwd(cast_inputs=torch.float16)
 /home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:96: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
@@ -19,25 +19,21 @@ wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm5_RTABMAP1/interme
   @_TORCH_CUSTOM_BWD
 /home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:411: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
   @_TORCH_CUSTOM_BWD
-
-Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
-Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.48it/s]
-Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.83it/s]
-Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.54it/s]
-[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.0 s
-[pipeline] thinned cropped.ply with a 4.0 cm voxel to 105982 points
+
+[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.1 s
+[pipeline] thinned cropped.ply with a 3.5 cm voxel to 118357 points
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
 The attention mask is not set and cannot be inferred from input because pad token is same as eos token. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
-[pipeline] arch seed 0 [llama]: ok in 3.1 s
+[pipeline] arch seed 0 [llama]: ok in 2.8 s
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
-[pipeline] arch seed 1 [llama]: ok in 2.1 s
+[pipeline] arch seed 1 [llama]: ok in 1.6 s
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
-[pipeline] arch seed 2 [llama]: ok in 3.6 s
+[pipeline] arch seed 2 [llama]: ok in 4.1 s
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
-[pipeline] object seed 0 [llama]: ok in 2.0 s
-[pipeline] chosen seed: 2 (wall support 0.45)
-[pipeline] done in 22.8 s: {'walls': 12, 'doors': 4, 'windows': 2, 'boxes': 9} -> /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm5_RTABMAP1/layout.txt, room.glb
+[pipeline] object seed 0 [llama]: ok in 0.7 s
+[pipeline] chosen seed: 0 (wall support 0.48)
+[pipeline] done in 20.7 s: {'walls': 4, 'doors': 1, 'windows': 2, 'boxes': 3} -> /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm5_RTABMAP1/layout.txt, room.glb

I12X/Spatiallm5_RTABMAP1/room_with_scan.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c8944041ecc81087f1f964c5ed9e09283899353de97a426f662d7b3f78794920
-size 4825040
+oid sha256:004fcf2ffecf67a641366aa85949a90d03dd784a1c2d24c95b5f76a352c28831
+size 4813220

I12X/Spatiallm5_RTABMAP1/room_with_scan_preview.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0597b60978c5d7f71c0d9afcc4c3bf3d46649a04179e79f9e0c7868ea6f8ceb0
-size 33625344
+oid sha256:cf13cac2931d36fd2c33a8bf46d46002ff2ddb85911c96cabd816e32e2c84a3c
+size 33613520

I12X/Spatiallm5_RTABMAP1/summary.json

@@ -15,6 +15,7 @@
   "ceiling_height": 2.6,
   "up_hint": "auto",
   "aligned": false,
+  "metric": true,
   "no_crop": false,
   "margin": 0.3,
   "footprint": "auto",
@@ -38,45 +39,45 @@
     -0.9998266549185639
    ]
   ],
-  "floor_z_raw": -1.2590031136007835,
-  "scale": 1.068341369762721,
-  "raw_height": 2.4336790407896127,
+  "floor_z_raw": -1.2684197881456245,
+  "scale": 1.0,
+  "raw_height": 2.4430957153344535,
   "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale"
  },
- "chosen_seed": 2,
+ "chosen_seed": 0,
  "result": {
-  "walls": 12,
-  "doors": 4,
+  "walls": 4,
+  "doors": 1,
   "windows": 2,
-  "boxes": 9
+  "boxes": 3
  },
  "seeds": {
   "s0": {
-   "walls": 6,
-   "doors": 5,
+   "walls": 4,
+   "doors": 1,
    "windows": 2,
-   "boxes": 9,
-   "wall_support": 0.2789477718387216,
-   "wall_recall": 0.49560219541592376,
-   "openings_with_gap": "7/7"
+   "boxes": 3,
+   "wall_support": 0.4767879134412386,
+   "wall_recall": 0.5871624769807637,
+   "openings_with_gap": "3/3"
   },
   "s1": {
    "walls": 4,
    "doors": 1,
    "windows": 3,
-   "boxes": 9,
-   "wall_support": 0.40281517352703794,
-   "wall_recall": 0.49560219541592376,
+   "boxes": 3,
+   "wall_support": 0.4767879134412386,
+   "wall_recall": 0.5871624769807637,
    "openings_with_gap": "4/4"
   },
   "s2": {
-   "walls": 12,
-   "doors": 4,
-   "windows": 2,
-   "boxes": 9,
-   "wall_support": 0.454219426974144,
-   "wall_recall": 0.5506270482413762,
-   "openings_with_gap": "6/6"
+   "walls": 13,
+   "doors": 2,
+   "windows": 6,
+   "boxes": 3,
+   "wall_support": 0.4133603499674928,
+   "wall_recall": 0.5359321958687404,
+   "openings_with_gap": "8/8"
   }
  },
  "spatiallm_runs": [
@@ -84,42 +85,42 @@
    "task": "arch",
    "seed": 0,
    "model": "llama",
-   "n_points": 105982,
-   "voxel_m": 0.04,
-   "seconds": 3.1,
-   "peak_vram_gb": 3.23,
+   "n_points": 118357,
+   "voxel_m": 0.035,
+   "seconds": 2.8,
+   "peak_vram_gb": 3.21,
    "error": null
   },
   {
    "task": "arch",
    "seed": 1,
    "model": "llama",
-   "n_points": 105982,
-   "voxel_m": 0.04,
-   "seconds": 2.1,
-   "peak_vram_gb": 3.23,
+   "n_points": 118357,
+   "voxel_m": 0.035,
+   "seconds": 1.6,
+   "peak_vram_gb": 3.21,
    "error": null
   },
   {
    "task": "arch",
    "seed": 2,
    "model": "llama",
-   "n_points": 105982,
-   "voxel_m": 0.04,
-   "seconds": 3.6,
-   "peak_vram_gb": 3.23,
+   "n_points": 118357,
+   "voxel_m": 0.035,
+   "seconds": 4.1,
+   "peak_vram_gb": 3.21,
    "error": null
   },
   {
    "task": "object",
    "seed": 0,
    "model": "llama",
-   "n_points": 105982,
-   "voxel_m": 0.04,
-   "seconds": 2.0,
-   "peak_vram_gb": 3.23,
+   "n_points": 118357,
+   "voxel_m": 0.035,
+   "seconds": 0.7,
+   "peak_vram_gb": 3.21,
    "error": null
   }
  ],
- "total_seconds": 22.8
+ "total_seconds": 20.7
 }

I12X/Spatiallm6_RTABMAP2/layout.txt

@@ -1,15 +1,14 @@
-wall_0=Wall(-3.875864487109257,-2.33353309260975,0.0,1.3790441950754095,-2.33353309260975,0.0,2.606341536229973,0.0)
-wall_1=Wall(-3.875864487109257,-2.33353309260975,0.0,-3.875864487109257,6.5281048611797114,0.0,2.606341536229973,0.0)
-wall_2=Wall(1.3790441950754095,-2.33353309260975,0.0,1.3790441950754095,6.5281048611797114,0.0,2.606341536229973,0.0)
-wall_3=Wall(-3.875864487109257,6.5281048611797114,0.0,1.3790441950754095,6.5281048611797114,0.0,2.606341536229973,0.0)
-door_0=Door(wall_0,0.7850899194528838,-2.33353309260975,1.300637878497091,1.08,2.2800000000000002)
-window_0=Window(wall_0,-2.014910080547116,-2.33353309260975,1.350637878497091,2.3600000000000003,1.92)
-window_1=Window(wall_1,-3.875864487109257,2.1170723451249565,1.6256378784970908,8.42,2.1)
-window_2=Window(wall_3,-2.014910080547116,6.5281048611797114,1.6256378784970908,2.3600000000000003,2.1)
-bbox_0=Bbox(curtain,-2.0899100805471162,-2.3079276548750434,1.450637878497091,-3.1416,2.421875,0.109375,2.109375)
-bbox_1=Bbox(chandelier,-2.2149100805471162,-0.9829276548750436,2.175637878497091,-3.1416,1.65625,1.0,1.0625)
-bbox_2=Bbox(chandelier,-1.0649100805471163,0.31707234512495663,2.175637878497091,-3.1416,0.953125,0.953125,1.0625)
-bbox_3=Bbox(chandelier,-1.0899100805471162,0.34207234512495654,2.175637878497091,-3.1416,0.953125,0.953125,1.0625)
-bbox_4=Bbox(chandelier,-1.0649100805471163,0.34207234512495654,2.175637878497091,-3.1416,0.953125,0.953125,1.0625)
-bbox_5=Bbox(cushion,-3.5649100805471163,0.34207234512495654,0.3006378784970909,-1.5708000000000002,5.0,0.53125,0.109375)
-bbox_6=Bbox(cushion,-3.5649100805471163,0.34207234512495654,0.3006378784970909,-3.1416,0.53125,0.53125,0.109375)
+wall_0=Wall(-4.333840711662852,-2.6147426169734613,0.0,1.5467489292945074,-2.6147426169734613,0.0,2.806906496829658,0.0)
+wall_1=Wall(-4.333840711662852,-2.6147426169734613,0.0,-4.333840711662852,7.195203917272079,0.0,2.806906496829658,0.0)
+wall_2=Wall(1.5467489292945074,-2.6147426169734613,0.0,1.5467489292945074,7.195203917272079,0.0,2.806906496829658,0.0)
+wall_3=Wall(-4.333840711662852,7.195203917272079,0.0,1.5467489292945074,7.195203917272079,0.0,2.806906496829658,0.0)
+door_0=Door(wall_0,0.878623862552625,-2.6147426169734613,1.1250572140468922,1.32,2.4600000000000004)
+window_0=Window(wall_0,-2.2713761374473744,-2.6147426169734613,1.7250572140468923,2.58,1.9800000000000002)
+window_1=Window(wall_1,-4.333840711662852,3.8607133380301555,1.5250572140468923,2.44,1.9800000000000002)
+window_2=Window(wall_3,-2.3213761374473747,7.195203917272079,1.6000572140468923,2.44,1.9800000000000002)
+bbox_0=Bbox(chandelier,-1.2213761374473746,-1.139286661969845,2.3000572140468925,-3.1416,1.46875,1.46875,0.859375)
+bbox_1=Bbox(chandelier,-1.2213761374473746,0.36071333803015504,2.3000572140468925,-3.1416,1.46875,1.46875,0.859375)
+bbox_2=Bbox(curtain,-4.246376137447375,0.36071333803015504,1.5250572140468923,-1.5708000000000002,2.328125,0.109375,2.3125)
+bbox_3=Bbox(curtain,-4.246376137447375,3.885713338030155,1.5250572140468923,-1.5708000000000002,2.328125,0.109375,2.3125)
+bbox_4=Bbox(chandelier,-2.2463761374473745,6.810713338030155,2.0500572140468925,-3.1416,0.796875,0.71875,1.75)
+bbox_5=Bbox(curtain,-2.2463761374473745,7.185713338030155,1.5250572140468923,-3.1416,2.328125,0.109375,2.3125)

I12X/Spatiallm6_RTABMAP2/pipeline.log

@@ -1,8 +1,8 @@
 [pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm6_RTABMAP2
-up axis (input frame) = [-0.     0.018 -1.   ]  floor=-1.633 ceiling=1.278 raw height=2.911
-scale factor = 0.8932
-wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm6_RTABMAP2/intermediate/aligned.ply: 778298 pts, extent min [-4.45 -3.67 -2.08] max [1.82 8.73 2.93]
-[pipeline] cropped: kept 703121/778298 points
+up axis (input frame) = [-0.     0.018 -1.   ]  floor=-1.522 ceiling=1.278 raw height=2.800
+scale factor = 1.0000
+wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm6_RTABMAP2/intermediate/aligned.ply: 792211 pts, extent min [-4.99 -4.11 -2.44] max [2.04 9.77 3.16]
+[pipeline] cropped: kept 739973/792211 points
 /home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:47: FutureWarning: `torch.cuda.amp.custom_fwd(args...)` is deprecated. Please use `torch.amp.custom_fwd(args..., device_type='cuda')` instead.
   _TORCH_CUSTOM_FWD = amp.custom_fwd(cast_inputs=torch.float16)
 /home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:96: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
@@ -19,26 +19,21 @@ wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm6_RTABMAP2/interme
   @_TORCH_CUSTOM_BWD
 /home/lehoangan/miniconda3/envs/spatiallm/lib/python3.11/site-packages/spconv/pytorch/functional.py:411: FutureWarning: `torch.cuda.amp.custom_bwd(args...)` is deprecated. Please use `torch.amp.custom_bwd(args..., device_type='cuda')` instead.
   @_TORCH_CUSTOM_BWD
-
-Loading checkpoint shards:   0%|          | 0/2 [00:00<?, ?it/s]
-Loading checkpoint shards:  50%|█████     | 1/2 [00:00<00:00,  2.49it/s]
-Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.90it/s]
-Loading checkpoint shards: 100%|██████████| 2/2 [00:00<00:00,  3.59it/s]
-[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.0 s
-[pipeline] thinned cropped.ply with a 5.0 cm voxel to 118034 points
+
+[pipeline] loaded models/SpatialLM1.1-Llama-1B (bfloat16) in 5.2 s
+[pipeline] thinned cropped.ply with a 6.0 cm voxel to 107767 points
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
 The attention mask is not set and cannot be inferred from input because pad token is same as eos token. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
-[pipeline] arch seed 0 [llama]: ok in 3.8 s
+[pipeline] arch seed 0 [llama]: ok in 2.4 s
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
 [pipeline] arch seed 1 [llama]: ok in 1.6 s
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
-[pipeline] arch seed 2 [llama]: ok in 1.6 s
+[pipeline] arch seed 2 [llama]: ok in 2.3 s
 The attention mask and the pad token id were not set. As a consequence, you may observe unexpected behavior. Please pass your input's `attention_mask` to obtain reliable results.
 Setting `pad_token_id` to `eos_token_id`:None for open-end generation.
-[pipeline] object seed 0 [llama]: ok in 34.7 s
-[pipeline] boxes: kept 7 of 182 (dropped repeats and boxes outside the room)
-[pipeline] chosen seed: 1 (wall support 0.61)
-[pipeline] done in 56.2 s: {'walls': 4, 'doors': 1, 'windows': 3, 'boxes': 7} -> /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm6_RTABMAP2/layout.txt, room.glb
+[pipeline] object seed 0 [llama]: ok in 1.3 s
+[pipeline] chosen seed: 0 (wall support 0.59)
+[pipeline] done in 24.6 s: {'walls': 4, 'doors': 1, 'windows': 3, 'boxes': 6} -> /home/lehoangan/LHAN/SpatialLM/outputs/v2/I12X_Spatiallm6_RTABMAP2/layout.txt, room.glb

I12X/Spatiallm6_RTABMAP2/room_with_scan.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bbf81a7411cbfe7e03b29dd6839f897fca8287acd43f14aa1483ad973f438bb1
-size 4816864
+oid sha256:772badffac9d123a7062d93c5f21295aae39635973f003fd220693644724d197
+size 4817564

I12X/Spatiallm6_RTABMAP2/room_with_scan_preview.glb

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:53a5fdc1b64200d1751624514ee614d4f3ce026696859dd932fcae93d7ebc469
-size 33617164
+oid sha256:7f3460e51296656bb1294a75c6def65bad26bedcdb41f57472dda21871fb2767
+size 33617864

I12X/Spatiallm6_RTABMAP2/summary.json

@@ -15,6 +15,7 @@
   "ceiling_height": 2.6,
   "up_hint": "auto",
   "aligned": false,
+  "metric": true,
   "no_crop": false,
   "margin": 0.3,
   "footprint": "auto",
@@ -38,45 +39,45 @@
     -0.9998347162425805
    ]
   ],
-  "floor_z_raw": -1.6325856677619486,
-  "scale": 0.8932115246863441,
-  "raw_height": 2.910844663488868,
+  "floor_z_raw": -1.5216343638215606,
+  "scale": 1.0,
+  "raw_height": 2.79989335954848,
   "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale"
  },
- "chosen_seed": 1,
+ "chosen_seed": 0,
  "result": {
   "walls": 4,
   "doors": 1,
   "windows": 3,
-  "boxes": 7
+  "boxes": 6
  },
  "seeds": {
   "s0": {
    "walls": 4,
    "doors": 1,
    "windows": 3,
-   "boxes": 7,
-   "wall_support": 0.5814939166278837,
-   "wall_recall": 0.5897050139197435,
-   "openings_with_gap": "4/4"
+   "boxes": 6,
+   "wall_support": 0.5943971800542878,
+   "wall_recall": 0.5735060354676866,
+   "openings_with_gap": "3/4"
   },
   "s1": {
    "walls": 4,
    "doors": 1,
    "windows": 3,
-   "boxes": 7,
-   "wall_support": 0.6080554061323291,
-   "wall_recall": 0.5912938331318017,
-   "openings_with_gap": "4/4"
+   "boxes": 6,
+   "wall_support": 0.5934389441876999,
+   "wall_recall": 0.5705379762555263,
+   "openings_with_gap": "3/4"
   },
   "s2": {
    "walls": 4,
    "doors": 1,
-   "windows": 3,
-   "boxes": 7,
-   "wall_support": 0.539671140712119,
-   "wall_recall": 0.522067714631197,
-   "openings_with_gap": "4/4"
+   "windows": 7,
+   "boxes": 6,
+   "wall_support": 0.5943971800542878,
+   "wall_recall": 0.5735060354676866,
+   "openings_with_gap": "6/8"
   }
  },
  "spatiallm_runs": [
@@ -84,42 +85,42 @@
    "task": "arch",
    "seed": 0,
    "model": "llama",
-   "n_points": 118034,
-   "voxel_m": 0.05,
-   "seconds": 3.8,
-   "peak_vram_gb": 3.3,
+   "n_points": 107767,
+   "voxel_m": 0.06,
+   "seconds": 2.4,
+   "peak_vram_gb": 3.37,
    "error": null
   },
   {
    "task": "arch",
    "seed": 1,
    "model": "llama",
-   "n_points": 118034,
-   "voxel_m": 0.05,
+   "n_points": 107767,
+   "voxel_m": 0.06,
    "seconds": 1.6,
-   "peak_vram_gb": 3.3,
+   "peak_vram_gb": 3.37,
    "error": null
   },
   {
    "task": "arch",
    "seed": 2,
    "model": "llama",
-   "n_points": 118034,
-   "voxel_m": 0.05,
-   "seconds": 1.6,
-   "peak_vram_gb": 3.3,
+   "n_points": 107767,
+   "voxel_m": 0.06,
+   "seconds": 2.3,
+   "peak_vram_gb": 3.37,
    "error": null
   },
   {
    "task": "object",
    "seed": 0,
    "model": "llama",
-   "n_points": 118034,
-   "voxel_m": 0.05,
-   "seconds": 34.7,
-   "peak_vram_gb": 3.3,
+   "n_points": 107767,
+   "voxel_m": 0.06,
+   "seconds": 1.3,
+   "peak_vram_gb": 3.37,
    "error": null
   }
  ],
- "total_seconds": 56.2
+ "total_seconds": 24.6
 }

I64/Metascenes1_Spatiallm1_RTABMAP1/assets_license.json

@@ -1,75 +1,83 @@
 [
  {
-  "object": "00_dining_table",
-  "uid": "a10c86c6ec7840cd89e3c2b9642a03a6",
-  "name": "Gun Range All",
-  "author": "kitDD",
+  "object": "00_sideboard",
+  "uid": "030019585a6e4f79bbc3d7c10a3a31db",
+  "name": "55-76",
+  "author": "Gulin",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/a10c86c6ec7840cd89e3c2b9642a03a6"
+  "source": "https://sketchfab.com/3d-models/030019585a6e4f79bbc3d7c10a3a31db"
  },
  {
-  "object": "01_chandelier",
-  "uid": "5fc95fddd9cb4038b767fc5cba588c4b",
-  "name": "Chandelier",
-  "author": "MatoyBoii",
+  "object": "01_chair",
+  "uid": "3b3156919dfa4cffa6ced7236b7cef07",
+  "name": "Sat, 13 Apr 2019 17:40:26",
+  "author": "newfields-3dprinting",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/5fc95fddd9cb4038b767fc5cba588c4b"
+  "source": "https://sketchfab.com/3d-models/3b3156919dfa4cffa6ced7236b7cef07"
  },
  {
-  "object": "03_air_conditioner",
-  "uid": "a7852c063b484df6963e1b5f649e7fe5",
-  "name": "AC Unit",
-  "author": "Thunder",
+  "object": "02_chair",
+  "uid": "b4ea7af8484c4c7e98704585b70002e9",
+  "name": "The Chair V3a-LOD0-no Seam",
+  "author": "iBrews",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/a7852c063b484df6963e1b5f649e7fe5"
+  "source": "https://sketchfab.com/3d-models/b4ea7af8484c4c7e98704585b70002e9"
  },
  {
-  "object": "04_plants",
-  "uid": "0c77dfdf9430465f9767a58d56e8fca1",
-  "name": "Voxel style Flower",
-  "author": "Gorillapoo965",
+  "object": "03_chair",
+  "uid": "b4ea7af8484c4c7e98704585b70002e9",
+  "name": "The Chair V3a-LOD0-no Seam",
+  "author": "iBrews",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/0c77dfdf9430465f9767a58d56e8fca1"
+  "source": "https://sketchfab.com/3d-models/b4ea7af8484c4c7e98704585b70002e9"
  },
  {
-  "object": "05_chair",
-  "uid": "3b3156919dfa4cffa6ced7236b7cef07",
-  "name": "Sat, 13 Apr 2019 17:40:26",
-  "author": "newfields-3dprinting",
+  "object": "04_chair",
+  "uid": "b4ea7af8484c4c7e98704585b70002e9",
+  "name": "The Chair V3a-LOD0-no Seam",
+  "author": "iBrews",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/3b3156919dfa4cffa6ced7236b7cef07"
+  "source": "https://sketchfab.com/3d-models/b4ea7af8484c4c7e98704585b70002e9"
  },
  {
-  "object": "06_chair",
-  "uid": "2c32127e0a354be9b588bbeb8f9ac644",
-  "name": "chare",
-  "author": "DimaSP",
+  "object": "05_carpet",
+  "uid": "783c748a023d44c8a4e4d5e3521b4fb4",
+  "name": "Grass",
+  "author": "susanne vermeulen",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/2c32127e0a354be9b588bbeb8f9ac644"
+  "source": "https://sketchfab.com/3d-models/783c748a023d44c8a4e4d5e3521b4fb4"
  },
  {
-  "object": "07_dining_table",
-  "uid": "a982b9a143e540639d48988ed3662703",
-  "name": "Homer Spongebob Table",
-  "author": "konnerlanetoney",
+  "object": "06_desk",
+  "uid": "9824a5e58892410c956cfaf9f2b07c29",
+  "name": "Main Table",
+  "author": "aleixparellada95",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/a982b9a143e540639d48988ed3662703"
+  "source": "https://sketchfab.com/3d-models/9824a5e58892410c956cfaf9f2b07c29"
+ },
+ {
+  "object": "07_chair",
+  "uid": "8102032a85e34e1d9e9193e6149946f1",
+  "name": "Thu, 01 Nov 2018 14:54:44",
+  "author": "newfields-3dprinting",
+  "license": "by",
+  "source": "https://sketchfab.com/3d-models/8102032a85e34e1d9e9193e6149946f1"
  },
  {
   "object": "08_chair",
-  "uid": "2c32127e0a354be9b588bbeb8f9ac644",
-  "name": "chare",
-  "author": "DimaSP",
+  "uid": "b4ea7af8484c4c7e98704585b70002e9",
+  "name": "The Chair V3a-LOD0-no Seam",
+  "author": "iBrews",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/2c32127e0a354be9b588bbeb8f9ac644"
+  "source": "https://sketchfab.com/3d-models/b4ea7af8484c4c7e98704585b70002e9"
  },
  {
-  "object": "09_sofa",
-  "uid": "c2414bdd1a3e4604a011c7889983c0dd",
-  "name": "Sofa",
-  "author": "illarionov.school",
+  "object": "09_chair",
+  "uid": "039c6026571943d6ac45c6816bcc7ff1",
+  "name": "Rocking Chair",
+  "author": "Christian",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/c2414bdd1a3e4604a011c7889983c0dd"
+  "source": "https://sketchfab.com/3d-models/039c6026571943d6ac45c6816bcc7ff1"
  },
  {
   "object": "10_air_conditioner",
@@ -80,11 +88,19 @@
   "source": "https://sketchfab.com/3d-models/da8f719b60e9406fb16c84a0bf404297"
  },
  {
-  "object": "11_bookcase",
-  "uid": "1653db41973e466ebd90f91d8dfdda29",
-  "name": "Cerca 40\u30ad\u30e3\u30d3\u30cd\u30c3\u30c8\u30fb\u30b9\u30ea\u30e0 WN",
-  "author": "classe-saga",
+  "object": "11_carpet",
+  "uid": "783c748a023d44c8a4e4d5e3521b4fb4",
+  "name": "Grass",
+  "author": "susanne vermeulen",
+  "license": "by",
+  "source": "https://sketchfab.com/3d-models/783c748a023d44c8a4e4d5e3521b4fb4"
+ },
+ {
+  "object": "12_painting",
+  "uid": "d85e8574d17041eda423cabafa18ab98",
+  "name": "111",
+  "author": "herramientas3dunibague",
   "license": "by",
-  "source": "https://sketchfab.com/3d-models/1653db41973e466ebd90f91d8dfdda29"
+  "source": "https://sketchfab.com/3d-models/d85e8574d17041eda423cabafa18ab98"
  }
 ]

I64/Metascenes1_Spatiallm1_RTABMAP1/candidates.json

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