diff --git a/.gitattributes b/.gitattributes index b421f39380bbddbaf0721c159b9852e6a48c81a9..23e98bf4043ce1f7b5f1414c11d7b6a7a9ae8197 100644 --- a/.gitattributes +++ b/.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 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/assets_license.json b/I12X/Metascenes5_Spatiallm5_RTABMAP1/assets_license.json index e712d0255948720ee2bdb4060f843dc31448f1f7..53e5aacdea8b0ae374a797d96279b0b3e0eb4dca 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/assets_license.json +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/assets_license.json @@ -9,14 +9,6 @@ }, { "object": "01_chandelier", - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "name": "Crystal Chandelier", - "author": "Platrium", - "license": "by", - "source": "https://sketchfab.com/3d-models/6df3fcc1561c4a26910ea52919f66fb8" - }, - { - "object": "02_chandelier", "uid": "c64c45bf1d804b659b37693d4284e867", "name": "Eurosvet 10021/6 \u0445\u0440\u043e\u043c/\u043f\u0440\u043e\u0437\u0440\u0430\u0447\u043d\u044b\u0439 \u0445\u0440\u0443\u0441\u0442\u0430\u043b\u044c Strots", "author": "Lustron.ru", @@ -24,43 +16,11 @@ "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867" }, { - "object": "03_chandelier", + "object": "02_chandelier", "uid": "366b50081c884690bb2ce4df6dacad59", "name": "Chandolier2", "author": "Davor Mulalic", "license": "by", "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59" - }, - { - "object": "04_chandelier", - "uid": "c64c45bf1d804b659b37693d4284e867", - "name": "Eurosvet 10021/6 \u0445\u0440\u043e\u043c/\u043f\u0440\u043e\u0437\u0440\u0430\u0447\u043d\u044b\u0439 \u0445\u0440\u0443\u0441\u0442\u0430\u043b\u044c Strots", - "author": "Lustron.ru", - "license": "by", - "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867" - }, - { - "object": "05_painting", - "uid": "3bfc45bc729c434aaf7c782ac12d66ca", - "name": "Hagar und ismael", - "author": "kulturschokolade.org", - "license": "by", - "source": "https://sketchfab.com/3d-models/3bfc45bc729c434aaf7c782ac12d66ca" - }, - { - "object": "07_cushion", - "uid": "7d52600a15c747749d845d9f906045cf", - "name": "Sandbag [Low Poly Realist]", - "author": "Islide", - "license": "by", - "source": "https://sketchfab.com/3d-models/7d52600a15c747749d845d9f906045cf" - }, - { - "object": "08_curtain", - "uid": "a83e1baf822a4442b0f50ed70d449198", - "name": "Curtains", - "author": "Heliona", - "license": "by", - "source": "https://sketchfab.com/3d-models/a83e1baf822a4442b0f50ed70d449198" } ] \ No newline at end of file diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/candidates.json b/I12X/Metascenes5_Spatiallm5_RTABMAP1/candidates.json index 38469a136d0507d60858d663286f3c2c4e946803..cc0f326833b5ad4d815193aa2f7af62b4ca190f6 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/candidates.json +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/candidates.json @@ -2,829 +2,301 @@ "00_painting": [ { "uid": "a8c2b341d7ed4daaa10b593c0d146e13", - "sim": 0.128055602312088, - "chamfer": 0.07367090847983203, - "iou": 0.384903747461134, - "score": 2.6817163467044467 + "sim": 0.12170300632715225, + "chamfer": 0.07612603021124087, + "iou": 0.4579867374854, + "score": 2.3733297207844113 }, { - "uid": "b84dfc98d44d470ebff1ff6fbe36f57a", - "sim": 0.11023195087909698, - "chamfer": 0.09308484623235386, - "iou": 0.787755027969112, - "score": 1.8089726641718076 + "uid": "a6e8bcdb300c4a40b75e2e3788914269", + "sim": 0.10411417484283447, + "chamfer": 0.09642229516018658, + "iou": 0.37016761116659574, + "score": 1.4883153614715003 }, { "uid": "3bfc45bc729c434aaf7c782ac12d66ca", - "sim": 0.06796102225780487, - "chamfer": 0.07141550707840795, - "iou": 0.25159512509262716, - "score": 1.6298322524322977 + "sim": 0.0664849579334259, + "chamfer": 0.06926003206854707, + "iou": 0.2993663513760374, + "score": 1.4380535366218967 }, { - "uid": "a6e8bcdb300c4a40b75e2e3788914269", - "sim": 0.10856965184211731, - "chamfer": 0.10836607862156503, - "iou": 0.44045260062860747, - "score": 1.3514455453144774 + "uid": "b84dfc98d44d470ebff1ff6fbe36f57a", + "sim": 0.07999931275844574, + "chamfer": 0.08474750724961344, + "iou": 0.662049438399573, + "score": 1.3064204083567967 }, { "uid": "54a72a5212d142f0b73b1d6d356b756c", - "sim": 0.09580881893634796, - "chamfer": 0.11235638171670086, - "iou": 0.9131522005806326, - "score": 1.0032908187068725 + "sim": 0.08418533205986023, + "chamfer": 0.09716994524395486, + "iou": 0.9203564656368383, + "score": 1.066532707194883 }, { - "uid": "9d07d1221c50423aa95058f3d7b47893", - "sim": 0.0718352198600769, - "chamfer": 0.11347489605483066, - "iou": 0.3777991804994568, - "score": 0.5273067408538448 + "uid": "d85e8574d17041eda423cabafa18ab98", + "sim": 0.08538275212049484, + "chamfer": 0.10764946831585653, + "iou": 0.34724407497516746, + "score": 0.8170552241875728 }, { - "uid": "d85e8574d17041eda423cabafa18ab98", - "sim": 0.08120715618133545, - "chamfer": 0.12181202310664804, - "iou": 0.2918327864153002, - "score": 0.4683801442008523 + "uid": "9d07d1221c50423aa95058f3d7b47893", + "sim": 0.07405181229114532, + "chamfer": 0.10058877666013358, + "iou": 0.3175120772282669, + "score": 0.7727152564804924 }, { "uid": "460a5ca01e0e409cafaa5611e564f04b", - "sim": 0.06642625480890274, - "chamfer": 0.1135163780835665, - "iou": 0.3772070742840549, - "score": 0.4258026358903662 + "sim": 0.06410060822963715, + "chamfer": 0.10098687332424724, + "iou": 0.31701445604723766, + "score": 0.5614569242733355 }, { "uid": "49fc5dd4bdc34951b29fb43aaaa9f3b5", - "sim": 0.03386209160089493, - "chamfer": 0.09551042685812433, - "iou": 0.845706723226557, - "score": 0.32444926759718895 + "sim": 0.027902677655220032, + "chamfer": 0.08291161336863725, + "iou": 0.9937552922702155, + "score": 0.3028004176323184 }, { - "uid": "6bac7ea154b24666bb1268eea48dee39", - "sim": -0.031034966930747032, - "chamfer": 0.07299534375492703, - "iou": 0.5150087455161876, - "score": -0.25083050818151453 + "uid": "e4f5d474029943818f536718d80d81ea", + "sim": 0.029734859243035316, + "chamfer": 0.10317323623525043, + "iou": 0.10481699985327925, + "score": -0.18930018905691637 }, { - "uid": "e4f5d474029943818f536718d80d81ea", - "sim": 0.021893378347158432, - "chamfer": 0.11846135630660376, - "iou": 0.08809088285541553, - "score": -0.5384362652011032 + "uid": "6bac7ea154b24666bb1268eea48dee39", + "sim": -0.025329604744911194, + "chamfer": 0.07124086881043908, + "iou": 0.612795216183818, + "score": -0.46692926526160494 }, { "uid": "449501e5ac704151b2f913649617dc7c", - "sim": 0.013537146151065826, - "chamfer": 0.1318403368577926, - "iou": 0.34425114114167965, - "score": -1.0670322135746544 + "sim": 0.040038373321294785, + "chamfer": 0.12825074353263818, + "iou": 0.4096152818647834, + "score": -0.6361637543855169 }, { - "uid": "8e09e36becc84eb290697ec49a1f3f15", - "sim": -0.0325351282954216, - "chamfer": 0.10269085650046414, - "iou": 0.11594684366478891, - "score": -1.1078308583308338 + "uid": "6dcce9b7229e4383917ee9161a7ee1ee", + "sim": 0.06294926255941391, + "chamfer": 0.17112596669314964, + "iou": 0.08716818511652775, + "score": -1.2932939415297497 }, { - "uid": "6dcce9b7229e4383917ee9161a7ee1ee", - "sim": 0.04702700302004814, - "chamfer": 0.16487906467049276, - "iou": 0.07344876592135637, - "score": -1.3682566617995948 + "uid": "8e09e36becc84eb290697ec49a1f3f15", + "sim": -0.04344810172915459, + "chamfer": 0.09702950768962801, + "iou": 0.13796206714544507, + "score": -1.5060547503190314 }, { "uid": "eb3f2354354a4e67a709bf2cab522049", - "sim": -0.06264661997556686, - "chamfer": 0.13120455112691176, - "iou": 0.13109817238397165, - "score": -2.4626225863553266 + "sim": -0.05255959555506706, + "chamfer": 0.12822394128788406, + "iou": 0.1559902304315612, + "score": -2.504534858634262 }, { "uid": "1cdad3cea6f64a0a81e02a7aebf4bdf0", - "sim": 0.018821708858013153, - "chamfer": 0.21984114819905332, - "iou": 0.14725623115975187, - "score": -3.42618732242913 + "sim": 0.01868719980120659, + "chamfer": 0.22258351360455358, + "iou": 0.175216275050844, + "score": -3.5304027978161225 } ], "01_chandelier": [ - { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.14056098461151123, - "chamfer": 0.17313549463035444, - "iou": 0.9996540391443425, - "score": 2.4895398410159713 - }, { "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.08983941376209259, - "chamfer": 0.13955920797998894, - "iou": 0.8755527031250847, - "score": 2.2507584853938676 + "sim": 0.26038360595703125, + "chamfer": 0.13966457514237868, + "iou": 0.8755527031250849, + "score": 2.816026582790249 }, { "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.09136564284563065, - "chamfer": 0.19557818095497198, + "sim": 0.2227908968925476, + "chamfer": 0.14333746410327547, "iou": 0.9987086487663143, - "score": 0.4064418805034971 - }, - { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.07015049457550049, - "chamfer": 0.1830387198008089, - "iou": 0.993570173616501, - "score": 0.2559324471740908 - }, - { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.09413966536521912, - "chamfer": 0.2070088781649921, - "iou": 0.9566746549281943, - "score": 0.09657022837021889 - }, - { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": -0.025786124169826508, - "chamfer": 0.11701427456271378, - "iou": 0.8896767529301891, - "score": -0.11098783989055994 - }, - { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.06326866894960403, - "chamfer": 0.19054973384866375, - "iou": 0.9921650841350326, - "score": -0.18260693281466567 - }, - { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.07875261455774307, - "chamfer": 0.20451082203033513, - "iou": 0.8999628336114128, - "score": -0.23462431966100528 - }, - { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.08951182663440704, - "chamfer": 0.22655883552365497, - "iou": 0.9981717956309604, - "score": -0.6863484134313966 - }, - { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.062170084565877914, - "chamfer": 0.20937762645897987, - "iou": 0.8997361578895139, - "score": -0.8459723966293298 - }, - { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.059800196439027786, - "chamfer": 0.2077880404063757, - "iou": 0.9898529991470656, - "score": -0.8564294953770559 - }, - { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.05388469621539116, - "chamfer": 0.21412624210812597, - "iou": 0.9117713596792597, - "score": -1.2294141463967745 - }, - { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.03340072184801102, - "chamfer": 0.2013689784610388, - "iou": 0.9616565700919076, - "score": -1.3528593382568497 - } - ], - "02_chandelier": [ - { - "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.251544326543808, - "chamfer": 0.14312019701581927, - "iou": 0.8873844964105592, - "score": 3.3684360378211555 + "score": 1.8119283178141519 }, { "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.24094383418560028, - "chamfer": 0.18296149953999954, - "iou": 0.9870081328448465, - "score": 1.772370209209962 - }, - { - "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.20755919814109802, - "chamfer": 0.17533681169520363, - "iou": 0.9854095002464147, - "score": 1.4295439583149805 + "sim": 0.23537978529930115, + "chamfer": 0.1481167027480286, + "iou": 0.9996540391443425, + "score": 1.6503680028415795 }, { "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.26146751642227173, - "chamfer": 0.22423775993237288, - "iou": 0.9006739447170656, - "score": 0.6955669384930013 + "sim": 0.2781854569911957, + "chamfer": 0.16222191896720028, + "iou": 0.9117713596792598, + "score": 1.278754580108409 }, { "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.2072618156671524, - "chamfer": 0.2112246638373271, - "iou": 0.9696026908056022, - "score": 0.16120841256901403 + "sim": 0.23370975255966187, + "chamfer": 0.16031510217291797, + "iou": 0.9566746549281939, + "score": 0.6087500470444864 }, { "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": 0.08088348805904388, - "chamfer": 0.15346205706812138, - "iou": 0.8791075428731645, - "score": -0.11960811322685716 + "sim": 0.10288936644792557, + "chamfer": 0.1400678348366584, + "iou": 0.8896767529301891, + "score": -0.14931935668321072 }, { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.15580570697784424, - "chamfer": 0.19309231761179113, - "iou": 0.9121244935250804, - "score": -0.142669975990211 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": 0.17013001441955566, + "chamfer": 0.15551387830426236, + "iou": 0.9935701736165011, + "score": -0.17712266705005306 }, { "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.17094087600708008, - "chamfer": 0.20169929546404286, - "iou": 0.9790384921360912, - "score": -0.1684849163788683 - }, - { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.18092291057109833, - "chamfer": 0.2251681907932938, - "iou": 0.9493198181961404, - "score": -0.8116231652315797 + "sim": 0.19023734331130981, + "chamfer": 0.16321221732450678, + "iou": 0.9921650841350325, + "score": -0.4405397889803243 }, { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.15513738989830017, - "chamfer": 0.21269377780955528, - "iou": 0.9804066225598586, - "score": -0.8446785518482833 + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": 0.17707949876785278, + "chamfer": 0.16331029178607662, + "iou": 0.8999628336114126, + "score": -0.6936130473862245 }, { "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.1566449999809265, - "chamfer": 0.2343999036130531, - "iou": 0.9848868460150132, - "score": -1.5809177134198098 + "sim": 0.16378945112228394, + "chamfer": 0.1607339645396323, + "iou": 0.9981717956309605, + "score": -0.7275971478526058 }, { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.1485828459262848, - "chamfer": 0.23770823799739307, - "iou": 0.9767871119538798, - "score": -1.844923495360372 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": 0.19425168633460999, + "chamfer": 0.17092329891581903, + "iou": 0.9616565700919076, + "score": -1.0046022738256801 }, { "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.08359895646572113, - "chamfer": 0.20587250138491886, - "iou": 0.9118947546177508, - "score": -1.9142196249521302 + "sim": 0.0899183452129364, + "chamfer": 0.1633767052315441, + "iou": 0.8997361578895141, + "score": -2.321721627549505 + }, + { + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": 0.16049079596996307, + "chamfer": 0.1832144366811473, + "iou": 0.9898529991470655, + "score": -2.6513116212712733 } ], - "03_chandelier": [ + "02_chandelier": [ { "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.16061358153820038, - "chamfer": 0.2158248563345043, - "iou": 0.9944581627026723, - "score": 2.1160340407498563 - }, - { - "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.19210126996040344, - "chamfer": 0.23147024476830944, - "iou": 0.865314481058276, - "score": 1.654875998876937 + "sim": 0.18806937336921692, + "chamfer": 0.20085176115198802, + "iou": 0.9921650841350325, + "score": 2.3322007054124665 }, { "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.14269326627254486, - "chamfer": 0.2259763504205458, - "iou": 0.9804066225598586, - "score": 0.9440883257632512 - }, - { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.17330989241600037, - "chamfer": 0.24320896327625063, - "iou": 0.9863298683760876, - "score": 0.34363083951277545 - }, - { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.18720802664756775, - "chamfer": 0.2505118019037599, - "iou": 0.9444645829153232, - "score": 0.11018233908916286 - }, - { - "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.169694721698761, - "chamfer": 0.24540231144387767, - "iou": 0.987942447364882, - "score": 0.09626035991695525 + "sim": 0.17510074377059937, + "chamfer": 0.21235930725824304, + "iou": 0.9935701736165011, + "score": 1.3996248343920838 }, { "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.18994009494781494, - "chamfer": 0.2544070318392407, - "iou": 0.9006739447170656, - "score": -0.12085739368501991 - }, - { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.15430119633674622, - "chamfer": 0.24490384393406925, - "iou": 0.9121244935250804, - "score": -0.21651560646259188 - }, - { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.154561847448349, - "chamfer": 0.24693061143490377, - "iou": 0.9493198181961404, - "score": -0.3631479280114964 - }, - { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": 0.034211982041597366, - "chamfer": 0.21111617469751962, - "iou": 0.9016994117535698, - "score": -0.4059401090906465 - }, - { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.12196981906890869, - "chamfer": 0.24348744174784898, - "iou": 0.9848868460150132, - "score": -0.8456353634451708 - }, - { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.12408323585987091, - "chamfer": 0.25219557910480733, - "iou": 0.9967810043681797, - "score": -1.453042047747964 + "sim": 0.25435200333595276, + "chamfer": 0.2503802606723074, + "iou": 0.9117713596792598, + "score": 1.038716627390585 }, - { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.08171980082988739, - "chamfer": 0.24479414693488438, - "iou": 0.9118947546177508, - "score": -1.8599334554660922 - } - ], - "04_chandelier": [ { "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.08480625599622726, - "chamfer": 0.1773073707680823, - "iou": 0.8755527031250847, - "score": 2.269568445687713 + "sim": 0.2189466655254364, + "chamfer": 0.23944808723462388, + "iou": 0.8755527031250849, + "score": 0.8613607954287841 }, { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.11889532208442688, - "chamfer": 0.2170459460874769, - "iou": 0.9996540391443425, - "score": 1.4711073458820112 - }, - { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.0016058823093771935, - "chamfer": 0.15535192303092532, - "iou": 0.9921650841350321, - "score": 1.1855243751527609 - }, - { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.01611267775297165, - "chamfer": 0.16573991039408179, - "iou": 0.993570173616501, - "score": 1.1093915893385042 - }, - { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.06074787676334381, - "chamfer": 0.2192432250443475, - "iou": 0.9566746549281943, - "score": 0.004460678519995653 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": 0.18388375639915466, + "chamfer": 0.23856352462659935, + "iou": 0.9616565700919076, + "score": 0.12965058113129727 }, { "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.06461162120103836, - "chamfer": 0.2218686845351346, + "sim": 0.214759960770607, + "chamfer": 0.25158393803303647, "iou": 0.9987086487663143, - "score": -0.010106051911381031 + "score": 0.0892998301572615 }, { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.02921520732343197, - "chamfer": 0.21275337880693582, - "iou": 0.8997361578895139, - "score": -0.4804047880365907 + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": 0.18839500844478607, + "chamfer": 0.24611940377901292, + "iou": 0.8999628336114126, + "score": -0.19245664136997842 }, { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.03654797002673149, - "chamfer": 0.21778527143647047, - "iou": 0.8999628336114128, - "score": -0.5100385208148723 + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": 0.20195108652114868, + "chamfer": 0.2521145551146415, + "iou": 0.9566746549281938, + "score": -0.22575454950910567 }, { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.008330375887453556, - "chamfer": 0.20558869326881127, - "iou": 0.9616565700919076, - "score": -0.6856875278627533 + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": 0.20636112987995148, + "chamfer": 0.2550549138653229, + "iou": 0.9996540391443425, + "score": -0.2919611072231484 }, { "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": -0.05919812619686127, - "chamfer": 0.16995164227080045, + "sim": 0.07683252543210983, + "chamfer": 0.20860809486376042, "iou": 0.8896767529301891, - "score": -0.8453730980846554 + "score": -0.5799332177744834 }, { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.016305798664689064, - "chamfer": 0.21563997696015944, - "iou": 0.9898529991470656, - "score": -0.9029750862075059 + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": 0.13559572398662567, + "chamfer": 0.24645975695003586, + "iou": 0.8997361578895141, + "score": -1.387837265606679 }, { "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.03135379031300545, - "chamfer": 0.23295114958214602, - "iou": 0.9981717956309604, - "score": -1.2461166137328894 - }, - { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.007601293735206127, - "chamfer": 0.22182800738083974, - "iou": 0.9117713596792597, - "score": -1.3593507479303102 - } - ], - "05_painting": [ - { - "uid": "3bfc45bc729c434aaf7c782ac12d66ca", - "sim": 0.17362795770168304, - "chamfer": 0.09518083439573226, - "iou": 0.48265187262667236, - "score": 1.9629350115738362 - }, - { - "uid": "a8c2b341d7ed4daaa10b593c0d146e13", - "sim": 0.20272722840309143, - "chamfer": 0.11426826720931563, - "iou": 0.7383867808438086, - "score": 1.6672294630586202 - }, - { - "uid": "8e09e36becc84eb290697ec49a1f3f15", - "sim": 0.07118137180805206, - "chamfer": 0.06407579064059504, - "iou": 0.2224286388671461, - "score": 1.4144643883172359 - }, - { - "uid": "b84dfc98d44d470ebff1ff6fbe36f57a", - "sim": 0.1356469690799713, - "chamfer": 0.09816446200646041, - "iou": 0.4106382592604946, - "score": 1.1203531013228383 - }, - { - "uid": "a6e8bcdb300c4a40b75e2e3788914269", - "sim": 0.15572106838226318, - "chamfer": 0.10690797743458594, - "iou": 0.229597632242572, - "score": 1.1111846491149628 - }, - { - "uid": "54a72a5212d142f0b73b1d6d356b756c", - "sim": 0.1543760597705841, - "chamfer": 0.10709185170406796, - "iou": 0.5708540103317107, - "score": 1.0779020401646384 - }, - { - "uid": "49fc5dd4bdc34951b29fb43aaaa9f3b5", - "sim": 0.1036863774061203, - "chamfer": 0.10353382121764884, - "iou": 0.61637986482583, - "score": 0.28543771298215004 + "sim": 0.14130963385105133, + "chamfer": 0.251209369931147, + "iou": 0.9981717956309605, + "score": -1.5261895823276466 }, { - "uid": "449501e5ac704151b2f913649617dc7c", - "sim": 0.06090536713600159, - "chamfer": 0.08584699284908645, - "iou": 0.66040014831261, - "score": 0.26327450460975477 - }, - { - "uid": "460a5ca01e0e409cafaa5611e564f04b", - "sim": 0.11088205873966217, - "chamfer": 0.10971963469172048, - "iou": 0.19662921957360308, - "score": 0.14776088191812972 - }, - { - "uid": "6bac7ea154b24666bb1268eea48dee39", - "sim": 0.023496121168136597, - "chamfer": 0.07865622785079529, - "iou": 0.9879759607861555, - "score": -0.1205354800073768 - }, - { - "uid": "9d07d1221c50423aa95058f3d7b47893", - "sim": 0.08878668397665024, - "chamfer": 0.11135620506802643, - "iou": 0.19693787068588706, - "score": -0.33804327220857855 - }, - { - "uid": "d85e8574d17041eda423cabafa18ab98", - "sim": 0.0673183798789978, - "chamfer": 0.10796556635449733, - "iou": 0.5598424882252699, - "score": -0.5907143219198031 - }, - { - "uid": "1cdad3cea6f64a0a81e02a7aebf4bdf0", - "sim": 0.08436524868011475, - "chamfer": 0.13479635774157844, - "iou": 0.2824915454901362, - "score": -1.4531056773189104 - }, - { - "uid": "6dcce9b7229e4383917ee9161a7ee1ee", - "sim": 0.1296902596950531, - "chamfer": 0.16115415605954161, - "iou": 0.1694801720685118, - "score": -1.7651640174643533 - }, - { - "uid": "eb3f2354354a4e67a709bf2cab522049", - "sim": 0.031051356345415115, - "chamfer": 0.12361385411903228, - "iou": 0.2514944531447618, - "score": -1.9589366283052447 - }, - { - "uid": "e4f5d474029943818f536718d80d81ea", - "sim": 0.01683439128100872, - "chamfer": 0.13721318423122927, - "iou": 0.16899067323283795, - "score": -2.824042355837896 - } - ], - "07_cushion": [ - { - "uid": "7d52600a15c747749d845d9f906045cf", - "sim": 0.037630561739206314, - "chamfer": 0.10726050064020337, - "iou": 0.9096331477262523, - "score": 2.303614960690706 - }, - { - "uid": "b4b640a1b01d41098241c51fb5798d14", - "sim": 0.03905437886714935, - "chamfer": 0.11914505764438928, - "iou": 0.7113648568027775, - "score": 2.032635073652294 - }, - { - "uid": "8086d117922c4fbd8eb66f20111a63d3", - "sim": 0.04154692590236664, - "chamfer": 0.12298108623145759, - "iou": 0.7567637681650394, - "score": 2.006962761869865 - }, - { - "uid": "0b0bd9f8dce44391a7093b5efc1015a6", - "sim": -0.002467833925038576, - "chamfer": 0.0928549384672904, - "iou": 0.6510510115397155, - "score": 1.4657290616935539 - }, - { - "uid": "4a29a96da559495ca9ff2c06847ebbe9", - "sim": 0.05033022165298462, - "chamfer": 0.15391411027469634, - "iou": 0.8044941118387772, - "score": 1.455987873107458 - }, - { - "uid": "2b59042166864c929c4d7134f5cad444", - "sim": 0.012425041757524014, - "chamfer": 0.1240180815796521, - "iou": 0.5010077836001461, - "score": 1.0943720866716724 - }, - { - "uid": "90d0c49db71a48ceb3b37c30ca55cdbd", - "sim": 0.030459441244602203, - "chamfer": 0.1578353854539329, - "iou": 0.5017965346177474, - "score": 0.7483202087274105 - }, - { - "uid": "00d835ea93204b64bd3acbc80945eb12", - "sim": -0.01674717664718628, - "chamfer": 0.13247763227780932, - "iou": 0.5074420280366185, - "score": -0.01601938092902022 - }, - { - "uid": "99602f01eb004a488ddfbd14b91f4cbf", - "sim": 0.02301599830389023, - "chamfer": 0.18365673522544845, - "iou": 0.7920556644584755, - "score": -0.16070671306987716 - }, - { - "uid": "9e736e5bcee4442da616095015b96ee1", - "sim": 0.026026368141174316, - "chamfer": 0.19034264335404877, - "iou": 0.8028452264571974, - "score": -0.2459975369188796 - }, - { - "uid": "8fca912e2c96495e9ea669257fceb51f", - "sim": -0.03164929896593094, - "chamfer": 0.13563691624640417, - "iou": 0.9887102751600034, - "score": -0.5525139843945818 - }, - { - "uid": "46e6d32e39f7406484da6f47b5bbac80", - "sim": -0.04010041803121567, - "chamfer": 0.15122289401317057, - "iou": 0.5532161092396309, - "score": -1.2215208288010557 - }, - { - "uid": "be5feef0db774c0d8db615190bfd649b", - "sim": 0.0099974125623703, - "chamfer": 0.2199884881160201, - "iou": 0.8480326702279303, - "score": -1.5171133219916797 - }, - { - "uid": "ba1e726735424b4d88f3e210826b9aaa", - "sim": -0.019044596701860428, - "chamfer": 0.18811951058839954, - "iou": 0.9504652561448849, - "score": -1.557160228140103 - }, - { - "uid": "1ae3077f108d4775afab873f99b2c44b", - "sim": -0.04396989941596985, - "chamfer": 0.2080580712125803, - "iou": 0.8158430732896402, - "score": -2.841998831279988 - }, - { - "uid": "959761b5ca964169a48593a54cc45f26", - "sim": -0.052817702293395996, - "chamfer": 0.20365834538828154, - "iou": 0.7182651453567339, - "score": -2.994591200887773 - } - ], - "08_curtain": [ - { - "uid": "a83e1baf822a4442b0f50ed70d449198", - "sim": 0.19031468033790588, - "chamfer": 0.09490850844605415, - "iou": 0.6488969213795698, - "score": 2.239997350867151 - }, - { - "uid": "deaec3c63ac64e0ba43f24b57767fd10", - "sim": 0.20083917677402496, - "chamfer": 0.11724451427596819, - "iou": 0.5819131385033616, - "score": 2.0129158498539885 - }, - { - "uid": "7187bae2a1944e2ab5b9c91b400558f1", - "sim": 0.1937658190727234, - "chamfer": 0.1302810554557119, - "iou": 0.42329610581060895, - "score": 1.6077030011045883 - }, - { - "uid": "b0bd00b700a3451da1cb4ad9b082c3e0", - "sim": 0.12232490628957748, - "chamfer": 0.0867784393669153, - "iou": 0.6200401243059392, - "score": 0.9989149638401491 - }, - { - "uid": "331d57e5983e47ff8a690ef1c0c2e96a", - "sim": 0.09156624972820282, - "chamfer": 0.07939176900833447, - "iou": 0.5537745691083464, - "score": 0.5112057617896939 - }, - { - "uid": "e5b01c717dbd4244b861168eddd67375", - "sim": 0.13742223381996155, - "chamfer": 0.1287482251364148, - "iou": 0.46825048468511016, - "score": 0.47569889244533625 - }, - { - "uid": "dbb84e2ad5684e5c994abc35773f3bf8", - "sim": 0.07940468192100525, - "chamfer": 0.08756651987015004, - "iou": 0.5928003291906451, - "score": 0.0977047846641439 - }, - { - "uid": "5b9e03a46de84bd58d3894cab9f40a78", - "sim": 0.09729205071926117, - "chamfer": 0.10746678087328154, - "iou": 0.7756671952032124, - "score": 0.07097794135931168 - }, - { - "uid": "47ded0c610824037aa498c540216a833", - "sim": 0.07856620848178864, - "chamfer": 0.0935524858608062, - "iou": 0.9390904968381234, - "score": -0.03864523608956849 - }, - { - "uid": "641b3edcbd984497a0465dd35bfa730b", - "sim": 0.06755015254020691, - "chamfer": 0.09752200668388228, - "iou": 0.6823917093852143, - "score": -0.3448770864619347 - }, - { - "uid": "87f2d57d6d7e4f22b2ac2da367dd6007", - "sim": 0.04903602600097656, - "chamfer": 0.09613869307024596, - "iou": 0.8833791982208512, - "score": -0.6993516566650713 - }, - { - "uid": "0c6981ec2067481cae6d87c2021f6442", - "sim": 0.07766218483448029, - "chamfer": 0.13208175851518839, - "iou": 0.09574765065931212, - "score": -0.8235777733897393 - }, - { - "uid": "9c55dcd4b76f42d8acbec2cbfa634c3c", - "sim": 0.16364997625350952, - "chamfer": 0.22955028082801845, - "iou": 0.08989609531059263, - "score": -0.9879448375458425 - }, - { - "uid": "caf84f961fab412e8260be1d20734b8b", - "sim": 0.1408892422914505, - "chamfer": 0.23053568825693527, - "iou": 0.08987377254030579, - "score": -1.4771458243838334 - }, - { - "uid": "b9e55f04b6dc442fb3bebbab253460e7", - "sim": 0.05919962748885155, - "chamfer": 0.148040121473845, - "iou": 0.4241322533210424, - "score": -1.5218843087185177 - }, - { - "uid": "e95846329ea04757b889426b8642a604", - "sim": 0.10129650682210922, - "chamfer": 0.22187041155522602, - "iou": 0.09047770191913274, - "score": -2.1216918226698533 + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": 0.1298060119152069, + "chamfer": 0.2487820674231474, + "iou": 0.9898529991470655, + "score": -1.6467210101014391 } ] } \ No newline at end of file diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/00_painting.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/00_painting.glb index aeca161cadef1dbaa54c0e0bf72aeb4e42367bce..c11a45c85ac4fa0d1a56da071e0d4401ded8e330 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/00_painting.glb +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/00_painting.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:93a16b9956dba8617780d57042cc3f77bf40897d9fc48b62177f4cfebaeb8ef8 -size 512212 +oid sha256:07b2fe4cd0e80145d1dd81df5ff81885e44ec4a6d2440414cf7113005b1d7379 +size 512208 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/01_chandelier.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/01_chandelier.glb index a813891fb748dba67ba7e018ba3656489d1ec328..c049f63452751aeaf7d5d288805712644c01add7 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/01_chandelier.glb +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/01_chandelier.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a5146993f740e1e8230e381ffa792f094badcaacb03b436926f3ff923ace2ba0 -size 2593804 +oid sha256:77987f357bc1190e00aeb27c417632c7e9118b9f8bb423e317d7830e3409a645 +size 12780636 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/02_chandelier.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/02_chandelier.glb index 9b4144326b86b9f8c0ce74a2d5505f328800b0de..0abf37d4b8a0867cce53904ec900dcd107aacf5e 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/02_chandelier.glb +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/02_chandelier.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2215d00107e8b8f42a3c11315fdf3cb23f2367eac9b9101a71f0d45f183a7814 -size 12780636 +oid sha256:efe018e397a8382b58331dec1d71d22f281340b560078cb369c8b21f249e24b0 +size 1032828 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/03_chandelier.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/03_chandelier.glb deleted file mode 100644 index 3593630bdc3c1b0a3e2da33220473026e74db4d9..0000000000000000000000000000000000000000 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/03_chandelier.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:212af434b597db83d13bfcc45b529656b13a888aef6b6d0437f32cfc22f73edc -size 1032836 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/04_chandelier.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/04_chandelier.glb deleted file mode 100644 index c5850ee22d94ba8053e4fc126f9008da62df77fd..0000000000000000000000000000000000000000 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/04_chandelier.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9bd1c1d05776616d5ec5b67462bc48ab3a216f6de6727fc6ec919b58ea854d9c -size 12780636 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/05_painting.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/05_painting.glb deleted file mode 100644 index 1e38de903e1e53e8e8a21aea0d216485cad01bec..0000000000000000000000000000000000000000 Binary files a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/05_painting.glb and /dev/null differ diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/07_cushion.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/07_cushion.glb deleted file mode 100644 index 1c3cb8a6e38759cdadc4c95c86457cbde309fabd..0000000000000000000000000000000000000000 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/07_cushion.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3bc09742f51ab82eed3e2471a10ebd809194bf41938391a4a17790a7f74adddc -size 4408472 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/08_curtain.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/08_curtain.glb deleted file mode 100644 index 6cd3876de64bf258dcdfb1905e4e4c872524a2a1..0000000000000000000000000000000000000000 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/objects/08_curtain.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8b9e61b323c565ee735d4cf0c3b3ea2cbfc9450c770bb6901f10273f3d21a9dd -size 2545712 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.json b/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.json index cefb3aed83a0088a739a261c75b7a7a1ad056a43..b1741c04ab469a7760917ab3b3c607f0dff0ff11 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.json +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.json @@ -1,8 +1,8 @@ { - "loss_250": 0.015093733011737023, - "loss_150": 3.9818223231973444e-05, + "loss_250": 0.0, + "loss_150": 0.0, "mcmc_steps": 50, - "seconds": 0.4, + "seconds": 0.1, "blender": "4.3.0", "objects": [ { @@ -103,171 +103,6 @@ 1.0 ] ] - }, - { - "name": "03_chandelier", - "hanging": true, - "mcmc_move": 0.0, - "sim_move": 0.0, - "sim_rot_deg": 0.0, - "delta": [ - [ - 1.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 1.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 1.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "04_chandelier", - "hanging": true, - "mcmc_move": 0.0, - "sim_move": 0.0, - "sim_rot_deg": 0.0, - "delta": [ - [ - 1.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 1.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 1.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "05_painting", - "hanging": true, - "mcmc_move": 0.0, - "sim_move": 0.0, - "sim_rot_deg": 0.0, - "delta": [ - [ - 1.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 1.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 1.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "07_cushion", - "hanging": false, - "mcmc_move": 0.0, - "sim_move": 0.31678786643182943, - "sim_rot_deg": 0.019782341029446364, - "delta": [ - [ - 1.0, - 6.8503366492223e-05, - 6.56656084174756e-06, - 0.0015455961414100328 - ], - [ - -6.850092177046463e-05, - 0.9999999403953552, - -0.0003704827686306089, - -0.1473257660099314 - ], - [ - -6.591939381905831e-06, - 0.0003704823029693216, - 0.9999999403953552, - -0.28337916986590767 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "08_curtain", - "hanging": true, - "mcmc_move": 0.0, - "sim_move": 0.0, - "sim_rot_deg": 0.0, - "delta": [ - [ - 1.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 1.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 1.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] } ] } \ No newline at end of file diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.log b/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.log index 0b52761989a222a11f39c3d22b738905cd66eee1..5573a8eaa6addab182673d6f0c071d1b06a15135 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.log +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/physics.log @@ -5,9 +5,4 @@ 00_painting mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) 01_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) 02_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -03_chandelier 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_painting mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -07_cushion mcmc 0.000 m sim 0.317 m 0.0 deg -08_curtain mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -physics done in 3 s, loss 0.0151 / 0.0000 +physics done in 1 s, loss 0.0000 / 0.0000 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/placements.json b/I12X/Metascenes5_Spatiallm5_RTABMAP1/placements.json index 5e48a94b8e1ef2c9e2132ae141d2cc01ffac03b9..c7f4e88323f183915e4800b524d868e2817fd977 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/placements.json +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/placements.json @@ -5,8 +5,8 @@ "n_cand": 16, "w_sem": 1.0, "seed": 0, - "boxes_raw": 9, - "boxes": 9, + "boxes_raw": 3, + "boxes": 3, "objects": [ { "name": "00_painting", @@ -17,41 +17,41 @@ ], "uid": "a8c2b341d7ed4daaa10b593c0d146e13", "url": "https://objaverse.allenai.org/explore/?query=a8c2b341d7ed4daaa10b593c0d146e13", - "scan_points": 619, - "sim": 0.128055602312088, - "chamfer": 0.07367090847983203, - "iou": 0.384903747461134, + "scan_points": 566, + "sim": 0.12170300632715225, + "chamfer": 0.07612603021124087, + "iou": 0.4579867374854, "hanging": true, "flat": false, "box_center": [ - -1.4430025402115383, - -0.5763875167856067, - 1.0001078852908412 + -1.3646424490805118, + -0.6239819800168747, + 1.000018919237171 ], "box_size": [ - 1.46875, + 1.234375, 0.109375, - 1.46875 + 1.234375 ], "box_angle": -1.5708000000000002, "transform": [ [ - 0.0003714787102476977, - -101.1320358538936, + 0.00031220019265497997, + -84.99394502614462, 0.0, - -1.4442431918589231 + -1.3656851244011863 ], [ - 101.1320358538936, - 0.0003714787102476977, + 84.99394502614462, + 0.00031220019265497997, 0.0, - -0.5763883001277246 + -0.6239826383575907 ], [ 0.0, 0.0, - 193.75246300743828, - 0.9443605371295938 + 162.83451678284706, + 0.9531674245059097 ], [ 0.0, @@ -68,96 +68,43 @@ "lvis": [ "chandelier" ], - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "url": "https://objaverse.allenai.org/explore/?query=6df3fcc1561c4a26910ea52919f66fb8", - "scan_points": 852, - "sim": 0.14056098461151123, - "chamfer": 0.17313549463035444, - "iou": 0.9996540391443425, - "hanging": true, - "flat": false, - "box_center": [ - 0.48199745978846176, - 4.073612483214394, - 1.8001078852908412 - ], - "box_size": [ - 0.390625, - 0.390625, - 1.75 - ], - "box_angle": -3.1416, - "transform": [ - [ - 0.019536245347457862, - 1.435212722263231e-07, - 0.0, - 0.4822391658134661 - ], - [ - -1.435212722263231e-07, - 0.019536245347457862, - 0.0, - 4.073799619070455 - ], - [ - 0.0, - 0.0, - 0.10598468449760368, - 1.1782684762176538 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "02_chandelier", - "box": "bbox_2", - "label": "chandelier", - "lvis": [ - "chandelier" - ], "uid": "c64c45bf1d804b659b37693d4284e867", "url": "https://objaverse.allenai.org/explore/?query=c64c45bf1d804b659b37693d4284e867", - "scan_points": 23569, - "sim": 0.251544326543808, - "chamfer": 0.14312019701581927, - "iou": 0.8873844964105592, + "scan_points": 22536, + "sim": 0.26038360595703125, + "chamfer": 0.13966457514237868, + "iou": 0.8755527031250849, "hanging": true, "flat": false, "box_center": [ - 1.4569974597884618, - 5.048612483214393, - 1.8001078852908412 + 1.3103575509194885, + 4.701018019983126, + 1.9000189192371708 ], "box_size": [ - 1.171875, - 1.15625, - 1.75 + 1.015625, + 1.015625, + 0.953125 ], "box_angle": -3.1416, "transform": [ [ - -0.01293492619129931, - -9.502527379650696e-08, + 0.011210269365792735, + 8.235523729167889e-08, 0.0, - 1.458947139169234 + 1.308667828789486 ], [ - 9.502527379650696e-08, - -0.01293492619129931, + -8.235523729167889e-08, + 0.011210269365792735, 0.0, - 5.049497299806311 + 4.700251178936798 ], [ 0.0, 0.0, - 0.030571751833890805, - 2.67555564140143 + 0.01665068626667267, + 2.376825286404545 ], [ 0.0, @@ -168,261 +115,49 @@ ] }, { - "name": "03_chandelier", - "box": "bbox_3", + "name": "02_chandelier", + "box": "bbox_2", "label": "chandelier", "lvis": [ "chandelier" ], "uid": "366b50081c884690bb2ce4df6dacad59", "url": "https://objaverse.allenai.org/explore/?query=366b50081c884690bb2ce4df6dacad59", - "scan_points": 4847, - "sim": 0.16061358153820038, - "chamfer": 0.2158248563345043, - "iou": 0.9944581627026723, + "scan_points": 7306, + "sim": 0.18806937336921692, + "chamfer": 0.20085176115198802, + "iou": 0.9921650841350325, "hanging": true, "flat": false, "box_center": [ - 2.4819974597884613, - 5.048612483214393, - 1.8001078852908412 + -0.31464244908051175, + 6.526018019983125, + 1.9000189192371708 ], "box_size": [ - 1.171875, - 1.15625, - 1.75 + 1.015625, + 1.015625, + 0.953125 ], "box_angle": -3.1416, "transform": [ [ - -1.1243733724627778e-05, - 1.5305072011991099, - 0.0, - 2.4809470694814486 - ], - [ - -1.5305072011991099, - -1.1243733724627778e-05, - 0.0, - 5.051389018832804 - ], - [ - 0.0, - 0.0, - 2.2812228300841073, - 1.3061808675433655 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "04_chandelier", - "box": "bbox_4", - "label": "chandelier", - "lvis": [ - "chandelier" - ], - "uid": "c64c45bf1d804b659b37693d4284e867", - "url": "https://objaverse.allenai.org/explore/?query=c64c45bf1d804b659b37693d4284e867", - "scan_points": 822, - "sim": 0.08480625599622726, - "chamfer": 0.1773073707680823, - "iou": 0.8755527031250847, - "hanging": true, - "flat": false, - "box_center": [ - 0.48199745978846176, - 5.048612483214393, - 1.8001078852908412 - ], - "box_size": [ - 0.390625, - 0.390625, - 1.75 - ], - "box_angle": -3.1416, - "transform": [ - [ - -0.0043116420637664375, - -3.167509126550232e-08, - 0.0, - 0.4826473529153858 - ], - [ - 3.167509126550232e-08, - -0.0043116420637664375, - 0.0, - 5.048907422078366 - ], - [ - 0.0, - 0.0, - 0.030571751833890805, - 2.67555564140143 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "05_painting", - "box": "bbox_5", - "label": "painting", - "lvis": [ - "painting" - ], - "uid": "3bfc45bc729c434aaf7c782ac12d66ca", - "url": "https://objaverse.allenai.org/explore/?query=3bfc45bc729c434aaf7c782ac12d66ca", - "scan_points": 729, - "sim": 0.17362795770168304, - "chamfer": 0.09518083439573226, - "iou": 0.48265187262667236, - "hanging": true, - "flat": false, - "box_center": [ - -1.4430025402115383, - 5.198612483214394, - 1.0001078852908412 - ], - "box_size": [ - 0.765625, - 0.109375, - 1.46875 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - 7.386019183920213e-08, - -0.020107832193874547, - 0.0, - -1.4195371671010453 - ], - [ - 0.020107832193874547, - 7.386019183920213e-08, - 0.0, - 5.070596894649597 - ], - [ - 0.0, - 0.0, - 0.05071707263667648, - 0.9471178312400531 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "07_cushion", - "box": "bbox_7", - "label": "cushion", - "lvis": [ - "cushion" - ], - "uid": "7d52600a15c747749d845d9f906045cf", - "url": "https://objaverse.allenai.org/explore/?query=7d52600a15c747749d845d9f906045cf", - "scan_points": 882, - "sim": 0.037630561739206314, - "chamfer": 0.10726050064020337, - "iou": 0.9096331477262523, - "hanging": false, - "flat": false, - "box_center": [ - -0.9180025402115384, - 8.048612483214393, - 0.37510788529084127 - ], - "box_size": [ - 0.59375, - 1.1875, - 0.109375 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - 5.153229519217674e-06, - -1.4029245233283048, - 0.0, - -0.9182300114761931 - ], - [ - 1.4029245233283048, - 5.153229519217674e-06, - 0.0, - 8.048636546297955 - ], - [ - 0.0, - 0.0, - 0.4216770270451433, - 0.3672835584154993 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "08_curtain", - "box": "bbox_8", - "label": "curtain", - "lvis": [ - "curtain" - ], - "uid": "a83e1baf822a4442b0f50ed70d449198", - "url": "https://objaverse.allenai.org/explore/?query=a83e1baf822a4442b0f50ed70d449198", - "scan_points": 2108, - "sim": 0.19031468033790588, - "chamfer": 0.09490850844605415, - "iou": 0.6488969213795698, - "hanging": true, - "flat": false, - "box_center": [ - -0.9180025402115384, - 8.273612483214393, - 1.4001078852908413 - ], - "box_size": [ - 1.1875, - 0.109375, - 2.0 - ], - "box_angle": -0.009817500000000479, - "transform": [ - [ - 0.25157281184209157, - 0.0024698954329990495, + -9.74456922801074e-06, + 1.3264395743725619, 0.0, - -0.8321967102288191 + -0.3155527873465896 ], [ - -0.0024698954329990495, - 0.25157281184209157, + -1.3264395743725619, + -9.74456922801074e-06, 0.0, - 8.180646789464676 + 6.528424350852414 ], [ 0.0, 0.0, - 0.48542674003592406, - 0.4391732542717095 + 1.2424517199565226, + 1.631005097071135 ], [ 0.0, @@ -433,5 +168,5 @@ ] } ], - "seconds": 30.7 + "seconds": 16.7 } \ No newline at end of file diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/retrieval.log b/I12X/Metascenes5_Spatiallm5_RTABMAP1/retrieval.log index 2f4ecd63483fd50a415f4ec24195bc976b3533b6..474dfa23698cbd5bf6dc5958b6b91380a2ae4be2 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/retrieval.log +++ b/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 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_fixed.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_fixed.glb index 3cab896289e06898eac5c708a5337891ba4f5194..703e00077bae9ed97516332e223a2be672832001 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_fixed.glb +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_fixed.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:39a2a5042ad9eac8a0f146377ddb105b508b97e3950b853da1fa45277c6129e5 -size 20819508 +oid sha256:a3b1a63adc2be6726e39fa0a2fecba673824286d1ff8383dc257d1169722fa42 +size 11492776 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_physics.glb b/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_physics.glb index 2d31cdac195056ecb3efcc17a9f1d23d7f56c5b0..e215a607b0f4d1d08a4b53c0157837065641217b 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_physics.glb +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/scene_physics.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d2da68f154165114391f54eb501c31010bc8191edbe350ca17b128941b1ff590 -size 20819368 +oid sha256:447b2aea386a70410ed2f12d269e66e43030cd8cce73b8244050cbb6d5551ad6 +size 11492620 diff --git a/I12X/Metascenes5_Spatiallm5_RTABMAP1/views.png b/I12X/Metascenes5_Spatiallm5_RTABMAP1/views.png index 8ed23daa73e102d4b353f11ed32e60c708346c40..55f706dcd9429c98ffb0e71f43fa770fb8e38021 100644 --- a/I12X/Metascenes5_Spatiallm5_RTABMAP1/views.png +++ b/I12X/Metascenes5_Spatiallm5_RTABMAP1/views.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2541f0e38606f1cb1f0add51f3537c7786c5c7904cea5a919a30559722e06cfa -size 665940 +oid sha256:9083fe5166b2548448d1ad7380a4013593fa2a6421c438430bc18d228f2bccb7 +size 743168 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/assets_license.json b/I12X/Metascenes6_Spatiallm6_RTABMAP2/assets_license.json index 982265367aebbac5953bfafbebc8af2fe8ec3864..6003b1e9ef05c6ab6f323b1f07cfa2fbfee07149 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/assets_license.json +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/assets_license.json @@ -1,22 +1,38 @@ [ { - "object": "00_curtain", - "uid": "331d57e5983e47ff8a690ef1c0c2e96a", - "name": "\u0412\u0435\u0440\u0442\u0438\u043a\u0430\u043b\u044c 490x1200x25mm", - "author": "Dikart", + "object": "00_chandelier", + "uid": "366b50081c884690bb2ce4df6dacad59", + "name": "Chandolier2", + "author": "Davor Mulalic", "license": "by", - "source": "https://sketchfab.com/3d-models/331d57e5983e47ff8a690ef1c0c2e96a" + "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59" }, { "object": "01_chandelier", - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "name": "Crystal Chandelier", - "author": "Platrium", + "uid": "c64c45bf1d804b659b37693d4284e867", + "name": "Eurosvet 10021/6 \u0445\u0440\u043e\u043c/\u043f\u0440\u043e\u0437\u0440\u0430\u0447\u043d\u044b\u0439 \u0445\u0440\u0443\u0441\u0442\u0430\u043b\u044c Strots", + "author": "Lustron.ru", + "license": "by", + "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867" + }, + { + "object": "02_curtain", + "uid": "5b9e03a46de84bd58d3894cab9f40a78", + "name": "Window", + "author": "jesseroberts", + "license": "by", + "source": "https://sketchfab.com/3d-models/5b9e03a46de84bd58d3894cab9f40a78" + }, + { + "object": "03_curtain", + "uid": "5b9e03a46de84bd58d3894cab9f40a78", + "name": "Window", + "author": "jesseroberts", "license": "by", - "source": "https://sketchfab.com/3d-models/6df3fcc1561c4a26910ea52919f66fb8" + "source": "https://sketchfab.com/3d-models/5b9e03a46de84bd58d3894cab9f40a78" }, { - "object": "02_chandelier", + "object": "04_chandelier", "uid": "c64c45bf1d804b659b37693d4284e867", "name": "Eurosvet 10021/6 \u0445\u0440\u043e\u043c/\u043f\u0440\u043e\u0437\u0440\u0430\u0447\u043d\u044b\u0439 \u0445\u0440\u0443\u0441\u0442\u0430\u043b\u044c Strots", "author": "Lustron.ru", @@ -24,11 +40,11 @@ "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867" }, { - "object": "03_cushion", - "uid": "4a29a96da559495ca9ff2c06847ebbe9", - "name": "Koristetyynyt", - "author": "rasmus3", + "object": "05_curtain", + "uid": "b0bd00b700a3451da1cb4ad9b082c3e0", + "name": "Quentin Sees Neighbor", + "author": "irons3th", "license": "by", - "source": "https://sketchfab.com/3d-models/4a29a96da559495ca9ff2c06847ebbe9" + "source": "https://sketchfab.com/3d-models/b0bd00b700a3451da1cb4ad9b082c3e0" } ] \ No newline at end of file diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/candidates.json b/I12X/Metascenes6_Spatiallm6_RTABMAP2/candidates.json index 885ef346204c0a0d08a308817122836ce598f5be..e9daaeb4b285c93ead65baa9a4768c47034df787 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/candidates.json +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/candidates.json @@ -1,416 +1,623 @@ { - "00_curtain": [ + "00_chandelier": [ { - "uid": "331d57e5983e47ff8a690ef1c0c2e96a", - "sim": 0.19771036505699158, - "chamfer": 0.08327131786751624, - "iou": 0.8854191001126117, - "score": 1.904879965930394 + "uid": "366b50081c884690bb2ce4df6dacad59", + "sim": 0.19228258728981018, + "chamfer": 0.1864123461218371, + "iou": 0.9921650841350321, + "score": 1.7126781178290418 }, { - "uid": "a83e1baf822a4442b0f50ed70d449198", - "sim": 0.2252981811761856, - "chamfer": 0.10596114268369815, - "iou": 0.31816881306353095, - "score": 1.7951773186878452 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": 0.19734643399715424, + "chamfer": 0.19830400095755396, + "iou": 0.9935701736165009, + "score": 1.2960791605374524 }, { - "uid": "7187bae2a1944e2ab5b9c91b400558f1", - "sim": 0.25443726778030396, - "chamfer": 0.15845400832111106, - "iou": 0.20755163897810502, - "score": 1.0588903682676665 + "uid": "c64c45bf1d804b659b37693d4284e867", + "sim": 0.22893661260604858, + "chamfer": 0.2202810460267638, + "iou": 0.8755527031250852, + "score": 0.9674579935489045 }, { - "uid": "deaec3c63ac64e0ba43f24b57767fd10", - "sim": 0.16632458567619324, - "chamfer": 0.12296743768896837, - "iou": 0.8426044167111184, - "score": 0.6049673321530471 + "uid": "172d8db2f07949fba8648bcb74ef064c", + "sim": 0.2531146705150604, + "chamfer": 0.2448503090514925, + "iou": 0.9987086487663145, + "score": 0.3789820186121279 }, { - "uid": "47ded0c610824037aa498c540216a833", - "sim": 0.09178826212882996, - "chamfer": 0.0910951340054042, - "iou": 0.522124952063785, - "score": 0.2612945737213981 + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": 0.2549442648887634, + "chamfer": 0.24661967675121077, + "iou": 0.9117713596792599, + "score": 0.33835735801434874 + }, + { + "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", + "sim": 0.2437235713005066, + "chamfer": 0.24403498959155293, + "iou": 0.9981717956309605, + "score": 0.22802346323613176 + }, + { + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": 0.23426179587841034, + "chamfer": 0.24651036092965245, + "iou": 0.9996540391443428, + "score": -0.06743582480687527 + }, + { + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": 0.230903759598732, + "chamfer": 0.24682794804478972, + "iou": 0.956674654928194, + "score": -0.14790329970805627 + }, + { + "uid": "c2c5b668395a4e7b8ff67ad715e13084", + "sim": 0.07348459959030151, + "chamfer": 0.18100400228979407, + "iou": 0.8896767529301891, + "score": -0.41027571238484795 + }, + { + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": 0.17423030734062195, + "chamfer": 0.22952917450646737, + "iou": 0.9616565700919074, + "score": -0.5206225760231116 + }, + { + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": 0.16752000153064728, + "chamfer": 0.23891451824288645, + "iou": 0.8999628336114127, + "score": -1.0619498171097694 + }, + { + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": 0.17163410782814026, + "chamfer": 0.24090519050219938, + "iou": 0.9898529991470657, + "score": -1.0668505049040982 + }, + { + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": 0.13837966322898865, + "chamfer": 0.23905606074992586, + "iou": 0.8997361578895142, + "score": -1.6465403768412334 + } + ], + "01_chandelier": [ + { + "uid": "c64c45bf1d804b659b37693d4284e867", + "sim": 0.22951635718345642, + "chamfer": 0.14655062566346005, + "iou": 0.8755527031250852, + "score": 2.60451748605652 + }, + { + "uid": "172d8db2f07949fba8648bcb74ef064c", + "sim": 0.22620683908462524, + "chamfer": 0.15832242804405183, + "iou": 0.9987086487663145, + "score": 1.7839950324286136 }, + { + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": 0.21865038573741913, + "chamfer": 0.15807738100290417, + "iou": 0.9996540391443428, + "score": 1.6403353925815884 + }, + { + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": 0.22872209548950195, + "chamfer": 0.16585610359157804, + "iou": 0.9117713596792599, + "score": 1.3565479742732607 + }, + { + "uid": "366b50081c884690bb2ce4df6dacad59", + "sim": 0.18923649191856384, + "chamfer": 0.15793621316363224, + "iou": 0.9921650841350321, + "score": 1.0293024695451032 + }, + { + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": 0.21810057759284973, + "chamfer": 0.16880484918544014, + "iou": 0.956674654928194, + "score": 0.9445902836634332 + }, + { + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": 0.16942819952964783, + "chamfer": 0.1602381666891441, + "iou": 0.9935701736165009, + "score": 0.46494016139236927 + }, + { + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": 0.13461020588874817, + "chamfer": 0.16993767892497044, + "iou": 0.8999628336114127, + "score": -0.8876090573666009 + }, + { + "uid": "c2c5b668395a4e7b8ff67ad715e13084", + "sim": 0.10293841361999512, + "chamfer": 0.16046525829649227, + "iou": 0.8896767529301891, + "score": -0.9511275561525929 + }, + { + "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", + "sim": 0.18132510781288147, + "chamfer": 0.18971436389648294, + "iou": 0.9981717956309605, + "score": -1.1641513834271295 + }, + { + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": 0.14829790592193604, + "chamfer": 0.18044538491421208, + "iou": 0.9616565700919074, + "score": -1.2692162102111335 + }, + { + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": 0.08330844342708588, + "chamfer": 0.17795234339948032, + "iou": 0.8997361578895142, + "score": -2.48017827281604 + }, + { + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": 0.1468079388141632, + "chamfer": 0.20821948887735828, + "iou": 0.9898529991470657, + "score": -3.0719463199673687 + } + ], + "02_curtain": [ { "uid": "5b9e03a46de84bd58d3894cab9f40a78", - "sim": 0.12964825332164764, - "chamfer": 0.11897952392558002, - "iou": 0.38032714087383357, - "score": 0.18151061993272716 + "sim": 0.35722094774246216, + "chamfer": 0.10258336033236479, + "iou": 0.3956423277546591, + "score": 2.860203834185363 + }, + { + "uid": "dbb84e2ad5684e5c994abc35773f3bf8", + "sim": 0.24466049671173096, + "chamfer": 0.08779872517562903, + "iou": 0.8604366242346023, + "score": 2.0757862908816334 }, { "uid": "b0bd00b700a3451da1cb4ad9b082c3e0", - "sim": 0.1030074954032898, - "chamfer": 0.10347810156360077, - "iou": 0.3040196738532347, - "score": 0.1480523330192044 + "sim": 0.11923699826002121, + "chamfer": 0.07148764341585678, + "iou": 0.3162620768271902, + "score": 1.1985332462670097 }, { "uid": "87f2d57d6d7e4f22b2ac2da367dd6007", - "sim": 0.09339873492717743, - "chamfer": 0.11117096015889161, - "iou": 0.5550533470028315, - "score": -0.1529165280524405 + "sim": 0.06479716300964355, + "chamfer": 0.07364401711012701, + "iou": 0.5774044884928776, + "score": 0.6368398967176149 }, { - "uid": "0c6981ec2067481cae6d87c2021f6442", - "sim": 0.16798293590545654, - "chamfer": 0.15944348052024998, - "iou": 0.045080778538792936, - "score": -0.16525339467691652 + "uid": "a83e1baf822a4442b0f50ed70d449198", + "sim": 0.11404311656951904, + "chamfer": 0.09946953569803701, + "iou": 0.330980980032532, + "score": 0.6008491748559628 }, { - "uid": "dbb84e2ad5684e5c994abc35773f3bf8", - "sim": 0.06588197499513626, - "chamfer": 0.09456474288845412, - "iou": 0.8271294000706824, - "score": -0.1745331265517921 + "uid": "b9e55f04b6dc442fb3bebbab253460e7", + "sim": 0.05676262825727463, + "chamfer": 0.09081662989282134, + "iou": 0.21633591444563252, + "score": 0.22378923030700454 }, { - "uid": "9c55dcd4b76f42d8acbec2cbfa634c3c", - "sim": 0.2604745924472809, - "chamfer": 0.21962080094834818, - "iou": 0.04462359735329439, - "score": -0.18739657387547926 + "uid": "47ded0c610824037aa498c540216a833", + "sim": 0.013658607378602028, + "chamfer": 0.08028919190339906, + "iou": 0.5431501179187026, + "score": 0.018717457380838076 + }, + { + "uid": "e5b01c717dbd4244b861168eddd67375", + "sim": 0.06310504674911499, + "chamfer": 0.10519195648926814, + "iou": 0.23883917339643218, + "score": 0.00271515645546222 }, { "uid": "641b3edcbd984497a0465dd35bfa730b", - "sim": 0.04587772116065025, - "chamfer": 0.10066270413472245, - "iou": 0.718535371842232, - "score": -0.585422491444552 + "sim": 0.002108620945364237, + "chamfer": 0.07998990587503466, + "iou": 0.747469682117757, + "score": -0.08562741885112357 }, { - "uid": "e95846329ea04757b889426b8642a604", - "sim": 0.20980103313922882, - "chamfer": 0.21727269996269563, - "iou": 0.0447664420430241, - "score": -0.8412249762591482 + "uid": "0c6981ec2067481cae6d87c2021f6442", + "sim": 0.26068833470344543, + "chamfer": 0.20722048706213883, + "iou": 0.04883772785307196, + "score": -0.11058078501308932 }, { - "uid": "caf84f961fab412e8260be1d20734b8b", - "sim": 0.20696625113487244, - "chamfer": 0.21849516768051086, - "iou": 0.04461809624867921, - "score": -0.9072447656369409 + "uid": "331d57e5983e47ff8a690ef1c0c2e96a", + "sim": -0.05997907370328903, + "chamfer": 0.06144302371095996, + "iou": 0.9210735605198287, + "score": -0.31474785961188667 }, { - "uid": "e5b01c717dbd4244b861168eddd67375", - "sim": 0.13238723576068878, - "chamfer": 0.1766788080704594, - "iou": 0.22959378603915076, - "score": -1.0352458101046054 + "uid": "7187bae2a1944e2ab5b9c91b400558f1", + "sim": 0.15022742748260498, + "chamfer": 0.16420289769524432, + "iou": 0.21590942309802863, + "score": -0.32192181308720064 }, { - "uid": "b9e55f04b6dc442fb3bebbab253460e7", - "sim": 0.020283004269003868, - "chamfer": 0.1449916797267916, - "iou": 0.20796162098322077, - "score": -1.9055348451104064 + "uid": "deaec3c63ac64e0ba43f24b57767fd10", + "sim": 0.04627738520503044, + "chamfer": 0.14080937342524624, + "iou": 0.8765347959075371, + "score": -0.855544903081477 + }, + { + "uid": "e95846329ea04757b889426b8642a604", + "sim": 0.04282824322581291, + "chamfer": 0.19056598401638702, + "iou": 0.0561552255174488, + "score": -1.863116582947914 + }, + { + "uid": "9c55dcd4b76f42d8acbec2cbfa634c3c", + "sim": 0.05997239798307419, + "chamfer": 0.20084361169760379, + "iou": 0.046398275612273776, + "score": -1.9008547854657034 + }, + { + "uid": "caf84f961fab412e8260be1d20734b8b", + "sim": 0.029616523534059525, + "chamfer": 0.19954367976551957, + "iou": 0.04639232827868375, + "score": -2.1650401389924925 } ], - "01_chandelier": [ + "03_curtain": [ { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.2458345890045166, - "chamfer": 0.17162640344150937, - "iou": 0.6039825392217317, - "score": 2.192576308510456 + "uid": "5b9e03a46de84bd58d3894cab9f40a78", + "sim": 0.359444260597229, + "chamfer": 0.10432912440694446, + "iou": 0.39564232775465874, + "score": 3.17480004126035 }, { - "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.2137906849384308, - "chamfer": 0.15906978754513917, - "iou": 0.6895913664027634, - "score": 2.1556077866300196 + "uid": "dbb84e2ad5684e5c994abc35773f3bf8", + "sim": 0.2065444141626358, + "chamfer": 0.08237719050637052, + "iou": 0.8604366242346004, + "score": 2.2477217173902253 }, { - "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.2336340695619583, - "chamfer": 0.16980639980176926, - "iou": 0.6045542768168578, - "score": 2.0599194776014587 + "uid": "b0bd00b700a3451da1cb4ad9b082c3e0", + "sim": 0.0859391987323761, + "chamfer": 0.08292234496813766, + "iou": 0.3162620768271902, + "score": 1.1872461494974278 }, { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.26901406049728394, - "chamfer": 0.20171358425781558, - "iou": 0.6311169442980366, - "score": 1.3781073132424786 + "uid": "a83e1baf822a4442b0f50ed70d449198", + "sim": 0.11777545511722565, + "chamfer": 0.10306532865299411, + "iou": 0.330980980032532, + "score": 1.0932480419920587 }, { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.2913241386413574, - "chamfer": 0.22042227987691204, - "iou": 0.6621984541366313, - "score": 1.004696620048711 + "uid": "331d57e5983e47ff8a690ef1c0c2e96a", + "sim": -0.017784632742404938, + "chamfer": 0.06491993751634084, + "iou": 0.9210735605198287, + "score": 0.615674262997463 }, { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": 0.10535787045955658, - "chamfer": 0.17144529728014665, - "iou": 0.6786437691185094, - "score": -0.166843304115609 + "uid": "47ded0c610824037aa498c540216a833", + "sim": 0.0011407965794205666, + "chamfer": 0.08237922230467476, + "iou": 0.5431501179187033, + "score": 0.45869416065879665 }, { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.2144756019115448, - "chamfer": 0.2186319306507574, - "iou": 0.6076808673794846, - "score": -0.21830135342943902 + "uid": "0c6981ec2067481cae6d87c2021f6442", + "sim": 0.15775635838508606, + "chamfer": 0.1738725421857514, + "iou": 0.04883772785307196, + "score": 0.13633181636542313 }, { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.1820513755083084, - "chamfer": 0.2097471304520769, - "iou": 0.670887243735177, - "score": -0.40873258979363725 + "uid": "641b3edcbd984497a0465dd35bfa730b", + "sim": -0.026907600462436676, + "chamfer": 0.09005676902033177, + "iou": 0.747469682117757, + "score": 0.07288857180283526 }, { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.19720831513404846, - "chamfer": 0.2197815234292363, - "iou": 0.5895801369954894, - "score": -0.5552517941074426 + "uid": "87f2d57d6d7e4f22b2ac2da367dd6007", + "sim": -0.03848643600940704, + "chamfer": 0.08760746827895485, + "iou": 0.5774044884928776, + "score": 0.017187252170105305 }, { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.14999651908874512, - "chamfer": 0.20997834550512356, - "iou": 0.608541456013874, - "score": -0.9580349121411547 + "uid": "7187bae2a1944e2ab5b9c91b400558f1", + "sim": 0.15003561973571777, + "chamfer": 0.17724444855266946, + "iou": 0.21590942309802863, + "score": 0.006935245639339005 }, { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.15530456602573395, - "chamfer": 0.23082363544944548, - "iou": 0.6048794281188893, - "score": -1.7034563226481212 + "uid": "deaec3c63ac64e0ba43f24b57767fd10", + "sim": 0.0299239382147789, + "chamfer": 0.12874150605421328, + "iou": 0.8765347959075371, + "score": -0.14517576203720822 }, { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.11074560880661011, - "chamfer": 0.22227158982716003, - "iou": 0.6710562642296329, - "score": -2.1116534229968447 + "uid": "b9e55f04b6dc442fb3bebbab253460e7", + "sim": 0.03630642592906952, + "chamfer": 0.1346424276029703, + "iou": 0.21633591444563252, + "score": -0.19835381113118603 }, { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.10788173973560333, - "chamfer": 0.23497408300479572, - "iou": 0.6099628787566626, - "score": -2.6686338068008952 + "uid": "e5b01c717dbd4244b861168eddd67375", + "sim": 0.03195388615131378, + "chamfer": 0.14220853513149911, + "iou": 0.23883917339643218, + "score": -0.3757231085776325 + }, + { + "uid": "e95846329ea04757b889426b8642a604", + "sim": -0.047908637672662735, + "chamfer": 0.2243944703426622, + "iou": 0.04655272774758728, + "score": -2.5861668646997233 + }, + { + "uid": "9c55dcd4b76f42d8acbec2cbfa634c3c", + "sim": -0.05816134065389633, + "chamfer": 0.22614291123086555, + "iou": 0.046398275612273776, + "score": -2.7076918176795264 + }, + { + "uid": "caf84f961fab412e8260be1d20734b8b", + "sim": -0.09413022547960281, + "chamfer": 0.22487601633164173, + "iou": 0.04639232827868375, + "score": -2.997615895648751 } ], - "02_chandelier": [ + "04_chandelier": [ { "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.23288077116012573, - "chamfer": 0.1363261868225061, - "iou": 0.8755527031250849, - "score": 3.1929666724638714 + "sim": 0.2335265725851059, + "chamfer": 0.13124340415549673, + "iou": 0.9707214752038984, + "score": 2.9072324354216965 }, { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.20096328854560852, - "chamfer": 0.14723478542002538, - "iou": 0.9996540391443428, - "score": 1.776184100586556 + "uid": "366b50081c884690bb2ce4df6dacad59", + "sim": 0.28173375129699707, + "chamfer": 0.1688466521045958, + "iou": 0.8955819199053867, + "score": 2.148662635448691 }, { "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.19255217909812927, - "chamfer": 0.1462017336796353, - "iou": 0.9987086487663145, - "score": 1.6709197420542017 + "sim": 0.20263327658176422, + "chamfer": 0.13929011776739936, + "iou": 0.9009100941187819, + "score": 1.8993010106548274 }, { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.22231896221637726, - "chamfer": 0.15916415882412696, - "iou": 0.9566746549281937, - "score": 1.4049688774008746 + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": 0.17573575675487518, + "chamfer": 0.14168004951631324, + "iou": 0.9022729354305038, + "score": 1.236285690835719 }, { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.14498233795166016, - "chamfer": 0.15571290883202196, - "iou": 0.8999628336114126, - "score": 0.022231157328962636 + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": 0.21773166954517365, + "chamfer": 0.17817691930327184, + "iou": 0.942808278307974, + "score": 0.4016853943319505 }, { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": 0.10214432328939438, - "chamfer": 0.14290666346050762, - "iou": 0.889676752930189, - "score": 0.0037411538333989025 + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": 0.19770494103431702, + "chamfer": 0.16989873639075304, + "iou": 0.9977848807430879, + "score": 0.37550440622968917 }, { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.17954936623573303, - "chamfer": 0.16806218192712474, - "iou": 0.9921650841350325, - "score": -0.10113137297619107 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": 0.19011056423187256, + "chamfer": 0.181046677016849, + "iou": 0.9077977663426368, + "score": -0.2984797735412695 }, { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.18370932340621948, - "chamfer": 0.17409325300718193, - "iou": 0.9117713596792598, - "score": -0.4277849369105484 + "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", + "sim": 0.1838046908378601, + "chamfer": 0.18396218732017733, + "iou": 0.9036127731334883, + "score": -0.5633862611993231 }, { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.15336978435516357, - "chamfer": 0.168965887028166, - "iou": 0.9935701736165009, - "score": -0.7113602699518143 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": 0.17792749404907227, + "chamfer": 0.18540076420676158, + "iou": 0.9379240077645631, + "score": -0.750849503788804 }, { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.12654878199100494, - "chamfer": 0.1613211499373107, - "iou": 0.9981717956309606, - "score": -0.7485468071476958 + "uid": "c2c5b668395a4e7b8ff67ad715e13084", + "sim": 0.10544896870851517, + "chamfer": 0.15489999527034606, + "iou": 0.9863807478139051, + "score": -0.8204423750263092 }, { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.15993927419185638, - "chamfer": 0.17217707706045887, - "iou": 0.9616565700919076, - "score": -0.7940948086556064 + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": 0.15023298561573029, + "chamfer": 0.18974626646466725, + "iou": 0.9892400926379333, + "score": -1.5211125023185619 }, { "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.0628061518073082, - "chamfer": 0.16079855791979833, - "iou": 0.899736157889514, - "score": -2.047534808981515 + "sim": 0.10478988289833069, + "chamfer": 0.18334962482868564, + "iou": 0.9975335663557656, + "score": -2.15628628752923 }, { "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.10909488797187805, - "chamfer": 0.19231710010070296, - "iou": 0.9898529991470656, - "score": -3.2405586990445157 + "sim": 0.12367767095565796, + "chamfer": 0.20678806860725435, + "iou": 0.8936976414591327, + "score": -2.8581148695190794 } ], - "03_cushion": [ + "05_curtain": [ { - "uid": "4a29a96da559495ca9ff2c06847ebbe9", - "sim": 0.08118731528520584, - "chamfer": 0.10124678350036333, - "iou": 0.2641411501624335, - "score": 2.7784727776168454 + "uid": "b0bd00b700a3451da1cb4ad9b082c3e0", + "sim": 0.23085758090019226, + "chamfer": 0.10112974980679287, + "iou": 0.31626207682719054, + "score": 1.8083223335394518 }, { - "uid": "0b0bd9f8dce44391a7093b5efc1015a6", - "sim": 0.10116687417030334, - "chamfer": 0.11622364637972801, - "iou": 0.1383483399521895, - "score": 1.81512309110221 + "uid": "a83e1baf822a4442b0f50ed70d449198", + "sim": 0.24217067658901215, + "chamfer": 0.14135007503634564, + "iou": 0.330980980032532, + "score": 1.2659763151175973 }, { - "uid": "1ae3077f108d4775afab873f99b2c44b", - "sim": 0.056470341980457306, - "chamfer": 0.11038657847391861, - "iou": 0.2604667575875323, - "score": 1.5891118704746865 + "uid": "5b9e03a46de84bd58d3894cab9f40a78", + "sim": 0.18978933990001678, + "chamfer": 0.10145626817233117, + "iou": 0.39564232775465874, + "score": 1.1785422856657801 }, { - "uid": "7d52600a15c747749d845d9f906045cf", - "sim": 0.08798077702522278, - "chamfer": 0.1170735317528904, - "iou": 0.19329704389182856, - "score": 1.527105400266162 + "uid": "7187bae2a1944e2ab5b9c91b400558f1", + "sim": 0.23596154153347015, + "chamfer": 0.17283951540297837, + "iou": 0.21590942309802863, + "score": 0.6124449393086494 }, { - "uid": "9e736e5bcee4442da616095015b96ee1", - "sim": 0.01584187150001526, - "chamfer": 0.11347971157644789, - "iou": 0.26468364386710236, - "score": 0.6608472331753578 + "uid": "0c6981ec2067481cae6d87c2021f6442", + "sim": 0.2499774694442749, + "chamfer": 0.19278942944871458, + "iou": 0.04689274551802797, + "score": 0.47112819374771553 }, { - "uid": "99602f01eb004a488ddfbd14b91f4cbf", - "sim": 0.02757551521062851, - "chamfer": 0.11584289278941626, - "iou": 0.16831182869742606, - "score": 0.6486755449616393 + "uid": "87f2d57d6d7e4f22b2ac2da367dd6007", + "sim": 0.12241408228874207, + "chamfer": 0.09349147195881458, + "iou": 0.5774044884928776, + "score": 0.29629688577604485 }, { - "uid": "b4b640a1b01d41098241c51fb5798d14", - "sim": 0.01968466117978096, - "chamfer": 0.11746223933832312, - "iou": 0.1511650320705902, - "score": 0.38072619412975073 + "uid": "331d57e5983e47ff8a690ef1c0c2e96a", + "sim": 0.1026957780122757, + "chamfer": 0.07724587147030719, + "iou": 0.9210735605198287, + "score": 0.2851915960028638 }, { - "uid": "ba1e726735424b4d88f3e210826b9aaa", - "sim": -0.0009461808949708939, - "chamfer": 0.11412763854508057, - "iou": 0.22357471630462988, - "score": 0.3315143110898269 + "uid": "dbb84e2ad5684e5c994abc35773f3bf8", + "sim": 0.10014677792787552, + "chamfer": 0.08557034350497468, + "iou": 0.8604366242346023, + "score": 0.09863623805233568 }, { - "uid": "be5feef0db774c0d8db615190bfd649b", - "sim": 0.015388092957437038, - "chamfer": 0.11744065432877657, - "iou": 0.2505799687444651, - "score": 0.3125686507676597 + "uid": "47ded0c610824037aa498c540216a833", + "sim": 0.09561119973659515, + "chamfer": 0.08266253020842079, + "iou": 0.5431501179187026, + "score": 0.0813607754256277 }, { - "uid": "959761b5ca964169a48593a54cc45f26", - "sim": -0.038477085530757904, - "chamfer": 0.11355142954054342, - "iou": 0.29585174969677763, - "score": -0.23048516892708737 + "uid": "e5b01c717dbd4244b861168eddd67375", + "sim": 0.17925244569778442, + "chamfer": 0.16282340871222598, + "iou": 0.23883917339643218, + "score": -0.07131389074780076 }, { - "uid": "8086d117922c4fbd8eb66f20111a63d3", - "sim": 0.009104200638830662, - "chamfer": 0.1285848197993547, - "iou": 0.16081230073507094, - "score": -0.7489128360096189 + "uid": "deaec3c63ac64e0ba43f24b57767fd10", + "sim": 0.14153407514095306, + "chamfer": 0.13119748913952825, + "iou": 0.8765347959075371, + "score": -0.08278365769754259 }, { - "uid": "8fca912e2c96495e9ea669257fceb51f", - "sim": -0.07833411544561386, - "chamfer": 0.1131344733239563, - "iou": 0.2149264606010198, - "score": -0.844095773440887 + "uid": "9c55dcd4b76f42d8acbec2cbfa634c3c", + "sim": 0.21008822321891785, + "chamfer": 0.2376528176217853, + "iou": 0.046398275612273776, + "score": -0.9316265758213998 }, { - "uid": "46e6d32e39f7406484da6f47b5bbac80", - "sim": -0.05068657174706459, - "chamfer": 0.12232238372941973, - "iou": 0.11755842321342157, - "score": -1.1842860818412018 + "uid": "641b3edcbd984497a0465dd35bfa730b", + "sim": 0.030342966318130493, + "chamfer": 0.09621669052053618, + "iou": 0.747469682117757, + "score": -1.1510057436780614 }, { - "uid": "2b59042166864c929c4d7134f5cad444", - "sim": 0.06494266539812088, - "chamfer": 0.14824882211047935, - "iou": 0.106227251007691, - "score": -1.5313013984373656 + "uid": "caf84f961fab412e8260be1d20734b8b", + "sim": 0.19106055796146393, + "chamfer": 0.23591413810909828, + "iou": 0.04639232827868375, + "score": -1.189853125292624 }, { - "uid": "90d0c49db71a48ceb3b37c30ca55cdbd", - "sim": 0.0016478281468153, - "chamfer": 0.1397412488106735, - "iou": 0.1062094530961659, - "score": -1.8305560129543983 + "uid": "b9e55f04b6dc442fb3bebbab253460e7", + "sim": 0.06717167794704437, + "chamfer": 0.1371610405418739, + "iou": 0.21633591444563252, + "score": -1.3185304407512972 }, { - "uid": "00d835ea93204b64bd3acbc80945eb12", - "sim": -0.13540001213550568, - "chamfer": 0.1352174321677992, - "iou": 0.10608223826433803, - "score": -3.6745078019735975 + "uid": "e95846329ea04757b889426b8642a604", + "sim": 0.1876005083322525, + "chamfer": 0.24212888346630657, + "iou": 0.04655272774758728, + "score": -1.3527861286473373 } ] } \ No newline at end of file diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_chandelier.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_chandelier.glb new file mode 100644 index 0000000000000000000000000000000000000000..5b90abc49c9edce021cc637d81b2b8f408e84beb --- /dev/null +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_chandelier.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:201c2196714f910a931ace6eb4f24107c05200c6fa45b5a95954acc8576a4afa +size 1032836 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_curtain.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_curtain.glb deleted file mode 100644 index 85e7d63799c1618345e915f1e11eb6dbb22231a3..0000000000000000000000000000000000000000 Binary files a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/00_curtain.glb and /dev/null differ diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/01_chandelier.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/01_chandelier.glb index 835c1810b30b4d1d0e907dd5664fa7cf6985ddb8..b51860b4a1ce6fcad5e4ef75cb8e11f992762564 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/01_chandelier.glb +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/01_chandelier.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7650cb724e0c2986e53abe3d4b98ba643841848dabaf8666e2578fa63c49856a -size 2593804 +oid sha256:156fb4c902f45fcecf7aa4caa371c7b016909f78321af8cbe1f86729ea13758c +size 12780644 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_chandelier.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_chandelier.glb deleted file mode 100644 index f8d8fc7eaed95b7c9d53731e9f0673bf5daafc50..0000000000000000000000000000000000000000 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_chandelier.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:b8297902d3b9f9d6d6f4d26da956abafcf96f33a0d714f507e9ce499597a01bd -size 12780640 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_curtain.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_curtain.glb new file mode 100644 index 0000000000000000000000000000000000000000..ee4f66908acaa27f2c64692011399033fd5062b8 --- /dev/null +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/02_curtain.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:500284088202dd4e55cfddf889dbbaf7406549c9741c635579fd914a40601229 +size 7866656 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_curtain.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_curtain.glb new file mode 100644 index 0000000000000000000000000000000000000000..353d0b575daf8953ce7a9337c4fa714888d7e816 --- /dev/null +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_curtain.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48ca2d676f0499f41a8ddbe6b4d86fd1c8b00c67a9e0be628fffb248f4ac43f8 +size 7866656 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_cushion.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_cushion.glb deleted file mode 100644 index f65e2985bd6ec953ea13fa45497924804fe34dfc..0000000000000000000000000000000000000000 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/03_cushion.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:39b0cc472449390475eb65c7fa369ae4cd99fe9ee66feefa9ee84709d0826289 -size 880860 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/04_chandelier.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/04_chandelier.glb new file mode 100644 index 0000000000000000000000000000000000000000..778d917f88244657cdacd0dd9115d74761d9778b --- /dev/null +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/04_chandelier.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2cdec830ea010f98f2e46bd78bf91f694af03638a202b70946397fd99e7c8d5f +size 12780640 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/05_curtain.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/05_curtain.glb new file mode 100644 index 0000000000000000000000000000000000000000..fd7fd7a3b04c175c882f91b4e9fde75ea395c535 --- /dev/null +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/objects/05_curtain.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f648b836f66d0f1c1a006ee4d521ae57b0f0132bac97635526426f4a2b92589b +size 8681240 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.json b/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.json index 3c376bcc30a4a53c3636f110ec84bd8d71665f65..c0ceec3c9d47812a1cbc1a6854c27f7a693ea94b 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.json +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.json @@ -1,12 +1,12 @@ { - "loss_250": 0.0280250609942824, - "loss_150": 5.088785127135944e-06, + "loss_250": 0.0, + "loss_150": 0.0, "mcmc_steps": 50, "seconds": 0.1, "blender": "4.3.0", "objects": [ { - "name": "00_curtain", + "name": "00_chandelier", "hanging": true, "mcmc_move": 0.0, "sim_move": 0.0, @@ -72,7 +72,7 @@ ] }, { - "name": "02_chandelier", + "name": "02_curtain", "hanging": true, "mcmc_move": 0.0, "sim_move": 0.0, @@ -105,29 +105,95 @@ ] }, { - "name": "03_cushion", - "hanging": false, + "name": "03_curtain", + "hanging": true, + "mcmc_move": 0.0, + "sim_move": 0.0, + "sim_rot_deg": 0.0, + "delta": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + { + "name": "04_chandelier", + "hanging": true, + "mcmc_move": 0.0, + "sim_move": 0.0, + "sim_rot_deg": 0.0, + "delta": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + { + "name": "05_curtain", + "hanging": true, "mcmc_move": 0.0, - "sim_move": 0.21342767031282894, - "sim_rot_deg": 1.5705976140964064, + "sim_move": 0.0, + "sim_rot_deg": 0.0, "delta": [ [ - 0.9996243119239807, - -3.432687378790433e-08, - -0.027399327605962753, - 0.006789848561501444 + 1.0, + 0.0, + 0.0, + 0.0 ], [ - -9.238409859335661e-08, + 0.0, 1.0, - -4.623335371434223e-06, - 3.382824246916938e-06 + 0.0, + 0.0 ], [ - 0.027399327605962753, - 4.624131634045625e-06, - 0.9996243119239807, - -0.11656735315686684 + 0.0, + 0.0, + 1.0, + 0.0 ], [ 0.0, diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.log b/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.log index fe263ae03f11020ef292626b5526a7f3705c13d8..5107f2643c23764aeabe2c8a99942f01d7754313 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.log +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/physics.log @@ -2,8 +2,10 @@ === End simulate === === Begin simulate === === End simulate === -00_curtain mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) +00_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) 01_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -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 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/placements.json b/I12X/Metascenes6_Spatiallm6_RTABMAP2/placements.json index 810836dcf679c858c39f04f5df62aba2463b641d..7833ba6d6913c943a65d28000844d6605e4db346 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/placements.json +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/placements.json @@ -5,53 +5,53 @@ "n_cand": 16, "w_sem": 1.0, "seed": 0, - "boxes_raw": 7, - "boxes": 4, + "boxes_raw": 6, + "boxes": 6, "objects": [ { - "name": "00_curtain", + "name": "00_chandelier", "box": "bbox_0", - "label": "curtain", + "label": "chandelier", "lvis": [ - "curtain" + "chandelier" ], - "uid": "331d57e5983e47ff8a690ef1c0c2e96a", - "url": "https://objaverse.allenai.org/explore/?query=331d57e5983e47ff8a690ef1c0c2e96a", - "scan_points": 8203, - "sim": 0.19771036505699158, - "chamfer": 0.08327131786751624, - "iou": 0.8854191001126117, + "uid": "366b50081c884690bb2ce4df6dacad59", + "url": "https://objaverse.allenai.org/explore/?query=366b50081c884690bb2ce4df6dacad59", + "scan_points": 14150, + "sim": 0.19228258728981018, + "chamfer": 0.1864123461218371, + "iou": 0.9921650841350321, "hanging": true, "flat": false, "box_center": [ - -2.0899100805471162, - -2.3079276548750434, - 1.450637878497091 + -1.2213761374473746, + -1.139286661969845, + 2.3000572140468925 ], "box_size": [ - 2.421875, - 0.109375, - 2.109375 + 1.46875, + 1.46875, + 0.859375 ], "box_angle": -3.1416, "transform": [ [ - -0.0049426023485120395, - -3.631038434146924e-08, + 1.9182356921695507, + 1.4092146268317604e-05, 0.0, - -2.0995172823731023 + -1.2248560620891158 ], [ - 3.631038434146924e-08, - -0.0049426023485120395, + -1.4092146268317604e-05, + 1.9182356921695507, 0.0, - -2.290861755493556 + -1.1406031511546344 ], [ 0.0, 0.0, - 0.001757812339768735, - 1.457801308527633 + 1.1202433540591596, + 2.0575037678316144 ], [ 0.0, @@ -68,43 +68,43 @@ "lvis": [ "chandelier" ], - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "url": "https://objaverse.allenai.org/explore/?query=6df3fcc1561c4a26910ea52919f66fb8", - "scan_points": 34527, - "sim": 0.2458345890045166, - "chamfer": 0.17162640344150937, - "iou": 0.6039825392217317, + "uid": "c64c45bf1d804b659b37693d4284e867", + "url": "https://objaverse.allenai.org/explore/?query=c64c45bf1d804b659b37693d4284e867", + "scan_points": 21717, + "sim": 0.22951635718345642, + "chamfer": 0.14655062566346005, + "iou": 0.8755527031250852, "hanging": true, "flat": false, "box_center": [ - -2.2149100805471162, - -0.9829276548750436, - 2.175637878497091 + -1.2213761374473746, + 0.36071333803015504, + 2.3000572140468925 ], "box_size": [ - 1.65625, - 1.0, - 1.0625 + 1.46875, + 1.46875, + 0.859375 ], "box_angle": -3.1416, "transform": [ [ - 0.08283368027322133, - 6.0853019423961e-07, + -0.016211774159761803, + -1.1909834315828873e-07, 0.0, - -2.2138852470010977 + -1.2189325392901402 ], [ - -6.0853019423961e-07, - 0.08283368027322133, + 1.1909834315828873e-07, + -0.016211774159761803, 0.0, - -0.9821341988453456 + 0.3618223081586915 ], [ 0.0, 0.0, - 0.06434784415925937, - 1.7980925229883702 + 0.015012913846999949, + 2.729964594279771 ], [ 0.0, @@ -115,49 +115,155 @@ ] }, { - "name": "02_chandelier", + "name": "02_curtain", "box": "bbox_2", + "label": "curtain", + "lvis": [ + "curtain" + ], + "uid": "5b9e03a46de84bd58d3894cab9f40a78", + "url": "https://objaverse.allenai.org/explore/?query=5b9e03a46de84bd58d3894cab9f40a78", + "scan_points": 22552, + "sim": 0.35722094774246216, + "chamfer": 0.10258336033236479, + "iou": 0.3956423277546591, + "hanging": true, + "flat": false, + "box_center": [ + -4.246376137447375, + 0.36071333803015504, + 1.5250572140468923 + ], + "box_size": [ + 2.328125, + 0.109375, + 2.3125 + ], + "box_angle": -1.5708000000000002, + "transform": [ + [ + 0.04237991722435948, + 1.5567012824097805e-07, + 0.0, + -5.233344420556996 + ], + [ + -1.5567012824097805e-07, + 0.04237991722435948, + 0.0, + 0.6858469053224627 + ], + [ + 0.0, + 0.0, + 0.033534614360767816, + -0.0837953763963657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + { + "name": "03_curtain", + "box": "bbox_3", + "label": "curtain", + "lvis": [ + "curtain" + ], + "uid": "5b9e03a46de84bd58d3894cab9f40a78", + "url": "https://objaverse.allenai.org/explore/?query=5b9e03a46de84bd58d3894cab9f40a78", + "scan_points": 5103, + "sim": 0.359444260597229, + "chamfer": 0.10432912440694446, + "iou": 0.39564232775465874, + "hanging": true, + "flat": false, + "box_center": [ + -4.246376137447375, + 3.885713338030155, + 1.5250572140468923 + ], + "box_size": [ + 2.328125, + 0.109375, + 2.3125 + ], + "box_angle": -1.5708000000000002, + "transform": [ + [ + -0.04237991722435948, + -1.5567012824616808e-07, + 0.0, + -3.259407854337754 + ], + [ + 1.5567012824616808e-07, + -0.04237991722435948, + 0.0, + 3.560579770737847 + ], + [ + 0.0, + 0.0, + 0.033534614360767816, + -0.0837953763963657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + { + "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, 0.0, - -1.0664958197768108 + -2.2450503554684493 ], [ - -7.728722268911404e-08, - 0.010520406635590106, + 6.461718618162474e-08, + -0.008795749810083532, 0.0, - 0.31635269429686386 + 6.811315013312659 ], [ 0.0, 0.0, - 0.018561420756290845, - 2.707159730421377 + 0.030571751833890805, + 2.925504970157481 ], [ 0.0, @@ -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": [ - -3.5649100805471163, - 0.34207234512495654, - 0.3006378784970909 + -2.2463761374473745, + 7.185713338030155, + 1.5250572140468923 ], "box_size": [ - 5.0, - 0.53125, - 0.109375 + 2.328125, + 0.109375, + 2.3125 ], - "box_angle": -1.5708000000000002, + "box_angle": -3.1416, "transform": [ [ - 1.2443750462778955e-05, - -3.387709129062978, + -0.8470042180166336, + -6.222440432475479e-06, 0.0, - -3.2986511117306287 + -2.1977894601626247 ], [ - 3.387709129062978, - 1.2443750462778955e-05, + 6.222440432475479e-06, + -0.8470042180166336, 0.0, - 0.38554713591413636 + 7.146474637713845 ], [ 0.0, 0.0, - 0.2199557347885404, - 0.24592845983534284 + 0.5205124317838444, + 0.3687236695849161 ], [ 0.0, @@ -221,5 +327,5 @@ ] } ], - "seconds": 22.9 + "seconds": 23.8 } \ No newline at end of file diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/retrieval.log b/I12X/Metascenes6_Spatiallm6_RTABMAP2/retrieval.log index aa63740d61b947980ea86e05ba08b2c17eb0e35e..ac105b3a5e5b7bc1956784dc82965fabf14d176c 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/retrieval.log +++ b/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 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_fixed.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_fixed.glb index 243efd027f9fb6f4447f5e0ebe1247dedfdd95e6..fb1d9717308a05d2ef07a0c62d1f0e69f2cb8e68 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_fixed.glb +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_fixed.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:02c976bc462540ede936fb22255b4c380359d7d9cd477d8db2b62206c51305ec -size 12108636 +oid sha256:0073e002f52e413d475d4bf98743da12e0d47b2321bb7cf32c6677b58409041b +size 25775192 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_physics.glb b/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_physics.glb index ac568e0b9892b3217a4701ed8caca1cb4b674643..e1a57e27f48dc96489d77c013c9a720218e3f26c 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/scene_physics.glb +++ b/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 diff --git a/I12X/Metascenes6_Spatiallm6_RTABMAP2/views.png b/I12X/Metascenes6_Spatiallm6_RTABMAP2/views.png index 898c9a1aef6a9c989f87c5862bba7faf95e577ed..5b6805dd890e678e39329381638876b4bcb13cee 100644 --- a/I12X/Metascenes6_Spatiallm6_RTABMAP2/views.png +++ b/I12X/Metascenes6_Spatiallm6_RTABMAP2/views.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c67f39c76f581823790a814ffc49e2619a5a75967d160373adb6bc8fdd66152 -size 927461 +oid sha256:3970b35320657453698298292575f2386d98783a0a9904e52f623cbfc56596b1 +size 800782 diff --git a/I12X/Spatiallm5_RTABMAP1/layout.txt b/I12X/Spatiallm5_RTABMAP1/layout.txt index 8faee650d220cdccacff8f3c90188d4328c50159..569ae464e235b35ef7fa1ec005ef3a3e968f6ba3 100644 --- a/I12X/Spatiallm5_RTABMAP1/layout.txt +++ b/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) \ No newline at end of file +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) \ No newline at end of file diff --git a/I12X/Spatiallm5_RTABMAP1/pipeline.log b/I12X/Spatiallm5_RTABMAP1/pipeline.log index 9b6fcf2d4be5cb2729203227c7521a00252d0fd6..b74c8bb18fe5df2c2672a8a79aadfa0f6c124d84 100644 --- a/I12X/Spatiallm5_RTABMAP1/pipeline.log +++ b/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 /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 diff --git a/I12X/Spatiallm5_RTABMAP1/room.glb b/I12X/Spatiallm5_RTABMAP1/room.glb index e549e29009eea43ca88608b22bf0787aeaab23e8..946a4f7d2e68de106e35a3558afb903ea9f626cc 100644 Binary files a/I12X/Spatiallm5_RTABMAP1/room.glb and b/I12X/Spatiallm5_RTABMAP1/room.glb differ diff --git a/I12X/Spatiallm5_RTABMAP1/room_with_scan.glb b/I12X/Spatiallm5_RTABMAP1/room_with_scan.glb index ae6503f210393d28996e9e1e4741fff8e889d522..d9f4942f768ac6aa1f32b616900f64865dc23d02 100644 --- a/I12X/Spatiallm5_RTABMAP1/room_with_scan.glb +++ b/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 diff --git a/I12X/Spatiallm5_RTABMAP1/room_with_scan_preview.glb b/I12X/Spatiallm5_RTABMAP1/room_with_scan_preview.glb index 117204c31ccf45fd8d399e8452e9c252739a4bdf..d52d4327d4844d333d7f8bbc27ebb2541972c7f1 100644 --- a/I12X/Spatiallm5_RTABMAP1/room_with_scan_preview.glb +++ b/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 diff --git a/I12X/Spatiallm5_RTABMAP1/seeds.png b/I12X/Spatiallm5_RTABMAP1/seeds.png index 37a8750f3792ecb8411c69bd5184bbd7be54a05d..c856d289275e2c1f8171c6aad356ac1528400208 100644 --- a/I12X/Spatiallm5_RTABMAP1/seeds.png +++ b/I12X/Spatiallm5_RTABMAP1/seeds.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:09db4382fe3a44dc924d7ea7817a718a1c8deb028cef3f0127dc0624b4491b37 -size 442368 +oid sha256:16f1cdddc92f97f0e1f6a39a3e555435d6682e4de0c322805375dad815474bf2 +size 288832 diff --git a/I12X/Spatiallm5_RTABMAP1/summary.json b/I12X/Spatiallm5_RTABMAP1/summary.json index 076b63cface2de8caa174e0dc56dff3187d36c7e..4dfdc1149eae1005ee6df4b1af219a2e170c8a77 100644 --- a/I12X/Spatiallm5_RTABMAP1/summary.json +++ b/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 } \ No newline at end of file diff --git a/I12X/Spatiallm6_RTABMAP2/layout.txt b/I12X/Spatiallm6_RTABMAP2/layout.txt index 433eb85782cbef71822d3ca70eed5c9083e7a0f2..5f8c16082f1355721d6f73222cb51e48dd616848 100644 --- a/I12X/Spatiallm6_RTABMAP2/layout.txt +++ b/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) \ No newline at end of file +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) \ No newline at end of file diff --git a/I12X/Spatiallm6_RTABMAP2/pipeline.log b/I12X/Spatiallm6_RTABMAP2/pipeline.log index 78b38d5d02d9c67a7abf1e98544a7e5ce7d8d441..baa15ee7d7ce2d232553fee3b1da6bb6254f85cd 100644 --- a/I12X/Spatiallm6_RTABMAP2/pipeline.log +++ b/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 /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 diff --git a/I12X/Spatiallm6_RTABMAP2/room.glb b/I12X/Spatiallm6_RTABMAP2/room.glb index c1629e937dcc993ac0fd55646de41b2551f24570..384e112746cbd5c1779c777d1a9489616ca99a1c 100644 Binary files a/I12X/Spatiallm6_RTABMAP2/room.glb and b/I12X/Spatiallm6_RTABMAP2/room.glb differ diff --git a/I12X/Spatiallm6_RTABMAP2/room_with_scan.glb b/I12X/Spatiallm6_RTABMAP2/room_with_scan.glb index 3c8cfc7f9d975bd0fd6d050beacc5479305318e9..ce9eb283b0bb064c12f8ebb1ad140fd74aa670fc 100644 --- a/I12X/Spatiallm6_RTABMAP2/room_with_scan.glb +++ b/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 diff --git a/I12X/Spatiallm6_RTABMAP2/room_with_scan_preview.glb b/I12X/Spatiallm6_RTABMAP2/room_with_scan_preview.glb index db0092e37a81c9b44504a1fde1654dafd0f01ba2..a9af1ee3b2f2054082bfd71c26b2d9f68852fa40 100644 --- a/I12X/Spatiallm6_RTABMAP2/room_with_scan_preview.glb +++ b/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 diff --git a/I12X/Spatiallm6_RTABMAP2/seeds.png b/I12X/Spatiallm6_RTABMAP2/seeds.png index 3e456a93f45ab32da41b32a0bc564ccb59151fbc..56022032d6be70e0a8d1ca24337befff499bef1b 100644 --- a/I12X/Spatiallm6_RTABMAP2/seeds.png +++ b/I12X/Spatiallm6_RTABMAP2/seeds.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:db300abbb63eee2e4d122fad25e0e7354f7c3dfc8c6e5535049d406a1f918c3d -size 310225 +oid sha256:5163617d673d97c18ce28949530fac5c7b8eddf691c7fa9ebec4b9c50694babb +size 325710 diff --git a/I12X/Spatiallm6_RTABMAP2/summary.json b/I12X/Spatiallm6_RTABMAP2/summary.json index f23948d674f8adefa1e395bed85c559dd6ca987c..14b992c6cd69b8948638f8c696ce2565a3b7ff1d 100644 --- a/I12X/Spatiallm6_RTABMAP2/summary.json +++ b/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 } \ No newline at end of file diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/assets_license.json b/I64/Metascenes1_Spatiallm1_RTABMAP1/assets_license.json index 2f579c5acb155f1bf4ed25e41fbba458949fcd90..3f79e35fe12a2a35cd0bf9a6542947e20504009c 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/assets_license.json +++ b/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" } ] \ No newline at end of file diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/candidates.json b/I64/Metascenes1_Spatiallm1_RTABMAP1/candidates.json index 6d7caf75e1c88038d539f969bd08e403f1e37794..7baa384635d9f85541d09cf6f291b9ab1319473a 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/candidates.json +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/candidates.json @@ -1,1235 +1,1484 @@ { - "00_dining_table": [ + "00_sideboard": [ { - "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", - "sim": -0.006505731493234634, - "chamfer": 0.11848366424607229, - "iou": 0.6931186915915841, - "score": 1.60263140311717 + "uid": "030019585a6e4f79bbc3d7c10a3a31db", + "sim": 0.32234638929367065, + "chamfer": 0.103659748016658, + "iou": 0.6667609554087777, + "score": 2.9625972658142583 }, { - "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", - "sim": 0.050270818173885345, - "chamfer": 0.15829832060914525, - "iou": 0.538755378490427, - "score": 1.5602547133634332 + "uid": "98dc3a40ca4743f29ca31acf6da5d31f", + "sim": 0.3428828716278076, + "chamfer": 0.1441094252605732, + "iou": 0.21718007015230276, + "score": 1.7888470715345757 }, { - "uid": "b7f753028d354b419de1dcd966ab9f60", - "sim": 0.08249662816524506, - "chamfer": 0.20190914379524433, - "iou": 0.7965044749851824, - "score": 0.9233669193501792 + "uid": "88092301a90f45bf8e31752fc8d28797", + "sim": 0.2250898778438568, + "chamfer": 0.11115894485996733, + "iou": 0.9519016618125756, + "score": 1.1149421939605166 }, { - "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", - "sim": 0.0439290851354599, - "chamfer": 0.17699136768042553, - "iou": 0.8546645944325719, - "score": 0.8900952533573248 + "uid": "c6b2600e065644dbb1fac6858b7b5c61", + "sim": 0.2421683371067047, + "chamfer": 0.12428485004553999, + "iou": 0.555964297477327, + "score": 0.9020329019901044 }, { - "uid": "4568bee1f3c64645a3ef497fe0c4b30c", - "sim": 0.10392379760742188, - "chamfer": 0.23033875639143475, - "iou": 0.9521430013877805, - "score": 0.5164480237774771 + "uid": "a5ea47eb11f24bc6a4d4e47caa30b6dd", + "sim": 0.30195534229278564, + "chamfer": 0.1522507989914646, + "iou": 0.2100419731120595, + "score": 0.8258221268959869 }, { - "uid": "85e2ca99acf94cfc9acc325027207f38", - "sim": -0.0019158213399350643, - "chamfer": 0.1598122074609506, - "iou": 0.6368277126128221, - "score": 0.48771688019489534 + "uid": "82e38b32baed40d080454474595e82f3", + "sim": 0.2734229266643524, + "chamfer": 0.14826976302995998, + "iou": 0.3584786053882724, + "score": 0.5137457534458303 }, { - "uid": "27464644cbb4403baa2cfdc179c75c5c", - "sim": 0.051195722073316574, - "chamfer": 0.20233489942133365, - "iou": 0.8501157286620625, - "score": 0.2941370424002462 + "uid": "1bf163160fa34a2bac8c9c6218675478", + "sim": 0.17177343368530273, + "chamfer": 0.10616863291957551, + "iou": 0.5784000653432825, + "score": 0.4406786879915887 }, { - "uid": "f8f4a3bbf71e4300a2472c82bc305de9", - "sim": 0.061153508722782135, - "chamfer": 0.21224876000278092, - "iou": 0.5726995551441445, - "score": 0.2012226465998896 + "uid": "3605575081e146fbb846eb604f33a604", + "sim": 0.23073112964630127, + "chamfer": 0.14193559221638913, + "iou": 0.4973248292357359, + "score": 0.060845795047549694 }, { - "uid": "89df181bd04341caac549ee8dbe31283", - "sim": 0.11692581325769424, - "chamfer": 0.2521975505028901, - "iou": 0.7969136456730362, - "score": 0.1351443282586029 + "uid": "d98a52d836a942fb9322fecf95c31ed1", + "sim": 0.295494019985199, + "chamfer": 0.17217061260323496, + "iou": 0.5216888475581728, + "score": -0.019533175116120627 }, { - "uid": "9d701b48826a44df831e7e321754ec5d", - "sim": -0.0193827785551548, - "chamfer": 0.16742489810463243, - "iou": 0.5364845369890725, - "score": -0.07851229271868942 + "uid": "79dab0ecc4dc49d9b41d86c62871c5ca", + "sim": 0.20501819252967834, + "chamfer": 0.13514390195187223, + "iou": 0.44021415730255054, + "score": -0.10118167242494497 }, { - "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", - "sim": -0.0337078832089901, - "chamfer": 0.16998389168979705, - "iou": 0.648183281468381, - "score": -0.43543541487952786 + "uid": "547d76739b3a423b89f51e810fa69a4c", + "sim": 0.24121719598770142, + "chamfer": 0.15284338630160957, + "iou": 0.322318212140202, + "score": -0.1758637966070314 }, { - "uid": "a982b9a143e540639d48988ed3662703", - "sim": 0.06843459606170654, - "chamfer": 0.243606210332928, - "iou": 0.6074343469559944, - "score": -0.5698490517820067 + "uid": "9c5db5a2d10c4dd59c5be947187ce367", + "sim": 0.212310329079628, + "chamfer": 0.1429157744267437, + "iou": 0.502017990113759, + "score": -0.27272989481745846 }, { - "uid": "d370a3eb0a164dc19ba4547a89956599", - "sim": -0.01813058741390705, - "chamfer": 0.19652115801602812, - "iou": 0.6825704789589986, - "score": -0.902440334457441 + "uid": "0de6cd8ef5224f7397b9b06083d191fd", + "sim": 0.21836362779140472, + "chamfer": 0.15018754431645082, + "iou": 0.2677697812860021, + "score": -0.44565223926665753 }, { - "uid": "818c5f44b9314ffa85d14beed921d886", - "sim": -0.039108119904994965, - "chamfer": 0.1914963441204605, - "iou": 0.7089403381499686, - "score": -1.169270881589764 + "uid": "39498c5ba771460cad3caf12b2ac2f92", + "sim": 0.2731819152832031, + "chamfer": 0.1766463623701972, + "iou": 0.4443615776675971, + "score": -0.5459281620592815 }, { - "uid": "e2bdfef0f4154c62929d4518d30c81c1", - "sim": -0.00826191809028387, - "chamfer": 0.21844267232862452, - "iou": 0.5949491449867228, - "score": -1.3473187006368783 + "uid": "efeb40afeee243d4b02335ee72edbc8c", + "sim": 0.16021639108657837, + "chamfer": 0.20139244104858428, + "iou": 0.2863688383941862, + "score": -3.288643628661882 }, { - "uid": "41fa8e131cdd42b1bf371a620e312f22", - "sim": -0.03934197127819061, - "chamfer": 0.22353128655880894, - "iou": 0.621288653444415, - "score": -2.108190534354906 + "uid": "b157b443415348b29e9e7123888626ae", + "sim": 0.09417515248060226, + "chamfer": 0.18543180569946405, + "iou": 0.3693413183172269, + "score": -3.759979227727026 } ], - "01_chandelier": [ + "01_chair": [ { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.011350875720381737, - "chamfer": 0.14450887068756818, - "iou": 0.07225535450996208, - "score": 1.431547860493011 + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.05432145297527313, + "chamfer": 0.09254049993551534, + "iou": 0.989557734272241, + "score": 2.272053985580438 }, { - "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.04216102883219719, - "chamfer": 0.18286221037622932, - "iou": 0.08256402654972844, - "score": 1.4050193777459898 + "uid": "79fbc9501aff4538bf077197d2502016", + "sim": 0.04675780236721039, + "chamfer": 0.09352279073896363, + "iou": 0.9841353556015138, + "score": 2.0357171653590096 }, { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.0009359763935208321, - "chamfer": 0.13278493389379586, - "iou": 0.07224791375771022, - "score": 1.393802090890369 + "uid": "c79b4fb3af0b4ea6be16e9d973077441", + "sim": 0.022144140675663948, + "chamfer": 0.0944320941057582, + "iou": 0.9194187500585822, + "score": 1.3704249222210227 }, { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.05714551359415054, - "chamfer": 0.20297342397167345, - "iou": 0.08032460222431714, - "score": 1.3372237288521576 + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.03129624202847481, + "chamfer": 0.1031570454286162, + "iou": 0.9725271246487389, + "score": 1.206520650671495 }, { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.029798805713653564, - "chamfer": 0.19629341213839618, - "iou": 0.08034483886484309, - "score": 0.330672489371418 + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.008585596457123756, + "chamfer": 0.09572261638482275, + "iou": 0.9482523298120455, + "score": 0.9681125485836454 }, { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.021606117486953735, - "chamfer": 0.1869109404938362, - "iou": 0.0720813940649267, - "score": 0.3070060187765068 + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.011224284768104553, + "chamfer": 0.0999237914070754, + "iou": 0.9148648078540194, + "score": 0.8443624131834487 }, { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.043107710778713226, - "chamfer": 0.21733675704145525, - "iou": 0.07556294739712939, - "score": 0.15070287448212416 + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.01450403407216072, + "chamfer": 0.11056887260545231, + "iou": 0.9493737030568185, + "score": 0.4444417059695224 }, { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.02565738558769226, - "chamfer": 0.20351409831582387, - "iou": 0.07303019406800403, - "score": -0.13168374975541924 + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.060961268842220306, + "chamfer": 0.1482455494470203, + "iou": 0.9076112057628517, + "score": -0.08749273732928886 }, { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.03673166036605835, - "chamfer": 0.22396661649055494, - "iou": 0.07228734815076086, - "score": -0.39221045181130376 + "uid": "8368d0bca47f46a0993ac7c9ab56ea54", + "sim": 0.012378973886370659, + "chamfer": 0.12151150046853121, + "iou": 0.9818756438411986, + "score": -0.10600932384477815 }, { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.02107364311814308, - "chamfer": 0.211493284786822, - "iou": 0.07227958670739756, - "score": -0.6429435434994917 + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "sim": -0.0038145221769809723, + "chamfer": 0.11286293654251436, + "iou": 0.7491516149725511, + "score": -0.12409142125381842 + }, + { + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": 0.050981003791093826, + "chamfer": 0.1487210108770396, + "iou": 0.9476002520008159, + "score": -0.3620979633249095 }, { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": -0.019447753205895424, - "chamfer": 0.18505948189187035, - "iou": 0.0716469047469034, - "score": -1.5118987500372179 + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "sim": 0.01764831878244877, + "chamfer": 0.13142361930021976, + "iou": 0.9924168980667085, + "score": -0.42222626706437516 }, { - "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.005816357210278511, - "chamfer": 0.21983834569749472, - "iou": 0.07228240028964514, - "score": -1.6589939275851877 + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": -0.03949257358908653, + "chamfer": 0.10051744798918626, + "iou": 0.965426843628325, + "score": -0.4683981106629329 }, { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": -0.013632170855998993, - "chamfer": 0.2056156526470237, - "iou": 0.07928430286726236, - "score": -2.0182440179229486 + "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", + "sim": 0.00630138348788023, + "chamfer": 0.1619304244037411, + "iou": 0.9770299342307455, + "score": -2.0942977228566004 + }, + { + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": -0.041843123733997345, + "chamfer": 0.138588054953496, + "iou": 0.9055063974346753, + "score": -2.2556289381346746 + }, + { + "uid": "ae81468e59404c9bb18333bb42114488", + "sim": -0.09616322070360184, + "chamfer": 0.12952210687092697, + "iou": 0.9621169912193434, + "score": -3.221390907097202 } ], - "03_air_conditioner": [ + "02_chair": [ { - "uid": "a7852c063b484df6963e1b5f649e7fe5", - "sim": 0.04715000092983246, - "chamfer": 0.050004809422660335, - "iou": 0.5461361351422777, - "score": 2.8021087483894624 + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "sim": 0.20083273947238922, + "chamfer": 0.07945347499307547, + "iou": 0.9924168980667085, + "score": 3.4390940393170037 }, { - "uid": "c1c39f39df7946149afe10b60b36eba5", - "sim": 0.045251309871673584, - "chamfer": 0.06967713666890743, - "iou": 0.3301509684898953, - "score": 1.7495331280922186 + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.1745557337999344, + "chamfer": 0.0762000313926494, + "iou": 0.9148648078540194, + "score": 3.096329492421082 }, { - "uid": "2ee631cfd24542b4b47eb6d88b34d4a8", - "sim": 0.015814997255802155, - "chamfer": 0.05814669042039539, - "iou": 0.43424445124075545, - "score": 1.738364488868843 + "uid": "c79b4fb3af0b4ea6be16e9d973077441", + "sim": 0.1658094823360443, + "chamfer": 0.09445999979015687, + "iou": 0.9194187500585822, + "score": 1.858469900667036 }, { - "uid": "da8f719b60e9406fb16c84a0bf404297", - "sim": -0.005703011527657509, - "chamfer": 0.051176783299606884, - "iou": 0.8051267866396993, - "score": 1.6550375722796726 + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.11587383598089218, + "chamfer": 0.08881191955171945, + "iou": 0.9482523298120455, + "score": 1.1760355272267027 }, { - "uid": "f3c251cbf4354ec4822db9e7db7554c4", - "sim": -0.044294290244579315, - "chamfer": 0.05362748664600196, - "iou": 0.3621428310733012, - "score": 0.7353148964544686 + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "sim": 0.18116775155067444, + "chamfer": 0.11426005952043503, + "iou": 0.7491516149725511, + "score": 1.0189505227200946 }, { - "uid": "e0fad92bca3c4e1f84ab88d297b352a4", - "sim": 0.050868067890405655, - "chamfer": 0.10182159977263416, - "iou": 0.3371723487875198, - "score": 0.2089031547643796 + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.16984125971794128, + "chamfer": 0.11206667904925331, + "iou": 0.9725271246487389, + "score": 0.9171602579145681 }, { - "uid": "1686e3215a15418ca4baed820d4334e1", - "sim": -0.03911196440458298, - "chamfer": 0.06968228371246657, - "iou": 0.21456155180044467, - "score": 0.01470793594494646 + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.14149123430252075, + "chamfer": 0.10585542892120549, + "iou": 0.989557734272241, + "score": 0.7042838998198351 }, { - "uid": "fb03d133dd4142f2908a8cfc504dac59", - "sim": -0.02327137626707554, - "chamfer": 0.08033057478325323, - "iou": 0.39943192920645343, - "score": -0.20821026352875133 + "uid": "79fbc9501aff4538bf077197d2502016", + "sim": 0.13503605127334595, + "chamfer": 0.11902381864693394, + "iou": 0.9841353556015138, + "score": -0.19140253534528612 }, { - "uid": "4c0f32f6c51c441dbfccb40d84738548", - "sim": -0.040922798216342926, - "chamfer": 0.07524851624182785, - "iou": 0.2633116123297652, - "score": -0.3093016031695449 + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": 0.1060788482427597, + "chamfer": 0.1158770368265394, + "iou": 0.9476002520008159, + "score": -0.5946043873265567 }, { - "uid": "5705d0adde414506866885157b95e753", - "sim": -0.05916165933012962, - "chamfer": 0.07069320318282758, - "iou": 0.4804908074250861, - "score": -0.44960948600706785 + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.12193676829338074, + "chamfer": 0.12745931695178003, + "iou": 0.9493737030568185, + "score": -0.9465802107558029 }, { - "uid": "3077f5074fb14538b28baf80e65e52f6", - "sim": -0.0510125607252121, - "chamfer": 0.0815219281691531, - "iou": 0.42365087852409644, - "score": -0.8399654987676273 + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.07782891392707825, + "chamfer": 0.11348728868412085, + "iou": 0.896892961088819, + "score": -1.027474589287293 }, { - "uid": "6c3b7f42886f47f1a59725bfac3640f2", - "sim": -0.11300141364336014, - "chamfer": 0.05771688660111132, - "iou": 0.5613599431602785, - "score": -0.8880350237291629 + "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", + "sim": 0.10631819069385529, + "chamfer": 0.1271002410637632, + "iou": 0.9770299342307455, + "score": -1.2417999983450638 }, { - "uid": "f15a8fdb25ce42118c1bb6ab695f56ce", - "sim": 0.006255832500755787, - "chamfer": 0.10661998526639149, - "iou": 0.2308178901684025, - "score": -0.9555688982102487 + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": 0.06284049898386002, + "chamfer": 0.11558779933622473, + "iou": 0.965426843628325, + "score": -1.4528371051326665 }, { - "uid": "875400ce508d435faffd6844d7fdddf4", - "sim": -0.0884091705083847, - "chamfer": 0.06915870554121922, - "iou": 0.19688780994098173, - "score": -0.9718972218144282 + "uid": "8368d0bca47f46a0993ac7c9ab56ea54", + "sim": 0.054635751992464066, + "chamfer": 0.12427565816155367, + "iou": 0.9818756438411986, + "score": -2.123623040243571 }, { - "uid": "0f9fc087827945b5ba88da01e5c5da60", - "sim": -0.02539679780602455, - "chamfer": 0.11493346140797628, - "iou": 0.42656711201326747, - "score": -2.0346845019238673 + "uid": "ae81468e59404c9bb18333bb42114488", + "sim": 0.02233484759926796, + "chamfer": 0.11307019612651611, + "iou": 0.9621169912193434, + "score": -2.126304494780753 }, { - "uid": "885b4a83ad1a4db792715ba24c7a5d57", - "sim": -0.09221699833869934, - "chamfer": 0.09238243287198734, - "iou": 0.29726423813570424, - "score": -2.246697427643302 + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": 0.08414018154144287, + "chamfer": 0.14112959731224267, + "iou": 0.9055063974346753, + "score": -2.505697278869326 } ], - "04_plants": [ + "03_chair": [ { - "uid": "0c77dfdf9430465f9767a58d56e8fca1", - "sim": 0.12812183797359467, - "chamfer": 0.11594422313838938, - "iou": 0.48426158876463277, - "score": 3.6733112755247435 + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "sim": 0.1739841103553772, + "chamfer": 0.1358586901440451, + "iou": 0.9924168980667085, + "score": 2.518540773914203 }, { - "uid": "c626625486104768a6cab5eb4ecf9cf3", - "sim": 0.07297223806381226, - "chamfer": 0.11983453965809147, - "iou": 0.46507604079519205, - "score": 2.106065043894921 + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.05449451878666878, + "chamfer": 0.08132235216314636, + "iou": 0.9148648078540194, + "score": 2.006552225658197 }, { - "uid": "9155b2b4be5f452a98837459112a3b9b", - "sim": 0.07905031740665436, - "chamfer": 0.1302046779531426, - "iou": 0.4123642189027257, - "score": 1.8584708515014121 + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.005451975390315056, + "chamfer": 0.07165856423690237, + "iou": 0.9482523298120455, + "score": 1.3367213340262083 }, { - "uid": "4ae706aa53c043fa8261ebf40f580303", - "sim": 0.06315335631370544, - "chamfer": 0.1366696223146339, - "iou": 0.49027201012566285, - "score": 1.198724274175668 + "uid": "c79b4fb3af0b4ea6be16e9d973077441", + "sim": 0.05301666259765625, + "chamfer": 0.11748994705692842, + "iou": 0.8864845671078132, + "score": 0.6687417840731339 }, { - "uid": "40f4ff4297cb4ff9a5e3b6149d520bca", - "sim": 0.09075357764959335, - "chamfer": 0.1729250748367498, - "iou": 0.4238539086215231, - "score": 0.4961308129858657 + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.09358622133731842, + "chamfer": 0.1458760821814581, + "iou": 0.989557734272241, + "score": 0.48588007224516144 }, { - "uid": "cf8826a16c50499bbf8777dfe218e3db", - "sim": 0.06693805754184723, - "chamfer": 0.16884403392885738, - "iou": 0.4253832385587757, - "score": 0.043573255672810784 + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "sim": 0.06705639511346817, + "chamfer": 0.1353985574626634, + "iou": 0.7491516149725511, + "score": 0.3132615741173413 }, { - "uid": "d5625487abc14990af856f3e36490b4b", - "sim": -0.025374209508299828, - "chamfer": 0.1123242815810005, - "iou": 0.4620978256504364, - "score": -0.12640902283581612 + "uid": "79fbc9501aff4538bf077197d2502016", + "sim": 0.08976560086011887, + "chamfer": 0.15179601940041676, + "iou": 0.9841353556015138, + "score": 0.1925420960532117 }, { - "uid": "2c68d833f26f4fe78cf8dcb179a3025b", - "sim": 0.02251036837697029, - "chamfer": 0.15277198617828386, - "iou": 0.423728813559322, - "score": -0.4714271444564076 + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.055132776498794556, + "chamfer": 0.1442102389468422, + "iou": 0.9725271246487389, + "score": -0.25296094346655335 }, { - "uid": "9dd44cda400c48a083ffd9480067f04f", - "sim": 0.004331475123763084, - "chamfer": 0.1429268574017041, - "iou": 0.424042713372041, - "score": -0.5549251330140637 + "uid": "8368d0bca47f46a0993ac7c9ab56ea54", + "sim": 0.07369659841060638, + "chamfer": 0.15764801637843193, + "iou": 0.9818756438411986, + "score": -0.35285622203960143 }, { - "uid": "41e58efcf647494483f9860df99acf60", - "sim": 0.022103194147348404, - "chamfer": 0.1563024975884367, - "iou": 0.4227298510026739, - "score": -0.6192971790123625 + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.05842188745737076, + "chamfer": 0.15164033388491008, + "iou": 0.9076112057628517, + "score": -0.4531392733097942 }, { - "uid": "e2d65b9c095142bd932d3114623ab93c", - "sim": 0.036204636096954346, - "chamfer": 0.16753305613446678, - "iou": 0.42612842738815343, - "score": -0.6944019188767423 + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": 0.08122392743825912, + "chamfer": 0.16752622204701126, + "iou": 0.9476002520008159, + "score": -0.5534413605308075 }, { - "uid": "e547b70f8bb549e3ad5cea9a4eed800d", - "sim": 0.0071083493530750275, - "chamfer": 0.1504065389193654, - "iou": 0.4713361281255815, - "score": -0.7747650620760131 + "uid": "ae81468e59404c9bb18333bb42114488", + "sim": -0.016558002680540085, + "chamfer": 0.1180769743293539, + "iou": 0.9621169912193437, + "score": -0.7982028074573683 }, { - "uid": "f4d7a66c61bc4905802577b65cb83523", - "sim": 0.06104195863008499, - "chamfer": 0.19142708129380132, - "iou": 0.4235096093365353, - "score": -0.9867861568954723 + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": -0.017403699457645416, + "chamfer": 0.11861456557494895, + "iou": 0.965426843628325, + "score": -0.8352046081414501 }, { - "uid": "912cc19e1b20479ab14b37f95b97f715", - "sim": 0.05600926652550697, - "chamfer": 0.1951391757079471, - "iou": 0.42153134586635377, - "score": -1.260472213232325 + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.0022585242986679077, + "chamfer": 0.1310421887062612, + "iou": 0.9493737030568185, + "score": -0.8757685054367675 }, { - "uid": "733f971061ba4b688ad098e44cf64a6c", - "sim": 0.010371491312980652, - "chamfer": 0.17820863021417213, - "iou": 0.4235605388395008, - "score": -1.7731234628132948 + "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", + "sim": 0.05443540960550308, + "chamfer": 0.1747482055510299, + "iou": 0.9770299342307455, + "score": -1.3710977282215948 }, { - "uid": "c4a92f9eafa64e03b8fe6e1c4ce462ab", - "sim": 0.002276829443871975, - "chamfer": 0.18164454786394363, - "iou": 0.42412074206500583, - "score": -2.114668220542911 + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": -0.0050094593316316605, + "chamfer": 0.15878903977689457, + "iou": 0.8987740791459359, + "score": -2.0295684114834978 } ], - "05_chair": [ + "04_chair": [ { - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "sim": null, - "chamfer": 0.0, - "iou": 0.9301655640205517, - "score": 0.0 + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "sim": 0.21210311353206635, + "chamfer": 0.09554892957880602, + "iou": 0.9924168980667085, + "score": 2.9534841868657846 }, { - "uid": "34122e3ff87441309d6714396d6e22d2", - "sim": null, - "chamfer": 0.0, - "iou": 0.8923933343005727, - "score": 0.0 + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.12181603908538818, + "chamfer": 0.06867947704273392, + "iou": 0.9148648078540194, + "score": 2.88887999802562 }, { - "uid": "cadccdc1d08648a7be5b0233ba42ddfd", - "sim": null, - "chamfer": 0.0, - "iou": 0.8511588962653922, - "score": 0.0 + "uid": "c79b4fb3af0b4ea6be16e9d973077441", + "sim": 0.10302476584911346, + "chamfer": 0.08157568986438916, + "iou": 0.9194187500585822, + "score": 1.82235429999148 }, { - "uid": "8368d0bca47f46a0993ac7c9ab56ea54", - "sim": null, - "chamfer": 0.0, - "iou": 0.9229445442344724, - "score": 0.0 + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.1160481795668602, + "chamfer": 0.09116607880290202, + "iou": 0.989557734272241, + "score": 1.5061762294947307 }, { - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "sim": null, - "chamfer": 0.0, - "iou": 0.7969858307098633, - "score": 0.0 + "uid": "79fbc9501aff4538bf077197d2502016", + "sim": 0.11854854226112366, + "chamfer": 0.10302080198844554, + "iou": 0.9841353556015138, + "score": 0.8751198679189802 }, { - "uid": "0717695aad8f4d5f9f8f5e1d57355218", - "sim": null, - "chamfer": 0.0, - "iou": 0.9665345804599782, - "score": 0.0 + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "sim": 0.11951842904090881, + "chamfer": 0.11221023387433618, + "iou": 0.7491516149725511, + "score": 0.3688367993943806 }, { - "uid": "ae81468e59404c9bb18333bb42114488", - "sim": null, - "chamfer": 0.0, - "iou": 0.9769925123316119, - "score": 0.0 + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.037676893174648285, + "chamfer": 0.0876242288207054, + "iou": 0.9482523298120455, + "score": 0.3233731923040206 }, { - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "sim": null, - "chamfer": 0.0, - "iou": 0.9328531239388863, - "score": 0.0 + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.10855738818645477, + "chamfer": 0.11052280355416072, + "iou": 0.9725271246487389, + "score": 0.2713079106872621 }, { - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "sim": null, - "chamfer": 0.0, - "iou": 0.9919595255737735, - "score": 0.0 + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.08995746821165085, + "chamfer": 0.1053811075996367, + "iou": 0.896892961088819, + "score": 0.23557745154718404 }, { - "uid": "c79b4fb3af0b4ea6be16e9d973077441", - "sim": null, - "chamfer": 0.0, - "iou": 0.8642362447384311, - "score": 0.0 + "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", + "sim": 0.09940072894096375, + "chamfer": 0.11810796475326524, + "iou": 0.9770299342307455, + "score": -0.32249814931891096 }, { - "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", - "sim": null, - "chamfer": 0.0, - "iou": 0.8433468279318828, - "score": 0.0 + "uid": "8368d0bca47f46a0993ac7c9ab56ea54", + "sim": 0.08206897974014282, + "chamfer": 0.11329041496495856, + "iou": 0.9818756438411986, + "score": -0.3542874637601981 }, { - "uid": "79fbc9501aff4538bf077197d2502016", - "sim": null, - "chamfer": 0.0, - "iou": 0.9250686305725008, - "score": 0.0 + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": -0.0005958601832389832, + "chamfer": 0.11154975346990484, + "iou": 0.9476002520008159, + "score": -1.7155355684828046 }, { - "uid": "8102032a85e34e1d9e9193e6149946f1", - "sim": null, - "chamfer": 0.0, - "iou": 0.9732800067466593, - "score": 0.0 + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.030374132096767426, + "chamfer": 0.12677089004196257, + "iou": 0.9493737030568185, + "score": -2.0353811169854428 }, { - "uid": "c2644b133b554bc084e83d1217663918", - "sim": null, - "chamfer": 0.0, - "iou": 0.891339264648468, - "score": 0.0 + "uid": "ae81468e59404c9bb18333bb42114488", + "sim": -0.00015912391245365143, + "chamfer": 0.11802940331564866, + "iou": 0.9621169912193437, + "score": -2.0768920180095085 }, { - "uid": "aa555c383d5748fa91634b61dc3febf9", - "sim": null, - "chamfer": 0.0, - "iou": 0.9736430083874862, - "score": 0.0 + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": 0.057726647704839706, + "chamfer": 0.1405763740487637, + "iou": 0.9055063974346753, + "score": -2.338500975290774 }, { - "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", - "sim": null, - "chamfer": 0.0, - "iou": 0.9183896688019626, - "score": 0.0 + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": -0.010681740939617157, + "chamfer": 0.12047372786645957, + "iou": 0.965426843628325, + "score": -2.4020146443818016 } ], - "06_chair": [ + "05_carpet": [ { - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "sim": 0.09375850111246109, - "chamfer": 0.21475102341530483, - "iou": 0.9919595255737735, - "score": 1.736555937457016 + "uid": "783c748a023d44c8a4e4d5e3521b4fb4", + "sim": 0.3947749733924866, + "chamfer": 0.08947966776155089, + "iou": 0.5303107284430434, + "score": 2.1122321838334077 }, { - "uid": "8102032a85e34e1d9e9193e6149946f1", - "sim": -0.0206497460603714, - "chamfer": 0.13319203765825421, - "iou": 0.9732800067466593, - "score": 1.4621274733345868 + "uid": "5db8109d4ea34ef2bea6f395a48fcaf2", + "sim": 0.1951962113380432, + "chamfer": 0.05229613923286898, + "iou": 0.9422543230913385, + "score": 1.813385126697958 }, { - "uid": "c2644b133b554bc084e83d1217663918", - "sim": -0.04891282692551613, - "chamfer": 0.11135970310225267, - "iou": 0.891339264648468, - "score": 1.4394606177290166 + "uid": "cbde775dbc734bd08f4b201fe32b4836", + "sim": 0.3072112202644348, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": 0.5939790632667101 }, { - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "sim": -0.02465999685227871, - "chamfer": 0.13524594484794455, - "iou": 0.7969858307098633, - "score": 1.3208777696768044 + "uid": "518270ef732c4af2a6b088c7faaa7188", + "sim": 0.28974562883377075, + "chamfer": 0.08922976579889211, + "iou": 0.5308675587821019, + "score": 0.28684193067163466 }, { - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "sim": -0.07184496521949768, - "chamfer": 0.11358875825280927, - "iou": 0.9328531239388863, - "score": 0.8867098745651963 + "uid": "575ceb9897984adb842dc3c163c33d21", + "sim": 0.19737836718559265, + "chamfer": 0.0707111065596755, + "iou": 0.9783166091071143, + "score": 0.2616257475159329 }, { - "uid": "c79b4fb3af0b4ea6be16e9d973077441", - "sim": -0.02343381568789482, - "chamfer": 0.15977216134263666, - "iou": 0.8642362447384311, - "score": 0.6900897376976636 + "uid": "0f49497646b146daa768a17a61d65786", + "sim": 0.2873307466506958, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": 0.24437558297765827 }, { - "uid": "79fbc9501aff4538bf077197d2502016", - "sim": -0.019227469339966774, - "chamfer": 0.1816581952857016, - "iou": 0.9250686305725008, - "score": 0.19411377965036405 + "uid": "519d58fdd62143c4a01714fd05d0d1bb", + "sim": 0.2869913876056671, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": 0.2384078628159209 }, { - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "sim": -0.025068771094083786, - "chamfer": 0.1814123611171773, - "iou": 0.9301655640205517, - "score": 0.07511645288649703 + "uid": "3026ea0181be4f2db72ff4ef5f229628", + "sim": 0.2701204717159271, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -0.05827173472851985 }, { - "uid": "0717695aad8f4d5f9f8f5e1d57355218", - "sim": -0.01610918901860714, - "chamfer": 0.19256888317865334, - "iou": 0.9665345804599782, - "score": -0.031183843593101335 + "uid": "a593baa36e924a1891d4c16c83b28e66", + "sim": 0.26206740736961365, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -0.19988703913038353 }, { - "uid": "34122e3ff87441309d6714396d6e22d2", - "sim": 0.0019804686307907104, - "chamfer": 0.2127271129451496, - "iou": 0.8923933343005727, - "score": -0.18238330998191743 + "uid": "6d43731dcae44371bd7917b52be2f52f", + "sim": 0.25420957803726196, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -0.338069083254778 }, { - "uid": "aa555c383d5748fa91634b61dc3febf9", - "sim": -0.015720851719379425, - "chamfer": 0.1994829034893958, - "iou": 0.9736430083874862, - "score": -0.2080876063043493 + "uid": "e2fb6b063fcc4a41ac32dabf5fa05258", + "sim": 0.25216910243034363, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -0.37395139609518124 }, { - "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", - "sim": 0.013262571766972542, - "chamfer": 0.2289006403013038, - "iou": 0.9183896688019626, - "score": -0.3731754790201882 + "uid": "a3bbc9154ea846d7af74824aabaab511", + "sim": 0.355562686920166, + "chamfer": 0.11174777122491024, + "iou": 0.5312493050983981, + "score": -0.5001780688727631 }, { - "uid": "8368d0bca47f46a0993ac7c9ab56ea54", - "sim": -0.07674357295036316, - "chamfer": 0.17687335789246922, - "iou": 0.9229445442344724, - "score": -0.9142408059890823 + "uid": "e61bb54ba99e44189b08a2cd0ab8bccb", + "sim": 0.23405948281288147, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -0.6924139321486631 }, { - "uid": "cadccdc1d08648a7be5b0233ba42ddfd", - "sim": -0.047224048525094986, - "chamfer": 0.2205138368774795, - "iou": 0.8511588962653922, - "score": -1.448883927640643 + "uid": "6430619924364a4eadf74710390540ae", + "sim": 0.21983696520328522, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -0.9425207329922283 }, { - "uid": "ae81468e59404c9bb18333bb42114488", - "sim": -0.11082614958286285, - "chamfer": 0.19733867172357666, - "iou": 0.9769925123316119, - "score": -2.195337013116849 + "uid": "5f9716bc030b467181e2470499df706a", + "sim": 0.21259233355522156, + "chamfer": 0.08922976573429703, + "iou": 0.5308675587821019, + "score": -1.0699195307665896 }, { - "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", - "sim": -0.09775432199239731, - "chamfer": 0.2173977413501298, - "iou": 0.8433468279318829, - "score": -2.451759657351008 + "uid": "286b7eb50e514488b45302304e3ab679", + "sim": 0.17588773369789124, + "chamfer": 0.08529527053616234, + "iou": 0.6032470429738657, + "score": -1.3756359797901325 } ], - "07_dining_table": [ + "06_desk": [ { - "uid": "a982b9a143e540639d48988ed3662703", - "sim": null, - "chamfer": 0.0, - "iou": 0.9881181631633416, - "score": 0.0 + "uid": "9824a5e58892410c956cfaf9f2b07c29", + "sim": 0.2412598729133606, + "chamfer": 0.13657245637602128, + "iou": 0.5581558591351311, + "score": 1.9431164481261232 }, { - "uid": "b7f753028d354b419de1dcd966ab9f60", - "sim": null, - "chamfer": 0.0, - "iou": 0.7717955010327883, - "score": 0.0 + "uid": "3ee00f7e14674461af4241f5ef7ed039", + "sim": 0.36248713731765747, + "chamfer": 0.21076828334602632, + "iou": 0.5865223099582031, + "score": 1.1583262301384847 }, { - "uid": "41fa8e131cdd42b1bf371a620e312f22", - "sim": null, - "chamfer": 0.0, - "iou": 0.9894572626394281, - "score": 0.0 + "uid": "67503bb546a141c1a2b806a9c7fd9d5c", + "sim": 0.3769349455833435, + "chamfer": 0.22877308791364903, + "iou": 0.8369849488244564, + "score": 0.78924704715494 }, { - "uid": "85e2ca99acf94cfc9acc325027207f38", - "sim": null, - "chamfer": 0.0, - "iou": 0.9653137860848637, - "score": 0.0 + "uid": "ee3dbdaa122b422bb4aea3dbbdd7e643", + "sim": 0.34242597222328186, + "chamfer": 0.2214418891286319, + "iou": 0.9608132282537658, + "score": 0.5979311760776141 }, { - "uid": "4568bee1f3c64645a3ef497fe0c4b30c", - "sim": null, - "chamfer": 0.0, - "iou": 0.6456368102795954, - "score": 0.0 + "uid": "aa39a8cc7be04b0c8e02c6142a007137", + "sim": 0.33763062953948975, + "chamfer": 0.22486500843017093, + "iou": 0.8314688102944552, + "score": 0.4377592933895711 }, { - "uid": "d370a3eb0a164dc19ba4547a89956599", - "sim": null, - "chamfer": 0.0, - "iou": 0.9006228503811016, - "score": 0.0 + "uid": "a951835bf6d04ba0a83f8945ae5ed06d", + "sim": 0.12559595704078674, + "chamfer": 0.14320490613462705, + "iou": 0.6181102362204726, + "score": 0.36342234715433896 }, { - "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", - "sim": null, - "chamfer": 0.0, - "iou": 0.5253952909068633, - "score": 0.0 + "uid": "b6ea45bb0fa1462f8d49c59a14a87924", + "sim": 0.14330042898654938, + "chamfer": 0.1542703082346571, + "iou": 0.6577340168984257, + "score": 0.241904425748954 }, { - "uid": "818c5f44b9314ffa85d14beed921d886", - "sim": null, - "chamfer": 0.0, - "iou": 0.8671231375410967, - "score": 0.0 + "uid": "4d9a3e7fcf9d479881b29c84fcdc0cd2", + "sim": 0.10903370380401611, + "chamfer": 0.1424363306130772, + "iou": 0.6181103324360504, + "score": 0.1888982637318617 }, { - "uid": "f8f4a3bbf71e4300a2472c82bc305de9", - "sim": null, - "chamfer": 0.0, - "iou": 0.9316148079365869, - "score": 0.0 + "uid": "0a6b884fa93946278b1d9baba2e24a0b", + "sim": 0.23864363133907318, + "chamfer": 0.19776320276232912, + "iou": 0.875064352990414, + "score": 0.0716138917732187 }, { - "uid": "e2bdfef0f4154c62929d4518d30c81c1", - "sim": null, - "chamfer": 0.0, - "iou": 0.9678083882906773, - "score": 0.0 + "uid": "896063c3f9a1443c89ad227649aa85dc", + "sim": 0.2782460153102875, + "chamfer": 0.21570421140192955, + "iou": 0.6593175853018373, + "score": 0.004624807809559872 }, { - "uid": "27464644cbb4403baa2cfdc179c75c5c", - "sim": null, - "chamfer": 0.0, - "iou": 0.7231233932273444, - "score": 0.0 + "uid": "12e296976e184090a6d7d8f22b19b4f3", + "sim": 0.25772711634635925, + "chamfer": 0.2083438649043653, + "iou": 0.8370730944026283, + "score": -0.01886983690559968 }, { - "uid": "89df181bd04341caac549ee8dbe31283", - "sim": null, - "chamfer": 0.0, - "iou": 0.7713992271105704, - "score": 0.0 + "uid": "780876970a2c4106a98a838c4383a847", + "sim": 0.22589685022830963, + "chamfer": 0.2156580851198959, + "iou": 0.8636367716714942, + "score": -0.6186745378400532 }, { - "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", - "sim": null, - "chamfer": 0.0, - "iou": 0.42608679354913304, - "score": 0.0 + "uid": "e8d10d0d23564af590b879853be27782", + "sim": 0.21344293653964996, + "chamfer": 0.2294735193359825, + "iou": 0.7463342518350895, + "score": -1.1827806854593201 }, { - "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", - "sim": null, - "chamfer": 0.0, - "iou": 0.948402385438623, - "score": 0.0 + "uid": "1e387afc6d7443878c310756400dd467", + "sim": 0.1583622694015503, + "chamfer": 0.21203726298993528, + "iou": 0.8083562454230623, + "score": -1.3156753191539265 }, { - "uid": "9d701b48826a44df831e7e321754ec5d", - "sim": null, - "chamfer": 0.0, - "iou": 0.9422014571775505, - "score": 0.0 + "uid": "2a43955d24514e4998ee6fd478399f66", + "sim": 0.142218679189682, + "chamfer": 0.20603863039610665, + "iou": 0.6292140129191158, + "score": -1.327911972870419 }, { - "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", - "sim": null, - "chamfer": 0.0, - "iou": 0.9351542706590407, - "score": 0.0 + "uid": "2353e9b40c4d404db33d18677848f68d", + "sim": 0.22128598392009735, + "chamfer": 0.23757813810061043, + "iou": 0.650946663927366, + "score": -1.3329315788753495 } ], - "08_chair": [ + "07_chair": [ { - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "sim": 0.09479744732379913, - "chamfer": 0.1584782036129892, - "iou": 0.9919595255737732, - "score": 1.863026624340489 + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.1659279465675354, + "chamfer": 0.06127315021264679, + "iou": 0.9148648078540194, + "score": 3.300684862401281 + }, + { + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "sim": 0.23131540417671204, + "chamfer": 0.09480796606959432, + "iou": 0.9924168980667085, + "score": 2.954877749421606 }, { "uid": "c79b4fb3af0b4ea6be16e9d973077441", - "sim": -0.004501203075051308, - "chamfer": 0.09454031869823973, - "iou": 0.8642362447384311, - "score": 1.5757184712320091 + "sim": 0.15106481313705444, + "chamfer": 0.09023954792864952, + "iou": 0.9194187500585822, + "score": 1.4897667512124788 + }, + { + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.09257858991622925, + "chamfer": 0.06803238268811833, + "iou": 0.9482523298120455, + "score": 1.3968776286250317 + }, + { + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.14875435829162598, + "chamfer": 0.10314545052301205, + "iou": 0.9725271246487389, + "score": 0.7743114702615478 }, { "uid": "039c6026571943d6ac45c6816bcc7ff1", - "sim": -0.03352515399456024, - "chamfer": 0.08836461647663382, - "iou": 0.7969858307098635, - "score": 1.1640523403118348 + "sim": 0.16452887654304504, + "chamfer": 0.11544182890514855, + "iou": 0.7491516149725511, + "score": 0.4736711089292579 }, { - "uid": "8102032a85e34e1d9e9193e6149946f1", - "sim": -0.0116773946210742, - "chamfer": 0.11318057090155342, - "iou": 0.973280006746659, - "score": 0.9457835254339477 + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.12147597223520279, + "chamfer": 0.10015660583899978, + "iou": 0.989557734272241, + "score": 0.35045399084849405 }, { "uid": "79fbc9501aff4538bf077197d2502016", - "sim": -0.011458293534815311, - "chamfer": 0.12048669148138111, - "iou": 0.9250686305725008, - "score": 0.7587752066857743 + "sim": 0.11755912005901337, + "chamfer": 0.11376705180083307, + "iou": 0.9841353556015138, + "score": -0.435435049848211 }, { - "uid": "c2644b133b554bc084e83d1217663918", - "sim": -0.049806252121925354, - "chamfer": 0.093110426734898, - "iou": 0.891339264648468, - "score": 0.7181159421071922 + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.09041450917720795, + "chamfer": 0.10690697920595388, + "iou": 0.9493737030568185, + "score": -0.6565404799251849 }, { - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "sim": -0.020521219819784164, - "chamfer": 0.11962411848949625, - "iou": 0.9301655640205517, - "score": 0.6023170302813194 + "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", + "sim": 0.13375155627727509, + "chamfer": 0.12707117991674569, + "iou": 0.9770299342307455, + "score": -0.7792588433944736 }, { - "uid": "0717695aad8f4d5f9f8f5e1d57355218", - "sim": 0.0036417432129383087, - "chamfer": 0.14900225152265323, - "iou": 0.9665345804599782, - "score": 0.31031056191645306 + "uid": "ae81468e59404c9bb18333bb42114488", + "sim": 0.05390480160713196, + "chamfer": 0.09506937413603447, + "iou": 0.9621169912193434, + "score": -0.819105321003681 }, + { + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": 0.06572112441062927, + "chamfer": 0.10020428275882558, + "iou": 0.965426843628325, + "score": -0.8338156591961754 + }, + { + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.08014719188213348, + "chamfer": 0.11438836232440747, + "iou": 0.896892961088819, + "score": -1.260522404012487 + }, + { + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": 0.08352281153202057, + "chamfer": 0.11819841788572585, + "iou": 0.9476002520008159, + "score": -1.38572853266548 + }, + { + "uid": "8368d0bca47f46a0993ac7c9ab56ea54", + "sim": 0.08125060796737671, + "chamfer": 0.12100349203341774, + "iou": 0.9818756438411986, + "score": -1.5787498672886646 + }, + { + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": 0.055139847099781036, + "chamfer": 0.13764280010485064, + "iou": 0.9055063974346753, + "score": -2.9914874043653414 + } + ], + "08_chair": [ { "uid": "b4ea7af8484c4c7e98704585b70002e9", - "sim": -0.09800168871879578, - "chamfer": 0.07501879836041564, - "iou": 0.9328531239388863, - "score": 0.23975788580234814 + "sim": 0.21511493623256683, + "chamfer": 0.09241899129103019, + "iou": 0.9924168980667085, + "score": 3.3614653480671715 + }, + { + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.09579513221979141, + "chamfer": 0.0734327048428858, + "iou": 0.9148648078540194, + "score": 2.012122329334919 + }, + { + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.1810208261013031, + "chamfer": 0.11147964706262058, + "iou": 0.989557734272241, + "score": 1.8465373806565404 + }, + { + "uid": "c79b4fb3af0b4ea6be16e9d973077441", + "sim": 0.12728486955165863, + "chamfer": 0.0976856149301555, + "iou": 0.9194187500585822, + "score": 1.4807071960187785 + }, + { + "uid": "79fbc9501aff4538bf077197d2502016", + "sim": 0.179776132106781, + "chamfer": 0.12047728985185535, + "iou": 0.9841353556015138, + "score": 1.4083229226945138 + }, + { + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "sim": 0.16094514727592468, + "chamfer": 0.1202299041337372, + "iou": 0.7491516149725511, + "score": 1.0685757187008649 }, { "uid": "8368d0bca47f46a0993ac7c9ab56ea54", - "sim": -0.06397409737110138, - "chamfer": 0.11461364167716608, - "iou": 0.9229445442344724, - "score": -0.12492346559593925 + "sim": 0.1578497737646103, + "chamfer": 0.1261602854866118, + "iou": 0.9818756438411983, + "score": 0.7373231600047407 }, { - "uid": "aa555c383d5748fa91634b61dc3febf9", - "sim": -0.0019170762971043587, - "chamfer": 0.16870099987477763, - "iou": 0.9736430083874862, - "score": -0.3153919882110341 + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.055304400622844696, + "chamfer": 0.0984079999859671, + "iou": 0.9482523298120455, + "score": 0.10510667856363476 }, { - "uid": "34122e3ff87441309d6714396d6e22d2", - "sim": 0.011836571618914604, - "chamfer": 0.1932037443145899, - "iou": 0.8923933343005727, - "score": -0.6853660483834346 + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.0939440205693245, + "chamfer": 0.1251379573862551, + "iou": 0.896892961088819, + "score": -0.4072287760123404 + }, + { + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.10816898196935654, + "chamfer": 0.1338528373557696, + "iou": 0.9725271246487389, + "score": -0.5439252687530278 }, { "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", - "sim": 0.0016131401062011719, - "chamfer": 0.19018772371749051, - "iou": 0.9183896688019626, - "score": -0.8083555120792935 + "sim": 0.08463413268327713, + "chamfer": 0.1348609365998869, + "iou": 0.9770299342307455, + "score": -1.0292969396203664 }, { - "uid": "cadccdc1d08648a7be5b0233ba42ddfd", - "sim": -0.03190791234374046, - "chamfer": 0.17894011507261362, - "iou": 0.8511588962653922, - "score": -1.1760406538189487 + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": 0.08151542395353317, + "chamfer": 0.13764824795921282, + "iou": 0.9476002520008159, + "score": -1.216014980246436 + }, + { + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": 0.06014905869960785, + "chamfer": 0.14233328843295223, + "iou": 0.965426843628325, + "score": -1.8305427975330049 + }, + { + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.05681638419628143, + "chamfer": 0.14646373648317498, + "iou": 0.9493737030568185, + "score": -2.0832011266743575 }, { "uid": "ae81468e59404c9bb18333bb42114488", - "sim": -0.10353676229715347, - "chamfer": 0.16499952492180583, - "iou": 0.9769925123316119, - "score": -2.2260604597253275 + "sim": 0.04305244982242584, + "chamfer": 0.14124161511567018, + "iou": 0.9621169912193434, + "score": -2.0990060313549987 }, { - "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", - "sim": -0.11858952790498734, - "chamfer": 0.17715274887786467, - "iou": 0.8433468279318828, - "score": -2.841719460297387 + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": 0.037977878004312515, + "chamfer": 0.1546254149943254, + "iou": 0.9055063974346756, + "score": -2.810944813846623 } ], - "09_sofa": [ + "09_chair": [ { - "uid": "c2414bdd1a3e4604a011c7889983c0dd", - "sim": 0.1483805924654007, - "chamfer": 0.10580678465845317, - "iou": 0.37109514205983724, - "score": 2.3016446554842 + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "sim": 0.25101619958877563, + "chamfer": 0.07388743228517697, + "iou": 0.7491516149725511, + "score": 2.508298149173628 }, { - "uid": "bd6cd4c1504341d7ba1dc0d6678f3421", - "sim": 0.14446333050727844, - "chamfer": 0.10346519067833414, - "iou": 0.6906849592768047, - "score": 2.245451605850039 + "uid": "8102032a85e34e1d9e9193e6149946f1", + "sim": 0.18975457549095154, + "chamfer": 0.052905296859504625, + "iou": 0.9148648078540194, + "score": 2.0653051789561565 }, { - "uid": "f8def3c5f656454c935fe3d626ed9fab", - "sim": 0.10079950094223022, - "chamfer": 0.08813394582723211, - "iou": 0.9758776611238573, - "score": 1.4128092990799876 + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "sim": 0.2255784273147583, + "chamfer": 0.08386616711235452, + "iou": 0.9924168980667085, + "score": 1.7174144606326345 }, { - "uid": "d90e4353ae7047e0b4f37abc8bc58468", - "sim": 0.09621120989322662, - "chamfer": 0.09563597245287013, - "iou": 0.9507574996101795, - "score": 1.150754190700506 + "uid": "c2644b133b554bc084e83d1217663918", + "sim": 0.15955683588981628, + "chamfer": 0.05802159617260802, + "iou": 0.9482523298120455, + "score": 1.3449553653013617 }, { - "uid": "82a393a6680745ae8f189e24d41b817a", - "sim": 0.08612796664237976, - "chamfer": 0.10477164529186743, - "iou": 0.8758691556355216, - "score": 0.7156644344768804 + "uid": "c79b4fb3af0b4ea6be16e9d973077441", + "sim": 0.19308088719844818, + "chamfer": 0.08751952831811892, + "iou": 0.9194187500585822, + "score": 1.0023612561007518 }, { - "uid": "fbadc209177641978444636641a6d515", - "sim": 0.08590930700302124, - "chamfer": 0.10630944861910493, - "iou": 0.9460998286627346, - "score": 0.6805677472410108 + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "sim": 0.21893130242824554, + "chamfer": 0.10250373497558143, + "iou": 0.989557734272241, + "score": 0.9902230587302603 }, { - "uid": "9c242421a7c1447f941f72b57e7473e5", - "sim": 0.0981740728020668, - "chamfer": 0.14612228922186482, - "iou": 0.8672495105246968, - "score": 0.23432964966081704 + "uid": "0717695aad8f4d5f9f8f5e1d57355218", + "sim": 0.19913913309574127, + "chamfer": 0.10365588635798216, + "iou": 0.9725271246487389, + "score": 0.5895683586661712 }, { - "uid": "a0d66f10a850469c9cb04c3cecc62a05", - "sim": 0.0501805916428566, - "chamfer": 0.08423711711208196, - "iou": 0.9482882914329056, - "score": 0.18173626787150032 + "uid": "79fbc9501aff4538bf077197d2502016", + "sim": 0.21150913834571838, + "chamfer": 0.11264074246867065, + "iou": 0.9841353556015138, + "score": 0.5248371577632327 }, { - "uid": "471cbdf77d254e30988c8998a0615e44", - "sim": 0.0945943146944046, - "chamfer": 0.14822139009739205, - "iou": 0.9237813879997998, - "score": 0.10178178099849616 + "uid": "2c32127e0a354be9b588bbeb8f9ac644", + "sim": 0.23801466822624207, + "chamfer": 0.13025709817749473, + "iou": 0.9476002520008159, + "score": 0.43925118488101644 }, { - "uid": "42da0122f2134a189767d0911b401c1c", - "sim": 0.054373808205127716, - "chamfer": 0.12198275355865759, - "iou": 0.8317344953712285, - "score": -0.4331107194914271 + "uid": "34122e3ff87441309d6714396d6e22d2", + "sim": 0.20648035407066345, + "chamfer": 0.12500501428774757, + "iou": 0.9493737030568185, + "score": 0.03105293920267249 }, { - "uid": "e8a03b14310c40239365f166d325d671", - "sim": 0.06005072593688965, - "chamfer": 0.1306505002737658, - "iou": 0.6253329417824249, - "score": -0.4527036609504393 + "uid": "aa555c383d5748fa91634b61dc3febf9", + "sim": 0.15308062732219696, + "chamfer": 0.11127025656783068, + "iou": 0.965426843628325, + "score": -0.5029884348327762 }, { - "uid": "8bbefe57330941c6904f4e4618756553", - "sim": 0.04934968054294586, - "chamfer": 0.12138135857672186, - "iou": 0.7465550805019947, - "score": -0.5511886093598479 + "uid": "8368d0bca47f46a0993ac7c9ab56ea54", + "sim": 0.14723804593086243, + "chamfer": 0.1213967880891959, + "iou": 0.9818756438411983, + "score": -0.9390443645036747 }, { - "uid": "9a2c5ed79d634a61b1166836a8a5530f", - "sim": 0.033471010625362396, - "chamfer": 0.11003883047070971, - "iou": 0.922648494504455, - "score": -0.7435151627566483 + "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", + "sim": 0.174235999584198, + "chamfer": 0.14324771417625742, + "iou": 0.896892961088819, + "score": -1.153097672607914 }, { - "uid": "a4c4e43e911e4a7fa0cc2617a0697eef", - "sim": -0.012744499370455742, - "chamfer": 0.09401068548072863, - "iou": 0.8722632384599663, - "score": -1.6286291326940414 + "uid": "ae81468e59404c9bb18333bb42114488", + "sim": 0.07541912794113159, + "chamfer": 0.10851063980719439, + "iou": 0.9621169912193437, + "score": -1.8386858246415267 }, { - "uid": "f0ff385edd4f4a9ebac56d755c2f6634", - "sim": 0.08396837115287781, - "chamfer": 0.25999999999999995, - "iou": 0.5132044920569835, - "score": -2.3134146017696238 + "uid": "cadccdc1d08648a7be5b0233ba42ddfd", + "sim": 0.0805693194270134, + "chamfer": 0.15062617556169214, + "iou": 0.9055063974346756, + "score": -3.111738286745718 }, { - "uid": "1b6dea328d4141b3b20459b45ebe929a", - "sim": 0.06076629459857941, - "chamfer": 0.25949177100730814, - "iou": 0.5007752828199353, - "score": -2.9021777443414063 + "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", + "sim": 0.07758384943008423, + "chamfer": 0.16606050141118778, + "iou": 0.9770299342307455, + "score": -3.6677125260762713 } ], "10_air_conditioner": [ { "uid": "da8f719b60e9406fb16c84a0bf404297", - "sim": 0.08056633919477463, - "chamfer": 0.05764708231865332, - "iou": 0.6734868584443894, - "score": 2.2515566347554263 + "sim": 0.08629711717367172, + "chamfer": 0.05180126002860799, + "iou": 0.7539235480156828, + "score": 2.6075971877822783 }, { "uid": "a7852c063b484df6963e1b5f649e7fe5", - "sim": 0.12593919038772583, - "chamfer": 0.08727154434139772, - "iou": 0.45684172486057617, - "score": 1.958199379749232 + "sim": 0.08093392103910446, + "chamfer": 0.06072507091726474, + "iou": 0.5114037932143696, + "score": 2.1327883769938376 }, { - "uid": "3077f5074fb14538b28baf80e65e52f6", - "sim": 0.05661551654338837, - "chamfer": 0.08127875783818167, - "iou": 0.35438306610718184, - "score": 0.9317118330441964 + "uid": "f3c251cbf4354ec4822db9e7db7554c4", + "sim": 0.015288034453988075, + "chamfer": 0.06030285556408622, + "iou": 0.3391118176936395, + "score": 0.9016826834326555 }, { - "uid": "f3c251cbf4354ec4822db9e7db7554c4", - "sim": 0.04335036501288414, - "chamfer": 0.0776584520624194, - "iou": 0.3029317141784049, - "score": 0.8281836274153884 + "uid": "2ee631cfd24542b4b47eb6d88b34d4a8", + "sim": 0.059081077575683594, + "chamfer": 0.08156223818453218, + "iou": 0.4066280278065847, + "score": 0.846631938026688 + }, + { + "uid": "f15a8fdb25ce42118c1bb6ab695f56ce", + "sim": 0.11863894015550613, + "chamfer": 0.11917635283024892, + "iou": 0.21613868224102603, + "score": 0.4082552312779475 }, { "uid": "5705d0adde414506866885157b95e753", - "sim": 0.02389002963900566, - "chamfer": 0.07367979846176806, - "iou": 0.4019295467173981, - "score": 0.6262676738228474 + "sim": 0.01795094832777977, + "chamfer": 0.07335502467792017, + "iou": 0.4499332780055082, + "score": 0.40708974497793887 }, { - "uid": "fb03d133dd4142f2908a8cfc504dac59", - "sim": 0.038618054240942, - "chamfer": 0.08084694577386223, - "iou": 0.33412396609780337, - "score": 0.6230101925151813 + "uid": "c1c39f39df7946149afe10b60b36eba5", + "sim": 0.05580344423651695, + "chamfer": 0.09598145587568278, + "iou": 0.30915452531838883, + "score": 0.18192763598277034 }, { - "uid": "f15a8fdb25ce42118c1bb6ab695f56ce", - "sim": 0.14199809730052948, - "chamfer": 0.13446742627023378, - "iou": 0.19307867816829452, - "score": 0.4757568400396277 + "uid": "3077f5074fb14538b28baf80e65e52f6", + "sim": 0.03003665991127491, + "chamfer": 0.08633057760194024, + "iou": 0.39670816914427454, + "score": 0.09494181292678602 }, { - "uid": "2ee631cfd24542b4b47eb6d88b34d4a8", - "sim": 0.07808369398117065, - "chamfer": 0.11051551764775605, - "iou": 0.36324456733535765, - "score": 0.22135048120315476 + "uid": "1686e3215a15418ca4baed820d4334e1", + "sim": 0.02153955027461052, + "chamfer": 0.08549137590028075, + "iou": 0.20091618995348656, + "score": -0.03163652156777559 }, { - "uid": "c1c39f39df7946149afe10b60b36eba5", - "sim": 0.08930261433124542, - "chamfer": 0.11809595315200475, - "iou": 0.2761705886207669, - "score": 0.1392209547677904 + "uid": "e0fad92bca3c4e1f84ab88d297b352a4", + "sim": 0.09770161658525467, + "chamfer": 0.12042421501479988, + "iou": 0.3157293704655065, + "score": -0.042152136404896456 }, { - "uid": "1686e3215a15418ca4baed820d4334e1", - "sim": 0.03591495007276535, - "chamfer": 0.09447074945065215, - "iou": 0.17948028541957028, - "score": 0.0625904769486223 + "uid": "fb03d133dd4142f2908a8cfc504dac59", + "sim": -0.010292128659784794, + "chamfer": 0.07954503785504118, + "iou": 0.3740294600244642, + "score": -0.3887466704687652 + }, + { + "uid": "4c0f32f6c51c441dbfccb40d84738548", + "sim": 0.03899355232715607, + "chamfer": 0.1026241850677932, + "iou": 0.2465659176859863, + "score": -0.4153339377540819 }, { "uid": "6c3b7f42886f47f1a59725bfac3640f2", - "sim": -0.04824014753103256, - "chamfer": 0.07624115288043626, - "iou": 0.4695764081498955, - "score": -0.772123602663121 + "sim": -0.057419925928115845, + "chamfer": 0.0658110649767378, + "iou": 0.5256594204592959, + "score": -0.7115013371734896 }, { - "uid": "e0fad92bca3c4e1f84ab88d297b352a4", - "sim": 0.08371957391500473, - "chamfer": 0.14127649924935912, - "iou": 0.2820439584266911, - "score": -0.8320792358954537 + "uid": "875400ce508d435faffd6844d7fdddf4", + "sim": -0.0677400678396225, + "chamfer": 0.08673072444266741, + "iou": 0.18436643606315617, + "score": -1.7817239709937402 }, { "uid": "885b4a83ad1a4db792715ba24c7a5d57", - "sim": -0.018418356776237488, - "chamfer": 0.09348628382121157, - "iou": 0.24866090806077373, - "score": -0.8813472304058052 + "sim": -0.041881635785102844, + "chamfer": 0.10099765088409149, + "iou": 0.278359275622688, + "score": -1.8858279480177471 }, { - "uid": "4c0f32f6c51c441dbfccb40d84738548", - "sim": 0.02975248172879219, - "chamfer": 0.12939493682142594, - "iou": 0.2202596082041179, - "score": -1.3601832347865206 + "uid": "0f9fc087827945b5ba88da01e5c5da60", + "sim": 0.02780510112643242, + "chamfer": 0.14321895566956178, + "iou": 0.3994389404159324, + "score": -2.323992089020416 + } + ], + "11_carpet": [ + { + "uid": "783c748a023d44c8a4e4d5e3521b4fb4", + "sim": 0.4369005560874939, + "chamfer": 0.08262728614325467, + "iou": 0.5303107284430434, + "score": 2.6421544690044394 }, { - "uid": "0f9fc087827945b5ba88da01e5c5da60", - "sim": 0.03548116236925125, - "chamfer": 0.15146435691047638, - "iou": 0.35682248926848215, - "score": -2.0855405174505632 + "uid": "5db8109d4ea34ef2bea6f395a48fcaf2", + "sim": 0.22290241718292236, + "chamfer": 0.04750771793515032, + "iou": 0.9422543230913385, + "score": 2.494213294939438 }, { - "uid": "875400ce508d435faffd6844d7fdddf4", - "sim": -0.07147106528282166, - "chamfer": 0.10273815876558103, - "iou": 0.16469623764050478, - "score": -2.1865742730599993 + "uid": "cbde775dbc734bd08f4b201fe32b4836", + "sim": 0.30952420830726624, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": 0.7177920474225618 + }, + { + "uid": "575ceb9897984adb842dc3c163c33d21", + "sim": 0.20330765843391418, + "chamfer": 0.06602831483068383, + "iou": 0.9783166091071143, + "score": 0.5241013316022295 + }, + { + "uid": "0f49497646b146daa768a17a61d65786", + "sim": 0.2712244391441345, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": 0.1255397473158487 + }, + { + "uid": "518270ef732c4af2a6b088c7faaa7188", + "sim": 0.2691599726676941, + "chamfer": 0.08212364686239548, + "iou": 0.5308675587821019, + "score": 0.0936156365141591 + }, + { + "uid": "519d58fdd62143c4a01714fd05d0d1bb", + "sim": 0.2690187692642212, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": 0.09143215115539308 + }, + { + "uid": "3026ea0181be4f2db72ff4ef5f229628", + "sim": 0.26220327615737915, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -0.013959906214348755 + }, + { + "uid": "6d43731dcae44371bd7917b52be2f52f", + "sim": 0.25549429655075073, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -0.11770488145089956 + }, + { + "uid": "e2fb6b063fcc4a41ac32dabf5fa05258", + "sim": 0.2406359761953354, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -0.347468000093612 + }, + { + "uid": "a593baa36e924a1891d4c16c83b28e66", + "sim": 0.23096787929534912, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -0.49697158071005576 + }, + { + "uid": "6430619924364a4eadf74710390540ae", + "sim": 0.23038460314273834, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -0.5059911296663367 + }, + { + "uid": "e61bb54ba99e44189b08a2cd0ab8bccb", + "sim": 0.2088393121957779, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -0.8391588849458906 + }, + { + "uid": "5f9716bc030b467181e2470499df706a", + "sim": 0.19371995329856873, + "chamfer": 0.08212364655629618, + "iou": 0.5308675587821019, + "score": -1.072958599113119 + }, + { + "uid": "286b7eb50e514488b45302304e3ab679", + "sim": 0.11916782706975937, + "chamfer": 0.07487898817310719, + "iou": 0.6032470429738657, + "score": -1.5736847212873333 + }, + { + "uid": "a3bbc9154ea846d7af74824aabaab511", + "sim": 0.28683239221572876, + "chamfer": 0.10531841699123591, + "iou": 0.5302744281644649, + "score": -1.7209509744724678 } ], - "11_bookcase": [ + "12_painting": [ { - "uid": "1653db41973e466ebd90f91d8dfdda29", - "sim": 0.12731540203094482, - "chamfer": 0.07474275413766698, - "iou": 0.8097859826066512, - "score": 2.293472584232884 + "uid": "d85e8574d17041eda423cabafa18ab98", + "sim": 0.2976468503475189, + "chamfer": 0.13012870298413318, + "iou": 0.23052337750452292, + "score": 1.5060470433280482 }, { - "uid": "cafa12d984664b4e96f6fa442faed938", - "sim": 0.28246623277664185, - "chamfer": 0.1423407526680615, - "iou": 0.45000886067388707, - "score": 1.8033887406154074 + "uid": "a8c2b341d7ed4daaa10b593c0d146e13", + "sim": 0.22786298394203186, + "chamfer": 0.10739958412984019, + "iou": 0.30404161564156806, + "score": 1.093057963499324 }, { - "uid": "c1c1eb046635471b8911ac50e5b44014", - "sim": 0.2745613753795624, - "chamfer": 0.15198127051131866, - "iou": 0.9381023756835465, - "score": 1.4415083677247096 + "uid": "9d07d1221c50423aa95058f3d7b47893", + "sim": 0.09050369262695312, + "chamfer": 0.02433162229702859, + "iou": 0.4782776859514379, + "score": 0.9053150553833715 }, { - "uid": "67e718a0fc904487a9f735892d9834d3", - "sim": 0.15426410734653473, - "chamfer": 0.11609774007192822, - "iou": 0.6739135102241006, - "score": 1.332812462959189 + "uid": "49fc5dd4bdc34951b29fb43aaaa9f3b5", + "sim": 0.10109297931194305, + "chamfer": 0.03602181501554405, + "iou": 0.6680372435571125, + "score": 0.8335659022375924 }, { - "uid": "6ca9e3bcedae4dfe9fd9d639639447b4", - "sim": 0.059434693306684494, - "chamfer": 0.09589501820684124, - "iou": 0.972131794083036, - "score": 1.0081229010527797 + "uid": "460a5ca01e0e409cafaa5611e564f04b", + "sim": 0.054894860833883286, + "chamfer": 0.026524044037313163, + "iou": 0.47752810467875234, + "score": 0.46964826985833485 }, { - "uid": "77c0313ad21144dcb904915d66a163b3", - "sim": 0.13276514410972595, - "chamfer": 0.12638724268162063, - "iou": 0.6790556790553496, - "score": 0.8195745943106225 + "uid": "449501e5ac704151b2f913649617dc7c", + "sim": 0.22140784561634064, + "chamfer": 0.15834476615114515, + "iou": 0.2719294728346041, + "score": 0.18962199167424476 }, { - "uid": "3d42390fa27748f6818a85182595a69c", - "sim": 0.10851813107728958, - "chamfer": 0.13281948256472625, - "iou": 0.6071907693687653, - "score": 0.39365957620536723 + "uid": "6dcce9b7229e4383917ee9161a7ee1ee", + "sim": 0.24622538685798645, + "chamfer": 0.18561023356588882, + "iou": 0.058185673401263814, + "score": 0.023623741869582382 }, { - "uid": "a7830bb1abc348bd9390d126648377fd", - "sim": 0.11219686269760132, - "chamfer": 0.13539006911863327, - "iou": 0.8543186961723587, - "score": 0.3534263134330974 + "uid": "a6e8bcdb300c4a40b75e2e3788914269", + "sim": 0.021338725462555885, + "chamfer": 0.03412409357626242, + "iou": 0.5575942497319607, + "score": -0.03116665943850161 }, { - "uid": "04efa2b17050432c9452056bfd36af44", - "sim": -0.06989087164402008, - "chamfer": 0.0879729863085506, - "iou": 0.868234053902004, - "score": -0.015041020288586449 + "uid": "8e09e36becc84eb290697ec49a1f3f15", + "sim": 0.11021233350038528, + "chamfer": 0.09831994744359802, + "iou": 0.09158826306294252, + "score": -0.08013195536697232 }, { - "uid": "b8792d1b3acf4081b0f173497d19d08b", - "sim": 0.2109188437461853, - "chamfer": 0.1867242374501289, - "iou": 0.373008137210978, - "score": -0.20444811551312592 + "uid": "b84dfc98d44d470ebff1ff6fbe36f57a", + "sim": 0.014087806455790997, + "chamfer": 0.03434481169390166, + "iou": 0.9972643439183464, + "score": -0.11619859881706618 }, { - "uid": "66b83fb8729948e9955cac4754ccd132", - "sim": 0.0881451964378357, - "chamfer": 0.16526905136615405, - "iou": 0.8782846925941591, - "score": -0.7637988829519973 + "uid": "54a72a5212d142f0b73b1d6d356b756c", + "sim": 0.003253217786550522, + "chamfer": 0.037927883474053715, + "iou": 0.7213135029796595, + "score": -0.29631882507358076 }, { - "uid": "813d77c898504d7cb249b0cafea2a1e3", - "sim": 0.07522417604923248, - "chamfer": 0.17299580405843648, - "iou": 0.24655400603233835, - "score": -1.1178684134038326 + "uid": "3bfc45bc729c434aaf7c782ac12d66ca", + "sim": 0.06365220248699188, + "chamfer": 0.1016528198139848, + "iou": 0.1987390063756887, + "score": -0.6573893332883015 }, { - "uid": "b37db59c7cce46b2a3e40969e6797117", - "sim": 0.055772095918655396, - "chamfer": 0.16719061514527822, - "iou": 0.6907736558785817, - "score": -1.1353612223725902 + "uid": "eb3f2354354a4e67a709bf2cab522049", + "sim": 0.12508279085159302, + "chamfer": 0.14428469573185554, + "iou": 0.10355653953019606, + "score": -0.662836099416622 }, { - "uid": "bfcd1f32b812414bab95d3e54284ba53", - "sim": 0.04819852113723755, - "chamfer": 0.16807660283618658, - "iou": 0.3437810745875901, - "score": -1.2351905481511791 + "uid": "6bac7ea154b24666bb1268eea48dee39", + "sim": 0.006492746993899345, + "chamfer": 0.06938945602942209, + "iou": 0.4068136309119465, + "score": -0.7730908936370443 }, { - "uid": "ecf7e409454d450cbde731259a51bbd5", - "sim": -0.033213481307029724, - "chamfer": 0.15736788791488926, - "iou": 0.4373024960139476, - "score": -1.7101209122114387 + "uid": "e4f5d474029943818f536718d80d81ea", + "sim": 0.1291094422340393, + "chamfer": 0.15847433974361558, + "iou": 0.05819727635145912, + "score": -0.849054642378006 }, { - "uid": "baded4f3a22e4d6e9472e925e6f1fc12", - "sim": -0.08649814128875732, - "chamfer": 0.19240730036205872, - "iou": 0.2867916758531665, - "score": -3.264136425641309 + "uid": "1cdad3cea6f64a0a81e02a7aebf4bdf0", + "sim": 0.15606197714805603, + "chamfer": 0.22029530435879038, + "iou": 0.11632004814299726, + "score": -1.5546929604344042 } ] } \ No newline at end of file diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_dining_table.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_dining_table.glb deleted file mode 100644 index 4013a068b0c025ba002c96d86f090654da644f5d..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_dining_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:31de9d5c66885ed56c20adb08994b87ae0a0fcac8603b14b0f2e23ce944c0b09 -size 305684 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_sideboard.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_sideboard.glb new file mode 100644 index 0000000000000000000000000000000000000000..efd26c6aa318bea505ca2930cc6cd91639f5f8ef --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/00_sideboard.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e65f674afce6b3c2bb28c3e1e6568aad4426174d76d03fb1e2d129a55c6e58ed +size 5191080 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chair.glb new file mode 100644 index 0000000000000000000000000000000000000000..9bf77eda7ba4c60ba1ff27b0348e2e1965d060ac --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chair.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e50d2e54289acfd7c6ee0640e2716ee504c0357c1539e2c01c524e17635e7f77 +size 398052 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chandelier.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chandelier.glb deleted file mode 100644 index b8419ea1810980d02e146ef6fac32dd7e638e9cc..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/01_chandelier.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2de26c9738232dd82e6e6e44f34603efe4216d6743d40408efb63467398758bf -size 8723360 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/02_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/02_chair.glb new file mode 100644 index 0000000000000000000000000000000000000000..6eaec3c39da794a02db7c102df15ebd7e861ca93 --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/02_chair.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9573c075b1d389ebf38325c2e17e0c56b2a2273d5f36eea169049834430032ff +size 2182840 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_air_conditioner.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_air_conditioner.glb deleted file mode 100644 index f1c8f4850f2e6a92ee0a48e135a4b33b2af7b847..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_air_conditioner.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fb45e3f90ecf7fe4bddf6da6c69c944c67af6d24140ebf87277cf5e92974cd5e -size 2278720 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_chair.glb new file mode 100644 index 0000000000000000000000000000000000000000..d0a31bb24d5ff0c7f6b44728d0ba8b6358a7ce6d --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/03_chair.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfe38201e66ba8f737039a09b02f1f7f11eab2367269089a969e2ef464837b49 +size 2182844 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_chair.glb new file mode 100644 index 0000000000000000000000000000000000000000..fd2a13b034b05c6741bed0291825655dfce7393b --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_chair.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19a1f173a8a32eef39d9614b29a82424433ad68ec2f8a2821484bed947fa7e39 +size 2182844 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_plants.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_plants.glb deleted file mode 100644 index 0646857610abd7483ec2985ae295fda3a5d3998e..0000000000000000000000000000000000000000 Binary files a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/04_plants.glb and /dev/null differ diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_carpet.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_carpet.glb new file mode 100644 index 0000000000000000000000000000000000000000..47e4b72a8ed4cc0d204b7da4e67f39bbe7c22646 --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_carpet.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4255b8223aac98144e49b7c642c8cb90bbcda157eb45309329ab6dbb10a214f0 +size 285252 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_chair.glb deleted file mode 100644 index f40f3e1d23ec2453458507889b9f1f100b0b1314..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/05_chair.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1ee6110bbb2241bc6b0be6eaaea9418c51001ac3d150cb2e141b6f2982324cde -size 398052 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_chair.glb deleted file mode 100644 index c9366fa8a64d0427a7254bab296ab15f84dffc07..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_chair.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a5419c2272abdfc59a9b9bed1ac2e05e949427d8f683e7357def62eca2c0fa5c -size 1721500 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_desk.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_desk.glb new file mode 100644 index 0000000000000000000000000000000000000000..5317be4b662fcee491ad90cb630df9b04477b430 --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/06_desk.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e10e1ac2bdaf07dc1d8f957cd019fd8a9be278ae7925732987b1af8ab89ee5b +size 107804 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_chair.glb new file mode 100644 index 0000000000000000000000000000000000000000..f2cb2c407eca76e9c7760ea09c690e42145dc6d1 --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_chair.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4916f0e204d060d176ae30cab8938ddc14a881549178f9d6f5f9b62a939513e3 +size 221076 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_dining_table.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_dining_table.glb deleted file mode 100644 index 1cc4c4c0aff825a4caba543af837a92cd0ebf85c..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/07_dining_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e6e84c14f6a4b236a1b087a686d1cd46cce6745a451654fc12d025347805fb24 -size 6286768 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/08_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/08_chair.glb index deaa6dbf8519159ed10a9cd6ab2ae5a82270c466..203d47558207253cf0f1c57f54d7bc51ec9b8b97 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/08_chair.glb +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/08_chair.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9836c0628c3f512c6a28c0d260cfd07486f396eab9c6b1b75ba01addeaf84753 -size 1721500 +oid sha256:065adf4f64d3fa83ecb05d6a2d1f45f67f8f62360d7aff32e1c5cdd6f56e4149 +size 2182844 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_chair.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_chair.glb new file mode 100644 index 0000000000000000000000000000000000000000..0868703f247662849d57d7fe2a9cf01fbdd70589 --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_chair.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be0220f64d1fc8d30e6f1020441210d37d045113b1e37d9ab8534c68d76b1238 +size 3037508 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_sofa.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_sofa.glb deleted file mode 100644 index 860192952bfa14b6e423601e65d8a8bd6893e049..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/09_sofa.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:94568cdf79fcc6dfb617f124e124798df45061ecbe9b933128e135cda0393bf9 -size 210256 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/10_air_conditioner.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/10_air_conditioner.glb index 0d877d9b2971dda008a297eb4baa22369c292b93..12dce60c327c94cab9149845fb93cbf16356b77d 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/10_air_conditioner.glb +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/10_air_conditioner.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ec3277c8975c47b73ba881e64a8492a0880bd71ba4edef2329f97f816c6de67b +oid sha256:ba6e1e9eec9b28a3677e648524a428e5bd0ac1602805533dc5511942b855a34f size 693572 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_bookcase.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_bookcase.glb deleted file mode 100644 index 6777813e66977c0d3874f700f656d541308b303f..0000000000000000000000000000000000000000 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_bookcase.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:797bd4b3723ee69a74f71e441e377e1f5c43f37d2b86fd8e16791080323f08d9 -size 3171644 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_carpet.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_carpet.glb new file mode 100644 index 0000000000000000000000000000000000000000..be142a3c2eb21fc7811df1e0b5f99a9c9de4ca1c --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/11_carpet.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83af3b3a16a2c824e5921b1d0ad8205ba59d928f749dbeac4043da6bffa0f989 +size 285252 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/12_painting.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/12_painting.glb new file mode 100644 index 0000000000000000000000000000000000000000..f771e2a47dea15ad7f170efafdb0f83b0df33018 --- /dev/null +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/objects/12_painting.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:408af0270c1b88042aa3e80964097bffe4cb35dfba04e355766532a791d60287 +size 8244064 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.json b/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.json index 74fecdef3bf180bb6de1fab4523a83c31e743bcf..a91d92753ed7f1e74b51bd3d5e82c483ad3838cb 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.json +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.json @@ -1,34 +1,34 @@ { - "loss_250": 0.3096495619159683, - "loss_150": 0.12584764512473867, + "loss_250": 0.07948556831377186, + "loss_150": 0.03592502992149138, "mcmc_steps": 50, - "seconds": 1.2, + "seconds": 2.1, "blender": "4.3.0", "objects": [ { - "name": "00_dining_table", + "name": "00_sideboard", "hanging": false, "mcmc_move": 0.0, - "sim_move": 1.0068585880386915, - "sim_rot_deg": 8.529701981015291, + "sim_move": 0.6760613947564487, + "sim_rot_deg": 0.09691329395132914, "delta": [ [ - 1.0, - -8.144755156536121e-06, - 5.430531018646434e-05, - -1.9941521035349297e-05 + 0.9999985694885254, + 2.15824496052619e-08, + -0.001689935801550746, + 0.004951782714707087 ], [ - -3.932885104824396e-13, - 0.988939106464386, - 0.14832191169261932, - -0.08351398995107129 + 3.062918782874833e-16, + 1.0, + 1.2771165529557038e-05, + -0.056382436487144805 ], [ - -5.4912692576181144e-05, - -0.14832191169261932, - 0.988939106464386, - -1.4914604396793076 + 0.001689935801550746, + -1.2771147339663003e-05, + 0.9999985694885254, + -0.6753450322719632 ], [ 0.0, @@ -39,29 +39,95 @@ ] }, { - "name": "01_chandelier", - "hanging": true, + "name": "01_chair", + "hanging": false, "mcmc_move": 0.0, - "sim_move": 0.0, - "sim_rot_deg": 0.0, + "sim_move": 0.6758810514300154, + "sim_rot_deg": 8.845134071688143, "delta": [ [ - 1.0, - 0.0, - 0.0, - 0.0 + 0.9999655485153198, + 0.0012746850261464715, + 0.008203336037695408, + 0.0007390617495923735 + ], + [ + 1.2205911281704118e-10, + 0.9881418943405151, + -0.1535436064004898, + -0.3351094160236996 + ], + [ + -0.008301780559122562, + 0.15353833138942719, + 0.9881076812744141, + -0.04995282728968098 ], [ 0.0, - 1.0, 0.0, - 0.0 + 0.0, + 1.0 + ] + ] + }, + { + "name": "02_chair", + "hanging": false, + "mcmc_move": 0.46097678324250646, + "sim_move": 0.46170424534345067, + "sim_rot_deg": 0.1933212408678709, + "delta": [ + [ + 0.9999998807907104, + -9.367273378302343e-06, + 0.0001140844397014007, + 0.2999086208516417 + ], + [ + 9.747994226927403e-06, + 0.9999944567680359, + -0.0033376498613506556, + 0.351919278246664 ], [ + -0.0001140525346272625, + 0.003337651491165161, + 0.9999942779541016, + 0.034972318768359045 + ], + [ + 0.0, 0.0, 0.0, + 1.0 + ] + ] + }, + { + "name": "03_chair", + "hanging": false, + "mcmc_move": 0.4499995708465576, + "sim_move": 0.4508121470906221, + "sim_rot_deg": 0.19483355668961083, + "delta": [ + [ + 0.999994158744812, + 1.3917924661654979e-05, + -0.0033406843431293964, + 0.45206680544244104 + ], + [ + -1.4302285308076534e-05, 1.0, - 0.0 + -0.00011503176938276738, + 0.0017316565920988403 + ], + [ + 0.003340682480484247, + 0.0001150789248640649, + 0.9999942779541016, + 0.016419638817535942 ], [ 0.0, @@ -72,29 +138,29 @@ ] }, { - "name": "03_air_conditioner", + "name": "04_chair", "hanging": false, - "mcmc_move": 0.0, - "sim_move": 0.6805619717805299, - "sim_rot_deg": 0.5366834181293964, + "mcmc_move": 0.570087754370959, + "sim_move": 0.606791258341384, + "sim_rot_deg": 0.19483355668961083, "delta": [ [ - 1.0, - 1.3170460988476407e-06, - 0.0001408210227964446, - 0.0914845124925594 + 0.999994158744812, + 1.66920326591935e-05, + 0.0033410864416509867, + -0.4133178394705903 ], [ - -3.201720166117264e-15, - 0.9999560117721558, - -0.009352218359708786, - 0.021582971945359297 + -1.7084794308175333e-05, + 0.9999998807907104, + 0.00011752697901101783, + 0.4452388565075911 ], [ - -0.0001408271782565862, - 0.009352215565741062, - 0.9999562501907349, - -0.652520215143046 + -0.003341083647683263, + -0.0001175833895104006, + 0.9999943971633911, + 0.029180312148304854 ], [ 0.0, @@ -105,29 +171,29 @@ ] }, { - "name": "04_plants", - "hanging": false, - "mcmc_move": 0.2999997138977051, - "sim_move": 0.39292576762729986, - "sim_rot_deg": 4.532871194349902, + "name": "05_carpet", + "hanging": true, + "mcmc_move": 0.0, + "sim_move": 0.0, + "sim_rot_deg": 0.0, "delta": [ [ - 0.9969856142997742, - 0.017694715410470963, - 0.07554223388433456, - 0.3216651079821764 + 1.0, + 0.0, + 0.0, + 0.0 ], [ - -0.01655460149049759, - 0.9997397065162659, - -0.015692077577114105, - -0.02845163505300352 + 0.0, + 1.0, + 0.0, + 0.0 ], [ - -0.07580025494098663, - 0.014394203200936317, - 0.9970189929008484, - 0.4487720425013597 + 0.0, + 0.0, + 1.0, + 0.0 ], [ 0.0, @@ -138,29 +204,29 @@ ] }, { - "name": "05_chair", + "name": "06_desk", "hanging": false, - "mcmc_move": 0.5315072211083266, - "sim_move": 1.133800387087037, - "sim_rot_deg": 10.000391178958495, + "mcmc_move": 0.2499999523163251, + "sim_move": 0.24622289834283276, + "sim_rot_deg": 0.28254863011927855, "delta": [ [ - 0.9848074913024902, - -0.0002547461190260947, - 0.17364798486232758, - -0.35935763567108736 + 0.999988853931427, + 0.0012357482919469476, + 0.0045031108893454075, + -0.1362646928824045 ], [ - 2.6361550095610475e-11, - 0.999998927116394, - 0.0014670243253931403, - 0.35111880808641804 + -0.0012289817677810788, + 0.9999980926513672, + -0.0015050024958327413, + 0.2027493352676223 ], [ - -0.17364811897277832, - -0.0014447368448600173, - 0.9848067164421082, - -0.8801378914995639 + -0.0045049614273011684, + 0.0014994519297033548, + 0.9999887347221375, + 0.0603434987765612 ], [ 0.0, @@ -171,29 +237,29 @@ ] }, { - "name": "06_chair", + "name": "07_chair", "hanging": false, - "mcmc_move": 0.5590169144069478, - "sim_move": 1.094717456551533, - "sim_rot_deg": 10.010111332488226, + "mcmc_move": 0.7433035333920712, + "sim_move": 0.7421674519493707, + "sim_rot_deg": 0.3956476047075479, "delta": [ [ - 0.9848074913024902, - -0.0013616743963211775, - 0.1736428588628769, - 0.1840193855522525 + 0.9999762773513794, + -3.0699313356308267e-05, + -0.006886898539960384, + -0.5464334206247567 ], [ - 2.6595361329873057e-11, - 0.9999692440032959, - 0.007841569371521473, - 0.547580542372899 + 2.9515193091356196e-05, + 0.9999998807907104, + -0.00017204025061801076, + 0.49764937187139224 ], [ - -0.1736481487751007, - -0.007722438313066959, - 0.9847774505615234, - -0.2896586591112271 + 0.006886904593557119, + 0.000171832914929837, + 0.9999761581420898, + 0.021751161873687974 ], [ 0.0, @@ -204,29 +270,29 @@ ] }, { - "name": "07_dining_table", + "name": "08_chair", "hanging": false, - "mcmc_move": 0.18027754062933105, - "sim_move": 0.7014073291815361, - "sim_rot_deg": 0.0, + "mcmc_move": 0.8499998336329874, + "sim_move": 0.8518540599730023, + "sim_rot_deg": 0.19483355668961083, "delta": [ [ - 1.0, - 0.0, - 0.0, - -0.09999990463256836 + 0.999994158744812, + 1.3917924661654979e-05, + -0.0033406843431293964, + 0.40205258725308823 ], [ - 0.0, + -1.4302285308076534e-05, 1.0, - 0.0, - 0.15000003576278687 + -0.00011503176938276738, + 0.7517316714932599 ], [ - 0.0, - 0.0, - 1.0, - -0.6778438240289688 + 0.003340682480484247, + 0.0001150789248640649, + 0.9999942779541016, + 0.016301682917149507 ], [ 0.0, @@ -237,29 +303,29 @@ ] }, { - "name": "08_chair", + "name": "09_chair", "hanging": false, - "mcmc_move": 0.5830952499626996, - "sim_move": 1.1106358732018065, - "sim_rot_deg": 10.010111332488226, + "mcmc_move": 0.7433028888742405, + "sim_move": 0.7409524653330456, + "sim_rot_deg": 1.381118552857549, "delta": [ [ - 0.9848074913024902, - -0.001361674047075212, - -0.1736428588628769, - -0.3201591286254736 + 1.0, + 1.3925181519880425e-05, + 9.575494914315641e-06, + -0.5437991423891173 ], [ - 1.4977203505184278e-11, - 0.9999692440032959, - -0.007841567508876324, - 0.5023663388551587 + -1.415194128639996e-05, + 0.9997094869613647, + 0.024103734642267227, + 0.4974487451915751 ], [ - 0.1736481487751007, - 0.00772243645042181, - 0.9847774505615234, - -1.0330981131840522 + -9.237063750333618e-06, + -0.024103734642267227, + 0.9997094869613647, + 0.04873862647830912 ], [ 0.0, @@ -270,29 +336,29 @@ ] }, { - "name": "09_sofa", + "name": "10_air_conditioner", "hanging": false, - "mcmc_move": 0.8746420012129975, - "sim_move": 1.3207508558693575, - "sim_rot_deg": 0.9260898989858162, + "mcmc_move": 0.4242636641021828, + "sim_move": 0.7996698607865033, + "sim_rot_deg": 0.0, "delta": [ [ - 0.9999648332595825, - -0.00011543813889147714, - -0.008353615179657936, - 0.4486286500723389 + 1.0, + 0.0, + 0.0, + 0.2999997138977051 ], [ - -1.2225847070834739e-11, - 0.9999042749404907, - -0.013817628845572472, - 0.7468645290420454 + 0.0, + 1.0, + 0.0, + 0.2999997138977051 ], [ - 0.008354411460459232, - 0.013817142695188522, - 0.9998696446418762, - -1.0229763645016194 + 0.0, + 0.0, + 1.0, + -0.6778438091278076 ], [ 0.0, @@ -303,29 +369,29 @@ ] }, { - "name": "10_air_conditioner", - "hanging": false, - "mcmc_move": 0.45276882511245925, - "sim_move": 0.8383047921175433, - "sim_rot_deg": 3.9172167505975697, + "name": "11_carpet", + "hanging": true, + "mcmc_move": 0.0, + "sim_move": 0.0, + "sim_rot_deg": 0.0, "delta": [ [ - 0.9985135793685913, - -0.0022473130375146866, - 0.054457493126392365, - -0.04012202851794511 + 1.0, + 0.0, + 0.0, + 0.0 ], [ - 1.0185829957265469e-09, - 0.9991496205329895, - 0.04123218357563019, - 0.35413636744084753 + 0.0, + 1.0, + 0.0, + 0.0 ], [ - -0.054503846913576126, - -0.04117089509963989, - 0.9976643919944763, - -0.736993381462157 + 0.0, + 0.0, + 1.0, + 0.0 ], [ 0.0, @@ -336,29 +402,29 @@ ] }, { - "name": "11_bookcase", - "hanging": false, + "name": "12_painting", + "hanging": true, "mcmc_move": 0.0, - "sim_move": 0.6760131105669186, - "sim_rot_deg": 0.019782341029446364, + "sim_move": 0.0, + "sim_rot_deg": 0.0, "delta": [ [ - 0.9999999403953552, - -1.0040689168988592e-08, - -0.00034539386979304254, - 0.00037350888322862374 + 1.0, + 0.0, + 0.0, + 0.0 ], [ - -7.397286959137574e-17, + 0.0, 1.0, - -2.907025918830186e-05, - 0.015676503729529667 + 0.0, + 0.0 ], [ - 0.00034539386979304254, - 2.907025918830186e-05, - 0.9999999403953552, - -0.6754004420626953 + 0.0, + 0.0, + 1.0, + 0.0 ], [ 0.0, diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.log b/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.log index 28e4b9df65515dc0b9b2c969c949f6a0ea2e0a2d..1498168fe1a9438e97c817ed4fa71e11a24f6732 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.log +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/physics.log @@ -2,15 +2,17 @@ === End simulate === === Begin simulate === === End simulate === -00_dining_table mcmc 0.000 m sim 1.007 m 8.5 deg -01_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -03_air_conditioner mcmc 0.000 m sim 0.681 m 0.5 deg -04_plants mcmc 0.300 m sim 0.393 m 4.5 deg -05_chair mcmc 0.532 m sim 1.134 m 10.0 deg -06_chair mcmc 0.559 m sim 1.095 m 10.0 deg -07_dining_table mcmc 0.180 m sim 0.701 m 0.0 deg -08_chair mcmc 0.583 m sim 1.111 m 10.0 deg -09_sofa mcmc 0.875 m sim 1.321 m 0.9 deg -10_air_conditioner mcmc 0.453 m sim 0.838 m 3.9 deg -11_bookcase mcmc 0.000 m sim 0.676 m 0.0 deg -physics done in 4 s, loss 0.3096 / 0.1258 +00_sideboard mcmc 0.000 m sim 0.676 m 0.1 deg +01_chair mcmc 0.000 m sim 0.676 m 8.8 deg +02_chair mcmc 0.461 m sim 0.462 m 0.2 deg +03_chair mcmc 0.450 m sim 0.451 m 0.2 deg +04_chair mcmc 0.570 m sim 0.607 m 0.2 deg +05_carpet mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) +06_desk mcmc 0.250 m sim 0.246 m 0.3 deg +07_chair mcmc 0.743 m sim 0.742 m 0.4 deg +08_chair mcmc 0.850 m sim 0.852 m 0.2 deg +09_chair mcmc 0.743 m sim 0.741 m 1.4 deg +10_air_conditioner mcmc 0.424 m sim 0.800 m 0.0 deg +11_carpet mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) +12_painting mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) +physics done in 5 s, loss 0.0795 / 0.0359 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/placements.json b/I64/Metascenes1_Spatiallm1_RTABMAP1/placements.json index 15ee56a0b0fe06d3bb680a1d1d8871b818477aea..254ce7f4c9187a9f7aa47f3f18da910221d15e93 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/placements.json +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/placements.json @@ -5,53 +5,53 @@ "n_cand": 16, "w_sem": 1.0, "seed": 0, - "boxes_raw": 12, - "boxes": 12, + "boxes_raw": 13, + "boxes": 13, "objects": [ { - "name": "00_dining_table", + "name": "00_sideboard", "box": "bbox_0", - "label": "dining_table", + "label": "sideboard", "lvis": [ - "dining_table" - ], - "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", - "url": "https://objaverse.allenai.org/explore/?query=a10c86c6ec7840cd89e3c2b9642a03a6", - "scan_points": 443, - "sim": -0.006505731493234634, - "chamfer": 0.11848366424607229, - "iou": 0.6931186915915841, + "cabinet" + ], + "uid": "030019585a6e4f79bbc3d7c10a3a31db", + "url": "https://objaverse.allenai.org/explore/?query=030019585a6e4f79bbc3d7c10a3a31db", + "scan_points": 42492, + "sim": 0.32234638929367065, + "chamfer": 0.103659748016658, + "iou": 0.6667609554087777, "hanging": false, "flat": false, "box_center": [ - 4.229008105578174, - -3.1750521542770396, - -0.14996149450157129 + 0.9636782493995419, + -2.8863082049207733, + 1.0600622219789644 ], "box_size": [ - 1.671875, - 0.921875, - 0.953125 + 2.1875, + 0.40625, + 2.109375 ], - "box_angle": -1.5708000000000002, + "box_angle": -3.1416, "transform": [ [ - -0.10466693112905097, - -3.8446310561991586e-07, + 0.005891789386594479, + 4.3283501686961576e-08, 0.0, - 4.23069589090575 + 0.9560470835524987 ], [ - 3.8446310561991586e-07, - -0.10466693112905097, + -4.3283501686961576e-08, + 0.005891789386594479, 0.0, - -3.172108463587027 + -3.0111279422203685 ], [ 0.0, 0.0, - 0.35525307719127447, - -0.6028404500226447 + 0.00863804734339501, + 0.0053747399756027825 ], [ 0.0, @@ -62,49 +62,50 @@ ] }, { - "name": "01_chandelier", + "name": "01_chair", "box": "bbox_1", - "label": "chandelier", + "label": "chair", "lvis": [ - "chandelier" - ], - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "url": "https://objaverse.allenai.org/explore/?query=5fc95fddd9cb4038b767fc5cba588c4b", - "scan_points": 445, - "sim": 0.011350875720381737, - "chamfer": 0.14450887068756818, - "iou": 0.07225535450996208, - "hanging": true, + "chair", + "armchair" + ], + "uid": "3b3156919dfa4cffa6ced7236b7cef07", + "url": "https://objaverse.allenai.org/explore/?query=3b3156919dfa4cffa6ced7236b7cef07", + "scan_points": 1314, + "sim": 0.05432145297527313, + "chamfer": 0.09254049993551534, + "iou": 0.989557734272241, + "hanging": false, "flat": false, "box_center": [ - 4.229008105578174, - -3.1750521542770396, - 2.1750385054984287 + 4.613678249399542, + -2.8863082049207733, + 0.41006222197896436 ], "box_size": [ - 1.296875, - 0.09375, - 0.859375 + 0.71875, + 0.796875, + 0.796875 ], "box_angle": -3.1416, "transform": [ [ - -0.49797126789509827, - -3.6583012051785167e-06, + -0.6550714715767497, + -4.812423745002331e-06, 0.0, - 4.2248384241083725 + 4.613321315700231 ], [ - 3.6583012051785167e-06, - -0.49797126789509827, + 4.812423745002331e-06, + -0.6550714715767497, 0.0, - -3.1700046892296974 + -2.8813643044524953 ], [ 0.0, 0.0, - 0.1980587286267171, - 1.9687585435355806 + 0.35842061379787976, + 0.35871392704397465 ], [ 0.0, @@ -115,49 +116,50 @@ ] }, { - "name": "03_air_conditioner", - "box": "bbox_3", - "label": "air_conditioner", + "name": "02_chair", + "box": "bbox_2", + "label": "chair", "lvis": [ - "air_conditioner" + "chair", + "armchair" ], - "uid": "a7852c063b484df6963e1b5f649e7fe5", - "url": "https://objaverse.allenai.org/explore/?query=a7852c063b484df6963e1b5f649e7fe5", - "scan_points": 921, - "sim": 0.04715000092983246, - "chamfer": 0.050004809422660335, - "iou": 0.5461361351422777, + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "url": "https://objaverse.allenai.org/explore/?query=b4ea7af8484c4c7e98704585b70002e9", + "scan_points": 9397, + "sim": 0.20083273947238922, + "chamfer": 0.07945347499307547, + "iou": 0.9924168980667085, "hanging": false, "flat": false, "box_center": [ - -1.6709918944218263, - -2.3250521542770395, - 2.3250385054984286 + 1.4136782493995421, + -2.2363082049207734, + 0.41006222197896436 ], "box_size": [ - 0.953125, - 0.1875, - 0.328125 + 0.71875, + 0.796875, + 0.796875 ], - "box_angle": -1.5708000000000002, + "box_angle": -3.1416, "transform": [ [ - 0.7965753705335075, - 2.9259847164892586e-06, + 6.837102143065504e-08, + -0.00930672525817717, 0.0, - -1.843706819431029 + 1.4157187308782473 ], [ - -2.9259847164892586e-06, - 0.7965753705335075, + 0.00930672525817717, + 6.837102143065504e-08, 0.0, - -2.8023889537042272 + -2.1687119408907307 ], [ 0.0, 0.0, - 0.4304702850018598, - 2.1590573150888455 + 0.00670164139942881, + 0.009080169251563464 ], [ 0.0, @@ -168,49 +170,50 @@ ] }, { - "name": "04_plants", - "box": "bbox_4", - "label": "plants", + "name": "03_chair", + "box": "bbox_3", + "label": "chair", "lvis": [ - "flowerpot" - ], - "uid": "0c77dfdf9430465f9767a58d56e8fca1", - "url": "https://objaverse.allenai.org/explore/?query=0c77dfdf9430465f9767a58d56e8fca1", - "scan_points": 1658, - "sim": 0.12812183797359467, - "chamfer": 0.11594422313838938, - "iou": 0.48426158876463277, + "chair", + "armchair" + ], + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "url": "https://objaverse.allenai.org/explore/?query=b4ea7af8484c4c7e98704585b70002e9", + "scan_points": 3558, + "sim": 0.1739841103553772, + "chamfer": 0.1358586901440451, + "iou": 0.9924168980667085, "hanging": false, "flat": false, "box_center": [ - 2.3040081055781743, - -2.3250521542770395, - 0.5000385054984288 + 3.3136782493995414, + -1.2363082049207734, + 0.41006222197896436 ], "box_size": [ - 0.921875, - 0.390625, - 1.71875 + 0.71875, + 0.796875, + 0.796875 ], - "box_angle": -3.1416, + "box_angle": -1.5708000000000002, "transform": [ [ - -1.6931177090567058e-06, - 0.23046871347665368, + 0.009306725258365529, + 3.4185510717339724e-08, 0.0, - 2.24639130291022 + 3.381274520924235 ], [ - -0.23046871347665368, - -1.6931177090567058e-06, + -3.4185510717339724e-08, + 0.009306725258365529, 0.0, - -2.325052170584548 + -1.2383484381045229 ], [ 0.0, 0.0, - 0.31250000304969566, - -0.04683643585045705 + 0.00670164139942881, + 0.009080169251563464 ], [ 0.0, @@ -221,50 +224,50 @@ ] }, { - "name": "05_chair", - "box": "bbox_5", + "name": "04_chair", + "box": "bbox_4", "label": "chair", "lvis": [ "chair", "armchair" ], - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "url": "https://objaverse.allenai.org/explore/?query=3b3156919dfa4cffa6ced7236b7cef07", - "scan_points": 35, - "sim": null, - "chamfer": 0.0, - "iou": 0.9301655640205517, + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "url": "https://objaverse.allenai.org/explore/?query=b4ea7af8484c4c7e98704585b70002e9", + "scan_points": 4442, + "sim": 0.21210311353206635, + "chamfer": 0.09554892957880602, + "iou": 0.9924168980667085, "hanging": false, "flat": false, "box_center": [ - 0.5040081055781738, - -1.2750521542770397, - -0.14996149450157129 + 0.5886782493995419, + -1.1363082049207733, + 0.41006222197896436 ], "box_size": [ - 0.609375, 0.71875, - 0.921875 + 0.796875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - -2.1703087478919857e-06, - 0.5908487782968694, + -0.009306725258365527, + -3.418551071847946e-08, 0.0, - 0.49954890241681926 + 0.5210819778748483 ], [ - -0.5908487782968694, - -2.1703087478919857e-06, + 3.418551071847946e-08, + -0.009306725258365527, 0.0, - -1.275374110855988 + -1.1342679717370239 ], [ 0.0, 0.0, - 0.4146434551779393, - -0.2093644239361672 + 0.00670164139942881, + 0.009080169251563464 ], [ 0.0, @@ -275,50 +278,102 @@ ] }, { - "name": "06_chair", - "box": "bbox_6", - "label": "chair", + "name": "05_carpet", + "box": "bbox_5", + "label": "carpet", "lvis": [ - "chair", - "armchair" + "runner_(carpet)" + ], + "uid": "783c748a023d44c8a4e4d5e3521b4fb4", + "url": "https://objaverse.allenai.org/explore/?query=783c748a023d44c8a4e4d5e3521b4fb4", + "scan_points": 7065, + "sim": 0.3947749733924866, + "chamfer": 0.08947966776155089, + "iou": 0.5303107284430434, + "hanging": false, + "flat": true, + "box_center": [ + -0.7113217506004581, + -0.9863082049207734, + -0.014937778021035644 ], - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "url": "https://objaverse.allenai.org/explore/?query=2c32127e0a354be9b588bbeb8f9ac644", - "scan_points": 549, - "sim": 0.09375850111246109, - "chamfer": 0.21475102341530483, - "iou": 0.9919595255737735, + "box_size": [ + 2.296875, + 1.21875, + 0.109375 + ], + "box_angle": -1.5708000000000002, + "transform": [ + [ + -0.007658050173387126, + -2.8129588981866668e-08, + 0.0, + 2.9003093027943807 + ], + [ + 2.8129588981866668e-08, + -0.007658050173387126, + 0.0, + -9.294293169068586 + ], + [ + 0.0, + 0.0, + 109375.0, + -218750.0149377517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + { + "name": "06_desk", + "box": "bbox_6", + "label": "desk", + "lvis": [ + "desk" + ], + "uid": "9824a5e58892410c956cfaf9f2b07c29", + "url": "https://objaverse.allenai.org/explore/?query=9824a5e58892410c956cfaf9f2b07c29", + "scan_points": 24758, + "sim": 0.2412598729133606, + "chamfer": 0.13657245637602128, + "iou": 0.5581558591351311, "hanging": false, "flat": false, "box_center": [ - 3.854008105578174, - -1.2750521542770397, - -0.14996149450157129 + 1.963678249399542, + -0.7613082049207733, + 0.38506222197896434 ], "box_size": [ - 0.609375, - 0.71875, - 0.921875 + 1.984375, + 2.453125, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - -4.389231743580759e-06, - 1.194932387327593, + 0.027069705825979107, + 9.943258159441596e-08, 0.0, - 3.523924897313679 + 2.780740160617678 ], [ - -1.194932387327593, - -4.389231743580759e-06, + -9.943258159441596e-08, + 0.027069705825979107, 0.0, - -1.2747422959919685 + -0.7420208501071246 ], [ 0.0, 0.0, - 0.8194367140733768, - -0.6087367622141481 + 0.019389607758793465, + -0.013375278021035497 ], [ 0.0, @@ -329,49 +384,50 @@ ] }, { - "name": "07_dining_table", + "name": "07_chair", "box": "bbox_7", - "label": "dining_table", + "label": "chair", "lvis": [ - "dining_table" - ], - "uid": "a982b9a143e540639d48988ed3662703", - "url": "https://objaverse.allenai.org/explore/?query=a982b9a143e540639d48988ed3662703", - "scan_points": 0, - "sim": null, - "chamfer": 0.0, - "iou": 0.9881181631633416, + "chair", + "armchair" + ], + "uid": "8102032a85e34e1d9e9193e6149946f1", + "url": "https://objaverse.allenai.org/explore/?query=8102032a85e34e1d9e9193e6149946f1", + "scan_points": 5526, + "sim": 0.1659279465675354, + "chamfer": 0.06127315021264679, + "iou": 0.9148648078540194, "hanging": false, "flat": false, "box_center": [ - 2.229008105578174, - -0.8750521542770398, - -0.14996149450157129 + 0.5886782493995419, + -0.38630820492077333, + 0.41006222197896436 ], "box_size": [ - 2.3125, - 2.578125, - 0.09375 + 0.71875, + 0.796875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - -9.207728564634134e-07, - 0.25067286756262147, + -2.469272020259757e-06, + 0.6722390802093064, 0.0, - 2.3190704504282094 + 0.5936967275659507 ], [ - -0.25067286756262147, - -9.207728564634134e-07, + -0.6722390802093064, + -2.469272020259757e-06, 0.0, - -0.9253175102794814 + -0.38713812712631873 ], [ 0.0, 0.0, - 0.01563367122789088, - -0.1960682559153613 + 0.46822367406767784, + 0.465025534950149 ], [ 0.0, @@ -389,43 +445,43 @@ "chair", "armchair" ], - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "url": "https://objaverse.allenai.org/explore/?query=2c32127e0a354be9b588bbeb8f9ac644", - "scan_points": 429, - "sim": 0.09479744732379913, - "chamfer": 0.1584782036129892, - "iou": 0.9919595255737732, + "uid": "b4ea7af8484c4c7e98704585b70002e9", + "url": "https://objaverse.allenai.org/explore/?query=b4ea7af8484c4c7e98704585b70002e9", + "scan_points": 4107, + "sim": 0.21511493623256683, + "chamfer": 0.09241899129103019, + "iou": 0.9924168980667085, "hanging": false, "flat": false, "box_center": [ - 0.5040081055781738, - -0.4500521542770395, - -0.14996149450157129 + 3.3136782493995414, + -0.2113082049207735, + 0.41006222197896436 ], "box_size": [ - 0.609375, 0.71875, - 0.921875 + 0.796875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - 4.389231743727095e-06, - -1.1949323873275928, + 0.009306725258365529, + 3.4185510717339724e-08, 0.0, - 0.8340913138426687 + 3.381274520924235 ], [ - 1.1949323873275928, - 4.389231743727095e-06, + -3.4185510717339724e-08, + 0.009306725258365529, 0.0, - -0.4503620125621107 + -0.213348438104523 ], [ 0.0, 0.0, - 0.8194367140733768, - -0.6087367622141481 + 0.00670164139942881, + 0.009080169251563464 ], [ 0.0, @@ -436,49 +492,50 @@ ] }, { - "name": "09_sofa", + "name": "09_chair", "box": "bbox_9", - "label": "sofa", + "label": "chair", "lvis": [ - "sofa" - ], - "uid": "c2414bdd1a3e4604a011c7889983c0dd", - "url": "https://objaverse.allenai.org/explore/?query=c2414bdd1a3e4604a011c7889983c0dd", - "scan_points": 837, - "sim": 0.1483805924654007, - "chamfer": 0.10580678465845317, - "iou": 0.37109514205983724, + "chair", + "armchair" + ], + "uid": "039c6026571943d6ac45c6816bcc7ff1", + "url": "https://objaverse.allenai.org/explore/?query=039c6026571943d6ac45c6816bcc7ff1", + "scan_points": 3077, + "sim": 0.25101619958877563, + "chamfer": 0.07388743228517697, + "iou": 0.7491516149725511, "hanging": false, "flat": false, "box_center": [ - 2.2540081055781735, - 0.8749478457229602, - -0.14996149450157129 + 2.3386782493995417, + 0.8386917950792268, + 0.41006222197896436 ], "box_size": [ - 2.4375, - 0.84375, - 0.859375 + 0.71875, + 0.796875, + 0.796875 ], - "box_angle": -0.009817500000000479, + "box_angle": -3.1416, "transform": [ [ - 0.6701749026968826, - 0.006579653498171319, + 0.8622836468055322, + 6.3346893841905554e-06, 0.0, - 1.8665657930309894 + 2.3386885402254745 ], [ - -0.006579653498171319, - 0.6701749026968826, + -6.3346893841905554e-06, + 0.8622836468055322, 0.0, - 0.774639750303483 + 0.8389989375837233 ], [ 0.0, 0.0, - 0.5073200428439364, - -0.5792292379235359 + 0.6382688246769636, + 0.41042505989049743 ], [ 0.0, @@ -497,41 +554,41 @@ ], "uid": "da8f719b60e9406fb16c84a0bf404297", "url": "https://objaverse.allenai.org/explore/?query=da8f719b60e9406fb16c84a0bf404297", - "scan_points": 1618, - "sim": 0.08056633919477463, - "chamfer": 0.05764708231865332, - "iou": 0.6734868584443894, + "scan_points": 1504, + "sim": 0.08629711717367172, + "chamfer": 0.05180126002860799, + "iou": 0.7539235480156828, "hanging": false, "flat": false, "box_center": [ - -1.6709918944218263, - 1.17494784572296, - 2.3250385054984286 + -1.486321750600458, + 1.0386917950792265, + 2.8600622219789646 ], "box_size": [ - 1.234375, - 0.203125, - 0.609375 + 1.1875, + 0.21875, + 0.359375 ], "box_angle": -1.5708000000000002, "transform": [ [ - 6.185692047168344e-09, - -0.0016840039890260456, + 5.950792349174609e-09, + -0.0016200544704554362, 0.0, - -1.671504277664837 + -1.486814676251962 ], [ - 0.0016840039890260456, - 6.185692047168344e-09, + 0.0016200544704554362, + 5.950792349174609e-09, 0.0, - 1.1749478479938336 + 1.0386917972638643 ], [ 0.0, 0.0, - 0.0023259850473231437, - 2.325043957270114 + 0.0013717347714982642, + 2.860065437126369 ], [ 0.0, @@ -542,49 +599,102 @@ ] }, { - "name": "11_bookcase", + "name": "11_carpet", "box": "bbox_11", - "label": "bookcase", + "label": "carpet", "lvis": [ - "bookcase" - ], - "uid": "1653db41973e466ebd90f91d8dfdda29", - "url": "https://objaverse.allenai.org/explore/?query=1653db41973e466ebd90f91d8dfdda29", - "scan_points": 1874, - "sim": 0.12731540203094482, - "chamfer": 0.07474275413766698, - "iou": 0.8097859826066512, + "runner_(carpet)" + ], + "uid": "783c748a023d44c8a4e4d5e3521b4fb4", + "url": "https://objaverse.allenai.org/explore/?query=783c748a023d44c8a4e4d5e3521b4fb4", + "scan_points": 8462, + "sim": 0.4369005560874939, + "chamfer": 0.08262728614325467, + "iou": 0.5303107284430434, "hanging": false, - "flat": false, + "flat": true, "box_center": [ - -1.5709918944218262, - 3.8749478457229602, - 0.7000385054984287 + 4.613678249399542, + 1.4386917950792268, + -0.014937778021035644 ], "box_size": [ - 0.484375, - 0.359375, - 2.125 + 2.296875, + 1.21875, + 0.109375 ], "box_angle": -1.5708000000000002, "transform": [ [ - 4.448021593981231e-06, - -1.2109374424753885, + -0.007658050173387126, + -2.8129588981866668e-08, + 0.0, + 8.22530930279438 + ], + [ + 2.8129588981866668e-08, + -0.007658050173387126, + 0.0, + -6.869293169068587 + ], + [ + 0.0, + 0.0, + 109375.0, + -218750.0149377517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + { + "name": "12_painting", + "box": "bbox_12", + "label": "painting", + "lvis": [ + "painting" + ], + "uid": "d85e8574d17041eda423cabafa18ab98", + "url": "https://objaverse.allenai.org/explore/?query=d85e8574d17041eda423cabafa18ab98", + "scan_points": 2209, + "sim": 0.2976468503475189, + "chamfer": 0.13012870298413318, + "iou": 0.23052337750452292, + "hanging": true, + "flat": false, + "box_center": [ + 4.963678249399542, + 3.2136917950792263, + 2.4350622219789644 + ], + "box_size": [ + 1.859375, + 0.109375, + 0.484375 + ], + "box_angle": -3.1416, + "transform": [ + [ + 1.679668339129876e-06, + -0.2286379730774595, 0.0, - -1.6324994768601273 + 4.845298317107347 ], [ - 1.2109374424753885, - 4.448021593981231e-06, + 0.2286379730774595, + 1.679668339129876e-06, 0.0, - 4.540963696657419 + 3.251335757808185 ], [ 0.0, 0.0, - 1.9288980569598988, - 1.7607386892724795 + 0.13487022030779475, + 2.4417640183650358 ], [ 0.0, @@ -595,5 +705,5 @@ ] } ], - "seconds": 48.8 + "seconds": 35.1 } \ No newline at end of file diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/retrieval.log b/I64/Metascenes1_Spatiallm1_RTABMAP1/retrieval.log index e0d5968bd2004bdfa79b5e6a8edaa21ab8224051..91d0fb2e130c55c36e0db34c3f988bf84d1fb330 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/retrieval.log +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/retrieval.log @@ -1,18 +1,19 @@ -12 boxes, 12 after de-duplication: ['dining_table', 'chandelier', 'dining_chair', 'air_conditioner', 'plants', 'chair', 'chair', 'dining_table', 'chair', 'sofa', 'air_conditioner', 'bookcase'] +13 boxes, 13 after de-duplication: ['sideboard', 'chair', 'chair', 'chair', 'chair', 'carpet', 'desk', 'chair', 'chair', 'chair', 'air_conditioner', 'carpet', 'painting'] 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] dining_table scan pts 443 16 cand best a10c86c6 sim -0.007 chamfer 0.118 iou 0.69 -[bbox_1] chandelier scan pts 445 13 cand best 5fc95fdd sim 0.011 chamfer 0.145 iou 0.07 -[bbox_2] dining_chair: no Objaverse-LVIS category, skipped -[bbox_3] air_conditioner scan pts 921 16 cand best a7852c06 sim 0.047 chamfer 0.050 iou 0.55 -[bbox_4] plants scan pts 1658 16 cand best 0c77dfdf sim 0.128 chamfer 0.116 iou 0.48 -[bbox_5] chair scan pts 35 16 cand best 3b315691 sim None chamfer 0.000 iou 0.93 -[bbox_6] chair scan pts 549 16 cand best 2c32127e sim 0.094 chamfer 0.215 iou 0.99 -[bbox_7] dining_table scan pts 0 16 cand best a982b9a1 sim None chamfer 0.000 iou 0.99 -[bbox_8] chair scan pts 429 16 cand best 2c32127e sim 0.095 chamfer 0.158 iou 0.99 -[bbox_9] sofa scan pts 837 16 cand best c2414bdd sim 0.148 chamfer 0.106 iou 0.37 -[bbox_10] air_conditioner scan pts 1618 16 cand best da8f719b sim 0.081 chamfer 0.058 iou 0.67 -[bbox_11] bookcase scan pts 1874 16 cand best 1653db41 sim 0.127 chamfer 0.075 iou 0.81 -done in 51 s -> /home/lehoangan/LHAN/metascenes/out/I64_Spatiallm1_RTABMAP1 +[bbox_0] sideboard scan pts 42492 16 cand best 03001958 sim 0.322 chamfer 0.104 iou 0.67 +[bbox_1] chair scan pts 1314 16 cand best 3b315691 sim 0.054 chamfer 0.093 iou 0.99 +[bbox_2] chair scan pts 9397 16 cand best b4ea7af8 sim 0.201 chamfer 0.079 iou 0.99 +[bbox_3] chair scan pts 3558 16 cand best b4ea7af8 sim 0.174 chamfer 0.136 iou 0.99 +[bbox_4] chair scan pts 4442 16 cand best b4ea7af8 sim 0.212 chamfer 0.096 iou 0.99 +[bbox_5] carpet scan pts 7065 16 cand best 783c748a sim 0.395 chamfer 0.089 iou 0.53 +[bbox_6] desk scan pts 24758 16 cand best 9824a5e5 sim 0.241 chamfer 0.137 iou 0.56 +[bbox_7] chair scan pts 5526 16 cand best 8102032a sim 0.166 chamfer 0.061 iou 0.91 +[bbox_8] chair scan pts 4107 16 cand best b4ea7af8 sim 0.215 chamfer 0.092 iou 0.99 +[bbox_9] chair scan pts 3077 16 cand best 039c6026 sim 0.251 chamfer 0.074 iou 0.75 +[bbox_10] air_conditioner scan pts 1504 16 cand best da8f719b sim 0.086 chamfer 0.052 iou 0.75 +[bbox_11] carpet scan pts 8462 16 cand best 783c748a sim 0.437 chamfer 0.083 iou 0.53 +[bbox_12] painting scan pts 2209 16 cand best d85e8574 sim 0.298 chamfer 0.130 iou 0.23 +done in 38 s -> /home/lehoangan/LHAN/metascenes/out/I64_Spatiallm1_RTABMAP1 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_fixed.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_fixed.glb index fddc630f753b390eb577258acbc579a5bbe08636..dc432534fac0ad2662f475017de3ba594b0a3f65 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_fixed.glb +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_fixed.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:18a779d5f69a9b294ee9357b87b8d74f6b91749e281e7765358159a1b1d7ea47 -size 20685448 +oid sha256:17e43ebb1dd0ef35f77c198c35605908cd9fe6f86b275145a84f0dae6a5abbed +size 20750128 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_physics.glb b/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_physics.glb index 997a43cf6a456d3ee91b74a0216f696287aa6e9c..997decada374cdaf78d081ff9b5cf2494a47b9c5 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_physics.glb +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/scene_physics.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d4773efbb9f49bad8387042e2cc336cfb52f050fc17b62d684f827a534668cbb -size 20686564 +oid sha256:336a4c685533fcac8e87a87987252069069a4dc0a401c839fd0fc6632c8b453f +size 20750220 diff --git a/I64/Metascenes1_Spatiallm1_RTABMAP1/views.png b/I64/Metascenes1_Spatiallm1_RTABMAP1/views.png index 196ff7ea04959d8532eb45c805e47b05caa5a283..73723a82f3eea03a332dcb1fec68c99c9503cf52 100644 --- a/I64/Metascenes1_Spatiallm1_RTABMAP1/views.png +++ b/I64/Metascenes1_Spatiallm1_RTABMAP1/views.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c1bc162eb623eb4512b11836342eb34cccbfea287059b74276428075f36e5084 -size 720013 +oid sha256:c67e1131e5d53f4078cc2e8c22eb92621810a92653693171ac9c6ae480188c3a +size 898780 diff --git a/I64/Spatiallm1_RTABMAP1/layout.txt b/I64/Spatiallm1_RTABMAP1/layout.txt index 8979175267e2711c78ef09ef26d1a7cfa2a344e5..80a98cff4b0d6a7889e450326a7b88c88fbf91cb 100644 --- a/I64/Spatiallm1_RTABMAP1/layout.txt +++ b/I64/Spatiallm1_RTABMAP1/layout.txt @@ -1,26 +1,23 @@ -wall_0=Wall(-0.16010494478312368,-3.049681325143834,0.0,2.3232610043265565,-3.049681325143834,0.0,2.6024560392790805,0.0) -wall_1=Wall(-0.16010494478312368,-3.049681325143834,0.0,-0.16010494478312368,-2.8751276267437156,0.0,2.6024560392790805,0.0) -wall_2=Wall(2.3232610043265565,-3.049681325143834,0.0,2.3232610043265565,-2.8751276267437156,0.0,2.6024560392790805,0.0) -wall_3=Wall(2.913277724860229,-3.049681325143834,0.0,6.916829954209639,-3.049681325143834,0.0,2.6024560392790805,0.0) -wall_4=Wall(2.913277724860229,-3.049681325143834,0.0,2.913277724860229,-2.8751276267437156,0.0,2.6024560392790805,0.0) -wall_5=Wall(6.916829954209639,-3.049681325143834,0.0,6.916829954209639,3.5834023375651376,0.0,2.6024560392790805,0.0) -wall_6=Wall(-1.7658435050766303,-2.8751276267437156,0.0,-0.16010494478312368,-2.8751276267437156,0.0,2.6024560392790805,0.0) -wall_7=Wall(-1.7658435050766303,-2.8751276267437156,0.0,-1.7658435050766303,3.5834023375651376,0.0,2.6024560392790805,0.0) -wall_8=Wall(2.3232610043265565,-2.8751276267437156,0.0,2.913277724860229,-2.8751276267437156,0.0,2.6024560392790805,0.0) -wall_9=Wall(-1.7658435050766303,3.5834023375651376,0.0,6.916829954209639,3.5834023375651376,0.0,2.6024560392790805,0.0) -door_0=Door(wall_0,0.3040081055781736,-3.049681325143834,0.8000385054984287,0.9,2.2399999999999998) -door_1=Door(wall_1,-0.16010494478312368,-2.962404475943775,0.8000385054984287,0.17455369840011858,2.2399999999999998) -door_2=Door(wall_2,2.3232610043265565,-2.962404475943775,0.8000385054984287,0.17455369840011858,2.2399999999999998) -window_0=Window(wall_9,1.1790081055781736,3.5834023375651376,1.3000385054984287,5.84,3.2600000000000002) -bbox_0=Bbox(dining_table,4.229008105578174,-3.1750521542770396,-0.14996149450157129,-1.5708000000000002,1.671875,0.921875,0.953125) -bbox_1=Bbox(chandelier,4.229008105578174,-3.1750521542770396,2.1750385054984287,-3.1416,1.296875,0.09375,0.859375) -bbox_2=Bbox(dining_chair,1.5540081055781736,-2.6750521542770396,-0.14996149450157129,-3.1416,0.640625,0.609375,0.890625) -bbox_3=Bbox(air_conditioner,-1.6709918944218263,-2.3250521542770395,2.3250385054984286,-1.5708000000000002,0.953125,0.1875,0.328125) -bbox_4=Bbox(plants,2.3040081055781743,-2.3250521542770395,0.5000385054984288,-3.1416,0.921875,0.390625,1.71875) -bbox_5=Bbox(chair,0.5040081055781738,-1.2750521542770397,-0.14996149450157129,-1.5708000000000002,0.609375,0.71875,0.921875) -bbox_6=Bbox(chair,3.854008105578174,-1.2750521542770397,-0.14996149450157129,-1.5708000000000002,0.609375,0.71875,0.921875) -bbox_7=Bbox(dining_table,2.229008105578174,-0.8750521542770398,-0.14996149450157129,-1.5708000000000002,2.3125,2.578125,0.09375) -bbox_8=Bbox(chair,0.5040081055781738,-0.4500521542770395,-0.14996149450157129,-1.5708000000000002,0.609375,0.71875,0.921875) -bbox_9=Bbox(sofa,2.2540081055781735,0.8749478457229602,-0.14996149450157129,-0.009817500000000479,2.4375,0.84375,0.859375) -bbox_10=Bbox(air_conditioner,-1.6709918944218263,1.17494784572296,2.3250385054984286,-1.5708000000000002,1.234375,0.203125,0.609375) -bbox_11=Bbox(bookcase,-1.5709918944218262,3.8749478457229602,0.7000385054984287,-1.5708000000000002,0.484375,0.359375,2.125) \ No newline at end of file +wall_0=Wall(-0.1437999390331771,-2.7422326351390107,0.0,6.0468078438512505,-2.7422326351390107,0.0,3.068326912966211,0.0) +wall_1=Wall(-0.1437999390331771,-2.7422326351390107,0.0,-0.1437999390331771,-2.615765882424295,0.0,3.068326912966211,0.0) +wall_2=Wall(6.0468078438512505,-2.7422326351390107,0.0,6.0468078438512505,-2.615765882424295,0.0,3.068326912966211,0.0) +wall_3=Wall(-1.5856702513577443,-2.615765882424295,0.0,-0.1437999390331771,-2.615765882424295,0.0,3.068326912966211,0.0) +wall_4=Wall(-1.5856702513577443,-2.615765882424295,0.0,-1.5856702513577443,4.488691795079227,0.0,3.068326912966211,0.0) +wall_5=Wall(6.0468078438512505,-2.615765882424295,0.0,6.221437178130195,-2.615765882424295,0.0,3.068326912966211,0.0) +wall_6=Wall(6.221437178130195,-2.615765882424295,0.0,6.221437178130195,3.221438875855732,0.0,3.068326912966211,0.0) +wall_7=Wall(3.6886782493995414,3.221438875855732,0.0,6.221437178130195,3.221438875855732,0.0,3.068326912966211,0.0) +wall_8=Wall(3.7636782493995415,3.221438875855732,0.0,3.7636782493995415,4.488691795079227,0.0,3.068326912966211,0.0) +wall_9=Wall(-1.5856702513577443,4.488691795079227,0.0,3.7636782493995415,4.488691795079227,0.0,3.068326912966211,0.0) +bbox_0=Bbox(sideboard,0.9636782493995419,-2.8863082049207733,1.0600622219789644,-3.1416,2.1875,0.40625,2.109375) +bbox_1=Bbox(chair,4.613678249399542,-2.8863082049207733,0.41006222197896436,-3.1416,0.71875,0.796875,0.796875) +bbox_2=Bbox(chair,1.4136782493995421,-2.2363082049207734,0.41006222197896436,-3.1416,0.71875,0.796875,0.796875) +bbox_3=Bbox(chair,3.3136782493995414,-1.2363082049207734,0.41006222197896436,-1.5708000000000002,0.71875,0.796875,0.796875) +bbox_4=Bbox(chair,0.5886782493995419,-1.1363082049207733,0.41006222197896436,-1.5708000000000002,0.71875,0.796875,0.796875) +bbox_5=Bbox(carpet,-0.7113217506004581,-0.9863082049207734,-0.014937778021035644,-1.5708000000000002,2.296875,1.21875,0.109375) +bbox_6=Bbox(desk,1.963678249399542,-0.7613082049207733,0.38506222197896434,-1.5708000000000002,1.984375,2.453125,0.796875) +bbox_7=Bbox(chair,0.5886782493995419,-0.38630820492077333,0.41006222197896436,-1.5708000000000002,0.71875,0.796875,0.796875) +bbox_8=Bbox(chair,3.3136782493995414,-0.2113082049207735,0.41006222197896436,-1.5708000000000002,0.71875,0.796875,0.796875) +bbox_9=Bbox(chair,2.3386782493995417,0.8386917950792268,0.41006222197896436,-3.1416,0.71875,0.796875,0.796875) +bbox_10=Bbox(air_conditioner,-1.486321750600458,1.0386917950792265,2.8600622219789646,-1.5708000000000002,1.1875,0.21875,0.359375) +bbox_11=Bbox(carpet,4.613678249399542,1.4386917950792268,-0.014937778021035644,-1.5708000000000002,2.296875,1.21875,0.109375) +bbox_12=Bbox(painting,4.963678249399542,3.2136917950792263,2.4350622219789644,-3.1416,1.859375,0.109375,0.484375) \ No newline at end of file diff --git a/I64/Spatiallm1_RTABMAP1/pipeline.log b/I64/Spatiallm1_RTABMAP1/pipeline.log index bec1ad2796e23fe1a31bf394d70dd3cc2e1a69f4..01c17eec19293ddd436847929ecc2c3c83f5b601 100644 --- a/I64/Spatiallm1_RTABMAP1/pipeline.log +++ b/I64/Spatiallm1_RTABMAP1/pipeline.log @@ -1,8 +1,8 @@ [pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/v2/I64_Spatiallm1_RTABMAP1 -up axis (input frame) = [-0.002 -0. 1. ] floor=-0.233 ceiling=2.106 raw height=2.339 -scale factor = 1.1117 -wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I64_Spatiallm1_RTABMAP1/intermediate/aligned.ply: 551543 pts, extent min [-1.87 -4.56 -0.93] max [6.99 5.21 2.79] -[pipeline] cropped: kept 287319/551543 points +up axis (input frame) = [-0.002 -0. 1. ] floor=-0.974 ceiling=2.106 raw height=3.080 +scale factor = 1.0000 +wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I64_Spatiallm1_RTABMAP1/intermediate/aligned.ply: 544237 pts, extent min [-1.68 -4.1 -0.1 ] max [6.29 4.68 3.25] +[pipeline] cropped: kept 493970/544237 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. @@ -19,21 +19,21 @@ wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/I64_Spatiallm1_RTABMAP1/intermed @_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 /home/lehoangan/LHAN/SpatialLM/outputs/v2/I64_Spatiallm1_RTABMAP1/layout.txt, room.glb +[pipeline] object seed 0 [llama]: ok in 2.6 s +[pipeline] chosen seed: 0 (wall support 0.67) +[pipeline] done in 55.3 s: {'walls': 10, 'doors': 0, 'windows': 0, 'boxes': 13} -> /home/lehoangan/LHAN/SpatialLM/outputs/v2/I64_Spatiallm1_RTABMAP1/layout.txt, room.glb diff --git a/I64/Spatiallm1_RTABMAP1/room.glb b/I64/Spatiallm1_RTABMAP1/room.glb index 80a5c9d7425baeb0be03bfa950c0089ecfdac6d4..1cd50dd6639c3e1cd9086b5e4058f140bf0fe65a 100644 Binary files a/I64/Spatiallm1_RTABMAP1/room.glb and b/I64/Spatiallm1_RTABMAP1/room.glb differ diff --git a/I64/Spatiallm1_RTABMAP1/room_with_scan.glb b/I64/Spatiallm1_RTABMAP1/room_with_scan.glb index be7274ca6bb7f9092a8a88dec15ece16d0cceebf..37bf3149a86fbba248272488646ca7625a77a111 100644 --- a/I64/Spatiallm1_RTABMAP1/room_with_scan.glb +++ b/I64/Spatiallm1_RTABMAP1/room_with_scan.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:8a62b7e730f6573958403f7f3e01663ad6e39c3ca3e3d11d461c0c82fb3345c1 -size 4819212 +oid sha256:9f584d6040f3e1d4a869393a94b20df9fba086700d379847e01a67213e2078ee +size 4809752 diff --git a/I64/Spatiallm1_RTABMAP1/room_with_scan_preview.glb b/I64/Spatiallm1_RTABMAP1/room_with_scan_preview.glb index ae502e8aaca8e5c7a6ec1fa424a5b6a4aab32f0f..218024865b7e9a840ed2456fd7a5cf8df5064d4f 100644 --- a/I64/Spatiallm1_RTABMAP1/room_with_scan_preview.glb +++ b/I64/Spatiallm1_RTABMAP1/room_with_scan_preview.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:44d223b28349a31aa9a9ebd32056e328a2bda8f8850aecf65bb0334e3fb60448 -size 33619516 +oid sha256:bd9670a49b3999b2c7e867391fefae5f5ba03a53b3791023efb9be03d0fc4ef9 +size 33610056 diff --git a/I64/Spatiallm1_RTABMAP1/seeds.png b/I64/Spatiallm1_RTABMAP1/seeds.png index 0dfc5de922338c7e6b192dcc39ae6b4cf074b990..1b4cc175781f6ae6b33b9d2b436448a388f5cd91 100644 --- a/I64/Spatiallm1_RTABMAP1/seeds.png +++ b/I64/Spatiallm1_RTABMAP1/seeds.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7e0ae7787bf8bc132be35470500d5071d44960dc4f4663ff10db2e3c9bfae326 -size 943991 +oid sha256:05d018f09a74354c675489d105dd77c63fb9379ac2e1e5635d6b628fe87845b8 +size 906931 diff --git a/I64/Spatiallm1_RTABMAP1/summary.json b/I64/Spatiallm1_RTABMAP1/summary.json index 2d762198cc81c1c080bcbc2969ebb5dc380b1dad..a6885c7ccfd13a2cfed2fef30ae8724f9d7cebaa 100644 --- a/I64/Spatiallm1_RTABMAP1/summary.json +++ b/I64/Spatiallm1_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 @@ 0.9999981453626624 ] ], - "floor_z_raw": -0.23304302727137133, - "scale": 1.1117325737213921, - "raw_height": 2.3386919313669208, + "floor_z_raw": -0.97393383048165, + "scale": 1.0, + "raw_height": 3.0795827345771993, "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale" }, "chosen_seed": 0, "result": { "walls": 10, - "doors": 3, - "windows": 1, - "boxes": 12 + "doors": 0, + "windows": 0, + "boxes": 13 }, "seeds": { "s0": { "walls": 10, - "doors": 3, - "windows": 1, - "boxes": 12, - "wall_support": 0.7322893204179541, - "wall_recall": 0.6351837136262156, - "openings_with_gap": "4/4" + "doors": 0, + "windows": 0, + "boxes": 13, + "wall_support": 0.6686610551336528, + "wall_recall": 0.5964575675566507, + "openings_with_gap": "0/0" }, "s1": { "walls": 0, "doors": 0, "windows": 0, - "boxes": 12, + "boxes": 13, "wall_support": 0.0, "wall_recall": 0.0, "openings_with_gap": "0/0" }, "s2": { - "walls": 8, + "walls": 6, "doors": 0, - "windows": 2, - "boxes": 12, - "wall_support": 0.5034156815406815, - "wall_recall": 0.5466379081999471, - "openings_with_gap": "2/2" + "windows": 1, + "boxes": 13, + "wall_support": 0.5013711369306318, + "wall_recall": 0.5762309649796017, + "openings_with_gap": "1/1" } }, "spatiallm_runs": [ @@ -84,42 +85,42 @@ "task": "arch", "seed": 0, "model": "llama", - "n_points": 115176, - "voxel_m": 0.035, - "seconds": 3.4, - "peak_vram_gb": 3.23, + "n_points": 114714, + "voxel_m": 0.045, + "seconds": 4.1, + "peak_vram_gb": 3.31, "error": null }, { "task": "arch", "seed": 1, "model": "llama", - "n_points": 115176, - "voxel_m": 0.035, - "seconds": 34.8, - "peak_vram_gb": 3.23, + "n_points": 114714, + "voxel_m": 0.045, + "seconds": 34.7, + "peak_vram_gb": 3.31, "error": null }, { "task": "arch", "seed": 2, "model": "llama", - "n_points": 115176, - "voxel_m": 0.035, - "seconds": 2.0, - "peak_vram_gb": 3.23, + "n_points": 114714, + "voxel_m": 0.045, + "seconds": 1.4, + "peak_vram_gb": 3.31, "error": null }, { "task": "object", "seed": 0, "model": "llama", - "n_points": 115176, - "voxel_m": 0.035, - "seconds": 2.4, - "peak_vram_gb": 3.23, + "n_points": 114714, + "voxel_m": 0.045, + "seconds": 2.6, + "peak_vram_gb": 3.31, "error": null } ], - "total_seconds": 54.4 + "total_seconds": 55.3 } \ No newline at end of file diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/assets_license.json b/P64/Metascenes2_Spatiallm2_RTABMAP1/assets_license.json index 1115f7a43998b1ff9f74d4efed7a5bb2b5b6c649..9acfd210510ef78f4c998acf93b1b0865c7e9d86 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/assets_license.json +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/assets_license.json @@ -1,102 +1,38 @@ [ { "object": "00_tv", - "uid": "8a96f01efd46487e8d97d52b247cb3c4", - "name": "TV Retro", - "author": "Lukas Bobor", + "uid": "14fa7c1f2c694e5b93622403c2f38ddb", + "name": "Retro TV", + "author": "langosmajszter", "license": "by", - "source": "https://sketchfab.com/3d-models/8a96f01efd46487e8d97d52b247cb3c4" + "source": "https://sketchfab.com/3d-models/14fa7c1f2c694e5b93622403c2f38ddb" }, { - "object": "01_coffee_table", - "uid": "90fbd4f247b444049b5bc64be3200678", - "name": "Antresola 107", - "author": "Projekty3D", + "object": "01_dining_table", + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "name": "TABLE AND CHAIRS", + "author": "Alexandre_Krause", "license": "by", - "source": "https://sketchfab.com/3d-models/90fbd4f247b444049b5bc64be3200678" + "source": "https://sketchfab.com/3d-models/8a7ecc1192204f15b82ae57e8aa7f9c4" }, { - "object": "02_coffee_table", - "uid": "90fbd4f247b444049b5bc64be3200678", - "name": "Antresola 107", - "author": "Projekty3D", + "object": "02_dining_table", + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "name": "TABLE AND CHAIRS", + "author": "Alexandre_Krause", "license": "by", - "source": "https://sketchfab.com/3d-models/90fbd4f247b444049b5bc64be3200678" + "source": "https://sketchfab.com/3d-models/8a7ecc1192204f15b82ae57e8aa7f9c4" }, { - "object": "03_coffee_table", - "uid": "816c99db3a9745be8deb0b716be822db", - "name": "Dining Table Low Poly", - "author": "Dominik Strasser", + "object": "03_chandelier", + "uid": "366b50081c884690bb2ce4df6dacad59", + "name": "Chandolier2", + "author": "Davor Mulalic", "license": "by", - "source": "https://sketchfab.com/3d-models/816c99db3a9745be8deb0b716be822db" + "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59" }, { "object": "04_chandelier", - "uid": "c64c45bf1d804b659b37693d4284e867", - "name": "Eurosvet 10021/6 \u0445\u0440\u043e\u043c/\u043f\u0440\u043e\u0437\u0440\u0430\u0447\u043d\u044b\u0439 \u0445\u0440\u0443\u0441\u0442\u0430\u043b\u044c Strots", - "author": "Lustron.ru", - "license": "by", - "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867" - }, - { - "object": "05_chandelier", - "uid": "c64c45bf1d804b659b37693d4284e867", - "name": "Eurosvet 10021/6 \u0445\u0440\u043e\u043c/\u043f\u0440\u043e\u0437\u0440\u0430\u0447\u043d\u044b\u0439 \u0445\u0440\u0443\u0441\u0442\u0430\u043b\u044c Strots", - "author": "Lustron.ru", - "license": "by", - "source": "https://sketchfab.com/3d-models/c64c45bf1d804b659b37693d4284e867" - }, - { - "object": "06_coffee_table", - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "name": "Coffee table", - "author": "ilyafom1", - "license": "by", - "source": "https://sketchfab.com/3d-models/d5aa77e6835a44bb90a28cbd5ea64249" - }, - { - "object": "07_curtain", - "uid": "5b9e03a46de84bd58d3894cab9f40a78", - "name": "Window", - "author": "jesseroberts", - "license": "by", - "source": "https://sketchfab.com/3d-models/5b9e03a46de84bd58d3894cab9f40a78" - }, - { - "object": "08_coffee_table", - "uid": "90fbd4f247b444049b5bc64be3200678", - "name": "Antresola 107", - "author": "Projekty3D", - "license": "by", - "source": "https://sketchfab.com/3d-models/90fbd4f247b444049b5bc64be3200678" - }, - { - "object": "09_coffee_table", - "uid": "816c99db3a9745be8deb0b716be822db", - "name": "Dining Table Low Poly", - "author": "Dominik Strasser", - "license": "by", - "source": "https://sketchfab.com/3d-models/816c99db3a9745be8deb0b716be822db" - }, - { - "object": "10_coffee_table", - "uid": "816c99db3a9745be8deb0b716be822db", - "name": "Dining Table Low Poly", - "author": "Dominik Strasser", - "license": "by", - "source": "https://sketchfab.com/3d-models/816c99db3a9745be8deb0b716be822db" - }, - { - "object": "11_coffee_table", - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "name": "LP Table", - "author": "doplerato", - "license": "by", - "source": "https://sketchfab.com/3d-models/f4031bb5f7e64ebca4c37d4fa5ba6e8d" - }, - { - "object": "12_chandelier", "uid": "366b50081c884690bb2ce4df6dacad59", "name": "Chandolier2", "author": "Davor Mulalic", @@ -104,107 +40,51 @@ "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59" }, { - "object": "13_bookcase", - "uid": "cafa12d984664b4e96f6fa442faed938", - "name": "HighBookcase", - "author": "8549", + "object": "05_dining_table", + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "name": "TABLE AND CHAIRS", + "author": "Alexandre_Krause", "license": "by", - "source": "https://sketchfab.com/3d-models/cafa12d984664b4e96f6fa442faed938" + "source": "https://sketchfab.com/3d-models/8a7ecc1192204f15b82ae57e8aa7f9c4" }, { - "object": "14_coffee_table", - "uid": "90fbd4f247b444049b5bc64be3200678", - "name": "Antresola 107", - "author": "Projekty3D", - "license": "by", - "source": "https://sketchfab.com/3d-models/90fbd4f247b444049b5bc64be3200678" - }, - { - "object": "15_sofa", - "uid": "8bbefe57330941c6904f4e4618756553", - "name": "Day 143: Street Couch Pt.4", - "author": "alexdelker", - "license": "by", - "source": "https://sketchfab.com/3d-models/8bbefe57330941c6904f4e4618756553" - }, - { - "object": "16_chair", - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "name": "Rocking Chair", - "author": "Christian", - "license": "by", - "source": "https://sketchfab.com/3d-models/039c6026571943d6ac45c6816bcc7ff1" - }, - { - "object": "17_coffee_table", - "uid": "90fbd4f247b444049b5bc64be3200678", - "name": "Antresola 107", - "author": "Projekty3D", - "license": "by", - "source": "https://sketchfab.com/3d-models/90fbd4f247b444049b5bc64be3200678" - }, - { - "object": "18_bookcase", - "uid": "ecf7e409454d450cbde731259a51bbd5", - "name": "Biblioteca", - "author": "Jessica_Castiblanco", - "license": "by", - "source": "https://sketchfab.com/3d-models/ecf7e409454d450cbde731259a51bbd5" - }, - { - "object": "19_chair", - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "name": "The Chair V3a-LOD0-no Seam", - "author": "iBrews", - "license": "by", - "source": "https://sketchfab.com/3d-models/b4ea7af8484c4c7e98704585b70002e9" - }, - { - "object": "20_carpet", - "uid": "a3bbc9154ea846d7af74824aabaab511", - "name": "Chanelle", - "author": "bubus", - "license": "by", - "source": "https://sketchfab.com/3d-models/a3bbc9154ea846d7af74824aabaab511" - }, - { - "object": "21_bookcase", - "uid": "6ca9e3bcedae4dfe9fd9d639639447b4", - "name": "Bookcase", - "author": "jamesryder123", + "object": "06_chandelier", + "uid": "366b50081c884690bb2ce4df6dacad59", + "name": "Chandolier2", + "author": "Davor Mulalic", "license": "by", - "source": "https://sketchfab.com/3d-models/6ca9e3bcedae4dfe9fd9d639639447b4" + "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59" }, { - "object": "22_chair", - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "name": "The Chair V3a-LOD0-no Seam", - "author": "iBrews", + "object": "07_dining_table", + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "name": "TABLE AND CHAIRS", + "author": "Alexandre_Krause", "license": "by", - "source": "https://sketchfab.com/3d-models/b4ea7af8484c4c7e98704585b70002e9" + "source": "https://sketchfab.com/3d-models/8a7ecc1192204f15b82ae57e8aa7f9c4" }, { - "object": "24_air_conditioner", - "uid": "da8f719b60e9406fb16c84a0bf404297", - "name": "conditioner Electrolux Atrium DC", - "author": "rk_m", + "object": "08_dining_table", + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "name": "TABLE AND CHAIRS", + "author": "Alexandre_Krause", "license": "by", - "source": "https://sketchfab.com/3d-models/da8f719b60e9406fb16c84a0bf404297" + "source": "https://sketchfab.com/3d-models/8a7ecc1192204f15b82ae57e8aa7f9c4" }, { - "object": "25_air_conditioner", - "uid": "da8f719b60e9406fb16c84a0bf404297", - "name": "conditioner Electrolux Atrium DC", - "author": "rk_m", + "object": "09_chandelier", + "uid": "366b50081c884690bb2ce4df6dacad59", + "name": "Chandolier2", + "author": "Davor Mulalic", "license": "by", - "source": "https://sketchfab.com/3d-models/da8f719b60e9406fb16c84a0bf404297" + "source": "https://sketchfab.com/3d-models/366b50081c884690bb2ce4df6dacad59" }, { - "object": "26_painting", - "uid": "49fc5dd4bdc34951b29fb43aaaa9f3b5", - "name": "Ruhendes M\u00e4dchen", - "author": "kulturschokolade.org", + "object": "10_cupboard", + "uid": "5c18cf20f0484d76b44ca31b57198820", + "name": "Book Shelf", + "author": "BriannaRhine", "license": "by", - "source": "https://sketchfab.com/3d-models/49fc5dd4bdc34951b29fb43aaaa9f3b5" + "source": "https://sketchfab.com/3d-models/5c18cf20f0484d76b44ca31b57198820" } ] \ No newline at end of file diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/candidates.json b/P64/Metascenes2_Spatiallm2_RTABMAP1/candidates.json index febb038db367aee93d4436e576323b0e2bb906cf..385d51a891e58ec5c808b183b3079fda19c8845e 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/candidates.json +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/candidates.json @@ -1,2903 +1,1172 @@ { "00_tv": [ { - "uid": "8a96f01efd46487e8d97d52b247cb3c4", - "sim": 0.25495782494544983, - "chamfer": 0.1612914506224308, - "iou": 0.09412785789762719, - "score": 2.550707789258594 + "uid": "14fa7c1f2c694e5b93622403c2f38ddb", + "sim": 0.11673314869403839, + "chamfer": 0.14647803354408961, + "iou": 0.105995540072204, + "score": 2.6180100863614006 }, { - "uid": "14fa7c1f2c694e5b93622403c2f38ddb", - "sim": 0.1604081392288208, - "chamfer": 0.13573147350767806, - "iou": 0.10658440418371623, - "score": 2.47033466829977 + "uid": "8a96f01efd46487e8d97d52b247cb3c4", + "sim": 0.21919526159763336, + "chamfer": 0.18256836362290615, + "iou": 0.09360781448382816, + "score": 2.1831254118111083 }, { "uid": "dbfc1d7bff354ab9a3f4e786390a85d3", - "sim": 0.19301849603652954, - "chamfer": 0.14915342769195, - "iou": 0.07345223741667942, - "score": 2.155104209949434 + "sim": 0.15044331550598145, + "chamfer": 0.16806520003435876, + "iou": 0.07304642395028893, + "score": 1.8137584908569555 }, { "uid": "09d7524612194157b0406f74fcb5672e", - "sim": 0.19366082549095154, - "chamfer": 0.16101367254008028, - "iou": 0.08092499610681493, - "score": 1.2855463750722484 + "sim": 0.18214355409145355, + "chamfer": 0.18487955638097248, + "iou": 0.08047789668081043, + "score": 1.2947249210647171 }, { "uid": "43400d1c8bfc46eea64c9252275b8ea7", - "sim": 0.18898820877075195, - "chamfer": 0.1607863640895867, - "iou": 0.08217335371096843, - "score": 1.2044515190214493 + "sim": 0.15150585770606995, + "chamfer": 0.18241297612660423, + "iou": 0.08171935728162606, + "score": 0.8580963059594333 + }, + { + "uid": "e64166631f324ac5abcacad21c1bf033", + "sim": 0.15091057121753693, + "chamfer": 0.19046326772767708, + "iou": 0.0878119050430829, + "score": 0.29838143343019746 + }, + { + "uid": "6099a956fb4c4a21b2957bc2e4874d55", + "sim": 0.20702531933784485, + "chamfer": 0.20809607427002325, + "iou": 0.05431291562268648, + "score": 0.20536963329242597 }, { "uid": "6bf3705b7a54411785d50ec81a3b9b9e", - "sim": 0.1395585834980011, - "chamfer": 0.15485258590663284, - "iou": 0.09320908566023861, - "score": 0.6093418645119886 + "sim": 0.11913835257291794, + "chamfer": 0.18288851664572814, + "iou": 0.09269411833614889, + "score": 0.18707122672252535 }, { - "uid": "e64166631f324ac5abcacad21c1bf033", - "sim": 0.1790027767419815, - "chamfer": 0.17176099031522252, - "iou": 0.08829974895998892, - "score": 0.17788947248017456 + "uid": "9bae7e7d44334b9bacbf0cbb6d038cd6", + "sim": 0.10097061097621918, + "chamfer": 0.18943463619469444, + "iou": 0.0840965419654874, + "score": -0.6169863000767541 }, { "uid": "18f79eefe54c4ec0a2a57987a071611a", - "sim": 0.15107229351997375, - "chamfer": 0.17010491130059793, - "iou": 0.07464403025235515, - "score": -0.2847151904127804 + "sim": 0.1093364953994751, + "chamfer": 0.19238495756040944, + "iou": 0.07423163229515985, + "score": -0.6527389002663185 }, { "uid": "d6455f4f705945edb80642d1e24b4753", - "sim": 0.15687456727027893, - "chamfer": 0.1770613566606899, - "iou": 0.06960675856457314, - "score": -0.6809284170983998 + "sim": 0.1174662634730339, + "chamfer": 0.1949957915394393, + "iou": 0.05448723744609932, + "score": -0.670042101261391 }, { - "uid": "6099a956fb4c4a21b2957bc2e4874d55", - "sim": 0.19458292424678802, - "chamfer": 0.1884316880086245, - "iou": 0.07287927132289747, - "score": -0.7364671142916612 - }, - { - "uid": "9bae7e7d44334b9bacbf0cbb6d038cd6", - "sim": 0.12111835181713104, - "chamfer": 0.16776306482360373, - "iou": 0.08456374497640679, - "score": -0.7387089380607424 + "uid": "60a75dfbc31a4c09832eb2d2aee28272", + "sim": 0.16111542284488678, + "chamfer": 0.21034498161555615, + "iou": 0.07317402596448194, + "score": -0.8535755855707012 }, { "uid": "9d4b50bef60d4bad8cc6edccbb58094c", - "sim": 0.11089801043272018, - "chamfer": 0.16634877426644287, - "iou": 0.05572566241501484, - "score": -0.847805322918613 + "sim": 0.08263465762138367, + "chamfer": 0.18969754143230247, + "iou": 0.05541778582708656, + "score": -0.9966756470312774 }, { "uid": "1d95c634ec8f4a30ab43363b4de346a2", - "sim": 0.13339188694953918, - "chamfer": 0.17778500916622683, - "iou": 0.057128421370100456, - "score": -1.2274087980262567 - }, - { - "uid": "60a75dfbc31a4c09832eb2d2aee28272", - "sim": 0.1704496443271637, - "chamfer": 0.1894281638324606, - "iou": 0.07358054833095129, - "score": -1.3169078348567784 + "sim": 0.10338542610406876, + "chamfer": 0.199174596592783, + "iou": 0.056812794732696605, + "score": -1.232320434514364 }, { "uid": "675f9a2ea9a84d2f85600835fb4abc6b", - "sim": 0.10529397428035736, - "chamfer": 0.17472183361701116, - "iou": 0.10027448315193319, - "score": -1.5887629546789106 + "sim": 0.07680751383304596, + "chamfer": 0.19590772488322897, + "iou": 0.09972048048258549, + "score": -1.5343694470868168 }, { "uid": "d3f8e57d4cc146f8a43839b448d9ea0c", - "sim": 0.03845449164509773, - "chamfer": 0.1752698218198066, - "iou": 0.06752209107310943, - "score": -3.031671328249515 + "sim": 0.008621283806860447, + "chamfer": 0.19623167222135787, + "iou": 0.06714904084618617, + "score": -2.901829093691131 } ], - "01_coffee_table": [ + "01_dining_table": [ { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.31706222891807556, - "chamfer": 0.05330526048958974, - "iou": 0.6769551505576353, - "score": 2.767013622542288 + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "sim": 0.305530309677124, + "chamfer": 0.12185569695681905, + "iou": 0.5619529688549153, + "score": 2.828670626723263 }, { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.25401946902275085, - "chamfer": 0.05324189074258481, - "iou": 0.9116826152743626, - "score": 2.0499976679215024 + "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", + "sim": 0.25825750827789307, + "chamfer": 0.1405357492939864, + "iou": 0.6336129877269955, + "score": 1.5040438220866728 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.2009674459695816, - "chamfer": 0.05817090829135268, - "iou": 0.8024159053625938, - "score": 1.3474805654281272 + "uid": "4568bee1f3c64645a3ef497fe0c4b30c", + "sim": 0.3494006395339966, + "chamfer": 0.19005824287492573, + "iou": 0.9307400994452981, + "score": 1.4400832249655564 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.21356990933418274, - "chamfer": 0.08530126927372599, - "iou": 0.6131592323000595, - "score": 0.9512704141732363 + "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", + "sim": 0.15998394787311554, + "chamfer": 0.11192830910879731, + "iou": 0.7090573530927679, + "score": 0.8143355170795519 }, { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.20397362112998962, - "chamfer": 0.08085752552893109, - "iou": 0.7386622774884954, - "score": 0.9303496830358018 + "uid": "818c5f44b9314ffa85d14beed921d886", + "sim": 0.23907817900180817, + "chamfer": 0.1540907155601638, + "iou": 0.6930043069882853, + "score": 0.7837222562254599 }, { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.1703396737575531, - "chamfer": 0.062330829785780195, - "iou": 0.6157041818721682, - "score": 0.9157560763577796 + "uid": "a982b9a143e540639d48988ed3662703", + "sim": 0.29735398292541504, + "chamfer": 0.18637542633774093, + "iou": 0.5937800347933823, + "score": 0.7238322775722288 }, { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.16961702704429626, - "chamfer": 0.061960569825273024, - "iou": 0.9388122485031197, - "score": 0.9148894464972094 + "uid": "41fa8e131cdd42b1bf371a620e312f22", + "sim": 0.30544313788414, + "chamfer": 0.20149605242911556, + "iou": 0.6073229149909822, + "score": 0.3899073751865224 }, { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.12413422763347626, - "chamfer": 0.058833793197973154, - "iou": 0.6126246814944305, - "score": 0.4588933767147286 + "uid": "d370a3eb0a164dc19ba4547a89956599", + "sim": 0.22522243857383728, + "chamfer": 0.16107995237274658, + "iou": 0.6672272069833605, + "score": 0.3491337322964225 }, { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.11740900576114655, - "chamfer": 0.06854901210899488, - "iou": 0.917763157416218, - "score": 0.18897191085596426 + "uid": "b7f753028d354b419de1dcd966ab9f60", + "sim": 0.2475895881652832, + "chamfer": 0.19261857720060516, + "iou": 0.7786001190743482, + "score": -0.25985036017402735 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.14905132353305817, - "chamfer": 0.08698093767237586, - "iou": 0.6862795157186553, - "score": 0.1827594982422731 + "uid": "85e2ca99acf94cfc9acc325027207f38", + "sim": 0.14985303580760956, + "chamfer": 0.15206904139102317, + "iou": 0.6225126768803303, + "score": -0.5755204753680743 }, { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.10899867117404938, - "chamfer": 0.08068717630564949, - "iou": 0.6085645751834478, - "score": -0.14835671755530316 + "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", + "sim": 0.14938373863697052, + "chamfer": 0.15487732795695902, + "iou": 0.8743180965426174, + "score": -0.6689420793122148 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.037397921085357666, - "chamfer": 0.08253544858131093, - "iou": 0.6128927448210196, - "score": -1.000912778883101 + "uid": "9d701b48826a44df831e7e321754ec5d", + "sim": 0.14659860730171204, + "chamfer": 0.15649794191557861, + "iou": 0.5661877646639103, + "score": -0.7629002201642432 }, { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.1957855522632599, - "chamfer": 0.18005261238092607, - "iou": 0.9206595546109327, - "score": -1.1365647108282801 + "uid": "f8f4a3bbf71e4300a2472c82bc305de9", + "sim": 0.21886160969734192, + "chamfer": 0.19931251549302936, + "iou": 0.5598260346714969, + "score": -0.9222759346799942 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.17982551455497742, - "chamfer": 0.17113742486765715, - "iou": 0.9173217715777634, - "score": -1.1410251592711942 + "uid": "27464644cbb4403baa2cfdc179c75c5c", + "sim": 0.17694582045078278, + "chamfer": 0.18803297298372543, + "iou": 0.8310062634306878, + "score": -1.2446734616298887 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.037969909608364105, - "chamfer": 0.17669205076967703, - "iou": 0.6129032274564522, - "score": -2.867771947835199 + "uid": "e2bdfef0f4154c62929d4518d30c81c1", + "sim": 0.1789911389350891, + "chamfer": 0.20452785793441292, + "iou": 0.5815754834754214, + "score": -1.7169192372274829 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": -0.05635293945670128, - "chamfer": 0.20033016095763162, - "iou": 0.6086478132815963, - "score": -4.412750947395836 + "uid": "89df181bd04341caac549ee8dbe31283", + "sim": 0.18773256242275238, + "chamfer": 0.24063187255488805, + "iou": 0.7790000921520771, + "score": -2.6826470635797492 } ], - "02_coffee_table": [ + "02_dining_table": [ { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.15331795811653137, - "chamfer": 0.10114801883182506, - "iou": 0.6769551505576353, - "score": 2.1895540864781395 + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "sim": 0.2778598666191101, + "chamfer": 0.12275083792838806, + "iou": 0.5619529688549153, + "score": 2.7054939971323124 }, { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.09849901497364044, - "chamfer": 0.08339155784430069, - "iou": 0.9116826152743626, - "score": 1.909566192928273 + "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", + "sim": 0.15997210144996643, + "chamfer": 0.11122742418754739, + "iou": 0.7090573530927679, + "score": 1.4746805196726025 }, { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.16549095511436462, - "chamfer": 0.12347337427307166, - "iou": 0.9177631574162183, - "score": 1.7329009971752753 + "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", + "sim": 0.21485891938209534, + "chamfer": 0.1439635222314637, + "iou": 0.6336129877269954, + "score": 1.398479039146205 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.13680069148540497, - "chamfer": 0.13409896782639655, - "iou": 0.6862795157186555, - "score": 1.0241779993332114 + "uid": "b7f753028d354b419de1dcd966ab9f60", + "sim": 0.31442075967788696, + "chamfer": 0.22258833730621108, + "iou": 0.7786001190743482, + "score": 0.803796375116692 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": -0.0009219832718372345, - "chamfer": 0.08987624908717884, - "iou": 0.802415905362594, - "score": 0.3098313714887323 + "uid": "818c5f44b9314ffa85d14beed921d886", + "sim": 0.24094805121421814, + "chamfer": 0.18807977688462163, + "iou": 0.6930043069882853, + "score": 0.6849002955465612 }, { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.08826661854982376, - "chamfer": 0.13967089808604582, - "iou": 0.6085645751834478, - "score": 0.17532372293977128 + "uid": "d370a3eb0a164dc19ba4547a89956599", + "sim": 0.23308143019676208, + "chamfer": 0.19083819314147643, + "iou": 0.6672272069833605, + "score": 0.5190977783614773 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.18841825425624847, - "chamfer": 0.19197329972812277, - "iou": 0.9173217715777634, - "score": 0.12625588377905372 + "uid": "4568bee1f3c64645a3ef497fe0c4b30c", + "sim": 0.2566869854927063, + "chamfer": 0.21767803362302798, + "iou": 0.9307400994452976, + "score": 0.18363402681630758 }, { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.020587792620062828, - "chamfer": 0.109029797369492, - "iou": 0.9388122485031197, - "score": 0.07574517435898775 + "uid": "a982b9a143e540639d48988ed3662703", + "sim": 0.26796844601631165, + "chamfer": 0.2283799869830978, + "iou": 0.5937800347933823, + "score": 0.07372182129097704 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.06689991801977158, - "chamfer": 0.13277255599863688, - "iou": 0.6128927448210196, - "score": 0.0655562788894835 + "uid": "f8f4a3bbf71e4300a2472c82bc305de9", + "sim": 0.213232159614563, + "chamfer": 0.21987442547325067, + "iou": 0.5598260346714969, + "score": -0.4229140334851503 }, { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.030926600098609924, - "chamfer": 0.11503768521795205, - "iou": 0.6111913058111266, - "score": 0.05350176736203438 + "uid": "27464644cbb4403baa2cfdc179c75c5c", + "sim": 0.19334527850151062, + "chamfer": 0.21924227994792184, + "iou": 0.8310062634306878, + "score": -0.6616599620931741 }, { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.05028544366359711, - "chamfer": 0.13687575171929317, - "iou": 0.7386622774884952, - "score": -0.28700253340729337 + "uid": "85e2ca99acf94cfc9acc325027207f38", + "sim": 0.05036342144012451, + "chamfer": 0.14727364826265774, + "iou": 0.6225126768803303, + "score": -0.7788692571963542 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.03995385393500328, - "chamfer": 0.13608389486672443, - "iou": 0.6131592323000594, - "score": -0.4118741604424472 + "uid": "9d701b48826a44df831e7e321754ec5d", + "sim": 0.03993149474263191, + "chamfer": 0.14251718210568884, + "iou": 0.5247441921827779, + "score": -0.79914700987722 }, { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": -0.019426653161644936, - "chamfer": 0.10874856950360864, - "iou": 0.613357899476049, - "score": -0.4865075296141609 + "uid": "89df181bd04341caac549ee8dbe31283", + "sim": 0.20042213797569275, + "chamfer": 0.23822557248032958, + "iou": 0.7790000921520771, + "score": -1.021656179212057 }, { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.13363710045814514, - "chamfer": 0.197913842971171, - "iou": 0.9206595546109327, - "score": -0.8220206146907497 + "uid": "e2bdfef0f4154c62929d4518d30c81c1", + "sim": 0.1918816864490509, + "chamfer": 0.23623615072565946, + "iou": 0.5815754834754214, + "score": -1.0834356214214163 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": -0.03531453013420105, - "chamfer": 0.1806377453817823, - "iou": 0.6129032247951609, - "score": -2.7419122451983924 + "uid": "41fa8e131cdd42b1bf371a620e312f22", + "sim": 0.1599120795726776, + "chamfer": 0.2347734430839126, + "iou": 0.6073229149909822, + "score": -1.4566461871082699 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": -0.028640927746891975, - "chamfer": 0.19007224170295856, - "iou": 0.6086478132815963, - "score": -2.9130963913799124 + "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", + "sim": 0.06708882004022598, + "chamfer": 0.19170835736388436, + "iou": 0.8743180965426177, + "score": -1.6194756026894903 } ], - "03_coffee_table": [ - { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.30983680486679077, - "chamfer": 0.05763112465881397, - "iou": 0.9177631574162183, - "score": 2.3215622904478845 - }, - { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.30219775438308716, - "chamfer": 0.06068703301742262, - "iou": 0.7386622774884954, - "score": 2.0988652683065676 - }, + "03_chandelier": [ { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.2712663412094116, - "chamfer": 0.05542648559566164, - "iou": 0.613357899476049, - "score": 1.6833205724587956 - }, - { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.2985190749168396, - "chamfer": 0.0779519034923928, - "iou": 0.9388122485031197, - "score": 1.5561984312122479 + "uid": "366b50081c884690bb2ce4df6dacad59", + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, + "score": 0.0 }, { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.26983940601348877, - "chamfer": 0.07154090683107422, - "iou": 0.6111913058111268, - "score": 1.213180966627783 + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": null, + "chamfer": 0.0, + "iou": 0.8999628336114126, + "score": 0.0 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.274515300989151, - "chamfer": 0.08683769183412451, - "iou": 0.8024159053625938, - "score": 0.87618724632814 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9935701736165011, + "score": 0.0 }, { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.25470393896102905, - "chamfer": 0.07397278612942658, - "iou": 0.6769551505576353, - "score": 0.8718287614229144 + "uid": "172d8db2f07949fba8648bcb74ef064c", + "sim": null, + "chamfer": 0.0, + "iou": 0.998708648766314, + "score": 0.0 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.22997218370437622, - "chamfer": 0.07292987410823151, - "iou": 0.6128927448210196, - "score": 0.45236102787927135 + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": null, + "chamfer": 0.0, + "iou": 0.9117713596792599, + "score": 0.0 }, { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.2355552613735199, - "chamfer": 0.0826087985900494, - "iou": 0.9116826152743626, - "score": 0.28669434482261397 + "uid": "c64c45bf1d804b659b37693d4284e867", + "sim": null, + "chamfer": 0.0, + "iou": 0.8755527031250848, + "score": 0.0 }, { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.20148509740829468, - "chamfer": 0.06479723860235162, - "iou": 0.6085645751834478, - "score": 0.16029983147511484 + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": null, + "chamfer": 0.0, + "iou": 0.8997361578895142, + "score": 0.0 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.23384882509708405, - "chamfer": 0.08898239421105883, - "iou": 0.6131592323000594, - "score": 0.08004637754769038 + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": null, + "chamfer": 0.0, + "iou": 0.9566746549281939, + "score": 0.0 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.18004190921783447, - "chamfer": 0.06407352739272046, - "iou": 0.6862795157186553, - "score": -0.20836865523008086 + "uid": "c2c5b668395a4e7b8ff67ad715e13084", + "sim": null, + "chamfer": 0.0, + "iou": 0.8896767529301889, + "score": 0.0 }, { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.20514699816703796, - "chamfer": 0.12986450108850583, - "iou": 0.9206595546109327, - "score": -1.5672559530866308 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": null, + "chamfer": 0.0, + "iou": 0.9616565700919074, + "score": 0.0 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": 0.20879192650318146, - "chamfer": 0.16727072277981672, - "iou": 0.6086478132815966, - "score": -2.5324971721745797 + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9898529991470657, + "score": 0.0 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.11309628188610077, - "chamfer": 0.1443865498981047, - "iou": 0.9173217715777634, - "score": -3.635895668058774 + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": null, + "chamfer": 0.0, + "iou": 0.9996540391443426, + "score": 0.0 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.13729539513587952, - "chamfer": 0.16104217143169125, - "iou": 0.6129032274564522, - "score": -3.656527669978952 + "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", + "sim": null, + "chamfer": 0.0, + "iou": 0.9981717956309605, + "score": 0.0 } ], "04_chandelier": [ - { - "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.1027996838092804, - "chamfer": 0.1201126920194869, - "iou": 0.8755527031250848, - "score": 2.4321780184300525 - }, - { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.1357152909040451, - "chamfer": 0.14631444481924505, - "iou": 0.9996540391443426, - "score": 1.7640585306556846 - }, { "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.05606589466333389, - "chamfer": 0.1151616355522756, - "iou": 0.9921650841350325, - "score": 1.5531313101190511 - }, - { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.050367411226034164, - "chamfer": 0.12089533125924218, - "iou": 0.9935701736165007, - "score": 1.0868003992110444 - }, - { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.06373507529497147, - "chamfer": 0.14948899684949882, - "iou": 0.956674654928194, - "score": -0.20192189546785133 + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, + "score": 0.0 }, { "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.07874162495136261, - "chamfer": 0.15677743794632146, - "iou": 0.8999628336114127, - "score": -0.24259807865949506 - }, - { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.08612371981143951, - "chamfer": 0.1618514148164666, - "iou": 0.9981717956309604, - "score": -0.34696820179939114 + "sim": null, + "chamfer": 0.0, + "iou": 0.8999628336114126, + "score": 0.0 }, { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.05293289199471474, - "chamfer": 0.15207254354511057, - "iou": 0.9117713596792597, - "score": -0.6163723355604916 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9935701736165011, + "score": 0.0 }, { "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.0728072077035904, - "chamfer": 0.16351151207517278, - "iou": 0.9987086487663145, - "score": -0.7714753579882991 - }, - { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.047129660844802856, - "chamfer": 0.15552970430884408, - "iou": 0.8997361578895141, - "score": -0.9562898102693704 - }, - { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": -0.04052294045686722, - "chamfer": 0.11762115853808464, - "iou": 0.8896767529301891, - "score": -0.9829524704896144 + "sim": null, + "chamfer": 0.0, + "iou": 0.998708648766314, + "score": 0.0 }, { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.021831050515174866, - "chamfer": 0.14925960181026807, - "iou": 0.9616565700919076, - "score": -1.228704898185874 + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": null, + "chamfer": 0.0, + "iou": 0.9117713596792599, + "score": 0.0 }, - { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.03839224576950073, - "chamfer": 0.16110208433365367, - "iou": 0.9898529991470656, - "score": -1.4888852099954353 - } - ], - "05_chandelier": [ { "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": 0.10718172043561935, - "chamfer": 0.13527046060007886, + "sim": null, + "chamfer": 0.0, "iou": 0.8755527031250848, - "score": 2.9227010685606927 - }, - { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": 0.12972843647003174, - "chamfer": 0.16933590379413513, - "iou": 0.9996540391443426, - "score": 2.0110405636122364 - }, - { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": 0.035181887447834015, - "chamfer": 0.1478453839144235, - "iou": 0.9921650841350325, - "score": 0.5651933439808066 - }, - { - "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": 0.08227434754371643, - "chamfer": 0.180833593356198, - "iou": 0.9987086487663145, - "score": 0.3178893943752119 - }, - { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": 0.05029188096523285, - "chamfer": 0.16345976070309445, - "iou": 0.9935701736165007, - "score": 0.26747304817644546 + "score": 0.0 }, { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": 0.07215063273906708, - "chamfer": 0.17767208816979238, - "iou": 0.8999628336114127, - "score": 0.20042632582837097 + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": null, + "chamfer": 0.0, + "iou": 0.8997361578895142, + "score": 0.0 }, { "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": 0.08808495104312897, - "chamfer": 0.19490186950005076, - "iou": 0.956674654928194, - "score": -0.14668619392688853 + "sim": null, + "chamfer": 0.0, + "iou": 0.9566746549281939, + "score": 0.0 }, { "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": -0.03838247433304787, - "chamfer": 0.12987356028578373, - "iou": 0.8896767529301891, - "score": -0.5054913534407688 - }, - { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": 0.04946243017911911, - "chamfer": 0.1809956848781749, - "iou": 0.8997361578895141, - "score": -0.5147190573388791 + "sim": null, + "chamfer": 0.0, + "iou": 0.8896767529301889, + "score": 0.0 }, { - "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", - "sim": 0.05947671830654144, - "chamfer": 0.18899862857727423, - "iou": 0.9981717956309604, - "score": -0.6102004011021666 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": null, + "chamfer": 0.0, + "iou": 0.9616565700919074, + "score": 0.0 }, { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": 0.04470072686672211, - "chamfer": 0.18441598860185088, - "iou": 0.9616565700919076, - "score": -0.7830194701424991 + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9898529991470657, + "score": 0.0 }, { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": 0.041133128106594086, - "chamfer": 0.20146331607438484, - "iou": 0.9117713596792597, - "score": -1.6128928951884474 + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": null, + "chamfer": 0.0, + "iou": 0.9996540391443426, + "score": 0.0 }, { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": 0.028469979763031006, - "chamfer": 0.20561412898922207, - "iou": 0.9898529991470656, - "score": -2.1117143733940966 + "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", + "sim": null, + "chamfer": 0.0, + "iou": 0.9981717956309605, + "score": 0.0 } ], - "06_coffee_table": [ + "05_dining_table": [ { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.28396040201187134, - "chamfer": 0.06027093871884724, - "iou": 0.615704181872168, - "score": 1.9532841064630655 + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "sim": 0.2973315715789795, + "chamfer": 0.1138233190248896, + "iou": 0.9591676209076888, + "score": 2.8816428397140275 }, { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.2513875663280487, - "chamfer": 0.04062153280933454, - "iou": 0.917763157416218, - "score": 1.793371277500806 + "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", + "sim": 0.15637585520744324, + "chamfer": 0.11452171671099985, + "iou": 0.8506882002722193, + "score": 1.1008009000866605 }, { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.2589305639266968, - "chamfer": 0.050240780954234066, - "iou": 0.6126246814944305, - "score": 1.7312734494714386 + "uid": "b7f753028d354b419de1dcd966ab9f60", + "sim": 0.268521249294281, + "chamfer": 0.1716578861310718, + "iou": 0.6922771766839556, + "score": 1.0729947779286237 }, { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.3271096348762512, - "chamfer": 0.14904833249007762, - "iou": 0.9206595546109327, - "score": 0.938017167421286 + "uid": "4568bee1f3c64645a3ef497fe0c4b30c", + "sim": 0.29038479924201965, + "chamfer": 0.1981954204079382, + "iou": 0.5791166540689702, + "score": 0.6819827932669166 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.20621085166931152, - "chamfer": 0.05518901247281431, - "iou": 0.6862795157186555, - "score": 0.7537422729584463 + "uid": "85e2ca99acf94cfc9acc325027207f38", + "sim": 0.14199723303318024, + "chamfer": 0.13311935754156484, + "iou": 0.8658572141852112, + "score": 0.45522234278533963 }, { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.1896647810935974, - "chamfer": 0.052589575734382624, - "iou": 0.6769551505576353, - "score": 0.5281498592007817 + "uid": "a982b9a143e540639d48988ed3662703", + "sim": 0.29347991943359375, + "chamfer": 0.20990782219774345, + "iou": 0.9077554997047688, + "score": 0.4274132330728668 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.19291040301322937, - "chamfer": 0.06545268697794825, - "iou": 0.6128927448210196, - "score": 0.3308204858599615 + "uid": "818c5f44b9314ffa85d14beed921d886", + "sim": 0.15756753087043762, + "chamfer": 0.14373139221748432, + "iou": 0.7777831779156507, + "score": 0.3842712427911537 }, { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.17996573448181152, - "chamfer": 0.055047509786332355, - "iou": 0.9116826152743626, - "score": 0.31804489692589444 + "uid": "9d701b48826a44df831e7e321754ec5d", + "sim": 0.1302928924560547, + "chamfer": 0.13396870187487908, + "iou": 0.951993536134672, + "score": 0.2875328844649939 }, { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.16874569654464722, - "chamfer": 0.046042695022423016, - "iou": 0.7386622774884952, - "score": 0.3066962438144678 + "uid": "d370a3eb0a164dc19ba4547a89956599", + "sim": 0.14053726196289062, + "chamfer": 0.14412879443949572, + "iou": 0.8078314051903214, + "score": 0.16127157101300976 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.16858971118927002, - "chamfer": 0.053440773357818924, - "iou": 0.8024159053625938, - "score": 0.15941263292484598 + "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", + "sim": 0.012746887281537056, + "chamfer": 0.0983270276681097, + "iou": 0.3821869420925557, + "score": -0.2904647312489552 }, { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.16768762469291687, - "chamfer": 0.05448601871947023, - "iou": 0.9388122485031197, - "score": 0.12390097145353252 + "uid": "27464644cbb4403baa2cfdc179c75c5c", + "sim": 0.1558215320110321, + "chamfer": 0.17915134312303138, + "iou": 0.64861977089483, + "score": -0.5245197524846995 }, { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.16515687108039856, - "chamfer": 0.0560107806543437, - "iou": 0.6085645751834478, - "score": 0.051802468420954484 + "uid": "41fa8e131cdd42b1bf371a620e312f22", + "sim": 0.24779723584651947, + "chamfer": 0.22511761638587424, + "iou": 0.8875131810341537, + "score": -0.5249437174593761 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.18557265400886536, - "chamfer": 0.07638736295953372, - "iou": 0.6131592323000594, - "score": -0.00560750956628589 + "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", + "sim": 0.12336410582065582, + "chamfer": 0.1773156551340321, + "iou": 0.47126365487403493, + "score": -0.8845942170797525 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": 0.17525777220726013, - "chamfer": 0.19238937437290227, - "iou": 0.6086478132815963, - "score": -2.446481470929914 + "uid": "89df181bd04341caac549ee8dbe31283", + "sim": 0.13902872800827026, + "chamfer": 0.1986187198657021, + "iou": 0.6919217309840268, + "score": -1.2220786777356991 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.14060565829277039, - "chamfer": 0.17638087431342317, - "iou": 0.6129032274564522, - "score": -2.712333764144371 + "uid": "f8f4a3bbf71e4300a2472c82bc305de9", + "sim": 0.1315697580575943, + "chamfer": 0.21835135939432138, + "iou": 0.9628117643990388, + "score": -1.8095139386207981 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.06140635907649994, - "chamfer": 0.1655716962083852, - "iou": 0.9173217715777634, - "score": -3.824093087774906 + "uid": "e2bdfef0f4154c62929d4518d30c81c1", + "sim": 0.08299349993467331, + "chamfer": 0.20955837673246866, + "iou": 0.9268050451121896, + "score": -2.1970175504943166 } ], - "07_curtain": [ - { - "uid": "5b9e03a46de84bd58d3894cab9f40a78", - "sim": 0.4054301381111145, - "chamfer": 0.07535504187037076, - "iou": 0.6338785681230552, - "score": 2.214145390250861 - }, - { - "uid": "b0bd00b700a3451da1cb4ad9b082c3e0", - "sim": 0.3695363402366638, - "chamfer": 0.054494343766541324, - "iou": 0.5066994564220575, - "score": 2.1585508048344333 - }, - { - "uid": "dbb84e2ad5684e5c994abc35773f3bf8", - "sim": 0.3082285523414612, - "chamfer": 0.05130922328521373, - "iou": 0.7254004028253962, - "score": 1.581205672620848 - }, + "06_chandelier": [ { - "uid": "a83e1baf822a4442b0f50ed70d449198", - "sim": 0.3340812921524048, - "chamfer": 0.093394570812694, - "iou": 0.5302813551058846, - "score": 1.2189272426690962 + "uid": "366b50081c884690bb2ce4df6dacad59", + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, + "score": 0.0 }, { - "uid": "47ded0c610824037aa498c540216a833", - "sim": 0.26022014021873474, - "chamfer": 0.05097531146316062, - "iou": 0.870208253439643, - "score": 1.0969849495258372 + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": null, + "chamfer": 0.0, + "iou": 0.8999628336114126, + "score": 0.0 }, { - "uid": "87f2d57d6d7e4f22b2ac2da367dd6007", - "sim": 0.24799588322639465, - "chamfer": 0.04791184658421145, - "iou": 0.9250889116713849, - "score": 1.017971274695977 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9935701736165011, + "score": 0.0 }, { - "uid": "e5b01c717dbd4244b861168eddd67375", - "sim": 0.2978060841560364, - "chamfer": 0.09381803456507048, - "iou": 0.3826563100652516, - "score": 0.8430025165326457 + "uid": "172d8db2f07949fba8648bcb74ef064c", + "sim": null, + "chamfer": 0.0, + "iou": 0.998708648766314, + "score": 0.0 }, { - "uid": "641b3edcbd984497a0465dd35bfa730b", - "sim": 0.21362000703811646, - "chamfer": 0.047290125641850964, - "iou": 0.8350319601687507, - "score": 0.6769392821523088 + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": null, + "chamfer": 0.0, + "iou": 0.9117713596792599, + "score": 0.0 }, { - "uid": "7187bae2a1944e2ab5b9c91b400558f1", - "sim": 0.3165452480316162, - "chamfer": 0.1329640344170795, - "iou": 0.3459193982968416, - "score": 0.4519407441809327 + "uid": "c64c45bf1d804b659b37693d4284e867", + "sim": null, + "chamfer": 0.0, + "iou": 0.8755527031250848, + "score": 0.0 }, { - "uid": "deaec3c63ac64e0ba43f24b57767fd10", - "sim": 0.2323838770389557, - "chamfer": 0.07532375801696857, - "iou": 0.7120779194843784, - "score": 0.4513431395129785 + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": null, + "chamfer": 0.0, + "iou": 0.8997361578895142, + "score": 0.0 }, { - "uid": "b9e55f04b6dc442fb3bebbab253460e7", - "sim": 0.24861761927604675, - "chamfer": 0.09289090446200514, - "iou": 0.3466027016387016, - "score": 0.35557727414503754 + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": null, + "chamfer": 0.0, + "iou": 0.9566746549281939, + "score": 0.0 }, { - "uid": "331d57e5983e47ff8a690ef1c0c2e96a", - "sim": 0.0749298706650734, - "chamfer": 0.04776351094301798, - "iou": 0.6776451964088992, - "score": -0.7432919597909426 + "uid": "c2c5b668395a4e7b8ff67ad715e13084", + "sim": null, + "chamfer": 0.0, + "iou": 0.8896767529301889, + "score": 0.0 }, { - "uid": "0c6981ec2067481cae6d87c2021f6442", - "sim": 0.1262592077255249, - "chamfer": 0.2105474970691426, - "iou": 0.0750454388472509, - "score": -2.640470042939371 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": null, + "chamfer": 0.0, + "iou": 0.9616565700919074, + "score": 0.0 }, { - "uid": "9c55dcd4b76f42d8acbec2cbfa634c3c", - "sim": 0.12533602118492126, - "chamfer": 0.2219795190209148, - "iou": 0.07378698745748975, - "score": -2.8198432884928595 + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9898529991470657, + "score": 0.0 }, { - "uid": "caf84f961fab412e8260be1d20734b8b", - "sim": 0.11353899538516998, - "chamfer": 0.22137727233231475, - "iou": 0.073771947544694, - "score": -2.9310959903376115 + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": null, + "chamfer": 0.0, + "iou": 0.9996540391443426, + "score": 0.0 }, { - "uid": "e95846329ea04757b889426b8642a604", - "sim": 0.1103401929140091, - "chamfer": 0.21923815931135637, - "iou": 0.07417837231771227, - "score": -2.931887009560176 + "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", + "sim": null, + "chamfer": 0.0, + "iou": 0.9981717956309605, + "score": 0.0 } ], - "08_coffee_table": [ + "07_dining_table": [ { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.2862953245639801, - "chamfer": 0.0952762460209112, - "iou": 0.6769551505576353, - "score": 2.8321012367511225 + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "sim": 0.3021208643913269, + "chamfer": 0.12586419912371127, + "iou": 0.5619529688549153, + "score": 2.2877091506913034 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.20205149054527283, - "chamfer": 0.09666349401917612, - "iou": 0.6862795157186555, - "score": 1.546867273604903 + "uid": "4568bee1f3c64645a3ef497fe0c4b30c", + "sim": 0.4700843095779419, + "chamfer": 0.21137789054955822, + "iou": 0.9307400994452976, + "score": 2.024419312937913 }, { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.19313304126262665, - "chamfer": 0.10100718261484365, - "iou": 0.9177631574162183, - "score": 1.3131858519924426 + "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", + "sim": 0.21545089781284332, + "chamfer": 0.15084977088479756, + "iou": 0.6336129877269954, + "score": 0.8087118240959071 }, { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.1750878393650055, - "chamfer": 0.09529772630200643, - "iou": 0.9116826152743626, - "score": 1.1776030586655433 + "uid": "a982b9a143e540639d48988ed3662703", + "sim": 0.36497652530670166, + "chamfer": 0.21728771440357056, + "iou": 0.5937800347933823, + "score": 0.8007105329631404 }, { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.20661623775959015, - "chamfer": 0.11895403730084696, - "iou": 0.7386622774884952, - "score": 1.096269015012655 + "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", + "sim": 0.053303882479667664, + "chamfer": 0.08505225658577398, + "iou": 0.7090573530927679, + "score": 0.6713871575343686 }, { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.14069442451000214, - "chamfer": 0.08582974360995999, - "iou": 0.6111913058111266, - "score": 0.8862972457133832 + "uid": "d370a3eb0a164dc19ba4547a89956599", + "sim": 0.24955685436725616, + "chamfer": 0.17665765198466538, + "iou": 0.6672272069833605, + "score": 0.5579499334047018 }, { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.13241446018218994, - "chamfer": 0.08627301485663963, - "iou": 0.613357899476049, - "score": 0.7528378910720148 + "uid": "818c5f44b9314ffa85d14beed921d886", + "sim": 0.21552982926368713, + "chamfer": 0.1707632571817095, + "iou": 0.6930043069882853, + "score": 0.3442264855860559 }, { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.10613216459751129, - "chamfer": 0.07446907689360854, - "iou": 0.9388122485031197, - "score": 0.6365050435784693 + "uid": "b7f753028d354b419de1dcd966ab9f60", + "sim": 0.28658223152160645, + "chamfer": 0.21322102837685603, + "iou": 0.7786001190743482, + "score": 0.08602763081649045 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.1570388376712799, - "chamfer": 0.14304442051582128, - "iou": 0.9173217715777634, - "score": -0.2014553319810925 + "uid": "85e2ca99acf94cfc9acc325027207f38", + "sim": 0.16910356283187866, + "chamfer": 0.16622728047514645, + "iou": 0.6225126768803303, + "score": -0.02930505398890426 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.0864957794547081, - "chamfer": 0.09919777542625727, - "iou": 0.8024159053625938, - "score": -0.23075156222091198 + "uid": "9d701b48826a44df831e7e321754ec5d", + "sim": 0.12917447090148926, + "chamfer": 0.16213464470431577, + "iou": 0.5661877646639103, + "score": -0.34608884442746146 }, { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.1361711472272873, - "chamfer": 0.13631939633536505, - "iou": 0.6200325442057291, - "score": -0.3553945813526368 + "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", + "sim": 0.1478409618139267, + "chamfer": 0.1734634140090529, + "iou": 0.8743180965426174, + "score": -0.4179988025657908 }, { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.18942692875862122, - "chamfer": 0.17490210457286107, - "iou": 0.9206595546109327, - "score": -0.46077148180558514 + "uid": "41fa8e131cdd42b1bf371a620e312f22", + "sim": 0.20012225210666656, + "chamfer": 0.223973273326111, + "iou": 0.6073229149909822, + "score": -1.0582234216813595 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.10673193633556366, - "chamfer": 0.12311863917065537, - "iou": 0.6127463587596746, - "score": -0.4861897299831869 + "uid": "89df181bd04341caac549ee8dbe31283", + "sim": 0.23200058937072754, + "chamfer": 0.241855296461986, + "iou": 0.7790000921520771, + "score": -1.146797142122759 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.054665494710206985, - "chamfer": 0.11716565217453057, - "iou": 0.6128927448210196, - "score": -1.122108705124381 + "uid": "27464644cbb4403baa2cfdc179c75c5c", + "sim": 0.18683625757694244, + "chamfer": 0.22425464011083918, + "iou": 0.8310062634306878, + "score": -1.2020239645529127 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": 0.07729819416999817, - "chamfer": 0.21698648215542976, - "iou": 0.6198948101545684, - "score": -3.107377308857118 + "uid": "f8f4a3bbf71e4300a2472c82bc305de9", + "sim": 0.1832895576953888, + "chamfer": 0.22322457468742551, + "iou": 0.5598260346714969, + "score": -1.2145878930201188 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.0005137771368026733, - "chamfer": 0.2181996669911757, - "iou": 0.6129032247951609, - "score": -4.277617915065623 + "uid": "e2bdfef0f4154c62929d4518d30c81c1", + "sim": 0.13321900367736816, + "chamfer": 0.24181427530041455, + "iou": 0.5815754834754214, + "score": -2.166116905670573 } ], - "09_coffee_table": [ + "08_dining_table": [ { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.2364351749420166, - "chamfer": 0.05686585314128031, - "iou": 0.9177631574162183, - "score": 2.2489768687958613 + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "sim": 0.3168569803237915, + "chamfer": 0.1367389527377044, + "iou": 0.5619529688549153, + "score": 3.363375870824838 }, { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.21836313605308533, - "chamfer": 0.051211808329668894, - "iou": 0.613357899476049, - "score": 2.0275493544172987 + "uid": "26b5f6c3ceb640d78829c0293c3ffbf9", + "sim": 0.19832056760787964, + "chamfer": 0.13584129795313377, + "iou": 0.6336129877269954, + "score": 1.627378542217708 }, { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.23983588814735413, - "chamfer": 0.07688461787181819, - "iou": 0.6157041818721682, - "score": 1.8670626476337921 + "uid": "41fa8e131cdd42b1bf371a620e312f22", + "sim": 0.28673940896987915, + "chamfer": 0.18370212660801294, + "iou": 0.6073229149909822, + "score": 1.3345593761833046 }, { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.20894038677215576, - "chamfer": 0.05747097976285816, - "iou": 0.7386622774884952, - "score": 1.7063450482001405 + "uid": "a982b9a143e540639d48988ed3662703", + "sim": 0.2520539462566376, + "chamfer": 0.18948925824154556, + "iou": 0.5937800347933823, + "score": 0.623037729408549 }, { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.19979357719421387, - "chamfer": 0.059913464834929736, - "iou": 0.6200325442057291, - "score": 1.4757420547137017 + "uid": "818c5f44b9314ffa85d14beed921d886", + "sim": 0.1877707540988922, + "chamfer": 0.17428434186257485, + "iou": 0.6930043069882853, + "score": 0.17678009051083937 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.1730685532093048, - "chamfer": 0.06820817941966881, - "iou": 0.6128927448210196, - "score": 0.7760850527403148 + "uid": "4568bee1f3c64645a3ef497fe0c4b30c", + "sim": 0.253794401884079, + "chamfer": 0.20468981624807964, + "iou": 0.9307400994452976, + "score": 0.13755199667735596 }, { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.15497486293315887, - "chamfer": 0.06497747075245222, - "iou": 0.6769551505576353, - "score": 0.5000868121719803 + "uid": "a10c86c6ec7840cd89e3c2b9642a03a6", + "sim": 0.0825803354382515, + "chamfer": 0.12974539840713364, + "iou": 0.7090573530927679, + "score": 0.10793796981371373 }, { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.15085405111312866, - "chamfer": 0.07411487358545814, - "iou": 0.9116826152743626, - "score": 0.2165933071266448 + "uid": "d370a3eb0a164dc19ba4547a89956599", + "sim": 0.20778411626815796, + "chamfer": 0.187700936563143, + "iou": 0.6672272069833605, + "score": 0.023582566899225277 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.1293887495994568, - "chamfer": 0.0683916045716297, - "iou": 0.6862795157186555, - "score": -0.06858713342583622 + "uid": "b7f753028d354b419de1dcd966ab9f60", + "sim": 0.2203105092048645, + "chamfer": 0.2000006756413717, + "iou": 0.7786001190743482, + "score": -0.20359488379698049 }, { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.22045791149139404, - "chamfer": 0.15139034322852013, - "iou": 0.9206595546109327, - "score": -0.17081923120814846 + "uid": "85e2ca99acf94cfc9acc325027207f38", + "sim": 0.11503132432699203, + "chamfer": 0.15883354288288495, + "iou": 0.6225126768803303, + "score": -0.38720327327282156 }, { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.11287225782871246, - "chamfer": 0.06283903867121195, - "iou": 0.9388122485031197, - "score": -0.26234747230028677 + "uid": "27464644cbb4403baa2cfdc179c75c5c", + "sim": 0.18542057275772095, + "chamfer": 0.1969240833909209, + "iou": 0.8310062634306878, + "score": -0.619945636969849 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.13421255350112915, - "chamfer": 0.09112524250158043, - "iou": 0.6131592323000595, - "score": -0.4837844466350117 + "uid": "0a1b1a5cccdd4d1495cc0f01d9b2fc73", + "sim": 0.1240186095237732, + "chamfer": 0.1740575654160536, + "iou": 0.8743180965426177, + "score": -0.7655003283194626 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.11414799094200134, - "chamfer": 0.07959649135683755, - "iou": 0.802415905362594, - "score": -0.6122745278111075 + "uid": "9d701b48826a44df831e7e321754ec5d", + "sim": 0.08494046330451965, + "chamfer": 0.15998234825241525, + "iou": 0.5661877646639103, + "score": -0.8742099003261552 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.10217747092247009, - "chamfer": 0.16650906669416735, - "iou": 0.9173217715777634, - "score": -2.784862192660256 + "uid": "f8f4a3bbf71e4300a2472c82bc305de9", + "sim": 0.17441825568675995, + "chamfer": 0.20410890164915166, + "iou": 0.5598260346714969, + "score": -1.0256119729538395 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": 0.11515212059020996, - "chamfer": 0.1808867306091867, - "iou": 0.6198948101545683, - "score": -2.8564746313259866 + "uid": "89df181bd04341caac549ee8dbe31283", + "sim": 0.21697701513767242, + "chamfer": 0.24472409946779217, + "iou": 0.7790000921520771, + "score": -1.757971465193382 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.06828873604536057, - "chamfer": 0.17287572999962084, - "iou": 0.6129032274564522, - "score": -3.5792915104331 + "uid": "e2bdfef0f4154c62929d4518d30c81c1", + "sim": 0.12797413766384125, + "chamfer": 0.20537313987664685, + "iou": 0.5815754834754214, + "score": -1.7601666817030432 } ], - "10_coffee_table": [ - { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.20674622058868408, - "chamfer": 0.06901408051899845, - "iou": 0.9177631574162183, - "score": 2.0188124856670617 - }, - { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.21232569217681885, - "chamfer": 0.07983045327399878, - "iou": 0.6862795157186553, - "score": 1.8379957752643499 - }, - { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.1848541796207428, - "chamfer": 0.06556752333844702, - "iou": 0.6769551505576353, - "score": 1.7993404876628107 - }, - { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.15220437943935394, - "chamfer": 0.06946025523934468, - "iou": 0.6200325442057291, - "score": 1.2568286726448448 - }, - { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.17261911928653717, - "chamfer": 0.08533346770047145, - "iou": 0.9116826152743626, - "score": 1.1599099357311258 - }, + "09_chandelier": [ { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.11945828795433044, - "chamfer": 0.07705095376271975, - "iou": 0.6111913058111268, - "score": 0.6248938332845134 - }, - { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.10013146698474884, - "chamfer": 0.06834077901516857, - "iou": 0.7386622774884952, - "score": 0.5661546487999547 - }, - { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.08019663393497467, - "chamfer": 0.05842395305893186, - "iou": 0.613357899476049, - "score": 0.5277856565653265 - }, - { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.2324535846710205, - "chamfer": 0.15278035352484443, - "iou": 0.9206595546109327, - "score": 0.3773894075397972 + "uid": "366b50081c884690bb2ce4df6dacad59", + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, + "score": 0.0 }, { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.07653793692588806, - "chamfer": 0.07688330608351138, - "iou": 0.6128927448210196, - "score": 0.037627799699732734 + "uid": "0fcc68b789fb41bf827e999c2681a4a1", + "sim": null, + "chamfer": 0.0, + "iou": 0.8999628336114126, + "score": 0.0 }, { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.06856575608253479, - "chamfer": 0.09622936979240174, - "iou": 0.6127463587596744, - "score": -0.5330755994118919 + "uid": "5fc95fddd9cb4038b767fc5cba588c4b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9935701736165011, + "score": 0.0 }, { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.029872674494981766, - "chamfer": 0.07811477106519965, - "iou": 0.9388122485031197, - "score": -0.6345582019127748 + "uid": "172d8db2f07949fba8648bcb74ef064c", + "sim": null, + "chamfer": 0.0, + "iou": 0.998708648766314, + "score": 0.0 }, { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.049239013344049454, - "chamfer": 0.09208586432620662, - "iou": 0.8024159053625938, - "score": -0.7006053213588852 + "uid": "aa35dacf5bc84b16b181f545d6dfe025", + "sim": null, + "chamfer": 0.0, + "iou": 0.9117713596792599, + "score": 0.0 }, { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.12903133034706116, - "chamfer": 0.17109414687215305, - "iou": 0.9173217715777634, - "score": -1.4836183156905642 + "uid": "c64c45bf1d804b659b37693d4284e867", + "sim": null, + "chamfer": 0.0, + "iou": 0.8755527031250848, + "score": 0.0 }, { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.0004661381244659424, - "chamfer": 0.1748467084053798, - "iou": 0.6129032247951609, - "score": -3.344097035025359 + "uid": "93a474cea7de4c44b3f4741e5fae4b3f", + "sim": null, + "chamfer": 0.0, + "iou": 0.8997361578895142, + "score": 0.0 }, { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": 0.0005099587142467499, - "chamfer": 0.18186895925740681, - "iou": 0.6198948101545684, - "score": -3.510784229460045 - } - ], - "11_coffee_table": [ - { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.2785184383392334, - "chamfer": 0.08608163907013573, - "iou": 0.9116826152743626, - "score": 2.332515755936191 + "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", + "sim": null, + "chamfer": 0.0, + "iou": 0.9566746549281939, + "score": 0.0 }, { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.18291661143302917, - "chamfer": 0.08169348593431897, - "iou": 0.917763157416218, - "score": 1.391534641505039 + "uid": "c2c5b668395a4e7b8ff67ad715e13084", + "sim": null, + "chamfer": 0.0, + "iou": 0.8896767529301889, + "score": 0.0 }, { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.1894182562828064, - "chamfer": 0.09155088261702034, - "iou": 0.7386622774884952, - "score": 1.1680453095067063 + "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", + "sim": null, + "chamfer": 0.0, + "iou": 0.9616565700919074, + "score": 0.0 }, { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.18517863750457764, - "chamfer": 0.09167057024972416, - "iou": 0.6769551505576353, - "score": 1.1168638682574397 + "uid": "14f036886e984c6cb8942f7a86e2a96b", + "sim": null, + "chamfer": 0.0, + "iou": 0.9898529991470657, + "score": 0.0 }, { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.17188167572021484, - "chamfer": 0.09136501551718712, - "iou": 0.6862795157186553, - "score": 0.9768195576934617 - }, - { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.12385745346546173, - "chamfer": 0.07887809451278621, - "iou": 0.8024159053625938, - "score": 0.8133769918011461 - }, - { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.19728288054466248, - "chamfer": 0.10953778412311357, - "iou": 0.6127463587596744, - "score": 0.7153604708723985 - }, - { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.11083601415157318, - "chamfer": 0.08233410934569643, - "iou": 0.9388122485031197, - "score": 0.5632968307736442 - }, - { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.09179605543613434, - "chamfer": 0.0783819061476683, - "iou": 0.6126246814944305, - "score": 0.4684698747108766 - }, - { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.15077459812164307, - "chamfer": 0.10483409565339097, - "iou": 0.6200325442057291, - "score": 0.3348531314193457 - }, - { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.146897554397583, - "chamfer": 0.10391918741044046, - "iou": 0.6157041818721682, - "score": 0.31885608552308164 - }, - { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.1794203519821167, - "chamfer": 0.13102808262036042, - "iou": 0.9206595546109327, - "score": -0.13142764360014692 - }, - { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.04862123355269432, - "chamfer": 0.09882357404713069, - "iou": 0.6128927448210196, - "score": -0.6308646169302614 - }, - { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.18402357399463654, - "chamfer": 0.1514027617020274, - "iou": 0.9173217715777634, - "score": -0.6925273809774334 - }, - { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": -0.05869637429714203, - "chamfer": 0.17834409982335844, - "iou": 0.6129032247951609, - "score": -4.226862113812022 - }, - { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": -0.06802801787853241, - "chamfer": 0.18455258137232533, - "iou": 0.6086478132815966, - "score": -4.518310762679462 - } - ], - "12_chandelier": [ - { - "uid": "366b50081c884690bb2ce4df6dacad59", - "sim": null, - "chamfer": 0.12767125407777064, - "iou": 0.9921650841350325, - "score": 0.0 - }, - { - "uid": "0fcc68b789fb41bf827e999c2681a4a1", - "sim": null, - "chamfer": 0.1891670462605993, - "iou": 0.8999628336114127, - "score": 0.0 - }, - { - "uid": "5fc95fddd9cb4038b767fc5cba588c4b", - "sim": null, - "chamfer": 0.13789966909191897, - "iou": 0.9935701736165009, - "score": 0.0 - }, - { - "uid": "172d8db2f07949fba8648bcb74ef064c", - "sim": null, - "chamfer": 0.19931166992382804, - "iou": 0.9987086487663145, - "score": 0.0 - }, - { - "uid": "aa35dacf5bc84b16b181f545d6dfe025", - "sim": null, - "chamfer": 0.19718006000375823, - "iou": 0.9117713596792597, - "score": 0.0 - }, - { - "uid": "c64c45bf1d804b659b37693d4284e867", - "sim": null, - "chamfer": 0.13661277274790573, - "iou": 0.8755527031250848, - "score": 0.0 - }, - { - "uid": "93a474cea7de4c44b3f4741e5fae4b3f", - "sim": null, - "chamfer": 0.18644671025803147, - "iou": 0.8997361578895141, - "score": 0.0 - }, - { - "uid": "ec0ee0b69b6a4400a59a7b1bd99c80c5", - "sim": null, - "chamfer": 0.19528192712411482, - "iou": 0.956674654928194, - "score": 0.0 - }, - { - "uid": "c2c5b668395a4e7b8ff67ad715e13084", - "sim": null, - "chamfer": 0.13243251200712416, - "iou": 0.8896767529301891, - "score": 0.0 - }, - { - "uid": "e411ae52798f4d2f8eb76aa7e7f8bfa7", - "sim": null, - "chamfer": 0.18140473681534694, - "iou": 0.9616565700919076, - "score": 0.0 - }, - { - "uid": "14f036886e984c6cb8942f7a86e2a96b", - "sim": null, - "chamfer": 0.19344303771024596, - "iou": 0.9898529991470656, - "score": 0.0 - }, - { - "uid": "6df3fcc1561c4a26910ea52919f66fb8", - "sim": null, - "chamfer": 0.17877832757137388, - "iou": 0.9996540391443426, - "score": 0.0 + "uid": "6df3fcc1561c4a26910ea52919f66fb8", + "sim": null, + "chamfer": 0.0, + "iou": 0.9996540391443426, + "score": 0.0 }, { "uid": "9cb7beb4f12c4127b8975e18fa51fd6c", "sim": null, - "chamfer": 0.20085258352654267, - "iou": 0.9981717956309604, + "chamfer": 0.0, + "iou": 0.9981717956309605, "score": 0.0 } ], - "13_bookcase": [ - { - "uid": "cafa12d984664b4e96f6fa442faed938", - "sim": 0.29815250635147095, - "chamfer": 0.06940294582024167, - "iou": 0.8063757981058325, - "score": 2.6263202081923476 - }, - { - "uid": "bfcd1f32b812414bab95d3e54284ba53", - "sim": 0.1694439798593521, - "chamfer": 0.06440255105492113, - "iou": 0.947378260845064, - "score": 1.594125984786562 - }, - { - "uid": "b8792d1b3acf4081b0f173497d19d08b", - "sim": 0.2903761863708496, - "chamfer": 0.10886527325041093, - "iou": 0.9728373672860511, - "score": 1.2240166016850131 - }, - { - "uid": "813d77c898504d7cb249b0cafea2a1e3", - "sim": 0.1298457384109497, - "chamfer": 0.0733530688556107, - "iou": 0.6794437585591627, - "score": 0.9231179285117701 - }, - { - "uid": "c1c1eb046635471b8911ac50e5b44014", - "sim": 0.4511105418205261, - "chamfer": 0.17104227379323622, - "iou": 0.3404150761259691, - "score": 0.628295158622731 - }, - { - "uid": "a7830bb1abc348bd9390d126648377fd", - "sim": 0.13821032643318176, - "chamfer": 0.09278424745144062, - "iou": 0.4247551362347707, - "score": 0.3463777808181777 - }, - { - "uid": "6ca9e3bcedae4dfe9fd9d639639447b4", - "sim": 0.1910032331943512, - "chamfer": 0.1125602495520627, - "iou": 0.3527635440067204, - "score": 0.17247971287236635 - }, - { - "uid": "3d42390fa27748f6818a85182595a69c", - "sim": 0.13041555881500244, - "chamfer": 0.09814874200185157, - "iou": 0.5976313746631025, - "score": 0.09289507552754328 - }, - { - "uid": "67e718a0fc904487a9f735892d9834d3", - "sim": 0.17394474148750305, - "chamfer": 0.12049113260927476, - "iou": 0.5384611655283962, - "score": -0.25390161368017966 - }, - { - "uid": "77c0313ad21144dcb904915d66a163b3", - "sim": 0.1544283628463745, - "chamfer": 0.1175442966870093, - "iou": 0.5343836527299317, - "score": -0.3366660422230833 - }, - { - "uid": "1653db41973e466ebd90f91d8dfdda29", - "sim": 0.18524417281150818, - "chamfer": 0.12831165078775014, - "iou": 0.29385210405625967, - "score": -0.41201943016365783 - }, - { - "uid": "b37db59c7cce46b2a3e40969e6797117", - "sim": 0.07844666391611099, - "chamfer": 0.10171376771075544, - "iou": 0.5253186063082654, - "score": -0.5120413035247242 - }, - { - "uid": "ecf7e409454d450cbde731259a51bbd5", - "sim": -0.028566032648086548, - "chamfer": 0.08072886366967595, - "iou": 0.8298060438443693, - "score": -0.8032108913141442 - }, - { - "uid": "04efa2b17050432c9452056bfd36af44", - "sim": 0.1035468727350235, - "chamfer": 0.12674612715657835, - "iou": 0.41794750223141924, - "score": -1.121401404155161 - }, - { - "uid": "baded4f3a22e4d6e9472e925e6f1fc12", - "sim": 0.06820634007453918, - "chamfer": 0.13761439523751298, - "iou": 0.7903291343787724, - "score": -1.8173126098668444 - }, - { - "uid": "66b83fb8729948e9955cac4754ccd132", - "sim": 0.08744193613529205, - "chamfer": 0.15877972289367634, - "iou": 0.31870865935272996, - "score": -2.3510751560887164 - } - ], - "14_coffee_table": [ - { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.245128333568573, - "chamfer": 0.06807575112067994, - "iou": 0.6769551505576353, - "score": 2.063476090150724 - }, - { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.23967045545578003, - "chamfer": 0.08462233632327862, - "iou": 0.6127463587596744, - "score": 1.570803428384353 - }, - { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.21013545989990234, - "chamfer": 0.06258784368482936, - "iou": 0.917763157416218, - "score": 1.5414509910050813 - }, - { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.19837546348571777, - "chamfer": 0.0635185414678209, - "iou": 0.6200325442057291, - "score": 1.300436662963436 - }, - { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.18985891342163086, - "chamfer": 0.06491200076064468, - "iou": 0.7386622774884954, - "score": 1.108893032513527 - }, - { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.19965365529060364, - "chamfer": 0.0765778636271523, - "iou": 0.6862795157186555, - "score": 1.0156278069853468 - }, - { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.15463458001613617, - "chamfer": 0.06447583278312669, - "iou": 0.9388122485031197, - "score": 0.46317593396299805 - }, - { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.17360201478004456, - "chamfer": 0.08028346677391557, - "iou": 0.6111913058111266, - "score": 0.44286749476998405 - }, - { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.15423032641410828, - "chamfer": 0.07051128849070788, - "iou": 0.8024159053625938, - "score": 0.3130188908788881 - }, - { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.134469673037529, - "chamfer": 0.0693633954895897, - "iou": 0.9116826152743626, - "score": -0.027880492706791715 - }, - { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.11591460555791855, - "chamfer": 0.05573032501650613, - "iou": 0.613357899476049, - "score": -0.05128070714715449 - }, - { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.22129246592521667, - "chamfer": 0.1538678910791763, - "iou": 0.9206595546109327, - "score": -0.4078626316391103 - }, - { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.10540131479501724, - "chamfer": 0.0758972463326552, - "iou": 0.6128927448210196, - "score": -0.723661047614616 - }, - { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.1857888102531433, - "chamfer": 0.17151469818067233, - "iou": 0.9173217715777634, - "score": -1.4861135335584212 - }, - { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": 0.08972986042499542, - "chamfer": 0.1731821583041687, - "iou": 0.6198948101545684, - "score": -3.3145381028176333 - }, - { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.052038323134183884, - "chamfer": 0.1643762603311945, - "iou": 0.6129032247951609, - "score": -3.80841381613061 - } - ], - "15_sofa": [ - { - "uid": "8bbefe57330941c6904f4e4618756553", - "sim": 0.313393235206604, - "chamfer": 0.0671450813110339, - "iou": 0.9517399778616542, - "score": 2.7439496267763723 - }, - { - "uid": "f8def3c5f656454c935fe3d626ed9fab", - "sim": 0.23277918994426727, - "chamfer": 0.08099373429493206, - "iou": 0.693386759219583, - "score": 1.0250945583332451 - }, - { - "uid": "e8a03b14310c40239365f166d325d671", - "sim": 0.25224724411964417, - "chamfer": 0.0916064859903464, - "iou": 0.8800982143604499, - "score": 0.8902357078213686 - }, - { - "uid": "bd6cd4c1504341d7ba1dc0d6678f3421", - "sim": 0.3595629930496216, - "chamfer": 0.132264308545886, - "iou": 0.4907498394861509, - "score": 0.8499482443520898 - }, - { - "uid": "a0d66f10a850469c9cb04c3cecc62a05", - "sim": 0.21925827860832214, - "chamfer": 0.08131371571853539, - "iou": 0.7492724756896842, - "score": 0.8157169126092549 - }, - { - "uid": "82a393a6680745ae8f189e24d41b817a", - "sim": 0.22396942973136902, - "chamfer": 0.08942364911076481, - "iou": 0.8112242693075811, - "score": 0.5647205144539109 - }, - { - "uid": "9a2c5ed79d634a61b1166836a8a5530f", - "sim": 0.20203402638435364, - "chamfer": 0.08875506876430603, - "iou": 0.7700942666915535, - "score": 0.27183959732780627 - }, - { - "uid": "42da0122f2134a189767d0911b401c1c", - "sim": 0.1973525583744049, - "chamfer": 0.08989773479049193, - "iou": 0.8542705872411177, - "score": 0.1586856214468443 - }, - { - "uid": "9c242421a7c1447f941f72b57e7473e5", - "sim": 0.1941283792257309, - "chamfer": 0.09409931000294329, - "iou": 0.8192870761721118, - "score": -0.05379139959596077 - }, - { - "uid": "fbadc209177641978444636641a6d515", - "sim": 0.20179232954978943, - "chamfer": 0.09936448217062525, - "iou": 0.6722288256287853, - "score": -0.14972302016967767 - }, - { - "uid": "c2414bdd1a3e4604a011c7889983c0dd", - "sim": 0.19447927176952362, - "chamfer": 0.10692335076842091, - "iou": 0.522282051787919, - "score": -0.5539935676871592 - }, - { - "uid": "471cbdf77d254e30988c8998a0615e44", - "sim": 0.10555321723222733, - "chamfer": 0.07797339811455428, - "iou": 0.7691498497582064, - "score": -0.70740948662545 - }, - { - "uid": "a4c4e43e911e4a7fa0cc2617a0697eef", - "sim": 0.10219129920005798, - "chamfer": 0.0871655037899072, - "iou": 0.8145778527178916, - "score": -1.1185340624748572 - }, - { - "uid": "d90e4353ae7047e0b4f37abc8bc58468", - "sim": 0.11372508853673935, - "chamfer": 0.09440974908809194, - "iou": 0.6755382234072334, - "score": -1.2361299374396348 - }, - { - "uid": "f0ff385edd4f4a9ebac56d755c2f6634", - "sim": 0.29351264238357544, - "chamfer": 0.16755345899520105, - "iou": 0.7222878036357545, - "score": -1.5017868588915373 - }, - { - "uid": "1b6dea328d4141b3b20459b45ebe929a", - "sim": 0.18943598866462708, - "chamfer": 0.14172846651142762, - "iou": 0.7047948424873165, - "score": -1.9988224502366143 - } - ], - "16_chair": [ - { - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "sim": 0.17670871317386627, - "chamfer": 0.07824864924960556, - "iou": 0.6757053782105363, - "score": 1.6972368817256638 - }, - { - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "sim": 0.15661156177520752, - "chamfer": 0.07122753178810742, - "iou": 0.9088527070335085, - "score": 1.451304486244807 - }, - { - "uid": "8102032a85e34e1d9e9193e6149946f1", - "sim": 0.11260245740413666, - "chamfer": 0.061672563318628734, - "iou": 0.8251721796330371, - "score": 0.6480841086123553 - }, - { - "uid": "c2644b133b554bc084e83d1217663918", - "sim": 0.07473646849393845, - "chamfer": 0.0387045191531869, - "iou": 0.9511822496576458, - "score": 0.6276170716473082 - }, - { - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "sim": 0.16727659106254578, - "chamfer": 0.0973851094343195, - "iou": 0.9114786869682364, - "score": 0.5617015236106702 - }, - { - "uid": "0717695aad8f4d5f9f8f5e1d57355218", - "sim": 0.14199760556221008, - "chamfer": 0.08379009091760625, - "iou": 0.8771813281145486, - "score": 0.46898904510791406 - }, - { - "uid": "79fbc9501aff4538bf077197d2502016", - "sim": 0.16308563947677612, - "chamfer": 0.10023508383316816, - "iou": 0.9165007426874094, - "score": 0.31422508293830875 - }, - { - "uid": "aa555c383d5748fa91634b61dc3febf9", - "sim": 0.11560326814651489, - "chamfer": 0.07115396446830495, - "iou": 0.8707771530765285, - "score": 0.30130049056036795 - }, - { - "uid": "34122e3ff87441309d6714396d6e22d2", - "sim": 0.13458071649074554, - "chamfer": 0.08428439884806663, - "iou": 0.9500587402090118, - "score": 0.2379112232396843 - }, - { - "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", - "sim": 0.17299926280975342, - "chamfer": 0.11222976304970791, - "iou": 0.993774403165971, - "score": 0.04756780677044148 - }, - { - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "sim": 0.1660556197166443, - "chamfer": 0.11143012825249445, - "iou": 0.85469826651054, - "score": -0.11135610672899021 - }, - { - "uid": "c79b4fb3af0b4ea6be16e9d973077441", - "sim": 0.1195942610502243, - "chamfer": 0.08635756717394531, - "iou": 0.981011953754756, - "score": -0.2778600696950429 - }, - { - "uid": "8368d0bca47f46a0993ac7c9ab56ea54", - "sim": 0.12811876833438873, - "chamfer": 0.09800051143307745, - "iou": 0.9186099991086063, - "score": -0.5675902716577075 - }, - { - "uid": "ae81468e59404c9bb18333bb42114488", - "sim": 0.07238851487636566, - "chamfer": 0.06821025714072569, - "iou": 0.8677917960017607, - "score": -0.780235840188664 - }, - { - "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", - "sim": 0.1303589940071106, - "chamfer": 0.13109915027899027, - "iou": 0.9231659672985097, - "score": -2.0097941094649676 - }, - { - "uid": "cadccdc1d08648a7be5b0233ba42ddfd", - "sim": 0.06248021870851517, - "chamfer": 0.10229813340278777, - "iou": 0.9960843864482956, - "score": -2.609101322722145 - } - ], - "17_coffee_table": [ - { - "uid": "90fbd4f247b444049b5bc64be3200678", - "sim": 0.3106432855129242, - "chamfer": 0.04680406851751751, - "iou": 0.6769551505576353, - "score": 2.9072751974908315 - }, - { - "uid": "816c99db3a9745be8deb0b716be822db", - "sim": 0.2708461880683899, - "chamfer": 0.054952410905908085, - "iou": 0.9177631574162183, - "score": 2.303188098530793 - }, - { - "uid": "02302fca239e4d7a9d26ce5cc46225e5", - "sim": 0.2422216534614563, - "chamfer": 0.08010954128177783, - "iou": 0.6862795157186553, - "score": 1.5516024991931112 - }, - { - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "sim": 0.17013707756996155, - "chamfer": 0.043722832737213155, - "iou": 0.9116826152743626, - "score": 1.2978763271815408 - }, - { - "uid": "da37eb57368b49bdbc120b5516534831", - "sim": 0.17934705317020416, - "chamfer": 0.09651074022368915, - "iou": 0.6131592323000595, - "score": 0.5392470070199642 - }, - { - "uid": "6f79223d321047059e1032c78b1b00a5", - "sim": 0.14075441658496857, - "chamfer": 0.07233941179957294, - "iou": 0.7386622774884954, - "score": 0.4804860346998894 - }, - { - "uid": "b0c0c9c65d06443c87391134a62e2287", - "sim": 0.11768494546413422, - "chamfer": 0.05727224870919047, - "iou": 0.6126246814944305, - "score": 0.45552081526925803 - }, - { - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "sim": 0.12273441255092621, - "chamfer": 0.0630233442106789, - "iou": 0.6111913058111268, - "score": 0.4206731126595188 - }, - { - "uid": "845c215786744c17a20c38a738fea07f", - "sim": 0.09981221705675125, - "chamfer": 0.04683711884318913, - "iou": 0.8024159053625938, - "score": 0.41583699275755315 - }, - { - "uid": "a68bfdc7043e469e8479b7e87bbd8071", - "sim": 0.12288486957550049, - "chamfer": 0.07936664578340057, - "iou": 0.6085645751834478, - "score": 0.15388796354682846 - }, - { - "uid": "93da6ffee73d46ae9bd1aaeb93e185af", - "sim": 0.09540754556655884, - "chamfer": 0.06203308739409735, - "iou": 0.9388122485031197, - "score": 0.11408824962054215 - }, - { - "uid": "e386f2abfefd423b8ab7cb967d79a200", - "sim": 0.04835128039121628, - "chamfer": 0.07781506879703493, - "iou": 0.6128927448210196, - "score": -0.7012038162444877 - }, - { - "uid": "d9a1c88d2500475bb4d9b44eb7152f2e", - "sim": 0.12124259769916534, - "chamfer": 0.17564661681782795, - "iou": 0.9173217715777634, - "score": -1.4476440272013684 - }, - { - "uid": "a9917037f0c643dbbde0475b59bc53b1", - "sim": 0.14335937798023224, - "chamfer": 0.198489339881431, - "iou": 0.9206595546109327, - "score": -1.5617070915609226 - }, - { - "uid": "fb5e3443ac1b4e1cbc4099b84c75fca9", - "sim": 0.05549320578575134, - "chamfer": 0.20485281771720257, - "iou": 0.6129032274564522, - "score": -2.7043834989902558 - }, - { - "uid": "248f19938ab04761a15e35d9e24161ca", - "sim": -0.04712424799799919, - "chamfer": 0.22359430548979056, - "iou": 0.6086478132815966, - "score": -4.224743863972794 - } - ], - "18_bookcase": [ - { - "uid": "ecf7e409454d450cbde731259a51bbd5", - "sim": 0.047143932431936264, - "chamfer": 0.08419491264531605, - "iou": 0.8298060438443693, - "score": 2.8157495664848495 - }, - { - "uid": "66b83fb8729948e9955cac4754ccd132", - "sim": 0.10502772778272629, - "chamfer": 0.1402377688381938, - "iou": 0.31870865935272996, - "score": 2.1554903333824136 - }, - { - "uid": "bfcd1f32b812414bab95d3e54284ba53", - "sim": -0.0033494485542178154, - "chamfer": 0.09588927462094021, - "iou": 0.947378260845064, - "score": 1.1404444981931696 - }, - { - "uid": "cafa12d984664b4e96f6fa442faed938", - "sim": -0.005095675587654114, - "chamfer": 0.09939163912340031, - "iou": 0.8063757981058325, - "score": 0.9673854765999841 - }, - { - "uid": "b37db59c7cce46b2a3e40969e6797117", - "sim": -0.0037722624838352203, - "chamfer": 0.10180921406897703, - "iou": 0.5253186063082654, - "score": 0.9100658664687149 - }, - { - "uid": "813d77c898504d7cb249b0cafea2a1e3", - "sim": -0.004315740894526243, - "chamfer": 0.10957931543496541, - "iou": 0.6794437585591627, - "score": 0.607968909481387 - }, - { - "uid": "6ca9e3bcedae4dfe9fd9d639639447b4", - "sim": -0.023355482146143913, - "chamfer": 0.11279791943598039, - "iou": 0.3527635440067204, - "score": 0.020514661853535787 - }, - { - "uid": "b8792d1b3acf4081b0f173497d19d08b", - "sim": 0.006555718835443258, - "chamfer": 0.1327416370197576, - "iou": 0.9728373672860511, - "score": 0.01437643809987238 - }, - { - "uid": "67e718a0fc904487a9f735892d9834d3", - "sim": 0.007792196236550808, - "chamfer": 0.13721565528506663, - "iou": 0.5384611655283962, - "score": -0.12149826993470592 - }, - { - "uid": "1653db41973e466ebd90f91d8dfdda29", - "sim": -0.0161469504237175, - "chamfer": 0.1281172740999902, - "iou": 0.29385210405625967, - "score": -0.37163384411632344 - }, - { - "uid": "04efa2b17050432c9452056bfd36af44", - "sim": 0.021748293191194534, - "chamfer": 0.15738024010617843, - "iou": 0.41794750223141924, - "score": -0.527896340671824 - }, - { - "uid": "77c0313ad21144dcb904915d66a163b3", - "sim": -0.013126682490110397, - "chamfer": 0.14536318073078427, - "iou": 0.5343836527299317, - "score": -0.9382893129034428 - }, - { - "uid": "c1c1eb046635471b8911ac50e5b44014", - "sim": 0.024709977209568024, - "chamfer": 0.1755063511217889, - "iou": 0.34041507612596916, - "score": -1.1287003664790365 - }, - { - "uid": "a7830bb1abc348bd9390d126648377fd", - "sim": -0.030186407268047333, - "chamfer": 0.14958865008187175, - "iou": 0.4247551362347707, - "score": -1.5145059997953751 - }, - { - "uid": "baded4f3a22e4d6e9472e925e6f1fc12", - "sim": -0.009802223183214664, - "chamfer": 0.17612839330833477, - "iou": 0.7903291343787718, - "score": -1.9998571410951593 - }, - { - "uid": "3d42390fa27748f6818a85182595a69c", - "sim": -0.10001761466264725, - "chamfer": 0.11727497734387173, - "iou": 0.5976313746631025, - "score": -2.029614475568069 - } - ], - "19_chair": [ - { - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "sim": 0.19283315539360046, - "chamfer": 0.09910524396910855, - "iou": 0.9088527070335087, - "score": 2.2695544290815537 - }, - { - "uid": "8102032a85e34e1d9e9193e6149946f1", - "sim": 0.1522561013698578, - "chamfer": 0.08513618978227507, - "iou": 0.8251721796330371, - "score": 1.8701881561256977 - }, - { - "uid": "c2644b133b554bc084e83d1217663918", - "sim": 0.1054932177066803, - "chamfer": 0.06305141617052493, - "iou": 0.9511822496576458, - "score": 1.7369591059882374 - }, - { - "uid": "0717695aad8f4d5f9f8f5e1d57355218", - "sim": 0.17578110098838806, - "chamfer": 0.11003779761522639, - "iou": 0.8771813281145486, - "score": 1.1838003888426274 - }, - { - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "sim": 0.1768653392791748, - "chamfer": 0.12503749841125827, - "iou": 0.6757053782105363, - "score": 0.39544416473059796 - }, - { - "uid": "c79b4fb3af0b4ea6be16e9d973077441", - "sim": 0.14634765684604645, - "chamfer": 0.11136901997228663, - "iou": 0.981011953754756, - "score": 0.26784604738464424 - }, - { - "uid": "34122e3ff87441309d6714396d6e22d2", - "sim": 0.13608600199222565, - "chamfer": 0.10648493029687284, - "iou": 0.9500587402090118, - "score": 0.24067540024893608 - }, - { - "uid": "aa555c383d5748fa91634b61dc3febf9", - "sim": 0.10040851682424545, - "chamfer": 0.096201236011247, - "iou": 0.8707771530765283, - "score": -0.21965184311261754 - }, - { - "uid": "79fbc9501aff4538bf077197d2502016", - "sim": 0.1480070948600769, - "chamfer": 0.12245785221000496, - "iou": 0.9165007426874094, - "score": -0.2903846891044982 - }, - { - "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", - "sim": 0.16612054407596588, - "chamfer": 0.13526574586387252, - "iou": 0.9231659672985097, - "score": -0.47113933384199413 - }, - { - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "sim": 0.14062651991844177, - "chamfer": 0.12240868280799208, - "iou": 0.9114786869682366, - "score": -0.4991427725170412 - }, - { - "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", - "sim": 0.11839964985847473, - "chamfer": 0.12005769336421644, - "iou": 0.9937744031659713, - "score": -1.0074824043933313 - }, - { - "uid": "ae81468e59404c9bb18333bb42114488", - "sim": 0.06301349401473999, - "chamfer": 0.0943123850453183, - "iou": 0.8677917960017607, - "score": -1.1877860598076508 - }, - { - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "sim": 0.1399286836385727, - "chamfer": 0.13469638731105463, - "iou": 0.8546982665105398, - "score": -1.190399605789483 - }, - { - "uid": "cadccdc1d08648a7be5b0233ba42ddfd", - "sim": 0.09599602222442627, - "chamfer": 0.11687378190648298, - "iou": 0.9960843864482958, - "score": -1.4753842416473957 - }, - { - "uid": "8368d0bca47f46a0993ac7c9ab56ea54", - "sim": 0.08943699300289154, - "chamfer": 0.11613799272655867, - "iou": 0.9186099991086061, - "score": -1.6230967421882843 - } - ], - "20_carpet": [ - { - "uid": "a3bbc9154ea846d7af74824aabaab511", - "sim": 0.4790978729724884, - "chamfer": 0.044004595915121916, - "iou": 0.9988008262894177, - "score": 1.5899228211665002 - }, - { - "uid": "783c748a023d44c8a4e4d5e3521b4fb4", - "sim": 0.4101262092590332, - "chamfer": 0.022489678571128748, - "iou": 0.9989296194034833, - "score": 1.300510778435489 - }, - { - "uid": "0f49497646b146daa768a17a61d65786", - "sim": 0.40827780961990356, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 1.27268015511632 - }, - { - "uid": "518270ef732c4af2a6b088c7faaa7188", - "sim": 0.3944517970085144, - "chamfer": 0.022404037760879257, - "iou": 0.9995190629377912, - "score": 1.0383139744824075 - }, - { - "uid": "cbde775dbc734bd08f4b201fe32b4836", - "sim": 0.3879740238189697, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.9285085440011539 - }, - { - "uid": "6d43731dcae44371bd7917b52be2f52f", - "sim": 0.3867875933647156, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.9083972364390949 - }, - { - "uid": "3026ea0181be4f2db72ff4ef5f229628", - "sim": 0.3862839341163635, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.899859655484591 - }, - { - "uid": "519d58fdd62143c4a01714fd05d0d1bb", - "sim": 0.3836630880832672, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.8554334184005659 - }, - { - "uid": "6430619924364a4eadf74710390540ae", - "sim": 0.3772208094596863, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.7462296750755812 - }, - { - "uid": "e2fb6b063fcc4a41ac32dabf5fa05258", - "sim": 0.37347644567489624, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.6827585702753525 - }, - { - "uid": "5f9716bc030b467181e2470499df706a", - "sim": 0.3611745238304138, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.474227397688138 - }, - { - "uid": "a593baa36e924a1891d4c16c83b28e66", - "sim": 0.35166704654693604, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": 0.31306514911157496 - }, - { - "uid": "e61bb54ba99e44189b08a2cd0ab8bccb", - "sim": 0.31779342889785767, - "chamfer": 0.022404038128480214, - "iou": 0.9995190629377912, - "score": -0.26113011057473534 - }, - { - "uid": "286b7eb50e514488b45302304e3ab679", - "sim": 0.2736191153526306, - "chamfer": 0.04740941555198208, - "iou": 0.8795936110721172, - "score": -2.0323905580385038 - }, - { - "uid": "575ceb9897984adb842dc3c163c33d21", - "sim": 0.2644275426864624, - "chamfer": 0.09217450436294994, - "iou": 0.5423727246972083, - "score": -4.018619305031384 - }, - { - "uid": "5db8109d4ea34ef2bea6f395a48fcaf2", - "sim": 0.24217474460601807, - "chamfer": 0.09955876398236208, - "iou": 0.4999716816403023, - "score": -4.697767402032145 - } - ], - "21_bookcase": [ - { - "uid": "6ca9e3bcedae4dfe9fd9d639639447b4", - "sim": 0.24429664015769958, - "chamfer": 0.06560501907615043, - "iou": 0.6128656962697401, - "score": 1.8302087429315916 - }, - { - "uid": "cafa12d984664b4e96f6fa442faed938", - "sim": 0.2945210039615631, - "chamfer": 0.0775880118406499, - "iou": 0.7138071583103035, - "score": 1.717989100842041 - }, - { - "uid": "c1c1eb046635471b8911ac50e5b44014", - "sim": 0.4918380379676819, - "chamfer": 0.11843430572548444, - "iou": 0.5914123672787576, - "score": 1.570734693003859 - }, - { - "uid": "1653db41973e466ebd90f91d8dfdda29", - "sim": 0.2746182084083557, - "chamfer": 0.08011526643799496, - "iou": 0.5105172499041931, - "score": 1.4196220848107308 - }, - { - "uid": "67e718a0fc904487a9f735892d9834d3", - "sim": 0.1435493677854538, - "chamfer": 0.06586635716304223, - "iou": 0.9354832230608541, - "score": 0.9103698439176242 - }, - { - "uid": "bfcd1f32b812414bab95d3e54284ba53", - "sim": 0.27213969826698303, - "chamfer": 0.10050551674266266, - "iou": 0.5453079114147982, - "score": 0.4365094059465238 - }, - { - "uid": "3d42390fa27748f6818a85182595a69c", - "sim": 0.13790582120418549, - "chamfer": 0.07933093873146436, - "iou": 0.963130185895283, - "score": 0.22508350320304593 - }, - { - "uid": "04efa2b17050432c9452056bfd36af44", - "sim": 0.1580745279788971, - "chamfer": 0.08488929470558221, - "iou": 0.7261115591762445, - "score": 0.1448527195497769 - }, - { - "uid": "77c0313ad21144dcb904915d66a163b3", - "sim": 0.08139272034168243, - "chamfer": 0.0718757742705645, - "iou": 0.9283992492128308, - "score": 0.06730383533361262 - }, - { - "uid": "a7830bb1abc348bd9390d126648377fd", - "sim": 0.23548546433448792, - "chamfer": 0.1027402925229885, - "iou": 0.7379386468226198, - "score": 0.0010281266406757528 - }, - { - "uid": "b8792d1b3acf4081b0f173497d19d08b", - "sim": 0.31831488013267517, - "chamfer": 0.12072501378813642, - "iou": 0.5916680797139648, - "score": -0.10028820130025107 - }, - { - "uid": "66b83fb8729948e9955cac4754ccd132", - "sim": 0.11902173608541489, - "chamfer": 0.09995143568533142, - "iou": 0.5537012192441437, - "score": -0.9166586929668991 - }, - { - "uid": "ecf7e409454d450cbde731259a51bbd5", - "sim": 0.0918193906545639, - "chamfer": 0.09894196151268146, - "iou": 0.6936522350566063, - "score": -1.1141292815103454 - }, - { - "uid": "b37db59c7cce46b2a3e40969e6797117", - "sim": 0.10384076088666916, - "chamfer": 0.10210359764342637, - "iou": 0.9126502975954662, - "score": -1.1548175424954747 - }, - { - "uid": "813d77c898504d7cb249b0cafea2a1e3", - "sim": 0.15896815061569214, - "chamfer": 0.12356496818028657, - "iou": 0.3910856647409505, - "score": -1.6694912082297628 - }, - { - "uid": "baded4f3a22e4d6e9472e925e6f1fc12", - "sim": 0.0481063649058342, - "chamfer": 0.1384247298023672, - "iou": 0.45491093411191913, - "score": -3.368317129676748 - } - ], - "22_chair": [ - { - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "sim": 0.26542383432388306, - "chamfer": 0.0889872634836757, - "iou": 0.9856749354439728, - "score": 2.994334152875969 - }, - { - "uid": "8102032a85e34e1d9e9193e6149946f1", - "sim": 0.1796310544013977, - "chamfer": 0.07615122218375725, - "iou": 0.9211224330787392, - "score": 2.666271775392685 - }, - { - "uid": "c2644b133b554bc084e83d1217663918", - "sim": 0.15682239830493927, - "chamfer": 0.09227153926758357, - "iou": 0.9418103982236482, - "score": 1.1909316379016228 - }, - { - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "sim": 0.2885231673717499, - "chamfer": 0.11978974574926013, - "iou": 0.7542757710257151, - "score": 1.1392632843879738 - }, - { - "uid": "7b0f1626f4ae4764b8859cfecb5ff3b1", - "sim": 0.2232654094696045, - "chamfer": 0.1137703622035314, - "iou": 0.9014453687671803, - "score": 0.6236342859689765 - }, - { - "uid": "34122e3ff87441309d6714396d6e22d2", - "sim": 0.14692968130111694, - "chamfer": 0.10447773275305684, - "iou": 0.9429241534436608, - "score": 0.1804723519425389 - }, - { - "uid": "0717695aad8f4d5f9f8f5e1d57355218", - "sim": 0.12314888834953308, - "chamfer": 0.10011055447779423, - "iou": 0.9791791569650776, - "score": 0.1470417355884412 - }, - { - "uid": "aa555c383d5748fa91634b61dc3febf9", - "sim": 0.08886735886335373, - "chamfer": 0.09487718455450096, - "iou": 0.9720303104110084, - "score": 0.023363401980832976 - }, - { - "uid": "c79b4fb3af0b4ea6be16e9d973077441", - "sim": 0.13320645689964294, - "chamfer": 0.10822689086813539, - "iou": 0.9131726987674234, - "score": -0.2843556335506226 - }, - { - "uid": "4281fdefe6ee4cf0a81f5d4fe9bb67db", - "sim": 0.18694144487380981, - "chamfer": 0.12008756742103877, - "iou": 0.9703925026123301, - "score": -0.3504231836322672 - }, - { - "uid": "3b3156919dfa4cffa6ced7236b7cef07", - "sim": 0.14289268851280212, - "chamfer": 0.11384896905350023, - "iou": 0.982835195316587, - "score": -0.5438644320475251 - }, - { - "uid": "ae81468e59404c9bb18333bb42114488", - "sim": 0.03840646147727966, - "chamfer": 0.09543700296297022, - "iou": 0.9686978187926631, - "score": -0.7459112281306246 - }, - { - "uid": "79fbc9501aff4538bf077197d2502016", - "sim": 0.13913634419441223, - "chamfer": 0.12320316499742769, - "iou": 0.9774496534574819, - "score": -1.2629330176605298 - }, - { - "uid": "2c32127e0a354be9b588bbeb8f9ac644", - "sim": 0.12239094078540802, - "chamfer": 0.12159106484122084, - "iou": 0.9540817858722308, - "score": -1.3904483936298677 - }, - { - "uid": "cadccdc1d08648a7be5b0233ba42ddfd", - "sim": 0.034703608602285385, - "chamfer": 0.11164143713184822, - "iou": 0.8926897032661376, - "score": -1.9510251815729593 - }, - { - "uid": "8368d0bca47f46a0993ac7c9ab56ea54", - "sim": 0.0783940777182579, - "chamfer": 0.12735838692591467, - "iou": 0.975205292999886, - "score": -2.4363515558146482 - } - ], - "24_air_conditioner": [ - { - "uid": "da8f719b60e9406fb16c84a0bf404297", - "sim": 0.09991991519927979, - "chamfer": 0.042064880619730786, - "iou": 0.8566174532271215, - "score": 2.423136666973069 - }, - { - "uid": "f3c251cbf4354ec4822db9e7db7554c4", - "sim": 0.052516356110572815, - "chamfer": 0.03746669254026706, - "iou": 0.38530312840938447, - "score": 1.9221846673350367 - }, - { - "uid": "f15a8fdb25ce42118c1bb6ab695f56ce", - "sim": 0.09869490563869476, - "chamfer": 0.04882588320103005, - "iou": 0.24557949942335852, - "score": 1.878526716110911 - }, - { - "uid": "5705d0adde414506866885157b95e753", - "sim": 0.08114767074584961, - "chamfer": 0.05012724925340441, - "iou": 0.5112198706906439, - "score": 1.4609870348747027 - }, - { - "uid": "a7852c063b484df6963e1b5f649e7fe5", - "sim": 0.030249033123254776, - "chamfer": 0.044090138730880184, - "iou": 0.581063446110679, - "score": 1.0080982777328484 - }, - { - "uid": "2ee631cfd24542b4b47eb6d88b34d4a8", - "sim": 0.05588071793317795, - "chamfer": 0.053351275056555514, - "iou": 0.4620158987038271, - "score": 0.7554183617095143 - }, - { - "uid": "3077f5074fb14538b28baf80e65e52f6", - "sim": 0.056616414338350296, - "chamfer": 0.054296292857843126, - "iou": 0.4507448300576142, - "score": 0.6956781754129507 - }, - { - "uid": "1686e3215a15418ca4baed820d4334e1", - "sim": 0.05743325501680374, - "chamfer": 0.06151246088347659, - "iou": 0.22828351150861267, - "score": 0.15277744611550503 - }, - { - "uid": "c1c39f39df7946149afe10b60b36eba5", - "sim": 0.06081581860780716, - "chamfer": 0.06335798350572992, - "iou": 0.35126527461424906, - "score": 0.07126021035762675 - }, - { - "uid": "6c3b7f42886f47f1a59725bfac3640f2", - "sim": -0.05811353772878647, - "chamfer": 0.04191216013608509, - "iou": 0.5972608697577381, - "score": -0.41976457740081674 - }, - { - "uid": "e0fad92bca3c4e1f84ab88d297b352a4", - "sim": 0.04127255827188492, - "chamfer": 0.06544409484798162, - "iou": 0.3587356966750937, - "score": -0.44297960470719516 - }, - { - "uid": "fb03d133dd4142f2908a8cfc504dac59", - "sim": -0.029124362394213676, - "chamfer": 0.05333887291817503, - "iou": 0.4249769944464012, - "score": -0.7791479906934953 - }, - { - "uid": "4c0f32f6c51c441dbfccb40d84738548", - "sim": 0.05570775642991066, - "chamfer": 0.07400962707912964, - "iou": 0.2801513084671338, - "score": -0.8441565549388599 - }, - { - "uid": "885b4a83ad1a4db792715ba24c7a5d57", - "sim": -0.009418189525604248, - "chamfer": 0.06754279115810931, - "iou": 0.3162753231327552, - "score": -1.5208376191886859 - }, - { - "uid": "875400ce508d435faffd6844d7fdddf4", - "sim": -0.08451861143112183, - "chamfer": 0.06268584077439203, - "iou": 0.20947947220464921, - "score": -2.502106654721868 - }, - { - "uid": "0f9fc087827945b5ba88da01e5c5da60", - "sim": -0.05084653198719025, - "chamfer": 0.088116103104413, - "iou": 0.45384756685132527, - "score": -3.859074554971241 - } - ], - "25_air_conditioner": [ - { - "uid": "da8f719b60e9406fb16c84a0bf404297", - "sim": 0.07082846015691757, - "chamfer": 0.0462345995516756, - "iou": 0.8566174532271215, - "score": 2.9113542400290324 - }, - { - "uid": "5705d0adde414506866885157b95e753", - "sim": -0.0017372742295265198, - "chamfer": 0.0362712754756542, - "iou": 0.5112198706906441, - "score": 1.5945130725885523 - }, - { - "uid": "3077f5074fb14538b28baf80e65e52f6", - "sim": -0.02359125018119812, - "chamfer": 0.03371856371439731, - "iou": 0.4507448300576142, - "score": 1.1729495872673676 - }, - { - "uid": "e0fad92bca3c4e1f84ab88d297b352a4", - "sim": 0.037868682295084, - "chamfer": 0.06511600002073964, - "iou": 0.35873569667509375, - "score": 1.0075604069624826 - }, - { - "uid": "f3c251cbf4354ec4822db9e7db7554c4", - "sim": -0.004851536825299263, - "chamfer": 0.049864042950852144, - "iou": 0.38530312840938447, - "score": 0.7559160600488625 - }, - { - "uid": "fb03d133dd4142f2908a8cfc504dac59", - "sim": -0.04142758995294571, - "chamfer": 0.038617370722951044, - "iou": 0.4249769944464012, - "score": 0.43940406569077584 - }, - { - "uid": "c1c39f39df7946149afe10b60b36eba5", - "sim": 0.036005809903144836, - "chamfer": 0.07963052457864518, - "iou": 0.35126527461424906, - "score": 0.14983907825302456 - }, - { - "uid": "1686e3215a15418ca4baed820d4334e1", - "sim": -0.0018741898238658905, - "chamfer": 0.06286347002945011, - "iou": 0.20540352311896873, - "score": 0.10761542013159614 - }, - { - "uid": "a7852c063b484df6963e1b5f649e7fe5", - "sim": -0.02170640043914318, - "chamfer": 0.05369178006510314, - "iou": 0.581063446110679, - "score": 0.10744465470607895 - }, - { - "uid": "f15a8fdb25ce42118c1bb6ab695f56ce", - "sim": 0.01970711350440979, - "chamfer": 0.07851110075803877, - "iou": 0.24557949942335852, - "score": -0.20831772383766634 - }, - { - "uid": "2ee631cfd24542b4b47eb6d88b34d4a8", - "sim": -0.008004353381693363, - "chamfer": 0.07355489553527604, - "iou": 0.462015898703827, - "score": -0.646966735558174 - }, - { - "uid": "885b4a83ad1a4db792715ba24c7a5d57", - "sim": -0.06048092246055603, - "chamfer": 0.05536723715771183, - "iou": 0.31627532313275514, - "score": -0.9866220853133949 - }, - { - "uid": "875400ce508d435faffd6844d7fdddf4", - "sim": -0.03164408728480339, - "chamfer": 0.07431538091396062, - "iou": 0.20947947220464921, - "score": -1.2994296773889373 - }, - { - "uid": "4c0f32f6c51c441dbfccb40d84738548", - "sim": -0.004705422092229128, - "chamfer": 0.09159435828156488, - "iou": 0.2801513084671338, - "score": -1.5681116570991696 - }, - { - "uid": "6c3b7f42886f47f1a59725bfac3640f2", - "sim": -0.09619925916194916, - "chamfer": 0.04935137225412063, - "iou": 0.5972608697577381, - "score": -1.5727846723452852 - }, - { - "uid": "0f9fc087827945b5ba88da01e5c5da60", - "sim": -0.025921916589140892, - "chamfer": 0.08888280647764372, - "iou": 0.45384756685132527, - "score": -1.9643640341351438 - } - ], - "26_painting": [ + "10_cupboard": [ { - "uid": "49fc5dd4bdc34951b29fb43aaaa9f3b5", - "sim": 0.47968482971191406, - "chamfer": 0.034297060275526994, - "iou": 0.6569953056470773, - "score": 2.4115903897648883 + "uid": "5c18cf20f0484d76b44ca31b57198820", + "sim": 0.28034329414367676, + "chamfer": 0.11689574777970846, + "iou": 0.829513297812108, + "score": 2.1258752493904005 }, { - "uid": "54a72a5212d142f0b73b1d6d356b756c", - "sim": 0.44152742624282837, - "chamfer": 0.05684821634984531, - "iou": 0.7093909657403262, - "score": 1.6830341324471363 + "uid": "c6498b9aec674265b6b828b287bc8512", + "sim": 0.2047697901725769, + "chamfer": 0.10821587971860962, + "iou": 0.9644244696427958, + "score": 1.6982399839385383 }, { - "uid": "460a5ca01e0e409cafaa5611e564f04b", - "sim": 0.42933517694473267, - "chamfer": 0.05262594368452885, - "iou": 0.485553787110326, - "score": 1.6519540950098597 + "uid": "fdcb5d8fdac247a3be20c28f4da2b466", + "sim": 0.21975192427635193, + "chamfer": 0.13231351010530112, + "iou": 0.8156792742587023, + "score": 0.4981261114828559 }, { - "uid": "a6e8bcdb300c4a40b75e2e3788914269", - "sim": 0.3654066324234009, - "chamfer": 0.04564861708479641, - "iou": 0.5669655816602289, - "score": 1.2213750181546168 + "uid": "1b12ef6f030448e0aafe3ca1157d1714", + "sim": 0.09763167053461075, + "chamfer": 0.10661763143619021, + "iou": 0.8592372710997992, + "score": 0.47719898645753067 }, { - "uid": "a8c2b341d7ed4daaa10b593c0d146e13", - "sim": 0.46993404626846313, - "chamfer": 0.11466875764221462, - "iou": 0.2990161343912942, - "score": 0.9085078366206266 + "uid": "e6b8de64e9364eb294b3b0a530080fdb", + "sim": 0.16990196704864502, + "chamfer": 0.12445220191017829, + "iou": 0.7093653116850797, + "score": 0.3386913314853566 }, { - "uid": "8e09e36becc84eb290697ec49a1f3f15", - "sim": 0.46844446659088135, - "chamfer": 0.11970328208599378, - "iou": 0.09007440747512528, - "score": 0.8067421338536045 + "uid": "7acf463941774484bab3dfe500cc198f", + "sim": 0.21834394335746765, + "chamfer": 0.13670904849752868, + "iou": 0.6605335212783269, + "score": 0.22847964937452692 }, { - "uid": "9d07d1221c50423aa95058f3d7b47893", - "sim": 0.31128647923469543, - "chamfer": 0.05496286495857869, - "iou": 0.4863159663875987, - "score": 0.5881949038912049 + "uid": "db6bed238e6f49c498c1e6e0c2d06224", + "sim": 0.25564005970954895, + "chamfer": 0.14597448677238714, + "iou": 0.728235592820882, + "score": 0.15346059707123993 }, { - "uid": "3bfc45bc729c434aaf7c782ac12d66ca", - "sim": 0.4089023768901825, - "chamfer": 0.10781135105904054, - "iou": 0.1954540641215451, - "score": 0.5009041443205517 + "uid": "1bf6da131b5448f9a65d5a5933b1a432", + "sim": 0.12139379978179932, + "chamfer": 0.11774372784269264, + "iou": 0.9068056475486173, + "score": 0.129501866034411 }, { - "uid": "d85e8574d17041eda423cabafa18ab98", - "sim": 0.39739251136779785, - "chamfer": 0.12563473466166564, - "iou": 0.22671307374411762, - "score": 0.08661163121146315 + "uid": "ddd2962f03ee46dbaf584c8f49e5fddd", + "sim": 0.1505405604839325, + "chamfer": 0.1252238082697089, + "iou": 0.9089847304644859, + "score": 0.05714103520355837 }, { - "uid": "6bac7ea154b24666bb1268eea48dee39", - "sim": 0.20911294221878052, - "chamfer": 0.0441955172150456, - "iou": 0.40008943866546814, - "score": -0.10675666468721157 + "uid": "2ceee268be834c919babb9b851f60c18", + "sim": 0.11020638048648834, + "chamfer": 0.11723376463389085, + "iou": 0.9772375457359977, + "score": 0.02169954107999117 }, { - "uid": "b84dfc98d44d470ebff1ff6fbe36f57a", - "sim": 0.1417904496192932, - "chamfer": 0.039160593635832464, - "iou": 0.9861688933106906, - "score": -0.6010182770799373 + "uid": "9a79954b804440a3b4008ddc4032886a", + "sim": 0.16942673921585083, + "chamfer": 0.13132502535585036, + "iou": 0.5400242323005747, + "score": -0.06177251072577972 }, { - "uid": "eb3f2354354a4e67a709bf2cab522049", - "sim": 0.31936749815940857, - "chamfer": 0.1484020678052641, - "iou": 0.10184486119085401, - "score": -0.9910843967802145 + "uid": "444277a220bb45f1bead2fe4973ba671", + "sim": 0.16273106634616852, + "chamfer": 0.13098033893574285, + "iou": 0.7037904047264599, + "score": -0.1240256489861203 }, { - "uid": "e4f5d474029943818f536718d80d81ea", - "sim": 0.2270374745130539, - "chamfer": 0.14708309173047984, - "iou": 0.06843423957362858, - "score": -1.7675448860007859 + "uid": "1a200b4c8d624f389b232d2cf7b6aefe", + "sim": -0.012617280706763268, + "chamfer": 0.10416143368635083, + "iou": 0.8623539687782625, + "score": -0.7326966260788734 }, { - "uid": "1cdad3cea6f64a0a81e02a7aebf4bdf0", - "sim": 0.3982737064361572, - "chamfer": 0.23240743673263625, - "iou": 0.1143974027191461, - "score": -1.7903776104761955 + "uid": "2b8ca11b4b4647b8848cd4920c8384c5", + "sim": 0.2313888669013977, + "chamfer": 0.1700104188636345, + "iou": 0.3195868774651749, + "score": -1.523854708480357 }, { - "uid": "6dcce9b7229e4383917ee9161a7ee1ee", - "sim": 0.2633628845214844, - "chamfer": 0.18251225469940266, - "iou": 0.0572341849462158, - "score": -2.078255049727378 + "uid": "27dd3a502f8f43ca92469df0e3e12dce", + "sim": 0.1571463942527771, + "chamfer": 0.15619328194823284, + "iou": 0.4049024788072319, + "score": -1.6401959097602192 }, { - "uid": "449501e5ac704151b2f913649617dc7c", - "sim": 0.10828408598899841, - "chamfer": 0.131657032148968, - "iou": 0.26743477080428, - "score": -2.523877400522229 + "uid": "31260ec93c914a0ea7835850db66e445", + "sim": -0.01608661748468876, + "chamfer": 0.11932433886389751, + "iou": 0.7492600793683822, + "score": -1.6458689474870476 } ] } \ No newline at end of file diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/00_tv.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/00_tv.glb index 77612ed7901c75299d198defd497727c8479cc18..bfb85c87d7daa86c35f28a96a832e1b0f44a3301 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/00_tv.glb +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/00_tv.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ee5d93583f59c09966089f31abf2566bf482a39764c96508b1d4efadcf4f622b -size 1067060 +oid sha256:3bbad0b75449672234cf443a2ce108ec2c7d2990d5fb0a154f8adeb59c125137 +size 2033372 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_coffee_table.glb deleted file mode 100644 index 7cd25f8398a7c9e79d4eac6a56d3c6552272680d..0000000000000000000000000000000000000000 Binary files a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_coffee_table.glb and /dev/null differ diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_dining_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_dining_table.glb new file mode 100644 index 0000000000000000000000000000000000000000..fd72b57c385bba34ae19bd680596c60c8804cfd8 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/01_dining_table.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0caa79909e4d127219c1ce52e9bf47b70866ac8e11d5fdd2f162756ba51a4036 +size 843520 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_coffee_table.glb deleted file mode 100644 index bea513b335873c06b5985b0c71e18b232e4079cc..0000000000000000000000000000000000000000 Binary files a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_coffee_table.glb and /dev/null differ diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_dining_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_dining_table.glb new file mode 100644 index 0000000000000000000000000000000000000000..cd56bf8cb93e253d3a1b86d42d2350b232c2a1c1 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/02_dining_table.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c97697bdfdf8cb8c753f5366a1c082da5d5149a1ab283195281f796beef7b452 +size 843520 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_chandelier.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_chandelier.glb new file mode 100644 index 0000000000000000000000000000000000000000..bd5079afb43e7171c0a38e6fc83b544b40f331fa --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_chandelier.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5770687aeeb385163ab3883eb3e3c2ecde3e9e1ce8fe1988c56a0a6b27db30a5 +size 1032836 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_coffee_table.glb deleted file mode 100644 index 015b9cdc3e7e3e38630489a62a418a8154238952..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/03_coffee_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d8c875890f075f9493abe378542b94e20eef26bc895889a0b6b3b0ca9a9f652a -size 1037956 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/04_chandelier.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/04_chandelier.glb index d21ec93b0ff6d0eb49dc78da78f0364d42faaedc..a791d9fc2224e59e2e1a21c5c4f1abeab73c83bd 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/04_chandelier.glb +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/04_chandelier.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:250f4e81f4aeece8ad0e2f3b2b875d7fbdb1c75b2ea203073ee1c3a89773401d -size 12780644 +oid sha256:d7e05262151e01c74fe6f16c72470557b5b098ac9cad93c1ef892b659e3aee5a +size 1032836 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_chandelier.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_chandelier.glb deleted file mode 100644 index 150d792a9d11a8a0b910d3655c82799383ac1efa..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_chandelier.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2344313e27e71246d1a294fb2135496a268f728495a074dfd84c50222d41c336 -size 12780644 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_dining_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_dining_table.glb new file mode 100644 index 0000000000000000000000000000000000000000..ffba3de0d8164a15f2a76df27b451b19502920b1 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/05_dining_table.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08b4d70bfd7b50c7808f1d5bddb6d34fd5e4f2b1eddf87890b79e249525223f3 +size 843520 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_chandelier.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_chandelier.glb new file mode 100644 index 0000000000000000000000000000000000000000..66cb70012e0c7952d3b866b7136b74a309b3b699 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_chandelier.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe9c97193b7c97e538a05062a794600d208add95979da58d6ee5e1c2f68c23a1 +size 1032836 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_coffee_table.glb deleted file mode 100644 index e79886ea1eff4113da68badcab9921c99de2a8a9..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/06_coffee_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:ab468807d37cd136e243ac0cea7899e26b6722b407b3e5edd38ce63da81b2888 -size 919412 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_curtain.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_curtain.glb deleted file mode 100644 index b3b20872cb27a2b0099a6090254f94ea99fa6742..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_curtain.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:414e7c3eb559b10f8e8c1918e71e2bd05b55bc510564db37d6aa6acc35fdf12e -size 7866652 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_dining_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_dining_table.glb new file mode 100644 index 0000000000000000000000000000000000000000..456136a1a210c936b70036b8fe00351106af6f60 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/07_dining_table.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70c8f8896285333b9097a93d373443d65792d4a0bfe5d70edf17b87caf57615b +size 843524 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_coffee_table.glb deleted file mode 100644 index da023e48a5306ce4ae6585c2b9006d851a19ec25..0000000000000000000000000000000000000000 Binary files a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_coffee_table.glb and /dev/null differ diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_dining_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_dining_table.glb new file mode 100644 index 0000000000000000000000000000000000000000..e6540fa3ce49ef6f56acdb80caf30dc08ed5da10 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/08_dining_table.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6831fa43e9c5092f8e667a0032ed396854239ddc79801a4921163b8fa3d6e222 +size 843520 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_chandelier.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_chandelier.glb new file mode 100644 index 0000000000000000000000000000000000000000..a351cfc48e566a104ad6791e2c8253615af718e1 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_chandelier.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6515bc95605f6c2f928948571fcc5fe00755a4f01987e71b0831e248b15b7a8c +size 1032836 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_coffee_table.glb deleted file mode 100644 index 04b3a58547f2ef8f534a55284c0c1f1b4769760b..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/09_coffee_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:382688bbc8bb3c4e721c7f6c430da17f2f760e055d56634919754e9d952bcd6d -size 1037960 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_coffee_table.glb deleted file mode 100644 index 766d18e94aca969157eaaa3de2825096dfdef976..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_coffee_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:95f7a4e7e4c19f5c977e2058245971f203f868bb71b4f6d7d45be141b6cf794d -size 1037960 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_cupboard.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_cupboard.glb new file mode 100644 index 0000000000000000000000000000000000000000..b6d9a862dc1fc906be231083e1ef67af20c4bbd7 --- /dev/null +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/10_cupboard.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5900ad8253d8e8585fb271aecf14dd4ad2ccbbc49ad58a648d1a35f9356a8307 +size 3064492 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/11_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/11_coffee_table.glb deleted file mode 100644 index 181f60797c7147b6c602ae110c76214e13138ea1..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/11_coffee_table.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:c79188c5df697eee0a1dcc61fdfaac03261eae878d3aaba010cd165e8aef8a7c -size 3400768 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/12_chandelier.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/12_chandelier.glb deleted file mode 100644 index 49be885b73ac785210cf010cff1df64db83762ac..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/12_chandelier.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a661f7594ffb4ae2c8b6fdd613a5751f28d1cd8345950cf2a9e16cfd5824e7c0 -size 1032836 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/13_bookcase.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/13_bookcase.glb deleted file mode 100644 index b74cecfc0fd759d51cd2cc2d548a045720257344..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/13_bookcase.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8abc62ca56ab9dfb8232b7bb0ee422bd2327776ccf4c73acdd4b7c8fa45831f5 -size 2717136 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/14_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/14_coffee_table.glb deleted file mode 100644 index 34e62e54af6ef0003340b277411f620c75565bbe..0000000000000000000000000000000000000000 Binary files a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/14_coffee_table.glb and /dev/null differ diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/15_sofa.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/15_sofa.glb deleted file mode 100644 index 46dedb69412045de110acf4f0b67710a439abc96..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/15_sofa.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:765fc2f862977e4f2c40b58f4e2ca73db3d5a79abac93599411e632bdc462561 -size 6562840 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/16_chair.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/16_chair.glb deleted file mode 100644 index 0fa76e8dc2c897d9d6921c8bb2dcd96d00415f8b..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/16_chair.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3ce13a390a1e41d785b2b210678420138251da8f41c4592812a8c2007d6c2b15 -size 3037516 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/17_coffee_table.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/17_coffee_table.glb deleted file mode 100644 index 422155f40c5838657d5744578f0c543de5fb0ace..0000000000000000000000000000000000000000 Binary files a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/17_coffee_table.glb and /dev/null differ diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/18_bookcase.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/18_bookcase.glb deleted file mode 100644 index f610a9c1f6c97ed98bc02959dc3d5b78604a7003..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/18_bookcase.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e9725a3856c9e413a84f748c99f112dc684b432bbcfceec44a5b6333da8134ed -size 1351616 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/19_chair.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/19_chair.glb deleted file mode 100644 index 990b9ffbe010570f746de62adbe6b032e32ab5d7..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/19_chair.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f444fa76415dad8220de6f5c911775346a4dbf0bbdecc5c97124c13a9d5f488b -size 2182840 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/20_carpet.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/20_carpet.glb deleted file mode 100644 index 763758b79970ac0fd9e38b60ae90cb88d7b2cbf2..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/20_carpet.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:eac7e490d896b1f2c771de6cbc3daae6ab9fcbc88ebb5930b1b36bb0262b7e72 -size 6298716 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/21_bookcase.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/21_bookcase.glb deleted file mode 100644 index 86ec432dbd6c44c66e54086c9cc40745aed130ed..0000000000000000000000000000000000000000 Binary files a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/21_bookcase.glb and /dev/null differ diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/22_chair.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/22_chair.glb deleted file mode 100644 index 1a1cf8e84d2ce5cc33a9b9e0a04146d2f098ee2d..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/22_chair.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:afeb23d2baefdd6d58afd406f62ca6eb499f65909f335f8da5bdbd0709f7b341 -size 2182844 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/24_air_conditioner.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/24_air_conditioner.glb deleted file mode 100644 index 27065aa293e692a064f9447f1a4e693e828af103..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/24_air_conditioner.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f0f23a71cf15630746c2cbab6459703dc148ad873c453f27304f86067c9837d0 -size 693576 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/25_air_conditioner.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/25_air_conditioner.glb deleted file mode 100644 index 4d6aed7af0a26c09584c981bb7228d85f277c62b..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/25_air_conditioner.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:368f8636de4962915438ea4131dde197c52f8c9d6af5dc0c99afce26fb628acd -size 693576 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/26_painting.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/26_painting.glb deleted file mode 100644 index 9a00d3f8f6e8c1eb4cf81825b309acc20bc31518..0000000000000000000000000000000000000000 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/objects/26_painting.glb +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:25551d1a9749c25aed98ac54697c125e74eeb5c9cf417e1e2f482ac61bdd5107 -size 118740 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.json b/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.json index 1a535deb0275a62bd6c3d39175839c323d4c303a..c57a5921e783485d5b3dbfe8f861b4ad6aa67477 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.json +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.json @@ -1,8 +1,8 @@ { - "loss_250": 0.36281338990433964, - "loss_150": 0.19577568386973673, + "loss_250": 0.17698145534442014, + "loss_150": 0.021177043344358687, "mcmc_steps": 50, - "seconds": 3.6, + "seconds": 0.9, "blender": "4.3.0", "objects": [ { @@ -39,62 +39,29 @@ ] }, { - "name": "01_coffee_table", + "name": "01_dining_table", "hanging": false, - "mcmc_move": 1.4901161193847656e-08, - "sim_move": 0.7124624988630776, - "sim_rot_deg": 39.92916923144791, - "delta": [ - [ - 0.9155465364456177, - 0.15239836275577545, - -0.37222203612327576, - 0.888007831105706 - ], - [ - 0.07047078758478165, - 0.8503421545028687, - 0.5214900374412537, - 0.018903131361950543 - ], - [ - 0.39599037170410156, - -0.503679096698761, - 0.767788290977478, - -1.2605341025614187 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "02_coffee_table", - "hanging": false, - "mcmc_move": 1.011186456464362, - "sim_move": 0.8339738142539515, - "sim_rot_deg": 37.04105908923017, + "mcmc_move": 0.0, + "sim_move": 0.26198392243941665, + "sim_rot_deg": 0.20558422779686011, "delta": [ [ - 0.9503447413444519, - 0.09853407740592957, - 0.29518789052963257, - 0.38588435143278765 + 0.999993622303009, + 0.0035677950363606215, + 0.00013516205945052207, + 0.04628995486975018 ], [ - 0.07516717165708542, - 0.8477833271026611, - -0.5249887108802795, - 0.4272707741087416 + -0.0035678022541105747, + 0.9999935030937195, + 4.961177910445258e-05, + 0.2614706792599888 ], [ - -0.3019846975803375, - 0.5211086273193359, - 0.7982800006866455, - 2.271566268717052 + -0.00013498419139068574, + -5.0093683967133984e-05, + 1.0, + 0.04776654044824319 ], [ 0.0, @@ -105,29 +72,29 @@ ] }, { - "name": "03_coffee_table", + "name": "02_dining_table", "hanging": false, - "mcmc_move": 0.2549507325394418, - "sim_move": 0.44412258497952023, - "sim_rot_deg": 45.293051495446235, + "mcmc_move": 0.0, + "sim_move": 0.3941492836942978, + "sim_rot_deg": 0.11703392759136522, "delta": [ [ - 0.7040363550186157, - 0.08952946960926056, - -0.7044978737831116, - 1.113012361422106 + 0.9999979734420776, + -0.001919671194627881, + 0.0002916318189818412, + -0.31831265844926654 ], [ - -0.06403596699237823, - 0.9959836006164551, - 0.0625782236456871, - -0.25036928473294484 + 0.0019196837674826384, + 0.9999980330467224, + -4.261466528987512e-05, + 0.23740019696009718 ], [ - 0.7072708606719971, - 0.0010558587964624166, - 0.7069418430328369, - -0.6051578977566576 + -0.0002915494842454791, + 4.3174426537007093e-05, + 0.9999998211860657, + 0.0478898690514003 ], [ 0.0, @@ -138,7 +105,7 @@ ] }, { - "name": "04_chandelier", + "name": "03_chandelier", "hanging": true, "mcmc_move": 0.0, "sim_move": 0.0, @@ -171,7 +138,7 @@ ] }, { - "name": "05_chandelier", + "name": "04_chandelier", "hanging": true, "mcmc_move": 0.0, "sim_move": 0.0, @@ -204,161 +171,29 @@ ] }, { - "name": "06_coffee_table", + "name": "05_dining_table", "hanging": false, - "mcmc_move": 0.6184652865542339, - "sim_move": 0.9192245752055714, - "sim_rot_deg": 2.3288535946642406, - "delta": [ - [ - 0.9997793436050415, - 0.002191852079704404, - 0.020891113206744194, - -0.4254905220651227 - ], - [ - -0.0014637999702244997, - 0.9993930459022522, - -0.03480164706707001, - 0.8309662375844735 - ], - [ - -0.020954716950654984, - 0.0347633883357048, - 0.9991757273674011, - 0.09207589352236711 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "07_curtain", - "hanging": true, - "mcmc_move": 0.0, - "sim_move": 0.0, + "mcmc_move": 0.4500000411644578, + "sim_move": 1.3536292827767977, "sim_rot_deg": 0.0, "delta": [ [ 1.0, - 0.0, - 0.0, - 0.0 + 7.488448194870045e-10, + -2.3999045879463665e-05, + -0.5831466236317382 ], [ - 0.0, + -2.801245490049603e-17, 1.0, - 0.0, - 0.0 + 3.120310793747194e-05, + 0.3107453699998439 ], [ - 0.0, - 0.0, + 2.3999045879463665e-05, + -3.120310793747194e-05, 1.0, - 0.0 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "08_coffee_table", - "hanging": false, - "mcmc_move": 1.0547504038951765, - "sim_move": 1.1020268278849878, - "sim_rot_deg": 36.14790013752222, - "delta": [ - [ - 0.8462047576904297, - -0.0988864153623581, - 0.5236018896102905, - 0.37086370815347713 - ], - [ - -0.055293843150138855, - 0.9610294699668884, - 0.2708596885204315, - 0.8465224490918883 - ], - [ - -0.529981255531311, - -0.2581547498703003, - 0.8077598214149475, - 0.2758946584969859 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "09_coffee_table", - "hanging": false, - "mcmc_move": 0.9013877990283738, - "sim_move": 0.5742534884605822, - "sim_rot_deg": 45.07881535810809, - "delta": [ - [ - 0.7066646218299866, - 0.08798516541719437, - -0.7020567059516907, - 0.9164069745695773 - ], - [ - -0.06316297501325607, - 0.9961212277412415, - 0.06126121059060097, - 0.3005064232485548 - ], - [ - 0.7047237157821655, - 0.001052865176461637, - 0.7094810009002686, - 0.013393163268887065 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "10_coffee_table", - "hanging": false, - "mcmc_move": 0.6670833622513461, - "sim_move": 0.22469705405181808, - "sim_rot_deg": 42.990134471886186, - "delta": [ - [ - 0.7318263053894043, - 0.07559574395418167, - -0.677285373210907, - 0.1556396906521007 - ], - [ - -0.056168124079704285, - 0.9971379041671753, - 0.050605084747076035, - 0.09619602913968517 - ], - [ - 0.6791725158691406, - 0.001007706392556429, - 0.7339780330657959, - 0.8859733858020025 + -1.1814924568015677 ], [ 0.0, @@ -369,40 +204,7 @@ ] }, { - "name": "11_coffee_table", - "hanging": false, - "mcmc_move": 0.5099019180444037, - "sim_move": 0.2789489636029167, - "sim_rot_deg": 20.982353377207573, - "delta": [ - [ - 0.9999263882637024, - -0.010288005694746971, - -0.006410232279449701, - -0.10067843464821502 - ], - [ - 0.011900735087692738, - 0.933700680732727, - 0.3578566610813141, - -0.03571908063120466 - ], - [ - 0.002303607063367963, - -0.35790666937828064, - 0.9337544441223145, - 0.11394098166478839 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "12_chandelier", + "name": "06_chandelier", "hanging": true, "mcmc_move": 0.0, "sim_move": 0.0, @@ -435,194 +237,29 @@ ] }, { - "name": "13_bookcase", + "name": "07_dining_table", "hanging": false, - "mcmc_move": 0.6041523193980346, - "sim_move": 0.6310023433739057, - "sim_rot_deg": 10.466740010013135, - "delta": [ - [ - 0.9833605289459229, - 0.000813010148704052, - -0.1816614866256714, - -0.16705443450938207 - ], - [ - -0.0008086846210062504, - 0.9999995231628418, - 9.788003080757335e-05, - 0.489099033065445 - ], - [ - 0.1816614717245102, - 5.065549703431316e-05, - 0.983361005783081, - -0.5576079709131805 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "14_coffee_table", - "hanging": false, - "mcmc_move": 0.5099017573147012, - "sim_move": 0.5120395092446888, - "sim_rot_deg": 33.391753756486146, - "delta": [ - [ - 0.8351439237594604, - -0.008470575325191021, - 0.5499662756919861, - 0.16351602564977563 - ], - [ - -0.0034870149102061987, - 0.9997797608375549, - 0.020693762227892876, - 0.5042104963346208 - ], - [ - -0.5500204563140869, - -0.01920001208782196, - 0.8349304795265198, - 1.6554682373393907 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "15_sofa", - "hanging": false, - "mcmc_move": 0.55901656787883, - "sim_move": 0.09720474878275653, - "sim_rot_deg": 12.030375570948149, - "delta": [ - [ - 0.9781216382980347, - 0.0009407463949173689, - -0.20803171396255493, - -0.0609980183425165 - ], - [ - 0.0017769485712051392, - 0.9999155402183533, - 0.01287658791989088, - -0.0427598848648556 - ], - [ - 0.2080262452363968, - -0.012964530847966671, - 0.9780372977256775, - 0.28557978773530945 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "16_chair", - "hanging": false, - "mcmc_move": 0.40000009536743164, - "sim_move": 0.6922333824113596, - "sim_rot_deg": 8.374189284721812, - "delta": [ - [ - 0.9895897507667542, - -0.01511181890964508, - -0.1431216150522232, - -0.4239924515871733 - ], - [ - 0.011888629756867886, - 0.9996566772460938, - -0.023349126800894737, - 0.5311141091058507 - ], - [ - 0.1434253305196762, - 0.021404536440968513, - 0.9894296526908875, - 0.07763844392347208 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "17_coffee_table", - "hanging": false, - "mcmc_move": 0.20615525815088795, - "sim_move": 0.1726465987612185, - "sim_rot_deg": 35.37098190912222, - "delta": [ - [ - 0.8459603190422058, - -0.09378834068775177, - -0.5249332785606384, - 0.7368283237768392 - ], - [ - -0.04322991147637367, - 0.9691087603569031, - -0.24281544983386993, - 0.14418692748306938 - ], - [ - 0.531490683555603, - 0.22810503840446472, - 0.815773069858551, - -1.0005570625781761 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "18_bookcase", - "hanging": false, - "mcmc_move": 0.6964187497018975, - "sim_move": 0.895504681303924, - "sim_rot_deg": 1.9082382875244936, + "mcmc_move": 0.5099014855354008, + "sim_move": 1.0196805614693571, + "sim_rot_deg": 0.019782341029446364, "delta": [ [ - 0.9995148181915283, - -0.003999733366072178, - -0.030889729037880898, - -0.21248477167088886 + 1.0, + 1.7430618754588068e-05, + -0.00016882922500371933, + 0.20780490847963679 ], [ - 0.003636256093159318, - 0.9999233484268188, - -0.0118141770362854, - 0.8517378438721859 + -1.743062057357747e-05, + 0.9999998807907104, + 8.12172729069971e-09, + 0.9971692818579734 ], [ - 0.03093462996184826, - 0.011696121655404568, - 0.9994527101516724, - -0.04694255567095862 + 0.00016882922500371933, + -5.1789288413317536e-09, + 1.0, + 0.04766173529215001 ], [ 0.0, @@ -633,29 +270,29 @@ ] }, { - "name": "19_chair", + "name": "08_dining_table", "hanging": false, - "mcmc_move": 0.715890370436907, - "sim_move": 1.0627489347280232, - "sim_rot_deg": 62.51533094880408, + "mcmc_move": 0.8321651555157558, + "sim_move": 1.1883761715536432, + "sim_rot_deg": 0.027976455118293345, "delta": [ [ - 0.7872368097305298, - -0.28376665711402893, - 0.5474803447723389, - 0.7026219939160399 + 0.9999998807907104, + -6.8818958425254095e-06, + 0.00016886333469301462, + 1.0053173025946314 ], [ - -0.24237766861915588, - 0.6739813685417175, - 0.6978554725646973, - 2.001418006900451 + 6.881894933030708e-06, + 1.0, + 3.1292588520415165e-09, + 0.6317521852397818 ], [ - -0.567019522190094, - -0.6820744872093201, - 0.4618043303489685, - 2.883911435056449 + -0.00016886333469301462, + -1.967159102278515e-09, + 0.9999998807907104, + 0.048002165288848375 ], [ 0.0, @@ -666,7 +303,7 @@ ] }, { - "name": "20_carpet", + "name": "09_chandelier", "hanging": true, "mcmc_move": 0.0, "sim_move": 0.0, @@ -699,161 +336,29 @@ ] }, { - "name": "21_bookcase", + "name": "10_cupboard", "hanging": false, - "mcmc_move": 0.6041519938255633, - "sim_move": 0.5331680354966457, - "sim_rot_deg": 0.019782341029446364, + "mcmc_move": 0.39999961853027344, + "sim_move": 0.4248553489574529, + "sim_rot_deg": 0.06561060592844098, "delta": [ [ - 1.0, - 1.1991824976576027e-05, - -0.0001051249128067866, - 0.5186145701974729 + 0.9999997019767761, + -1.2149248505011201e-05, + -0.0006277976208366454, + 0.18240053289783598 ], [ - -1.1986591744062025e-05, - 0.9999998807907104, - 4.980083031114191e-05, - 0.11053921407758782 - ], - [ - 0.00010512550943531096, - -4.979956429451704e-05, - 1.0, - 0.05597733625977597 + 1.2720383892883547e-05, + 0.9999995827674866, + 0.0009097514557652175, + 0.38078638989448477 ], [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "22_chair", - "hanging": false, - "mcmc_move": 0.3500000834465027, - "sim_move": 0.7342340783722894, - "sim_rot_deg": 8.33865910073867, - "delta": [ - [ - 0.9999851584434509, - -0.005373546853661537, - -0.0009165741503238678, - -0.548768997524262 - ], - [ - 0.005449651274830103, - 0.9894282817840576, - 0.14491957426071167, - -0.5274567869831475 - ], - [ - 0.00012815250374842435, - -0.1449223905801773, - 0.9894428849220276, - 0.5430928066304559 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "24_air_conditioner", - "hanging": false, - "mcmc_move": 0.2121318320510914, - "sim_move": 0.7038992553041795, - "sim_rot_deg": 0.21760588102725664, - "delta": [ - [ - 0.9999927878379822, - -3.696457042678958e-07, - 0.0037973597645759583, - 0.1415315996555837 - ], - [ - -9.403313544487091e-11, - 1.0, - 9.736758511280641e-05, - 0.1254558807484223 - ], - [ - -0.0037973597645759583, - -9.736688662087545e-05, - 0.9999927878379822, - -0.6805118815123947 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "25_air_conditioner", - "hanging": false, - "mcmc_move": 0.2549507325394418, - "sim_move": 0.721311202279511, - "sim_rot_deg": 0.9392030635105515, - "delta": [ - [ - 0.9998656511306763, - -1.7714428395265713e-06, - 0.016391944140195847, - -0.28784506308281577 - ], - [ - 3.9119976702473025e-10, - 1.0, - 0.00010804404882946983, - -0.024578285924713228 - ], - [ - -0.016391944140195847, - -0.00010802952601807192, - 0.9998656511306763, - -0.6297628570114089 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "26_painting", - "hanging": true, - "mcmc_move": 0.0, - "sim_move": 0.0, - "sim_rot_deg": 0.0, - "delta": [ - [ - 1.0, - 0.0, - 0.0, - 0.0 - ], - [ - 0.0, - 1.0, - 0.0, - 0.0 - ], - [ - 0.0, - 0.0, - 1.0, - 0.0 + 0.0006277862121351063, + -0.00090975925559178, + 0.9999994039535522, + 0.03947466194472893 ], [ 0.0, diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.log b/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.log index 0ea7bbad411184895aa16f07ccc1cf7b9740f308..f932f3a0ea17663ea4cdcbc4bb3fbd79a65c4227 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.log +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/physics.log @@ -3,29 +3,14 @@ === Begin simulate === === End simulate === 00_tv mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -01_coffee_table mcmc 0.000 m sim 0.712 m 39.9 deg -02_coffee_table mcmc 1.011 m sim 0.834 m 37.0 deg -03_coffee_table mcmc 0.255 m sim 0.444 m 45.3 deg +01_dining_table mcmc 0.000 m sim 0.262 m 0.2 deg +02_dining_table mcmc 0.000 m sim 0.394 m 0.1 deg +03_chandelier 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_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -06_coffee_table mcmc 0.618 m sim 0.919 m 2.3 deg -07_curtain mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -08_coffee_table mcmc 1.055 m sim 1.102 m 36.1 deg -09_coffee_table mcmc 0.901 m sim 0.574 m 45.1 deg -10_coffee_table mcmc 0.667 m sim 0.225 m 43.0 deg -11_coffee_table mcmc 0.510 m sim 0.279 m 21.0 deg -12_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -13_bookcase mcmc 0.604 m sim 0.631 m 10.5 deg -14_coffee_table mcmc 0.510 m sim 0.512 m 33.4 deg -15_sofa mcmc 0.559 m sim 0.097 m 12.0 deg -16_chair mcmc 0.400 m sim 0.692 m 8.4 deg -17_coffee_table mcmc 0.206 m sim 0.173 m 35.4 deg -18_bookcase mcmc 0.696 m sim 0.896 m 1.9 deg -19_chair mcmc 0.716 m sim 1.063 m 62.5 deg -20_carpet mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -21_bookcase mcmc 0.604 m sim 0.533 m 0.0 deg -22_chair mcmc 0.350 m sim 0.734 m 8.3 deg -24_air_conditioner mcmc 0.212 m sim 0.704 m 0.2 deg -25_air_conditioner mcmc 0.255 m sim 0.721 m 0.9 deg -26_painting mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) -physics done in 26 s, loss 0.3628 / 0.1958 +05_dining_table mcmc 0.450 m sim 1.354 m 0.0 deg +06_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) +07_dining_table mcmc 0.510 m sim 1.020 m 0.0 deg +08_dining_table mcmc 0.832 m sim 1.188 m 0.0 deg +09_chandelier mcmc 0.000 m sim 0.000 m 0.0 deg (hanging/flat, fixed) +10_cupboard mcmc 0.400 m sim 0.425 m 0.1 deg +physics done in 4 s, loss 0.1770 / 0.0212 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/placements.json b/P64/Metascenes2_Spatiallm2_RTABMAP1/placements.json index 1d8a13b784b600430dd8515a22692d9e71528898..f4bd7668466eeb8f50b165e9d450e432d227d44c 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/placements.json +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/placements.json @@ -5,8 +5,8 @@ "n_cand": 16, "w_sem": 1.0, "seed": 0, - "boxes_raw": 27, - "boxes": 27, + "boxes_raw": 12, + "boxes": 11, "objects": [ { "name": "00_tv", @@ -15,43 +15,43 @@ "lvis": [ "television_set" ], - "uid": "8a96f01efd46487e8d97d52b247cb3c4", - "url": "https://objaverse.allenai.org/explore/?query=8a96f01efd46487e8d97d52b247cb3c4", - "scan_points": 7461, - "sim": 0.25495782494544983, - "chamfer": 0.1612914506224308, - "iou": 0.09412785789762719, + "uid": "14fa7c1f2c694e5b93622403c2f38ddb", + "url": "https://objaverse.allenai.org/explore/?query=14fa7c1f2c694e5b93622403c2f38ddb", + "scan_points": 6745, + "sim": 0.11673314869403839, + "chamfer": 0.14647803354408961, + "iou": 0.105995540072204, "hanging": true, "flat": false, "box_center": [ - 0.35830960941516166, - -3.1326076169164714, - 1.0998997964689536 + 0.49536320964219627, + -4.520113525977588, + 1.5657239565566639 ], "box_size": [ - 1.96875, - 0.109375, - 0.921875 + 2.828125, + 0.15625, + 1.234375 ], "box_angle": -0.009817500000000479, "transform": [ [ - 1.0999276711201913, - 0.010798886857592052, + 0.7985115346679181, + 0.007839638863325574, 0.0, - 0.34979038564323517 + 0.4673865617012075 ], [ - -0.010798886857592052, - 1.0999276711201913, + -0.007839638863325574, + 0.7985115346679181, 0.0, - -3.1314806671062527 + -5.210120579254789 ], [ 0.0, 0.0, - 0.46234657942041, - 1.1013088790256442 + 0.4057381957056132, + 0.9508911694153276 ], [ 0.0, @@ -62,49 +62,49 @@ ] }, { - "name": "01_coffee_table", + "name": "01_dining_table", "box": "bbox_1", - "label": "coffee_table", + "label": "dining_table", "lvis": [ - "coffee_table" - ], - "uid": "90fbd4f247b444049b5bc64be3200678", - "url": "https://objaverse.allenai.org/explore/?query=90fbd4f247b444049b5bc64be3200678", - "scan_points": 5679, - "sim": 0.31706222891807556, - "chamfer": 0.05330526048958974, - "iou": 0.6769551505576353, + "dining_table" + ], + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "url": "https://objaverse.allenai.org/explore/?query=8a7ecc1192204f15b82ae57e8aa7f9c4", + "scan_points": 20462, + "sim": 0.305530309677124, + "chamfer": 0.12185569695681905, + "iou": 0.5619529688549153, "hanging": false, "flat": false, "box_center": [ - -0.31669039058483817, - -2.8826076169164714, - 0.19989979646895362 + 1.6453632096421957, + -3.6701135259775874, + 0.3907239565566638 ], "box_size": [ - 0.96875, - 0.59375, - 0.65625 + 2.203125, + 1.1875, + 0.796875 ], - "box_angle": -3.1416, + "box_angle": -1.5708000000000002, "transform": [ [ - -0.0003088341985884769, - -2.268822708732203e-09, + 11.1376497926607, + 4.0910872061119226e-05, 0.0, - 5.103884834975577 + 1.6253993329747733 ], [ - 2.268822708732203e-09, - -0.0003088341985884769, + -4.0910872061119226e-05, + 11.1376497926607, 0.0, - -0.941734281358837 + -3.5685335970033707 ], [ 0.0, 0.0, - 0.000294943820224719, - -0.364180259710822 + 8.431201950922969, + -0.005803077511405297 ], [ 0.0, @@ -115,102 +115,49 @@ ] }, { - "name": "02_coffee_table", + "name": "02_dining_table", "box": "bbox_2", - "label": "coffee_table", + "label": "dining_table", "lvis": [ - "coffee_table" - ], - "uid": "90fbd4f247b444049b5bc64be3200678", - "url": "https://objaverse.allenai.org/explore/?query=90fbd4f247b444049b5bc64be3200678", - "scan_points": 1550, - "sim": 0.15331795811653137, - "chamfer": 0.10114801883182506, - "iou": 0.6769551505576353, + "dining_table" + ], + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "url": "https://objaverse.allenai.org/explore/?query=8a7ecc1192204f15b82ae57e8aa7f9c4", + "scan_points": 9311, + "sim": 0.2778598666191101, + "chamfer": 0.12275083792838806, + "iou": 0.5619529688549153, "hanging": false, "flat": false, "box_center": [ - 2.833309609415162, - -2.5826076169164716, - 0.19989979646895362 + -0.3546367903578038, + -3.6451135259775875, + 0.3907239565566638 ], "box_size": [ - 0.96875, - 0.59375, - 0.65625 - ], - "box_angle": -3.1416, - "transform": [ - [ - 0.00030883419858847684, - 2.2688227087700237e-09, - 0.0, - -2.587265616145253 - ], - [ - -2.2688227087700237e-09, - 0.00030883419858847684, - 0.0, - -4.523480952474105 - ], - [ - 0.0, - 0.0, - 0.000294943820224719, - -0.364180259710822 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "03_coffee_table", - "box": "bbox_3", - "label": "coffee_table", - "lvis": [ - "coffee_table" - ], - "uid": "816c99db3a9745be8deb0b716be822db", - "url": "https://objaverse.allenai.org/explore/?query=816c99db3a9745be8deb0b716be822db", - "scan_points": 13201, - "sim": 0.30983680486679077, - "chamfer": 0.05763112465881397, - "iou": 0.9177631574162183, - "hanging": false, - "flat": false, - "box_center": [ - 1.158309609415162, - -2.2076076169164716, - 0.19989979646895362 - ], - "box_size": [ - 0.96875, - 0.59375, - 0.65625 + 2.203125, + 1.1875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - -0.48437499974418063, - -1.7792087212023539e-06, + 11.1376497926607, + 4.0910872061119226e-05, 0.0, - 1.158309609415134 + -0.3746006670252261 ], [ - 1.7792087212023539e-06, - -0.48437499974418063, + -4.0910872061119226e-05, + 11.1376497926607, 0.0, - -2.2076076245304157 + -3.543533597003371 ], [ 0.0, 0.0, - 0.8728910427665341, - 0.19989978629696345 + 8.431201950922969, + -0.005803077511405297 ], [ 0.0, @@ -221,49 +168,49 @@ ] }, { - "name": "04_chandelier", - "box": "bbox_4", + "name": "03_chandelier", + "box": "bbox_3", "label": "chandelier", "lvis": [ "chandelier" ], - "uid": "c64c45bf1d804b659b37693d4284e867", - "url": "https://objaverse.allenai.org/explore/?query=c64c45bf1d804b659b37693d4284e867", - "scan_points": 1035, - "sim": 0.1027996838092804, - "chamfer": 0.1201126920194869, - "iou": 0.8755527031250848, + "uid": "366b50081c884690bb2ce4df6dacad59", + "url": "https://objaverse.allenai.org/explore/?query=366b50081c884690bb2ce4df6dacad59", + "scan_points": 0, + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, "hanging": true, "flat": false, "box_center": [ - 2.1583096094151615, - -2.2076076169164716, - 2.3248997964689537 + -1.329636790357804, + -3.1201135259775876, + 3.0157239565566636 ], "box_size": [ - 0.34375, - 0.34375, - 0.671875 + 0.109375, + 0.109375, + 0.875 ], "box_angle": -3.1416, "transform": [ [ - 0.003794245016114464, - 2.7874080314106698e-08, + -0.14284733877858358, + -1.0494151476231791e-06, 0.0, - 2.1577377034634684 + -1.3293776470334189 ], [ - -2.7874080314106698e-08, - 0.003794245016114464, + 1.0494151476231791e-06, + -0.14284733877858358, 0.0, - -2.2078671631167675 + -3.120015489548933 ], [ 0.0, 0.0, - 0.011737369007654505, - 2.6610092028328403 + 1.1406114150420537, + 2.7687604476829257 ], [ 0.0, @@ -274,49 +221,49 @@ ] }, { - "name": "05_chandelier", - "box": "bbox_5", + "name": "04_chandelier", + "box": "bbox_4", "label": "chandelier", "lvis": [ "chandelier" ], - "uid": "c64c45bf1d804b659b37693d4284e867", - "url": "https://objaverse.allenai.org/explore/?query=c64c45bf1d804b659b37693d4284e867", - "scan_points": 802, - "sim": 0.10718172043561935, - "chamfer": 0.13527046060007886, - "iou": 0.8755527031250848, + "uid": "366b50081c884690bb2ce4df6dacad59", + "url": "https://objaverse.allenai.org/explore/?query=366b50081c884690bb2ce4df6dacad59", + "scan_points": 0, + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, "hanging": true, "flat": false, "box_center": [ - -1.1916903905848382, - -2.2076076169164716, - 2.3248997964689537 + 1.595363209642196, + -3.1201135259775876, + 3.0157239565566636 ], "box_size": [ - 0.34375, - 0.34375, - 0.671875 + 0.109375, + 0.109375, + 0.875 ], "box_angle": -3.1416, "transform": [ [ - 0.003794245016114464, - 2.7874080314106698e-08, + -0.14284733877858358, + -1.0494151476231791e-06, 0.0, - -1.1922622965365313 + 1.595622352966581 ], [ - -2.7874080314106698e-08, - 0.003794245016114464, + 1.0494151476231791e-06, + -0.14284733877858358, 0.0, - -2.2078671631167675 + -3.120015489548933 ], [ 0.0, 0.0, - 0.011737369007654505, - 2.6610092028328403 + 1.1406114150420537, + 2.7687604476829257 ], [ 0.0, @@ -327,49 +274,49 @@ ] }, { - "name": "06_coffee_table", + "name": "05_dining_table", "box": "bbox_6", - "label": "coffee_table", + "label": "dining_table", "lvis": [ - "coffee_table" - ], - "uid": "d5aa77e6835a44bb90a28cbd5ea64249", - "url": "https://objaverse.allenai.org/explore/?query=d5aa77e6835a44bb90a28cbd5ea64249", - "scan_points": 6211, - "sim": 0.28396040201187134, - "chamfer": 0.06027093871884724, - "iou": 0.615704181872168, + "dining_table" + ], + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "url": "https://objaverse.allenai.org/explore/?query=8a7ecc1192204f15b82ae57e8aa7f9c4", + "scan_points": 8412, + "sim": 0.2973315715789795, + "chamfer": 0.1138233190248896, + "iou": 0.9591676209076888, "hanging": false, "flat": false, "box_center": [ - 0.2833096094151619, - -2.1826076169164716, - 0.22489979646895358 + 0.3953632096421962, + -3.070113525977588, + 0.3907239565566638 ], "box_size": [ - 0.96875, - 0.59375, - 0.65625 + 1.1875, + 1.1875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - 1.6303425410345953e-06, - -0.4438474016562045, + -2.2051250188604473e-05, + 6.003272228668179, 0.0, - 0.2800366685404396 + 0.4501155117843271 ], [ - 0.4438474016562045, - 1.6303425410345953e-06, + -6.003272228668179, + -2.2051250188604473e-05, 0.0, - -2.1856837531517743 + -3.0593528548660696 ], [ 0.0, 0.0, - 0.22190439574709045, - 0.5462939823424382 + 8.431201950922969, + -0.005803077511405297 ], [ 0.0, @@ -380,49 +327,49 @@ ] }, { - "name": "07_curtain", + "name": "06_chandelier", "box": "bbox_7", - "label": "curtain", + "label": "chandelier", "lvis": [ - "curtain" + "chandelier" ], - "uid": "5b9e03a46de84bd58d3894cab9f40a78", - "url": "https://objaverse.allenai.org/explore/?query=5b9e03a46de84bd58d3894cab9f40a78", - "scan_points": 11349, - "sim": 0.4054301381111145, - "chamfer": 0.07535504187037076, - "iou": 0.6338785681230552, + "uid": "366b50081c884690bb2ce4df6dacad59", + "url": "https://objaverse.allenai.org/explore/?query=366b50081c884690bb2ce4df6dacad59", + "scan_points": 1, + "sim": null, + "chamfer": 0.0, + "iou": 0.9921650841350327, "hanging": true, "flat": false, "box_center": [ - 3.4833096094151617, - -2.1826076169164716, - 0.7998997964689536 + 1.595363209642196, + -2.9201135259775874, + 3.0157239565566636 ], "box_size": [ - 1.453125, 0.109375, - 2.0625 + 0.109375, + 0.875 ], - "box_angle": -1.5708000000000002, + "box_angle": -3.1416, "transform": [ [ - -0.02645189464339216, - -9.71632344086821e-08, + -0.14284733877858358, + -1.0494151476231791e-06, 0.0, - 4.099336792832577 + 1.595622352966581 ], [ - 9.71632344086821e-08, - -0.02645189464339216, + 1.0494151476231791e-06, + -0.14284733877858358, 0.0, - -2.385543333414355 + -2.9200154895489328 ], [ 0.0, 0.0, - 0.029909250646090214, - -0.6350227841966549 + 1.1406114150420537, + 2.7687604476829257 ], [ 0.0, @@ -433,49 +380,49 @@ ] }, { - "name": "08_coffee_table", + "name": "07_dining_table", "box": "bbox_8", - "label": "coffee_table", + "label": "dining_table", "lvis": [ - "coffee_table" - ], - "uid": "90fbd4f247b444049b5bc64be3200678", - "url": "https://objaverse.allenai.org/explore/?query=90fbd4f247b444049b5bc64be3200678", - "scan_points": 3776, - "sim": 0.2862953245639801, - "chamfer": 0.0952762460209112, - "iou": 0.6769551505576353, + "dining_table" + ], + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "url": "https://objaverse.allenai.org/explore/?query=8a7ecc1192204f15b82ae57e8aa7f9c4", + "scan_points": 15729, + "sim": 0.3021208643913269, + "chamfer": 0.12586419912371127, + "iou": 0.5619529688549153, "hanging": false, "flat": false, "box_center": [ - 1.158309609415162, - -1.5826076169164716, - 0.19989979646895362 + 0.3953632096421962, + -2.2951135259775874, + 0.3907239565566638 ], "box_size": [ - 0.96875, - 0.59375, - 0.65625 + 2.203125, + 1.1875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - 1.1344113544801504e-09, - -0.0003088341985947272, + -11.137649792660698, + -4.0910872062483186e-05, 0.0, - 3.099202855844282 + 0.41532708630961845 ], [ - 0.0003088341985947272, - 1.1344113544801504e-09, + 4.0910872062483186e-05, + -11.137649792660698, 0.0, - -7.003175713214478 + -2.396693454951804 ], [ 0.0, 0.0, - 0.000294943820224719, - -0.364180259710822 + 8.431201950922969, + -0.005803077511405297 ], [ 0.0, @@ -486,49 +433,49 @@ ] }, { - "name": "09_coffee_table", + "name": "08_dining_table", "box": "bbox_9", - "label": "coffee_table", + "label": "dining_table", "lvis": [ - "coffee_table" - ], - "uid": "816c99db3a9745be8deb0b716be822db", - "url": "https://objaverse.allenai.org/explore/?query=816c99db3a9745be8deb0b716be822db", - "scan_points": 6407, - "sim": 0.2364351749420166, - "chamfer": 0.05686585314128031, - "iou": 0.9177631574162183, + "dining_table" + ], + "uid": "8a7ecc1192204f15b82ae57e8aa7f9c4", + "url": "https://objaverse.allenai.org/explore/?query=8a7ecc1192204f15b82ae57e8aa7f9c4", + "scan_points": 13964, + "sim": 0.3168569803237915, + "chamfer": 0.1367389527377044, + "iou": 0.5619529688549153, "hanging": false, "flat": false, "box_center": [ - 0.2833096094151619, - -1.2576076169164714, - 0.19989979646895362 + 1.6203632096421963, + -2.2201135259775877, + 0.3907239565566638 ], "box_size": [ - 0.96875, - 0.59375, - 0.65625 + 2.203125, + 1.1875, + 0.796875 ], "box_angle": -1.5708000000000002, "transform": [ [ - -0.48437499974418063, - -1.7792087212023539e-06, + 11.1376497926607, + 4.0910872061119226e-05, 0.0, - 0.28330960941513395 + 1.6003993329747739 ], [ - 1.7792087212023539e-06, - -0.48437499974418063, + -4.0910872061119226e-05, + 11.1376497926607, 0.0, - -1.2576076245304155 + -2.118533597003371 ], [ 0.0, 0.0, - 0.8728910427665341, - 0.19989978629696345 + 8.431201950922969, + -0.005803077511405297 ], [ 0.0, @@ -539,581 +486,49 @@ ] }, { - "name": "10_coffee_table", + "name": "09_chandelier", "box": "bbox_10", - "label": "coffee_table", - "lvis": [ - "coffee_table" - ], - "uid": "816c99db3a9745be8deb0b716be822db", - "url": "https://objaverse.allenai.org/explore/?query=816c99db3a9745be8deb0b716be822db", - "scan_points": 2010, - "sim": 0.20674622058868408, - "chamfer": 0.06901408051899845, - "iou": 0.9177631574162183, - "hanging": false, - "flat": false, - "box_center": [ - -0.9916903905848382, - -1.0576076169164716, - 0.19989979646895362 - ], - "box_size": [ - 0.96875, - 0.59375, - 0.65625 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - -0.48437499974418063, - -1.7792087212023539e-06, - 0.0, - -0.9916903905848662 - ], - [ - 1.7792087212023539e-06, - -0.48437499974418063, - 0.0, - -1.0576076245304158 - ], - [ - 0.0, - 0.0, - 0.8728910427665341, - 0.19989978629696345 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "11_coffee_table", - "box": "bbox_11", - "label": "coffee_table", - "lvis": [ - "coffee_table" - ], - "uid": "f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "url": "https://objaverse.allenai.org/explore/?query=f4031bb5f7e64ebca4c37d4fa5ba6e8d", - "scan_points": 2339, - "sim": 0.2785184383392334, - "chamfer": 0.08608163907013573, - "iou": 0.9116826152743626, - "hanging": false, - "flat": false, - "box_center": [ - 2.833309609415162, - -0.30760761691647165, - 0.19989979646895362 - ], - "box_size": [ - 0.96875, - 0.59375, - 0.65625 - ], - "box_angle": -3.1416, - "transform": [ - [ - 6.740909355007619, - 4.9521485289849066e-05, - 0.0, - 2.833309609415162 - ], - [ - -4.9521485289849066e-05, - 6.740909355007619, - 0.0, - -0.30760761691647165 - ], - [ - 0.0, - 0.0, - 15.166067889566602, - 0.26020097940538767 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "12_chandelier", - "box": "bbox_12", "label": "chandelier", "lvis": [ "chandelier" ], "uid": "366b50081c884690bb2ce4df6dacad59", "url": "https://objaverse.allenai.org/explore/?query=366b50081c884690bb2ce4df6dacad59", - "scan_points": 199, + "scan_points": 32, "sim": null, - "chamfer": 0.12767125407777064, - "iou": 0.9921650841350325, + "chamfer": 0.0, + "iou": 0.9921650841350327, "hanging": true, "flat": false, "box_center": [ - 2.833309609415162, - 0.21739238308352826, - 2.3248997964689537 - ], - "box_size": [ - 0.34375, - 0.34375, - 0.671875 - ], - "box_angle": -3.1416, - "transform": [ - [ - -3.2981618925574814e-06, - 0.4489487790184056, - 0.0, - 2.8330014949251052 - ], - [ - -0.4489487790184056, - -3.2981618925574814e-06, - 0.0, - 0.21820683353159537 - ], - [ - 0.0, - 0.0, - 0.875826622264434, - 2.1352671021551908 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "13_bookcase", - "box": "bbox_13", - "label": "bookcase", - "lvis": [ - "bookcase" - ], - "uid": "cafa12d984664b4e96f6fa442faed938", - "url": "https://objaverse.allenai.org/explore/?query=cafa12d984664b4e96f6fa442faed938", - "scan_points": 12460, - "sim": 0.29815250635147095, - "chamfer": 0.06940294582024167, - "iou": 0.8063757981058325, - "hanging": false, - "flat": false, - "box_center": [ - 3.758309609415162, - 0.21739238308352826, - 0.9748997964689536 - ], - "box_size": [ - 1.21875, - 0.328125, - 2.0625 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - -2.8042054500809156e-05, - 7.634219628350281, - 0.0, - 3.7606654496778025 - ], - [ - -7.634219628350281, - -2.8042054500809156e-05, - 0.0, - 0.21739237443004378 - ], - [ - 0.0, - 0.0, - 7.887497161304006, - -0.04619792159747038 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "14_coffee_table", - "box": "bbox_14", - "label": "coffee_table", - "lvis": [ - "coffee_table" - ], - "uid": "90fbd4f247b444049b5bc64be3200678", - "url": "https://objaverse.allenai.org/explore/?query=90fbd4f247b444049b5bc64be3200678", - "scan_points": 7659, - "sim": 0.245128333568573, - "chamfer": 0.06807575112067994, - "iou": 0.6769551505576353, - "hanging": false, - "flat": false, - "box_center": [ - 2.833309609415162, - 0.8423923830835283, - 0.19989979646895362 - ], - "box_size": [ - 0.96875, - 0.59375, - 0.65625 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - 1.1344113544801504e-09, - -0.0003088341985947272, - 0.0, - 4.774202855844282 - ], - [ - 0.0003088341985947272, - 1.1344113544801504e-09, - 0.0, - -4.578175713214478 - ], - [ - 0.0, - 0.0, - 0.000294943820224719, - -0.364180259710822 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "15_sofa", - "box": "bbox_15", - "label": "sofa", - "lvis": [ - "sofa" - ], - "uid": "8bbefe57330941c6904f4e4618756553", - "url": "https://objaverse.allenai.org/explore/?query=8bbefe57330941c6904f4e4618756553", - "scan_points": 6110, - "sim": 0.313393235206604, - "chamfer": 0.0671450813110339, - "iou": 0.9517399778616542, - "hanging": false, - "flat": false, - "box_center": [ - -1.1666903905848383, - 0.9173923830835284, - 0.19989979646895362 - ], - "box_size": [ - 1.21875, - 0.59375, - 0.65625 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - 2.0202609278994234e-06, - -0.549999488418357, - 0.0, - -0.9328962116729859 - ], - [ - 0.549999488418357, - 2.0202609278994234e-06, - 0.0, - 0.8221248040627563 - ], - [ - 0.0, - 0.0, - 0.8325759357377954, - -0.30855002040129864 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "16_chair", - "box": "bbox_16", - "label": "chair", - "lvis": [ - "chair", - "armchair" - ], - "uid": "039c6026571943d6ac45c6816bcc7ff1", - "url": "https://objaverse.allenai.org/explore/?query=039c6026571943d6ac45c6816bcc7ff1", - "scan_points": 2190, - "sim": 0.17670871317386627, - "chamfer": 0.07824864924960556, - "iou": 0.6757053782105363, - "hanging": false, - "flat": false, - "box_center": [ - -0.44169039058483817, - 1.5923923830835283, - 0.19989979646895362 + 1.595363209642196, + -2.195113525977588, + 3.0157239565566636 ], "box_size": [ - 0.484375, - 0.484375, - 0.671875 - ], - "box_angle": -3.1416, - "transform": [ - [ - 0.5241331970778724, - 3.85049746882171e-06, - 0.0, - -0.44168413537691825 - ], - [ - -3.85049746882171e-06, - 0.5241331970778724, - 0.0, - 1.5925790775470459 - ], - [ - 0.0, - 0.0, - 0.5381482247276359, - 0.20020571862965797 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "17_coffee_table", - "box": "bbox_17", - "label": "coffee_table", - "lvis": [ - "coffee_table" - ], - "uid": "90fbd4f247b444049b5bc64be3200678", - "url": "https://objaverse.allenai.org/explore/?query=90fbd4f247b444049b5bc64be3200678", - "scan_points": 6284, - "sim": 0.3106432855129242, - "chamfer": 0.04680406851751751, - "iou": 0.6769551505576353, - "hanging": false, - "flat": false, - "box_center": [ - 1.1083096094151617, - 2.1173923830835286, - 0.19989979646895362 - ], - "box_size": [ - 0.96875, - 0.59375, - 0.65625 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - -1.1344113544423295e-09, - 0.00030883419859472727, - 0.0, - -0.8325836370139594 - ], - [ - -0.00030883419859472727, - -1.1344113544423295e-09, - 0.0, - 7.537960479381535 - ], - [ - 0.0, - 0.0, - 0.000294943820224719, - -0.364180259710822 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "18_bookcase", - "box": "bbox_18", - "label": "bookcase", - "lvis": [ - "bookcase" - ], - "uid": "ecf7e409454d450cbde731259a51bbd5", - "url": "https://objaverse.allenai.org/explore/?query=ecf7e409454d450cbde731259a51bbd5", - "scan_points": 290, - "sim": 0.047143932431936264, - "chamfer": 0.08419491264531605, - "iou": 0.8298060438443693, - "hanging": false, - "flat": false, - "box_center": [ - 3.758309609415162, - 2.1173923830835286, - 0.9748997964689536 - ], - "box_size": [ - 1.21875, - 0.328125, - 2.0625 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - 2.7467166261977785e-08, - -0.007477711014337759, - 0.0, - 2.84405224025296 - ], - [ - 0.007477711014337759, - 2.7467166261977785e-08, - 0.0, - 0.4598651311641626 - ], - [ - 0.0, - 0.0, - 0.009780109478607963, - -0.05907770066812379 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "19_chair", - "box": "bbox_19", - "label": "chair", - "lvis": [ - "chair", - "armchair" - ], - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "url": "https://objaverse.allenai.org/explore/?query=b4ea7af8484c4c7e98704585b70002e9", - "scan_points": 4795, - "sim": 0.19283315539360046, - "chamfer": 0.09910524396910855, - "iou": 0.9088527070335087, - "hanging": false, - "flat": false, - "box_center": [ - 2.033309609415162, - 2.142392383083528, - 0.19989979646895362 - ], - "box_size": [ - 0.484375, - 0.484375, - 0.671875 - ], - "box_angle": -1.5708000000000002, - "transform": [ - [ - -0.00565702907861434, - -2.0779428083781638e-08, - 0.0, - 1.992221679664858 - ], - [ - 2.0779428083781638e-08, - -0.00565702907861434, - 0.0, - 2.14363252482267 - ], - [ - 0.0, - 0.0, - 0.005650403532851742, - -0.1381831107325805 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "20_carpet", - "box": "bbox_20", - "label": "carpet", - "lvis": [ - "runner_(carpet)" - ], - "uid": "a3bbc9154ea846d7af74824aabaab511", - "url": "https://objaverse.allenai.org/explore/?query=a3bbc9154ea846d7af74824aabaab511", - "scan_points": 9249, - "sim": 0.4790978729724884, - "chamfer": 0.044004595915121916, - "iou": 0.9988008262894177, - "hanging": false, - "flat": true, - "box_center": [ - -0.2416903905848382, - 2.267392383083528, - -0.02510020353104639 - ], - "box_size": [ - 0.96875, - 0.96875, - 0.109375 + 0.109375, + 0.109375, + 0.875 ], "box_angle": -3.1416, "transform": [ [ - -1.211708418534503, - -8.901707093638045e-06, + -0.14284733877858358, + -1.0494151476231791e-06, 0.0, - -0.24207580309973936 + 1.595622352966581 ], [ - 8.901707093638045e-06, - -1.211708418534503, + 1.0494151476231791e-06, + -0.14284733877858358, 0.0, - 2.267377379990934 + -2.195015489548933 ], [ 0.0, 0.0, - 21.820644674449433, - -0.015552116792135407 + 1.1406114150420537, + 2.7687604476829257 ], [ 0.0, @@ -1124,262 +539,49 @@ ] }, { - "name": "21_bookcase", - "box": "bbox_21", - "label": "bookcase", + "name": "10_cupboard", + "box": "bbox_11", + "label": "cupboard", "lvis": [ - "bookcase" - ], - "uid": "6ca9e3bcedae4dfe9fd9d639639447b4", - "url": "https://objaverse.allenai.org/explore/?query=6ca9e3bcedae4dfe9fd9d639639447b4", - "scan_points": 36696, - "sim": 0.24429664015769958, - "chamfer": 0.06560501907615043, - "iou": 0.6128656962697401, + "cupboard" + ], + "uid": "5c18cf20f0484d76b44ca31b57198820", + "url": "https://objaverse.allenai.org/explore/?query=5c18cf20f0484d76b44ca31b57198820", + "scan_points": 3602, + "sim": 0.28034329414367676, + "chamfer": 0.11689574777970846, + "iou": 0.829513297812108, "hanging": false, "flat": false, "box_center": [ - -1.2916903905848383, - 2.892392383083528, - 0.49989979646895355 + 3.9953632096421963, + -2.1701135259775874, + 0.5657239565566639 ], "box_size": [ - 0.96875, - 0.453125, - 1.03125 + 2.203125, + 1.1875, + 1.140625 ], "box_angle": -1.5708000000000002, "transform": [ [ - 0.16315110760438256, - 5.99287481119324e-07, - 0.0, - -1.4277536133497581 - ], - [ - -5.99287481119324e-07, - 0.16315110760438256, - 0.0, - 2.8673796321180927 - ], - [ - 0.0, - 0.0, - 0.10977151200516348, - -0.02487542733221304 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "22_chair", - "box": "bbox_22", - "label": "chair", - "lvis": [ - "chair", - "armchair" - ], - "uid": "b4ea7af8484c4c7e98704585b70002e9", - "url": "https://objaverse.allenai.org/explore/?query=b4ea7af8484c4c7e98704585b70002e9", - "scan_points": 16666, - "sim": 0.26542383432388306, - "chamfer": 0.0889872634836757, - "iou": 0.9856749354439728, - "hanging": false, - "flat": false, - "box_center": [ - 1.033309609415162, - 3.0423923830835284, - 0.4248997964689536 - ], - "box_size": [ - 0.671875, - 0.75, - 0.921875 - ], - "box_angle": -3.1416, - "transform": [ - [ - -6.434919663954383e-08, - 0.008759270831225574, - 0.0, - 1.0313891562587334 - ], - [ - -0.008759270831225574, - -6.434919663954383e-08, - 0.0, - 2.9787723698787825 - ], - [ - 0.0, - 0.0, - 0.007752879266005878, - -0.038981401784314085 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "24_air_conditioner", - "box": "bbox_24", - "label": "air_conditioner", - "lvis": [ - "air_conditioner" - ], - "uid": "da8f719b60e9406fb16c84a0bf404297", - "url": "https://objaverse.allenai.org/explore/?query=da8f719b60e9406fb16c84a0bf404297", - "scan_points": 1289, - "sim": 0.09991991519927979, - "chamfer": 0.042064880619730786, - "iou": 0.8566174532271215, - "hanging": false, - "flat": false, - "box_center": [ - -1.2416903905848382, - 3.4173923830835284, - 2.2248997964689536 - ], - "box_size": [ - 0.671875, - 0.140625, - 0.21875 - ], - "box_angle": -3.1416, - "transform": [ - [ - 0.0009166097661601828, - 6.733791341922321e-09, - 0.0, - -1.241690388324365 - ], - [ - -6.733791341922321e-09, - 0.0009166097661601828, - 0.0, - 3.417671275228452 - ], - [ - 0.0, - 0.0, - 0.0008349689913467695, - 2.2249017535151996 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "25_air_conditioner", - "box": "bbox_25", - "label": "air_conditioner", - "lvis": [ - "air_conditioner" - ], - "uid": "da8f719b60e9406fb16c84a0bf404297", - "url": "https://objaverse.allenai.org/explore/?query=da8f719b60e9406fb16c84a0bf404297", - "scan_points": 605, - "sim": 0.07082846015691757, - "chamfer": 0.0462345995516756, - "iou": 0.8566174532271215, - "hanging": false, - "flat": false, - "box_center": [ - 2.7833096094151615, - 3.517392383083528, - 2.3248997964689537 - ], - "box_size": [ - 0.671875, - 0.140625, - 0.21875 - ], - "box_angle": -3.1416, - "transform": [ - [ - 0.0009166097661601828, - 6.733791341922321e-09, - 0.0, - 2.7833096116756346 - ], - [ - -6.733791341922321e-09, - 0.0009166097661601828, - 0.0, - 3.5176712752284516 - ], - [ - 0.0, - 0.0, - 0.0008349689913467695, - 2.3249017535151997 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - }, - { - "name": "26_painting", - "box": "bbox_26", - "label": "painting", - "lvis": [ - "painting" - ], - "uid": "49fc5dd4bdc34951b29fb43aaaa9f3b5", - "url": "https://objaverse.allenai.org/explore/?query=49fc5dd4bdc34951b29fb43aaaa9f3b5", - "scan_points": 19661, - "sim": 0.47968482971191406, - "chamfer": 0.034297060275526994, - "iou": 0.6569953056470773, - "hanging": true, - "flat": false, - "box_center": [ - 1.008309609415162, - 3.5923923830835283, - 1.0748997964689535 - ], - "box_size": [ - 1.890625, - 0.109375, - 0.890625 - ], - "box_angle": -3.1416, - "transform": [ - [ - 0.057534510650003756, - 4.226721162918835e-07, + -7.195730104639644e-06, + 1.9589785763937473, 0.0, - 1.3017886027793246 + 3.997272268312515 ], [ - -4.226721162918835e-07, - 0.057534510650003756, + -1.9589785763937473, + -7.195730104639644e-06, 0.0, - 3.5672185771924636 + -2.170113571263885 ], [ 0.0, 0.0, - 0.035212936177488136, - 0.5121681328408634 + 0.5703124948853362, + 0.5657239576098597 ], [ 0.0, @@ -1390,5 +592,5 @@ ] } ], - "seconds": 85.5 + "seconds": 28.2 } \ No newline at end of file diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/retrieval.log b/P64/Metascenes2_Spatiallm2_RTABMAP1/retrieval.log index 3e5a6d838a0535a29beecfac7811e5cca5ebf1b7..96938f6f342cc6d42610c0b7c9d051133bcac5eb 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/retrieval.log +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/retrieval.log @@ -1,33 +1,17 @@ -27 boxes, 27 after de-duplication: ['tv', 'coffee_table', 'coffee_table', 'coffee_table', 'chandelier', 'chandelier', 'coffee_table', 'curtain', 'coffee_table', 'coffee_table', 'coffee_table', 'coffee_table', 'chandelier', 'bookcase', 'coffee_table', 'sofa', 'chair', 'coffee_table', 'bookcase', 'chair', 'carpet', 'bookcase', 'chair', 'washing_machine', 'air_conditioner', 'air_conditioner', 'painting'] +12 boxes, 11 after de-duplication: ['tv', 'dining_table', 'dining_table', 'chandelier', 'chandelier', 'dining_table', 'chandelier', 'dining_table', 'dining_table', 'chandelier', 'cupboard'] 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] tv scan pts 7461 16 cand best 8a96f01e sim 0.255 chamfer 0.161 iou 0.09 -[bbox_1] coffee_table scan pts 5679 16 cand best 90fbd4f2 sim 0.317 chamfer 0.053 iou 0.68 -[bbox_2] coffee_table scan pts 1550 16 cand best 90fbd4f2 sim 0.153 chamfer 0.101 iou 0.68 -[bbox_3] coffee_table scan pts 13201 16 cand best 816c99db sim 0.31 chamfer 0.058 iou 0.92 -[bbox_4] chandelier scan pts 1035 13 cand best c64c45bf sim 0.103 chamfer 0.120 iou 0.88 -[bbox_5] chandelier scan pts 802 13 cand best c64c45bf sim 0.107 chamfer 0.135 iou 0.88 -[bbox_6] coffee_table scan pts 6211 16 cand best d5aa77e6 sim 0.284 chamfer 0.060 iou 0.62 -[bbox_7] curtain scan pts 11349 16 cand best 5b9e03a4 sim 0.405 chamfer 0.075 iou 0.63 -[bbox_8] coffee_table scan pts 3776 16 cand best 90fbd4f2 sim 0.286 chamfer 0.095 iou 0.68 -[bbox_9] coffee_table scan pts 6407 16 cand best 816c99db sim 0.236 chamfer 0.057 iou 0.92 -[bbox_10] coffee_table scan pts 2010 16 cand best 816c99db sim 0.207 chamfer 0.069 iou 0.92 -[bbox_11] coffee_table scan pts 2339 16 cand best f4031bb5 sim 0.279 chamfer 0.086 iou 0.91 -[bbox_12] chandelier scan pts 199 13 cand best 366b5008 sim None chamfer 0.128 iou 0.99 -[bbox_13] bookcase scan pts 12460 16 cand best cafa12d9 sim 0.298 chamfer 0.069 iou 0.81 -[bbox_14] coffee_table scan pts 7659 16 cand best 90fbd4f2 sim 0.245 chamfer 0.068 iou 0.68 -[bbox_15] sofa scan pts 6110 16 cand best 8bbefe57 sim 0.313 chamfer 0.067 iou 0.95 -[bbox_16] chair scan pts 2190 16 cand best 039c6026 sim 0.177 chamfer 0.078 iou 0.68 -[bbox_17] coffee_table scan pts 6284 16 cand best 90fbd4f2 sim 0.311 chamfer 0.047 iou 0.68 -[bbox_18] bookcase scan pts 290 16 cand best ecf7e409 sim 0.047 chamfer 0.084 iou 0.83 -[bbox_19] chair scan pts 4795 16 cand best b4ea7af8 sim 0.193 chamfer 0.099 iou 0.91 -[bbox_20] carpet scan pts 9249 16 cand best a3bbc915 sim 0.479 chamfer 0.044 iou 1.00 -[bbox_21] bookcase scan pts 36696 16 cand best 6ca9e3bc sim 0.244 chamfer 0.066 iou 0.61 -[bbox_22] chair scan pts 16666 16 cand best b4ea7af8 sim 0.265 chamfer 0.089 iou 0.99 -[bbox_23] washing_machine: no Objaverse-LVIS category, skipped -[bbox_24] air_conditioner scan pts 1289 16 cand best da8f719b sim 0.1 chamfer 0.042 iou 0.86 -[bbox_25] air_conditioner scan pts 605 16 cand best da8f719b sim 0.071 chamfer 0.046 iou 0.86 -[bbox_26] painting scan pts 19661 16 cand best 49fc5dd4 sim 0.48 chamfer 0.034 iou 0.66 -done in 108 s -> /home/lehoangan/LHAN/metascenes/out/P64_Spatiallm2_RTABMAP1 +[bbox_0] tv scan pts 6745 16 cand best 14fa7c1f sim 0.117 chamfer 0.146 iou 0.11 +[bbox_1] dining_table scan pts 20462 16 cand best 8a7ecc11 sim 0.306 chamfer 0.122 iou 0.56 +[bbox_2] dining_table scan pts 9311 16 cand best 8a7ecc11 sim 0.278 chamfer 0.123 iou 0.56 +[bbox_3] chandelier scan pts 0 13 cand best 366b5008 sim None chamfer 0.000 iou 0.99 +[bbox_4] chandelier scan pts 0 13 cand best 366b5008 sim None chamfer 0.000 iou 0.99 +[bbox_6] dining_table scan pts 8412 16 cand best 8a7ecc11 sim 0.297 chamfer 0.114 iou 0.96 +[bbox_7] chandelier scan pts 1 13 cand best 366b5008 sim None chamfer 0.000 iou 0.99 +[bbox_8] dining_table scan pts 15729 16 cand best 8a7ecc11 sim 0.302 chamfer 0.126 iou 0.56 +[bbox_9] dining_table scan pts 13964 16 cand best 8a7ecc11 sim 0.317 chamfer 0.137 iou 0.56 +[bbox_10] chandelier scan pts 32 13 cand best 366b5008 sim None chamfer 0.000 iou 0.99 +[bbox_11] cupboard scan pts 3602 16 cand best 5c18cf20 sim 0.28 chamfer 0.117 iou 0.83 +done in 31 s -> /home/lehoangan/LHAN/metascenes/out/P64_Spatiallm2_RTABMAP1 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_fixed.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_fixed.glb index bdc438c5edeea55bd7ba91a911208dcc44966deb..31ab1ecc8fe6eca4cd347ee5eb4cd18b91213db6 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_fixed.glb +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_fixed.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:4c549fe8cb545326653c27de6e53916dd26f807a281bcfde6db38e4bd37532db -size 49210384 +oid sha256:290b002bd13f33688da66d4e66bf4de6fa702d7b433c9237194e1c3cb07075d2 +size 7491276 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_physics.glb b/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_physics.glb index 43e37e2b15963950cf0ee6b5f3a674da591db8fb..26df44aa2ae53f19d38d31cb325b69f19a4bf1a5 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_physics.glb +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/scene_physics.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6aed0acd0d1dae0a9517420b5de572e1c515730b48d86f748dd6269ff2e4c0c6 -size 49212916 +oid sha256:11f331b75f891769817e75f7276d14e57401358cec6a00afed67796642186670 +size 7493128 diff --git a/P64/Metascenes2_Spatiallm2_RTABMAP1/views.png b/P64/Metascenes2_Spatiallm2_RTABMAP1/views.png index 6bbe6e02f890d969cc2e00fe0345c1e938961dcb..558381030a3cc52b1d73c1d94d103f0f2ab7fe2f 100644 --- a/P64/Metascenes2_Spatiallm2_RTABMAP1/views.png +++ b/P64/Metascenes2_Spatiallm2_RTABMAP1/views.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e48410f71b5bc1935208424fc75d7bdba3c68e4202d14cc918d287e9e89ace3d -size 1004765 +oid sha256:4f2db23198a576bf24f0236a06c82dd7d60cbf4853d0c88f05dab16c4339f0f1 +size 891481 diff --git a/P64/Spatiallm2_RTABMAP1/layout.txt b/P64/Spatiallm2_RTABMAP1/layout.txt index a48e47fbefbfecc5567444a54d74d6340922ade4..8ea091740489a8a280f9758ebd448d7f6a2d9e82 100644 --- a/P64/Spatiallm2_RTABMAP1/layout.txt +++ b/P64/Spatiallm2_RTABMAP1/layout.txt @@ -1,40 +1,17 @@ -wall_0=Wall(-1.644245129627214,-3.243007616902614,0.0,3.465326149378547,-3.243007616902614,0.0,2.602396854607883,0.0) -wall_1=Wall(-1.644245129627214,-3.243007616902614,0.0,-1.644245129627214,3.6401482991508156,0.0,2.602396854607883,0.0) -wall_2=Wall(3.465326149378547,-3.243007616902614,0.0,3.465326149378547,-1.6268718224665473,0.0,2.602396854607883,0.0) -wall_3=Wall(3.465326149378547,-1.6268718224665473,0.0,3.936526920726645,-1.6268718224665473,0.0,2.602396854607883,0.0) -wall_4=Wall(3.936526920726645,-1.6268718224665473,0.0,3.936526920726645,-0.5702916213644678,0.0,2.602396854607883,0.0) -wall_5=Wall(3.465326149378547,-0.5702916213644678,0.0,3.936526920726645,-0.5702916213644678,0.0,2.602396854607883,0.0) -wall_6=Wall(3.465326149378547,-0.5702916213644678,0.0,3.465326149378547,-0.2814458509906782,0.0,2.602396854607883,0.0) -wall_7=Wall(3.465326149378547,-0.2814458509906782,0.0,3.936526920726645,-0.2814458509906782,0.0,2.602396854607883,0.0) -wall_8=Wall(3.936526920726645,-0.2814458509906782,0.0,3.936526920726645,3.6401482991508156,0.0,2.602396854607883,0.0) -wall_9=Wall(-1.644245129627214,3.6401482991508156,0.0,3.936526920726645,3.6401482991508156,0.0,2.602396854607883,0.0) -door_0=Door(wall_1,-1.644245129627214,-1.0076076169164714,0.7748997964689536,0.5,1.6600000000000001) -door_1=Door(wall_2,3.465326149378547,-2.3868718224665475,0.9248997964689536,1.52,2.0) -door_2=Door(wall_9,1.0583096094151618,3.6401482991508156,1.0998997964689536,2.14,1.0) -bbox_0=Bbox(tv,0.35830960941516166,-3.1326076169164714,1.0998997964689536,-0.009817500000000479,1.96875,0.109375,0.921875) -bbox_1=Bbox(coffee_table,-0.31669039058483817,-2.8826076169164714,0.19989979646895362,-3.1416,0.96875,0.59375,0.65625) -bbox_2=Bbox(coffee_table,2.833309609415162,-2.5826076169164716,0.19989979646895362,-3.1416,0.96875,0.59375,0.65625) -bbox_3=Bbox(coffee_table,1.158309609415162,-2.2076076169164716,0.19989979646895362,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_4=Bbox(chandelier,2.1583096094151615,-2.2076076169164716,2.3248997964689537,-3.1416,0.34375,0.34375,0.671875) -bbox_5=Bbox(chandelier,-1.1916903905848382,-2.2076076169164716,2.3248997964689537,-3.1416,0.34375,0.34375,0.671875) -bbox_6=Bbox(coffee_table,0.2833096094151619,-2.1826076169164716,0.22489979646895358,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_7=Bbox(curtain,3.4833096094151617,-2.1826076169164716,0.7998997964689536,-1.5708000000000002,1.453125,0.109375,2.0625) -bbox_8=Bbox(coffee_table,1.158309609415162,-1.5826076169164716,0.19989979646895362,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_9=Bbox(coffee_table,0.2833096094151619,-1.2576076169164714,0.19989979646895362,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_10=Bbox(coffee_table,-0.9916903905848382,-1.0576076169164716,0.19989979646895362,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_11=Bbox(coffee_table,2.833309609415162,-0.30760761691647165,0.19989979646895362,-3.1416,0.96875,0.59375,0.65625) -bbox_12=Bbox(chandelier,2.833309609415162,0.21739238308352826,2.3248997964689537,-3.1416,0.34375,0.34375,0.671875) -bbox_13=Bbox(bookcase,3.758309609415162,0.21739238308352826,0.9748997964689536,-1.5708000000000002,1.21875,0.328125,2.0625) -bbox_14=Bbox(coffee_table,2.833309609415162,0.8423923830835283,0.19989979646895362,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_15=Bbox(sofa,-1.1666903905848383,0.9173923830835284,0.19989979646895362,-1.5708000000000002,1.21875,0.59375,0.65625) -bbox_16=Bbox(chair,-0.44169039058483817,1.5923923830835283,0.19989979646895362,-3.1416,0.484375,0.484375,0.671875) -bbox_17=Bbox(coffee_table,1.1083096094151617,2.1173923830835286,0.19989979646895362,-1.5708000000000002,0.96875,0.59375,0.65625) -bbox_18=Bbox(bookcase,3.758309609415162,2.1173923830835286,0.9748997964689536,-1.5708000000000002,1.21875,0.328125,2.0625) -bbox_19=Bbox(chair,2.033309609415162,2.142392383083528,0.19989979646895362,-1.5708000000000002,0.484375,0.484375,0.671875) -bbox_20=Bbox(carpet,-0.2416903905848382,2.267392383083528,-0.02510020353104639,-3.1416,0.96875,0.96875,0.109375) -bbox_21=Bbox(bookcase,-1.2916903905848383,2.892392383083528,0.49989979646895355,-1.5708000000000002,0.96875,0.453125,1.03125) -bbox_22=Bbox(chair,1.033309609415162,3.0423923830835284,0.4248997964689536,-3.1416,0.671875,0.75,0.921875) -bbox_23=Bbox(washing_machine,1.758309609415162,3.2423923830835286,0.3498997964689536,-3.1416,0.484375,0.65625,0.78125) -bbox_24=Bbox(air_conditioner,-1.2416903905848382,3.4173923830835284,2.2248997964689536,-3.1416,0.671875,0.140625,0.21875) -bbox_25=Bbox(air_conditioner,2.7833096094151615,3.517392383083528,2.3248997964689537,-3.1416,0.671875,0.140625,0.21875) -bbox_26=Bbox(painting,1.008309609415162,3.5923923830835283,1.0748997964689535,-3.1416,1.890625,0.109375,0.890625) \ No newline at end of file +wall_0=Wall(-2.137291107178047,-4.587743243699036,0.0,4.884166176808992,-4.587743243699036,0.0,3.6989656028935807,0.0) +wall_1=Wall(-2.137291107178047,-4.587743243699036,0.0,-2.137291107178047,5.182280767825399,0.0,3.6989656028935807,0.0) +wall_2=Wall(4.884166176808992,-4.587743243699036,0.0,4.884166176808992,5.182280767825399,0.0,3.6989656028935807,0.0) +wall_3=Wall(-2.137291107178047,5.182280767825399,0.0,4.884166176808992,5.182280767825399,0.0,3.6989656028935807,0.0) +door_0=Door(wall_1,-2.137291107178047,-1.3451135259775877,1.1657239565566637,0.9400000000000001,2.3800000000000003) +bbox_0=Bbox(tv,0.49536320964219627,-4.520113525977588,1.5657239565566639,-0.009817500000000479,2.828125,0.15625,1.234375) +bbox_1=Bbox(dining_table,1.6453632096421957,-3.6701135259775874,0.3907239565566638,-1.5708000000000002,2.203125,1.1875,0.796875) +bbox_2=Bbox(dining_table,-0.3546367903578038,-3.6451135259775875,0.3907239565566638,-1.5708000000000002,2.203125,1.1875,0.796875) +bbox_3=Bbox(chandelier,-1.329636790357804,-3.1201135259775876,3.0157239565566636,-3.1416,0.109375,0.109375,0.875) +bbox_4=Bbox(chandelier,1.595363209642196,-3.1201135259775876,3.0157239565566636,-3.1416,0.109375,0.109375,0.875) +bbox_5=Bbox(dining_table,1.6453632096421957,-3.070113525977588,0.3907239565566638,-1.5708000000000002,1.1875,1.1875,0.796875) +bbox_6=Bbox(dining_table,0.3953632096421962,-3.070113525977588,0.3907239565566638,-1.5708000000000002,1.1875,1.1875,0.796875) +bbox_7=Bbox(chandelier,1.595363209642196,-2.9201135259775874,3.0157239565566636,-3.1416,0.109375,0.109375,0.875) +bbox_8=Bbox(dining_table,0.3953632096421962,-2.2951135259775874,0.3907239565566638,-1.5708000000000002,2.203125,1.1875,0.796875) +bbox_9=Bbox(dining_table,1.6203632096421963,-2.2201135259775877,0.3907239565566638,-1.5708000000000002,2.203125,1.1875,0.796875) +bbox_10=Bbox(chandelier,1.595363209642196,-2.195113525977588,3.0157239565566636,-3.1416,0.109375,0.109375,0.875) +bbox_11=Bbox(cupboard,3.9953632096421963,-2.1701135259775874,0.5657239565566639,-1.5708000000000002,2.203125,1.1875,1.140625) \ No newline at end of file diff --git a/P64/Spatiallm2_RTABMAP1/pipeline.log b/P64/Spatiallm2_RTABMAP1/pipeline.log index ef3291141fb61df405d3b6b9da7f6ba230d1c579..069786389f05cc18eefdceeb01e4f4e32bff915f 100644 --- a/P64/Spatiallm2_RTABMAP1/pipeline.log +++ b/P64/Spatiallm2_RTABMAP1/pipeline.log @@ -1,8 +1,8 @@ [pipeline] output folder: /home/lehoangan/LHAN/SpatialLM/outputs/v2/P64_Spatiallm2_RTABMAP1 -up axis (input frame) = [-0. -0. 1.] floor=-1.275 ceiling=2.427 raw height=3.702 -scale factor = 0.7023 -wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/P64_Spatiallm2_RTABMAP1/intermediate/aligned.ply: 652783 pts, extent min [-2.05 -3.33 -0.08] max [4.02 3.86 2.71] -[pipeline] cropped: kept 652728/652783 points +up axis (input frame) = [-0. -0. 1.] floor=-1.268 ceiling=2.427 raw height=3.695 +scale factor = 1.0000 +wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/P64_Spatiallm2_RTABMAP1/intermediate/aligned.ply: 722493 pts, extent min [-2.92 -4.75 -0.11] max [5.72 5.49 3.85] +[pipeline] cropped: kept 699624/722493 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 +19,22 @@ wrote /home/lehoangan/LHAN/SpatialLM/outputs/v2/P64_Spatiallm2_RTABMAP1/intermed @_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 /home/lehoangan/LHAN/SpatialLM/outputs/v2/P64_Spatiallm2_RTABMAP1/layout.txt, room.glb +[pipeline] object seed 0 [llama]: ok in 34.8 s +[pipeline] boxes: kept 12 of 185 (dropped repeats and boxes outside the room) +[pipeline] chosen seed: 0 (wall support 0.54) +[pipeline] done in 57.2 s: {'walls': 4, 'doors': 1, 'windows': 0, 'boxes': 12} -> /home/lehoangan/LHAN/SpatialLM/outputs/v2/P64_Spatiallm2_RTABMAP1/layout.txt, room.glb diff --git a/P64/Spatiallm2_RTABMAP1/room.glb b/P64/Spatiallm2_RTABMAP1/room.glb index fd95a00b4d745efefc323271bea4667591004c12..12631cf0e9726c3f7b00e5255271514912412657 100644 Binary files a/P64/Spatiallm2_RTABMAP1/room.glb and b/P64/Spatiallm2_RTABMAP1/room.glb differ diff --git a/P64/Spatiallm2_RTABMAP1/room_with_scan.glb b/P64/Spatiallm2_RTABMAP1/room_with_scan.glb index cbd26b3cfdb22849a706b68c4d47b93eafe1a2ab..0de3d38e256253dafb03d6ae764e60553959193e 100644 --- a/P64/Spatiallm2_RTABMAP1/room_with_scan.glb +++ b/P64/Spatiallm2_RTABMAP1/room_with_scan.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:da536d9b1fa2dc7edcdfb34d56f7cca368079e767deb5480183a10bfc7ebdbf2 -size 4817724 +oid sha256:164c2f57e3041cb7796a8fd9db30ca4b26eef6fc90eb9e5ccc16021c293809c1 +size 4808128 diff --git a/P64/Spatiallm2_RTABMAP1/room_with_scan_preview.glb b/P64/Spatiallm2_RTABMAP1/room_with_scan_preview.glb index 20e449801434b7dff79283bde638a0d01732943e..83649a64825bb026bc5747adf6bc4d40a684808c 100644 --- a/P64/Spatiallm2_RTABMAP1/room_with_scan_preview.glb +++ b/P64/Spatiallm2_RTABMAP1/room_with_scan_preview.glb @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:16d3cf1c3d5dd47a8763e3c91671d45048adde7b765e60cbca034a42e3762845 -size 33618024 +oid sha256:c4c251b86c79fa1b166c8e98e651eea7b40bd72b1673dcf868184c0bf42a567f +size 33608428 diff --git a/P64/Spatiallm2_RTABMAP1/seeds.png b/P64/Spatiallm2_RTABMAP1/seeds.png index 88bfd5620d0fbc9fc7a2b15d31f121fa183b60f0..665eaf998193347049c4ac26ce16d022f2b8ef94 100644 --- a/P64/Spatiallm2_RTABMAP1/seeds.png +++ b/P64/Spatiallm2_RTABMAP1/seeds.png @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:51e38e5775318e329fabd08a415f6027fda28470f38557382481a3eab57f2610 -size 769318 +oid sha256:46dafff3b5dacae1cc504c70a5f821a2c9b0ea4f09712a7be2ff463a751b3882 +size 709349 diff --git a/P64/Spatiallm2_RTABMAP1/summary.json b/P64/Spatiallm2_RTABMAP1/summary.json index 3e4cec9261b269e6348b06379ba9a8de5c46a2ff..e31164e39a7379a1d4f30b52f96c92e558477865 100644 --- a/P64/Spatiallm2_RTABMAP1/summary.json +++ b/P64/Spatiallm2_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 @@ 0.9999999303935709 ] ], - "floor_z_raw": -1.2748594465688559, - "scale": 0.7023241064037321, - "raw_height": 3.701994529724124, + "floor_z_raw": -1.2676539816860286, + "scale": 1.0, + "raw_height": 3.694789064841297, "note": "aligned = (R @ p - [0,0,floor_z_raw]) * scale" }, - "chosen_seed": 2, + "chosen_seed": 0, "result": { - "walls": 10, - "doors": 3, + "walls": 4, + "doors": 1, "windows": 0, - "boxes": 27 + "boxes": 12 }, "seeds": { "s0": { "walls": 4, "doors": 1, - "windows": 1, - "boxes": 27, - "wall_support": 0.5790650661974192, - "wall_recall": 0.5451945694291264, - "openings_with_gap": "2/2" + "windows": 0, + "boxes": 12, + "wall_support": 0.5404945999018164, + "wall_recall": 0.5365551573316739, + "openings_with_gap": "1/1" }, "s1": { "walls": 4, - "doors": 0, - "windows": 5, - "boxes": 27, - "wall_support": 0.5790650661974192, - "wall_recall": 0.5451945694291264, - "openings_with_gap": "5/5" + "doors": 1, + "windows": 3, + "boxes": 12, + "wall_support": 0.5404945999018164, + "wall_recall": 0.5365551573316739, + "openings_with_gap": "4/4" }, "s2": { - "walls": 10, - "doors": 3, + "walls": 8, + "doors": 1, "windows": 0, - "boxes": 27, - "wall_support": 0.6392097532934636, - "wall_recall": 0.4771269898591604, - "openings_with_gap": "1/3" + "boxes": 12, + "wall_support": 0.5078563842415793, + "wall_recall": 0.3895207950649491, + "openings_with_gap": "1/1" } }, "spatiallm_runs": [ @@ -84,42 +85,42 @@ "task": "arch", "seed": 0, "model": "llama", - "n_points": 119623, - "voxel_m": 0.04, + "n_points": 105006, + "voxel_m": 0.06, "seconds": 2.0, - "peak_vram_gb": 3.25, + "peak_vram_gb": 3.36, "error": null }, { "task": "arch", "seed": 1, "model": "llama", - "n_points": 119623, - "voxel_m": 0.04, - "seconds": 1.8, - "peak_vram_gb": 3.25, + "n_points": 105006, + "voxel_m": 0.06, + "seconds": 1.6, + "peak_vram_gb": 3.36, "error": null }, { "task": "arch", "seed": 2, "model": "llama", - "n_points": 119623, - "voxel_m": 0.04, + "n_points": 105006, + "voxel_m": 0.06, "seconds": 2.6, - "peak_vram_gb": 3.25, + "peak_vram_gb": 3.36, "error": null }, { "task": "object", "seed": 0, "model": "llama", - "n_points": 119623, - "voxel_m": 0.04, - "seconds": 5.3, - "peak_vram_gb": 3.25, + "n_points": 105006, + "voxel_m": 0.06, + "seconds": 34.8, + "peak_vram_gb": 3.36, "error": null } ], - "total_seconds": 24.3 + "total_seconds": 57.2 } \ No newline at end of file