From 16e58f079396f292d9551312621132d44e76b5a7 Mon Sep 17 00:00:00 2001 From: Andy Zeng Date: Sat, 17 Sep 2016 16:16:03 -0400 Subject: [PATCH] add evaluation code --- evaluation/benchmark.m | 214 -- evaluation/getError.m | 256 ++ evaluation/objectNames.mat | Bin 0 -> 940 bytes evaluation/predictions.mat | Bin 0 -> 370638 bytes evaluation/prepBenchmark.m | 48 - evaluation/runEval.m | 304 +++ .../src/marvin_convnet/src/detect.cu | 23 +- vis-utils/colorPalette.mat | Bin 0 -> 280 bytes vis-utils/dispObjPose.m | 111 - vis-utils/getColorPalette.m | 30 - vis-utils/labelList.csv | 2357 ----------------- vis-utils/parseLabels.m | 49 - vis-utils/showObjectPose.m | 116 + vis-utils/splitToteIm.m | 36 - vis-utils/visObjLabels.m | 184 -- vis-utils/visRepImage.m | 155 -- 16 files changed, 694 insertions(+), 3189 deletions(-) delete mode 100644 evaluation/benchmark.m create mode 100644 evaluation/getError.m create mode 100644 evaluation/objectNames.mat create mode 100644 evaluation/predictions.mat delete mode 100644 evaluation/prepBenchmark.m create mode 100644 evaluation/runEval.m create mode 100644 vis-utils/colorPalette.mat delete mode 100644 vis-utils/dispObjPose.m delete mode 100644 vis-utils/getColorPalette.m delete mode 100644 vis-utils/labelList.csv delete mode 100644 vis-utils/parseLabels.m create mode 100644 vis-utils/showObjectPose.m delete mode 100644 vis-utils/splitToteIm.m delete mode 100644 vis-utils/visObjLabels.m delete mode 100644 vis-utils/visRepImage.m diff --git a/evaluation/benchmark.m b/evaluation/benchmark.m deleted file mode 100644 index 6acb503..0000000 --- a/evaluation/benchmark.m +++ /dev/null @@ -1,214 +0,0 @@ -% Test on MIT-Princeton APC 2016 Benchmark -% -% Start ROS services marvin_convnet and pose_estimation before running this -% script (and realsense_camera if necessary) -% Set marvin_convnet to _service_mode:=2 to read RGB-D data from disk -% Run in same Matlab instance as where ROS service pose_estimation was started -% -% --------------------------------------------------------- -% Copyright (c) 2016, Andy Zeng -% -% This file is part of the APC Vision Toolbox and is available -% under the terms of the Simplified BSD License provided in -% LICENSE. Please retain this notice and LICENSE if you use -% this file (or any portion of it) in your project. -% --------------------------------------------------------- -cd(fileparts(which('benchmark.m'))); - -% User configurations (change me) -tmpDataPath = '/home/andyz/apc/toolbox/data/tmp'; % Temporary directory used by marvin_convnet, where all RGB-D images and detection masks are saved -benchmarkPath = '/home/andyz/apc/toolbox/data/benchmark'; % Benchmark directory -modelsPath = '/home/andyz/apc/toolbox/ros-packages/catkin_ws/src/pose_estimation/src/models/objects'; % Directory holding pre-scanned object models -rgbdUtilsPath = '/home/andyz/apc/toolbox/rgbd-utils'; % Directory of RGB-D toolbox utilities -visUtilsPath = '/home/andyz/apc/toolbox/vis-utils'; % Directory of visualization utilities -resultVisPath = 'results'; % Directory to save visualizations of pose estimation results - -% Load benchmark scenes and labels -sceneList = {}; -sceneNames = {}; -fid = fopen(fullfile(benchmarkPath,'info.txt')); -while ~feof(fid) - sceneName = fscanf(fid,'%s,'); - scenePath = fullfile(benchmarkPath,sceneName); - if ~feof(fid) - sceneList{length(sceneList)+1} = scenePath(1:(end-1)); - sceneNames{length(sceneNames)+1} = sceneName; - end -end -fclose(fid); - -% Add paths and create directories -addpath(genpath(rgbdUtilsPath)); -addpath(genpath(visUtilsPath)); -if ~exist(tmpDataPath,'file') - mkdir(tmpDataPath); -end -if ~exist(resultVisPath,'file') - mkdir(resultVisPath); -end - -% Get set of colors for visualizations -colorPalette = getColorPalette(); - -% Loop through benchmark scenes -for sceneIdx = 1:length(sceneList) - scenePath = sceneList{sceneIdx}; - fprintf(sprintf('[Test] %s\n',scenePath)); - - % Remove all files in temporary folder used by marvin_convnet - if exist(fullfile(tmpDataPath,'raw'),'file') - rmdir(fullfile(tmpDataPath,'raw'),'s'); - end - if exist(fullfile(tmpDataPath,'results'),'file') - rmdir(fullfile(tmpDataPath,'results'),'s'); - end - delete(fullfile(tmpDataPath,'*')); - - % Copy current scene to temporary folder used by marvin_convnet - copyfile(fullfile(scenePath,'*'),tmpDataPath); - - % Load scene - sceneData = loadScene(scenePath); - numFrames = length(sceneData.colorFrames); - - % Call marvin_convnet to do 2D object segmentation for each RGB-D frame - fprintf(' [Segmentation] Frame '); - if strcmp(sceneData.env,'shelf') - binIds = 'ABCDEFGHIJKL'; - binNum = strfind(binIds,sceneData.binId)-1; - else - binNum = -1; - end - for frameIdx = 0:(numFrames-1) - fprintf('%d ',frameIdx); - [client,reqMsg] = rossvcclient('/marvin_convnet'); - reqMsg.BinId = binNum; - reqMsg.ObjectNames = sceneData.objects; - reqMsg.FrameId = frameIdx; - response = call(client,reqMsg); - end - fprintf('\n'); - - % Call pose_estimation to do 6D object pose estimation for the sequence - [client,reqMsg] = rossvcclient('/pose_estimation'); - reqMsg.SceneFiles = tmpDataPath; - if ~isempty(strfind(scenePath,'office')) - reqMsg.CalibrationFiles = '/home/andyz/apc/toolbox/data/benchmark/office/calibration'; - elseif ~isempty(strfind(scenePath,'warehouse')) - reqMsg.CalibrationFiles = '/home/andyz/apc/toolbox/data/benchmark/warehouse/calibration'; - end - reqMsg.DoCalibration = true; - try - respMsg= call(client,reqMsg); - catch - end - - % Load results (predicted 6D object poses) - resultFiles = dir(fullfile(tmpDataPath,'results/*.result.txt')); - results = cell(1,length(resultFiles)); - confScores = []; - for resultIdx = 1:length(resultFiles) - tmpResultFile = resultFiles(resultIdx).name; - tmpResultFilenameDotIdx = strfind(tmpResultFile,'.'); - tmpResult.objName = tmpResultFile(1:(tmpResultFilenameDotIdx(1)-1)); - tmpResult.objNum = str2double(tmpResultFile((tmpResultFilenameDotIdx(1)+1):(tmpResultFilenameDotIdx(2)-1))); - tmpResult.objPoseWorld = eye(4); - tmpResult.objPoseWorld(1:3,4) = dlmread(fullfile(tmpDataPath,'results',tmpResultFile),'\t',[1,0,1,2])'; - objPoseRotQuat = dlmread(fullfile(tmpDataPath,'results',tmpResultFile),'\t',[4,0,4,3]); - tmpResult.objPoseWorld(1:3,1:3) = quat2rotm([objPoseRotQuat(4),objPoseRotQuat(1:3)]); - tmpResult.confScore = dlmread(fullfile(tmpDataPath,'results',tmpResultFile),'\t',[28,0,28,0]); - confScores = [confScores;tmpResult.confScore]; - results{resultIdx} = tmpResult; - end - - % Sort results by confidence scores - [~,sortIdx] = sortrows(confScores,-1); - - % Get random colors per object in the scene - randColorIdx = randperm(length(colorPalette),length(results)); - - % Create canvases for visualization - if strcmp(sceneData.env,'shelf') - canvas = sceneData.colorFrames{8}; - canvasSeg = uint8(ones(size(canvas))*255); - canvasPose = canvas; - else - canvas1 = sceneData.colorFrames{5}; - canvas2 = sceneData.colorFrames{14}; - canvasSeg1 = uint8(ones(size(canvas1))*255); - canvasPose1 = canvas1; - canvasSeg2 = uint8(ones(size(canvas2))*255); - canvasPose2 = canvas2; - end - - % Loop through each object and visualize predicted object pose - canvasPose = insertText(canvasPose,[10 10],'Confidence : Object','Font','LucidaSansDemiBold','FontSize',12,'TextColor','white','BoxColor','black'); - textPosY = 32; - for resultIdx = 1:length(resultFiles) - currResult = results{sortIdx(resultIdx)}; - objColor = colorPalette{randColorIdx(resultIdx)}; - - % Load pre-scanned object point cloud - objPointCloud = pcread(fullfile(modelsPath,sprintf('%s.ply',currResult.objName))); - - - % Draw projected object model and bounding box - if strcmp(sceneData.env,'shelf') - [canvasSeg,canvasPose] = dispObjPose(canvasSeg, ... - canvasPose, ... - sceneData.colorFrames{8}, ... - sceneData.depthFrames{8}, ... - sceneData.extCam2World{8}, ... - sceneData.colorK, ... - objPointCloud, ... - currResult.objPoseWorld, ... - objColor); - else - [canvasSeg1,canvasPose1] = dispObjPose(canvasSeg1, ... - canvasPose1, ... - sceneData.colorFrames{5}, ... - sceneData.depthFrames{5}, ... - sceneData.extCam2World{5}, ... - sceneData.colorK, ... - objPointCloud, ... - currResult.objPoseWorld, ... - objColor); - [canvasSeg2,canvasPose2] = dispObjPose(canvasSeg2, ... - canvasPose2, ... - sceneData.colorFrames{14}, ... - sceneData.depthFrames{14}, ... - sceneData.extCam2World{14}, ... - sceneData.colorK, ... - objPointCloud, ... - currResult.objPoseWorld, ... - objColor); - canvasSeg = [canvasSeg1;canvasSeg2]; - canvasPose = [canvasPose1;canvasPose2]; - end - - canvasPose = insertText(canvasPose,[10 textPosY],sprintf(' %f : %s',currResult.confScore,currResult.objName),'Font','LucidaSansDemiBold','FontSize',12,'TextColor',objColor,'BoxColor','black'); - textPosY = textPosY + 22; - end - - % Save visualization - visFileName = sceneNames{sceneIdx}; - visFileName = visFileName(1:(end-1)); - visFileName = strrep(visFileName,'/','_'); - imwrite(canvasPose,fullfile(resultVisPath,sprintf('%s.png',visFileName))); -end - - - - - - - - - - - - - - - - diff --git a/evaluation/getError.m b/evaluation/getError.m new file mode 100644 index 0000000..c0517a7 --- /dev/null +++ b/evaluation/getError.m @@ -0,0 +1,256 @@ +% Compute error between predicted 6D poses and ground truth labels of the +% 'Shelf & Tote' benchmark dataset. +% +% Check error of 'predictions.mat' file generated from runEval.m +% +% --------------------------------------------------------- +% Copyright (c) 2016, Andy Zeng +% +% This file is part of the APC Vision Toolbox and is available +% under the terms of the Simplified BSD License provided in +% LICENSE. Please retain this notice and LICENSE if you use +% this file (or any portion of it) in your project. +% --------------------------------------------------------- + +% User configurations (change me) +benchmarkPath = '/home/andyz/apc/toolbox/data/benchmark'; % Benchmark dataset directory +predictedPosesFile = 'predictions.mat'; +groundTruthPosesFile = fullfile(benchmarkPath,'labels.mat'); +objectInfoFile = fullfile(benchmarkPath,'objects.mat'); + +% Load object poses (predictions and ground truth labels) +tmpFile = load(predictedPosesFile); +predictedPoses = tmpFile.predictions; +tmpFile = load(groundTruthPosesFile); +groundTruthPoses = tmpFile.labels; + +% Create scene-object string pairs for ground truth data (to make searching easier) +sceneObjectPairs = cell(length(groundTruthPoses),1); +for labelIdx = 1:length(groundTruthPoses) + tmpEntry = groundTruthPoses{labelIdx}; + sceneObjectPairs{labelIdx} = sprintf('%s %s',tmpEntry.sceneName,tmpEntry.objectName); +end + +% Get object properties +tmpFile = load(objectInfoFile); +objectInfo = tmpFile.objects; +load('objectNames.mat'); + +% For each predicted object pose label, compare to ground truth and show +% accuracy per subset of benchmark dataset +% 1 - all scenes +% 2 - scenes from finals during competition +% 3 - scenes in office environment +% 4 - scenes in warehouse environment +% 5 - scenes of the shelf +% 6 - scenes of the tote +% 7 - scenes with clutter level: 1 - 3 objects +% 8 - scenes with clutter level: 4 - 5 objects +% 9 - scenes with clutter level: 6+ objects +% 10 - objects with < X% occluded objects +% 11 - objects with < X% occluded objects +% 12 - objects with > X% occluded objects +% 13 - objects that are deformable +% 14 - objects with missing depth from sensor +% 15 - objects that are thin +subsetAcc = {}; +subsetSegmPrecRec = {}; +for evalIdx = 1:15 + subsetAcc{evalIdx} = []; + subsetSegmPrecRec{evalIdx} = []; +end +for labelIdx = 1:length(predictedPoses) + tmpEntry = predictedPoses{labelIdx}; + objIdx = find(~cellfun(@isempty,strfind(objectNames,tmpEntry.objectName))); + + % Check if there is a ground truth object label in the benchmark + labelListIdx = find(~cellfun(@isempty,strfind(sceneObjectPairs,sprintf('%s %s',tmpEntry.sceneName,tmpEntry.objectName)))); + labelExists = ~isempty(labelListIdx); + if labelExists + + % Gather corresponding ground truth object labels + corresGroundTruthPosesWorld = {}; + corresGroundTruthOcclusion = {}; + for instanceIdx = 1:length(labelListIdx) + corresGroundTruthPosesWorld{instanceIdx} = groundTruthPoses{labelListIdx(instanceIdx)}.objectPose; + corresGroundTruthOcclusion{instanceIdx} = groundTruthPoses{labelListIdx(instanceIdx)}.occlusion; + end + + currObjPredPose = tmpEntry.objectPose; + + if max(isnan(currObjPredPose(:))) % no pose + continue; + end + + % In the event of multiple instances of the same object, find the closest ground truth label to compare to + tmpErrorTrans = []; + closestGroundTruthObjIdx = 1; + for groundTruthObjIdx = 1:length(corresGroundTruthPosesWorld) + currObjGroundTruthPose = corresGroundTruthPosesWorld{groundTruthObjIdx}; + tmpErrorTrans = [tmpErrorTrans,sqrt(sum((currObjPredPose(1:3,4)-currObjGroundTruthPose(1:3,4)).^2))]; + end + [~,closestGroundTruthObjIdx] = min(tmpErrorTrans,[],2); + currObjGroundTruthPose = corresGroundTruthPosesWorld{closestGroundTruthObjIdx}; + currObjGroundTruthOcclusion = corresGroundTruthOcclusion{closestGroundTruthObjIdx}; + + % Compute rotational error + rotationDiff = inv(currObjPredPose(1:3,1:3))*inv(currObjGroundTruthPose(1:3,1:3))'; + errorRotZYX = abs(rad2deg(rotm2eul(rotationDiff))); + errorRotXYZ = [errorRotZYX(3),errorRotZYX(2),errorRotZYX(1)]; + symmetryInfo = [objectInfo{objIdx}.xSymmetry,objectInfo{objIdx}.ySymmetry,objectInfo{objIdx}.zSymmetry]; + for dimIdx = 1:3 + if symmetryInfo(dimIdx) == 90 % Square symmetry + errorRotXYZ(dimIdx) = abs(errorRotXYZ(dimIdx)-90); + errorRotXYZ(dimIdx) = min(errorRotXYZ(dimIdx),90-errorRotXYZ(dimIdx)); + end + if symmetryInfo(dimIdx) == 180 % Axis symmetry + errorRotXYZ(dimIdx) = min(errorRotXYZ(dimIdx),180-errorRotXYZ(dimIdx)); + end + if symmetryInfo(dimIdx) == 360 % Radial symmetry + errorRotXYZ(dimIdx) = 0; + end + end + errorRot = mean(errorRotXYZ); + + % Compute translational error + errorTrans = sqrt(sum((currObjPredPose(1:3,4)-currObjGroundTruthPose(1:3,4)).^2)); + + % Check if predicted pose is good + goodRot = errorRot<15; + goodTrans = errorTrans<0.05; + + % Get segmentation precision and recall + segmPr = tmpEntry.segmPrecision; + segmRc = tmpEntry.segmRecall; + + % If is valid prediction + if tmpEntry.confidence > 0.0 + + % All objects + subsetAcc{1} = [subsetAcc{1};goodRot,goodTrans]; + subsetSegmPrecRec{1} = [subsetSegmPrecRec{1};segmPr,segmRc]; + + % If scene is from competition finals + if ~isempty(strfind(tmpEntry.sceneName,'competition')) + subsetAcc{2} = [subsetAcc{2};goodRot,goodTrans]; + subsetSegmPrecRec{2} = [subsetSegmPrecRec{2};segmPr,segmRc]; + end + + % If scene is from office/warehouse environment + if ~isempty(strfind(tmpEntry.sceneName,'office')) + subsetAcc{3} = [subsetAcc{3};goodRot,goodTrans]; + subsetSegmPrecRec{3} = [subsetSegmPrecRec{3};segmPr,segmRc]; + else + subsetAcc{4} = [subsetAcc{4};goodRot,goodTrans]; + subsetSegmPrecRec{4} = [subsetSegmPrecRec{4};segmPr,segmRc]; + end + + % If scene is from shelf/tote + if ~isempty(strfind(tmpEntry.sceneName,'shelf')) + subsetAcc{5} = [subsetAcc{5};goodRot,goodTrans]; + subsetSegmPrecRec{5} = [subsetSegmPrecRec{5};segmPr,segmRc]; + else + subsetAcc{6} = [subsetAcc{6};goodRot,goodTrans]; + subsetSegmPrecRec{6} = [subsetSegmPrecRec{6};segmPr,segmRc]; + end + + % If scene is cluttered + fid = fopen(fullfile(benchmarkPath,tmpEntry.sceneName,'cam.info.txt'),'rb'); + fgetl(fid); + fgetl(fid); + objListLine = fgetl(fid); + objListDelim = strsplit(objListLine,'"'); + sceneObjects = {}; + for tmpObjListIdx = 2:2:length(objListDelim) + sceneObjects{length(sceneObjects)+1} = objListDelim{tmpObjListIdx}; + end + fclose(fid); + if length(sceneObjects) == 1 || length(sceneObjects) == 2 || length(sceneObjects) == 3 + subsetAcc{7} = [subsetAcc{7};goodRot,goodTrans]; + subsetSegmPrecRec{7} = [subsetSegmPrecRec{7};segmPr,segmRc]; + elseif length(sceneObjects) == 4 || length(sceneObjects) == 5 + subsetAcc{8} = [subsetAcc{8};goodRot,goodTrans]; + subsetSegmPrecRec{8} = [subsetSegmPrecRec{8};segmPr,segmRc]; + else + subsetAcc{9} = [subsetAcc{9};goodRot,goodTrans]; + subsetSegmPrecRec{9} = [subsetSegmPrecRec{9};segmPr,segmRc]; + end + + % If object is occluded + if nanmean(currObjGroundTruthOcclusion) < 5 + subsetAcc{10} = [subsetAcc{10};goodRot,goodTrans]; + subsetSegmPrecRec{10} = [subsetSegmPrecRec{10};segmPr,segmRc]; + elseif nanmean(currObjGroundTruthOcclusion) < 30 + subsetAcc{11} = [subsetAcc{11};goodRot,goodTrans]; + subsetSegmPrecRec{11} = [subsetSegmPrecRec{11};segmPr,segmRc]; + else + subsetAcc{12} = [subsetAcc{12};goodRot,goodTrans]; + subsetSegmPrecRec{12} = [subsetSegmPrecRec{12};segmPr,segmRc]; + end + + % If object is deformable + if objectInfo{objIdx}.isDeformable + subsetAcc{13} = [subsetAcc{13};goodRot,goodTrans]; + subsetSegmPrecRec{13} = [subsetSegmPrecRec{13};segmPr,segmRc]; + end + + % If object has missing depth + if objectInfo{objIdx}.noDepth + subsetAcc{14} = [subsetAcc{14};goodRot,goodTrans]; + subsetSegmPrecRec{14} = [subsetSegmPrecRec{14};segmPr,segmRc]; + end + + % If object is thin + if objectInfo{objIdx}.isThin + subsetAcc{15} = [subsetAcc{15};goodRot,goodTrans]; + subsetSegmPrecRec{15} = [subsetSegmPrecRec{15};segmPr,segmRc]; + end + end + end +end + +% Compute average 6D pose estimation performance and report rotation/translation accuracies +fprintf('Predicted 6D Object Pose Performance (%% rotation/translation accuracy):\n') +fprintf(' Total: \t%.2f / %.2f\n',sum(subsetAcc{1},1)/size(subsetAcc{1},1)*100); +fprintf(' Cptn: \t%.2f / %.2f\n',sum(subsetAcc{2},1)/size(subsetAcc{2},1)*100); +fprintf(' Office: \t%.2f / %.2f\n',sum(subsetAcc{3},1)/size(subsetAcc{3},1)*100); +fprintf(' Warehouse: \t%.2f / %.2f\n',sum(subsetAcc{4},1)/size(subsetAcc{4},1)*100); +fprintf(' Shelf: \t%.2f / %.2f\n',sum(subsetAcc{5},1)/size(subsetAcc{5},1)*100); +fprintf(' Tote: \t%.2f / %.2f\n',sum(subsetAcc{6},1)/size(subsetAcc{6},1)*100); +fprintf(' Cltr 1-3: \t%.2f / %.2f\n',sum(subsetAcc{7},1)/size(subsetAcc{7},1)*100); +fprintf(' Cltr 4-5: \t%.2f / %.2f\n',sum(subsetAcc{8},1)/size(subsetAcc{8},1)*100); +fprintf(' Cltr 6+: \t%.2f / %.2f\n',sum(subsetAcc{9},1)/size(subsetAcc{9},1)*100); +fprintf(' Occ < X%%: \t%.2f / %.2f\n',sum(subsetAcc{10},1)/size(subsetAcc{10},1)*100); +fprintf(' Occ < X%%: \t%.2f / %.2f\n',sum(subsetAcc{11},1)/size(subsetAcc{11},1)*100); +fprintf(' Occ > X%%: \t%.2f / %.2f\n',sum(subsetAcc{12},1)/size(subsetAcc{12},1)*100); +fprintf(' Deform: \t%.2f / %.2f\n',sum(subsetAcc{13},1)/size(subsetAcc{13},1)*100); +fprintf(' No Depth: \t%.2f / %.2f\n',sum(subsetAcc{14},1)/size(subsetAcc{14},1)*100); +fprintf(' Thin: \t%.2f / %.2f\n',sum(subsetAcc{15},1)/size(subsetAcc{15},1)*100); + +% Compute average segmentation performance and report precision/recall +for evalIdx = 1:15 + subsetSegmPrecRec{evalIdx} = nanmean(subsetSegmPrecRec{evalIdx}); +end +fprintf('2D Object Segmentation Performance (%% precision/recall):\n') +fprintf(' Total: \t%.2f / %.2f\n',subsetSegmPrecRec{1}*100); +fprintf(' Cptn: \t%.2f / %.2f\n',subsetSegmPrecRec{2}*100); +fprintf(' Office: \t%.2f / %.2f\n',subsetSegmPrecRec{3}*100); +fprintf(' Warehouse: \t%.2f / %.2f\n',subsetSegmPrecRec{4}*100); +fprintf(' Shelf: \t%.2f / %.2f\n',subsetSegmPrecRec{5}*100); +fprintf(' Tote: \t%.2f / %.2f\n',subsetSegmPrecRec{6}*100); +fprintf(' Cltr 1-3: \t%.2f / %.2f\n',subsetSegmPrecRec{7}*100); +fprintf(' Cltr 4-5: \t%.2f / %.2f\n',subsetSegmPrecRec{8}*100); +fprintf(' Cltr 6+: \t%.2f / %.2f\n',subsetSegmPrecRec{9}*100); +fprintf(' Occ < X%%: \t%.2f / %.2f\n',subsetSegmPrecRec{10}*100); +fprintf(' Occ < X%%: \t%.2f / %.2f\n',subsetSegmPrecRec{11}*100); +fprintf(' Occ > X%%: \t%.2f / %.2f\n',subsetSegmPrecRec{12}*100); +fprintf(' Deform: \t%.2f / %.2f\n',subsetSegmPrecRec{13}*100); +fprintf(' No Depth: \t%.2f / %.2f\n',subsetSegmPrecRec{14}*100); +fprintf(' Thin: \t%.2f / %.2f\n',subsetSegmPrecRec{15}*100); + +% Report segmentation F-scores +fprintf('Segmentation F-scores: %.1f',2*(prod(subsetSegmPrecRec{1})/sum(subsetSegmPrecRec{1}))*100); +for i = 2:15 + fprintf(', %.1f', 2*(prod(subsetSegmPrecRec{i})/sum(subsetSegmPrecRec{i}))*100); +end +fprintf('\n'); diff --git a/evaluation/objectNames.mat b/evaluation/objectNames.mat new file mode 100644 index 0000000000000000000000000000000000000000..b5c3897a0d6f2411110bc28d2af978a540106367 GIT binary patch literal 940 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2cQgHY2i*PhE(NSfSGBmR?FjO!yFf>yj5-`93qo*%FkgdYZz)&$~=``Q`D-Jwu z%`6<88c!EHu!`>}SoVRr>Pd@5(dIO@dnsk=j}7F{zO#Rjo}7L;k8`3K@6<)dLO-8K 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zOt}1&IlC9%|GZG{QRQCocN^plKlLV zjHIH{;*9vB)D#Bt)34fg6))YS3HD2;zQ3OH@4db1^=FC>X6^9w$L+y7=`v9KbjHUk zxq%b*-!O?gAQ)E;PrrHFFM4*&FSBn7U#{So+P;6@oYh+4{}Jhz$^2ft>EDm`Upp3@ z*^sz)|HRJ=&iUM+y!~Kv_e)Cw`)acFD`af5zoBu1Z2ftA3=cf&yfPxwuOY+WY5$6- zZlUZi+fUN57MBWLv_G7=HTvx currSegmThresh; + tp = sum(currPredMask(:) & currGroundTruthMask(:)); + fp = sum(currPredMask(:) & ~currGroundTruthMask(:)); + fn = sum(~currPredMask(:) & currGroundTruthMask(:)); + segmPr(frameIdx,objIdx) = (tp/(tp+fp)); + segmRc(frameIdx,objIdx) = (tp/(tp+fn)); + if tp < 200 + segmPr(frameIdx,objIdx) = NaN; + end + end + end + segmRc(find(isnan(segmPr))) = NaN; + segmPr = nanmean(segmPr); + segmRc = nanmean(segmRc); + + % Load results (predicted 6D object poses) + resultFiles = dir(fullfile(tmpDataPath,'results/*.result.txt')); + results = cell(1,length(resultFiles)); + confScores = []; + for resultIdx = 1:length(resultFiles) + tmpResultFile = resultFiles(resultIdx).name; + tmpResultFilenameDotIdx = strfind(tmpResultFile,'.'); + tmpResult.objName = tmpResultFile(1:(tmpResultFilenameDotIdx(1)-1)); + tmpResult.objNum = str2double(tmpResultFile((tmpResultFilenameDotIdx(1)+1):(tmpResultFilenameDotIdx(2)-1))); + tmpResult.objPoseWorld = eye(4); + tmpResult.objPoseWorld(1:3,4) = dlmread(fullfile(tmpDataPath,'results',tmpResultFile),'\t',[1,0,1,2])'; + objPoseRotQuat = dlmread(fullfile(tmpDataPath,'results',tmpResultFile),'\t',[4,0,4,3]); + tmpResult.objPoseWorld(1:3,1:3) = quat2rotm([objPoseRotQuat(4),objPoseRotQuat(1:3)]); + tmpResult.confScore = dlmread(fullfile(tmpDataPath,'results',tmpResultFile),'\t',[28,0,28,0]); + confScores = [confScores;tmpResult.confScore]; + results{resultIdx} = tmpResult; + end + + % Sort results by confidence scores + [~,sortIdx] = sortrows(confScores,-1); + + % Get random colors per object in the scene + randColorIdx = randperm(length(colorPalette),length(results)); + + % Create canvases for visualization + if strcmp(sceneData.env,'shelf') + canvas = sceneData.colorFrames{8}; + canvasSeg = uint8(ones(size(canvas))*255); + canvasPose = canvas; + canvasPose = insertText(canvasPose,[10 10],'Confidence : Object','Font','LucidaSansDemiBold','FontSize',12,'TextColor','white','BoxColor','black'); + else + canvas1 = sceneData.colorFrames{5}; + canvas2 = sceneData.colorFrames{14}; + canvasSeg1 = uint8(ones(size(canvas1))*255); + canvasPose1 = canvas1; + canvasSeg2 = uint8(ones(size(canvas2))*255); + canvasPose2 = canvas2; + canvasPose1 = insertText(canvasPose1,[10 10],'Confidence : Object','Font','LucidaSansDemiBold','FontSize',12,'TextColor','white','BoxColor','black'); + end + + % Loop through each object to save and visualize predicted object pose + textPosY = 32; + for resultIdx = 1:length(resultFiles) + currResult = results{sortIdx(resultIdx)}; + objColor = colorPalette{randColorIdx(resultIdx)}; + + % Save predicted pose estimation results to file + slashIdx = strfind(scenePath,'/'); + tmpPrediction.sceneName = scenePath((slashIdx(end-3)+1):end); + tmpPrediction.objectName = currResult.objName; + tmpPrediction.objectPose = currResult.objPoseWorld; + tmpPrediction.confidence = currResult.confScore; + tmpPrediction.segmPrecision = segmPr(find(~cellfun(@isempty,strfind(uniqueObjList,currResult.objName)))); + tmpPrediction.segmRecall = segmRc(find(~cellfun(@isempty,strfind(uniqueObjList,currResult.objName)))); + predictions{length(predictions)+1} = tmpPrediction; + + % Load pre-scanned object point cloud + objPointCloud = pcread(fullfile(modelsPath,sprintf('%s.ply',currResult.objName))); + + % Draw projected object model and bounding box + if currResult.confScore > 0 + if strcmp(sceneData.env,'shelf') + [canvasSeg,canvasPose] = showObjectPose(currResult.objName,... + canvasSeg, ... + canvasPose, ... + sceneData.colorFrames{8}, ... + sceneData.depthFrames{8}, ... + sceneData.extCam2World{8}, ... + sceneData.colorK, ... + objPointCloud, ... + currResult.objPoseWorld, ... + objColor); + canvasPose = insertText(canvasPose,[10 textPosY],sprintf(' %f : %s',currResult.confScore,currResult.objName),'Font','LucidaSansDemiBold','FontSize',12,'TextColor',objColor,'BoxColor','black'); + else + [canvasSeg1,canvasPose1] = dispObjPose(currResult.objName,... + canvasSeg1, ... + canvasPose1, ... + sceneData.colorFrames{5}, ... + sceneData.depthFrames{5}, ... + sceneData.extCam2World{5}, ... + sceneData.colorK, ... + objPointCloud, ... + currResult.objPoseWorld, ... + objColor); + [canvasSeg2,canvasPose2] = dispObjPose(currResult.objName,... + canvasSeg2, ... + canvasPose2, ... + sceneData.colorFrames{14}, ... + sceneData.depthFrames{14}, ... + sceneData.extCam2World{14}, ... + sceneData.colorK, ... + objPointCloud, ... + currResult.objPoseWorld, ... + objColor); + canvasPose1 = insertText(canvasPose1,[10 textPosY],sprintf(' %f : %s',currResult.confScore,currResult.objName),'Font','LucidaSansDemiBold','FontSize',12,'TextColor',objColor,'BoxColor','black'); + canvasSeg = [canvasSeg1;canvasSeg2]; + canvasPose = [canvasPose1;canvasPose2]; + end + end + + textPosY = textPosY + 22; + end + + % Save visualization + visFileName = scenes{sceneIdx}; + visFileName = visFileName(1:end); + visFileName = strrep(visFileName,'/','_'); + imwrite(canvasPose,fullfile('results',sprintf('%s.png',visFileName))); +end + +% Save prediction file +predictions = predictions'; +save(savetoPath,'predictions'); + + + + + + + + + + + + + + diff --git a/ros-packages/catkin_ws/src/marvin_convnet/src/detect.cu b/ros-packages/catkin_ws/src/marvin_convnet/src/detect.cu index 66ee57f..60a65ce 100755 --- a/ros-packages/catkin_ws/src/marvin_convnet/src/detect.cu +++ b/ros-packages/catkin_ws/src/marvin_convnet/src/detect.cu @@ -25,6 +25,7 @@ std::string net_directory; int frame_width = 640; int frame_height = 480; uint8_t * color_buffer = new uint8_t[frame_width * frame_height * 3]; +uint8_t * HHA_buffer = new uint8_t[frame_width * frame_height * 3]; // Load Marvin FCN network architectures marvin::Net shelf_net(shelf_net_arch_filename); @@ -32,6 +33,7 @@ marvin::Net tote_net(tote_net_arch_filename); // Marvin responses StorageT* color_data_CPU = NULL; +StorageT* HHA_data_CPU = NULL; StorageT* prob_CPU_StorageT = NULL; ComputeT* prob_CPU_ComputeT = NULL; @@ -56,10 +58,13 @@ bool srv_detect(marvin_convnet::DetectObjects::Request &req, std::string color_frame_filename = "/frame-" + frame_prefix.str() + ".color.png"; std::string depth_frame_filename = "/frame-" + frame_prefix.str() + ".depth.png"; std::string raw_depth_frame_filename = "/raw/frame-" + frame_prefix.str() + ".depth.png"; + std::string HHA_frame_filename = "/HHA/frame-" + frame_prefix.str() + ".HHA.png"; // Read color frame from disk cv::Mat color_frame = cv::imread(read_directory + color_frame_filename, CV_LOAD_IMAGE_COLOR); color_buffer = color_frame.data; + cv::Mat HHA_frame = cv::imread(read_directory + HHA_frame_filename.c_str(), CV_LOAD_IMAGE_COLOR); + HHA_buffer = HHA_frame.data; // Color: BGR format, mean subtracted for (int r = 0; r < frame_height; ++r) @@ -67,6 +72,9 @@ bool srv_detect(marvin_convnet::DetectObjects::Request &req, color_data_CPU[0 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(color_buffer[0 + 3 * (c + frame_width * r)]) - ComputeT(102.9801f)); // B color_data_CPU[1 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(color_buffer[1 + 3 * (c + frame_width * r)]) - ComputeT(115.9465f)); // G color_data_CPU[2 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(color_buffer[2 + 3 * (c + frame_width * r)]) - ComputeT(122.7717f)); // R + HHA_data_CPU[0 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(HHA_buffer[0 + 3 * (c + frame_width * r)]) - ComputeT(102.9801f)); // B + HHA_data_CPU[1 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(HHA_buffer[1 + 3 * (c + frame_width * r)]) - ComputeT(115.9465f)); // G + HHA_data_CPU[2 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(HHA_buffer[2 + 3 * (c + frame_width * r)]) - ComputeT(122.7717f)); // R // color_data_CPU[0 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(color_buffer[0 * frame_height * frame_width + r * frame_width + c]) - ComputeT(102.9801f)); // B // color_data_CPU[1 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(color_buffer[1 * frame_height * frame_width + r * frame_width + c]) - ComputeT(115.9465f)); // G // color_data_CPU[2 * frame_height * frame_width + r * frame_width + c] = CPUCompute2StorageT(ComputeT(color_buffer[2 * frame_height * frame_width + r * frame_width + c]) - ComputeT(122.7717f)); // R @@ -84,16 +92,20 @@ bool srv_detect(marvin_convnet::DetectObjects::Request &req, // Run forward pass through marvin FCN ROS_INFO("Forward Marvin to get segmentation results."); - marvin::Response * rData; + marvin::Response * rDataRGB; + marvin::Response * rDataHHA; marvin::Response * rProb; if (bin_id == -1) { - rData = tote_net.getResponse("data"); + rDataRGB = tote_net.getResponse("data_RGB"); + rDataHHA = tote_net.getResponse("data_HHA"); rProb = tote_net.getResponse("prob"); } else { - rData = shelf_net.getResponse("data"); + rDataRGB = shelf_net.getResponse("data_RGB"); + rDataHHA = shelf_net.getResponse("data_HHA"); rProb = shelf_net.getResponse("prob"); } - cudaMemcpy(rData->dataGPU, color_data_CPU, rData->numBytes(), cudaMemcpyHostToDevice); + cudaMemcpy(rDataRGB->dataGPU, color_data_CPU, rDataRGB->numBytes(), cudaMemcpyHostToDevice); + cudaMemcpy(rDataHHA->dataGPU, HHA_data_CPU, rDataHHA->numBytes(), cudaMemcpyHostToDevice); if (bin_id == -1) tote_net.forward(); else @@ -103,7 +115,7 @@ bool srv_detect(marvin_convnet::DetectObjects::Request &req, prob_CPU_ComputeT[i] = CPUStorage2ComputeT(prob_CPU_StorageT[i]); // Get full object list - std::vector all_object_names = {"background", "barkely_hide_bones", "cherokee_easy_tee_shirt", "clorox_utility_brush", "cloud_b_plush_bear", "cool_shot_glue_sticks", "command_hooks", "crayola_24_ct", "creativity_chenille_stems", "dasani_water_bottle", + std::vector all_object_names = {"background", "barkely_hide_bones", "cherokee_easy_tee_shirt", "clorox_utility_brush", "cloud_b_plush_bear", "command_hooks", "cool_shot_glue_sticks", "crayola_24_ct", "creativity_chenille_stems", "dasani_water_bottle", "dove_beauty_bar", "dr_browns_bottle_brush", "easter_turtle_sippy_cup", "elmers_washable_no_run_school_glue", "expo_dry_erase_board_eraser", "fiskars_scissors_red", "fitness_gear_3lb_dumbbell", "folgers_classic_roast_coffee", "hanes_tube_socks", "i_am_a_bunny_book", "jane_eyre_dvd", "kleenex_paper_towels", "kleenex_tissue_box", "kyjen_squeakin_eggs_plush_puppies", "laugh_out_loud_joke_book", "oral_b_toothbrush_green", "oral_b_toothbrush_red", "peva_shower_curtain_liner", "platinum_pets_dog_bowl", "rawlings_baseball", "rolodex_jumbo_pencil_cup", "safety_first_outlet_plugs", "scotch_bubble_mailer", "scotch_duct_tape", "soft_white_lightbulb", "staples_index_cards", "ticonderoga_12_pencils", "up_glucose_bottle", "womens_knit_gloves", "woods_extension_cord"}; @@ -171,6 +183,7 @@ int main(int argc, char **argv) { shelf_net.loadWeights(shelf_net_weights_filename); tote_net.loadWeights(tote_net_weights_filename); color_data_CPU = new StorageT[frame_width * frame_height * 3]; + HHA_data_CPU = new StorageT[frame_width * frame_height * 3]; prob_CPU_StorageT = new StorageT[frame_width * frame_height * (num_apc_objects + 1)]; prob_CPU_ComputeT = new ComputeT[frame_height * frame_width * (num_apc_objects + 1)]; diff --git a/vis-utils/colorPalette.mat b/vis-utils/colorPalette.mat new file mode 100644 index 0000000000000000000000000000000000000000..55978bf250f45af213923aa34787ae096defd8e6 GIT binary patch literal 280 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2cQgHY2i*PhE(NSk4V4(1B{-&{6O{uAg-A6I5{EV#=$cO4zMk; zY?v{Tktt&052k=w>>ZOo7k}zz5-JYz_6l-*^`qfN1LMN^yxnzaD#bG!_Wb|veBx61 zqnZ4XzpB>ln7H)(_Z`BKzhd-r6};!)o^?9qW$`;p-)VNsmpo2+$z5dO6K8WnUcvjm l>-FZ8m(|ZMd&m9aQPi*fm#+|fpULQJE^i_O1Gj~S8vqdmVN?JB literal 0 HcmV?d00001 diff --git a/vis-utils/dispObjPose.m b/vis-utils/dispObjPose.m deleted file mode 100644 index 28ccc83..0000000 --- a/vis-utils/dispObjPose.m +++ /dev/null @@ -1,111 +0,0 @@ -function [canvasSeg,canvasPose] = dispObjPose(canvasSeg,canvasPose,colorFrame,depthFrame,extCam2World,K,objCloud,objPoseWorld,objColor) -%DISPOBJPOSE Summary of this function goes here -% Detailed explanation goes here - -% Compute object pose in camera coordinates -objPoseCam = inv(extCam2World)*objPoseWorld; - -% Compute projected object model -objPts = objCloud.Location'; -objPtsCam = objPoseCam(1:3,1:3)*objPts+repmat(objPoseCam(1:3,4),1,size(objPts,2)); -objPixX = round(((objPtsCam(1,:).*K(1,1))./objPtsCam(3,:))+K(1,3)); -objPixY = round(((objPtsCam(2,:).*K(2,2))./objPtsCam(3,:))+K(2,3)); -validObjPix = find(objPixX > 0 & objPixX <= 640 & objPixY > 0 & objPixY <= 480); -objPixX = objPixX(validObjPix); -objPixY = objPixY(validObjPix); -objMask = zeros(480,640); -objMask(sub2ind(size(objMask),objPixY',objPixX')) = 1; - -% convexHull = convhulln(double([objPixX',objPixY'])); -% imshow(objMask); -% hold on; -% for hullIdx = 1:size(convexHull,1) -% plot([objPixX(convexHull(hullIdx,1));objPixX(convexHull(hullIdx,2))],[objPixY(convexHull(hullIdx,1));objPixY(convexHull(hullIdx,2))]); -% end -% hold off; - -% Compute object bounding box -bboxRange = [min(objPts(1,:)),max(objPts(1,:));min(objPts(2,:)),max(objPts(2,:));min(objPts(3,:)),max(objPts(3,:))]; -bboxCorners = [[bboxRange(1,1);bboxRange(2,1);bboxRange(3,1)], ... - [bboxRange(1,1);bboxRange(2,1);bboxRange(3,2)], ... - [bboxRange(1,1);bboxRange(2,2);bboxRange(3,2)], ... - [bboxRange(1,1);bboxRange(2,2);bboxRange(3,1)], ... - [bboxRange(1,2);bboxRange(2,1);bboxRange(3,1)], ... - [bboxRange(1,2);bboxRange(2,1);bboxRange(3,2)], ... - [bboxRange(1,2);bboxRange(2,2);bboxRange(3,2)], ... - [bboxRange(1,2);bboxRange(2,2);bboxRange(3,1)]]; -cornerPtsCam = objPoseCam(1:3,1:3) * bboxCorners + repmat(objPoseCam(1:3,4),1,size(bboxCorners,2)); -cornerPixX = round(((cornerPtsCam(1,:).*K(1,1))./cornerPtsCam(3,:))+K(1,3)); -cornerPixY = round(((cornerPtsCam(2,:).*K(2,2))./cornerPtsCam(3,:))+K(2,3)); -cornerPts2D = [cornerPixX; cornerPixY]; - -% Find depth points inside object bounding box -if false % Disabled - [depthPixX,depthPixY] = meshgrid(1:640,1:480); - camX = (depthPixX-K(1,3)).*depthFrame/K(1,1); - camY = (depthPixY-K(2,3)).*depthFrame/K(2,2); - camZ = depthFrame; - camPts = [camX(:),camY(:),camZ(:)]'; - extWorld2Obj = inv(objPoseWorld); - extCam2Obj = extWorld2Obj*extCam2World; - camPtsObj = extCam2Obj(1:3,1:3) * camPts + repmat(extCam2Obj(1:3,4),1,size(camPts,2)); - validCamIdx = find(camPtsObj(1,:) > bboxRange(1,1) & camPtsObj(1,:) < bboxRange(1,2) & ... - camPtsObj(2,:) > bboxRange(2,1) & camPtsObj(2,:) < bboxRange(2,2) & ... - camPtsObj(3,:) > bboxRange(3,1) & camPtsObj(3,:) < bboxRange(3,2)); - segObjMask = zeros(480,640); - segObjMask(validCamIdx) = 1; - objMask = objMask | segObjMask; -end - -% Fill holes -for fillIdx = 1:20 - objMask = imfill(objMask); -end - -% Draw projected object + segmentation -canvasR = double(canvasSeg(:,:,1)); -canvasG = double(canvasSeg(:,:,2)); -canvasB = double(canvasSeg(:,:,3)); -canvasR(find(objMask)) = objColor(1); %(frameR(find(objMask))+objColor(1))./2; -canvasG(find(objMask)) = objColor(2); %(frameG(find(objMask))+objColor(2))./2; -canvasB(find(objMask)) = objColor(3); %(frameB(find(objMask))+objColor(3))./2; -canvasSeg(:,:,1) = uint8(round(canvasR)); -canvasSeg(:,:,2) = uint8(round(canvasG)); -canvasSeg(:,:,3) = uint8(round(canvasB)); -frameR = double(colorFrame(:,:,1)); -frameG = double(colorFrame(:,:,2)); -frameB = double(colorFrame(:,:,3)); -canvasR = double(canvasPose(:,:,1)); -canvasG = double(canvasPose(:,:,2)); -canvasB = double(canvasPose(:,:,3)); -canvasR(find(objMask)) = (frameR(find(objMask))+objColor(1))./2; -canvasG(find(objMask)) = (frameG(find(objMask))+objColor(2))./2; -canvasB(find(objMask)) = (frameB(find(objMask))+objColor(3))./2; -canvasPose(:,:,1) = uint8(round(canvasR)); -canvasPose(:,:,2) = uint8(round(canvasG)); -canvasPose(:,:,3) = uint8(round(canvasB)); - -% % Draw object axis -% axisRange = [max(objPts(1,:)),max(objPts(2,:)),max(objPts(3,:))]; -% axisPts = [[0;0;0],[axisRange(1);0;0],[0;axisRange(2);0],[0;0;axisRange(3)]]; -% camAxisPts = objPoseCam(1:3,1:3) * axisPts + repmat(objPoseCam(1:3,4),1,size(axisPts,2)); -% axisPixX = round(((camAxisPts(1,:).*K(1,1))./camAxisPts(3,:))+K(1,3)); -% axisPixY = round(((camAxisPts(2,:).*K(2,2))./camAxisPts(3,:))+K(2,3)); -% axisPts2D = [axisPixX; axisPixY]; -% canvasPose = insertShape(canvasPose, 'line', [axisPts2D(:,1)',axisPts2D(:,2)'], 'LineWidth', 1,'Color', 'red'); -% canvasPose = insertShape(canvasPose, 'line', [axisPts2D(:,1)',axisPts2D(:,3)'], 'LineWidth', 1,'Color', 'green'); -% canvasPose = insertShape(canvasPose, 'line', [axisPts2D(:,1)',axisPts2D(:,4)'], 'LineWidth', 1,'Color', 'blue'); - -% Draw object bounding box -[~,furthestCornerIdx] = max(cornerPtsCam(3,:)); -connections = [1,2;2,3;3,4;4,1;5,6;6,7;7,8;8,5;1,5;2,6;3,7;4,8]; -for connIdx = 1:size(connections,1) - if ismember(furthestCornerIdx,connections(connIdx,:)) - canvasPose = insertShape(canvasPose,'line',[cornerPts2D(:,connections(connIdx,1))',cornerPts2D(:,connections(connIdx,2))'],'LineWidth',5,'Color',objColor); % (TODO: add dotted lines to the occluded parts of the bounding box) - else - canvasPose = insertShape(canvasPose,'line',[cornerPts2D(:,connections(connIdx,1))',cornerPts2D(:,connections(connIdx,2))'],'LineWidth',5,'Color',objColor); - end -end - -end - diff --git a/vis-utils/getColorPalette.m b/vis-utils/getColorPalette.m deleted file mode 100644 index af15ad4..0000000 --- a/vis-utils/getColorPalette.m +++ /dev/null @@ -1,30 +0,0 @@ -function colorPalette = getColorPalette() -%GETCOLORPALETTE Summary of this function goes here -% Detailed explanation goes here - -% colorsHex = {'#1f77b4', '#aec7e8', '#ff7f0e', '#ffbb78', '#2ca02c', '#98df8a', '#d62728', '#ff9896', '#9467bd', '#c5b0d5', '#8c564b', '#c49c94', '#e377c2', '#f7b6d2', '#7f7f7f', '#c7c7c7', '#bcbd22', '#dbdb8d', '#17becf', '#9edae5', '#8dd3c7', '#ffffb3', '#bebada', '#fb8072', '#80b1d3', '#fdb462', '#b3de69', '#fccde5', '#d9d9d9', '#bc80bd', '#ccebc5', '#ffed6f', '#e41a1c', '#377eb8', '#4daf4a', '#984ea3', '#ff7f00', '#ffff33', '#a65628', '#f781bf', '#999999', '#621e15', '#e59076', '#128dcd', '#083c52', '#64c5f2', '#61afaf', '#0f7369', '#9c9da1', '#365e96', '#983334', '#77973d', '#5d437c', '#36869f', '#d1702f', '#8197c5', '#c47f80', '#acc484', '#9887b0', '#2d588a', '#58954c', '#e9a044', '#c12f32', '#723e77', '#7d807f', '#9c9ede', '#7375b5', '#4a5584', '#cedb9c', '#b5cf6b', '#8ca252', '#637939', '#e7cb94', '#e7ba52', '#bd9e39', '#8c6d31', '#e7969c', '#d6616b', '#ad494a', '#843c39', '#de9ed6', '#ce6dbd', '#a55194', '#7b4173', '#000000', '#0000FF'}; -colorsHex = {'#FFFF54', ... - '#C8E64C', ... - '#8CD446', ... - '#4DC742', ... - '#45D2B0', ... - '#46ACD3', ... - '#438CCB', ... - '#4262C7', ... - '#5240C3', ... - '#8C3FC0', ... - '#D145C1', ... - '#E64C8D', ... - '#FF5454', ... - '#FF8054', ... - '#FFA054', ... - '#FFB554'}; - -colorPalette = {}; -for colorIdx = 1:length(colorsHex) - colorHex = colorsHex{colorIdx}; - colorPalette{colorIdx} = [hex2dec(colorHex(2:3)),hex2dec(colorHex(4:5)),hex2dec(colorHex(6:7))]; -end - -end - diff --git a/vis-utils/labelList.csv b/vis-utils/labelList.csv deleted file mode 100644 index e4fc919..0000000 --- a/vis-utils/labelList.csv +++ /dev/null @@ -1,2357 +0,0 @@ -,Results (copy-paste from webpage),,,, -,"Instructions to Annotators: -If the object is not in the scene, skip this page. -If the object is a water bottle or black pencil cup, skip this page. -If there are multiple copies of the same object on this page, label one of them. -Label the other one on the next page. -If the shape does not exactly match the scene, or if there is missing depth, try your best guess fit and try to match the object’s center of mass. Please be as accurate as possible. -Put notes if there are some issues in Note. -Put an abbreviation of your name in Annotators.","Note -Terminology: -pointcloud (A set of 3d points) -target (The object pointcloud in the shelf bin or the red tote) -template (The object pointcloud that is used to fit the target pointcloud) -ambiguous (When there are multiple ways to fit the template to target) -","Annotators -L: yifei.leng@gmail.com, -P: peterkty@gmail.com -Z: yenhsi.ann.liu@gmail.com -C: kuanpanpan@gmail.com, -yc: r94228001@gmail.com, -A: andy.zeng.workhorse@gmail.com, -shuran: songshulove@gmail.com, -E: ed.s.walker@gmail.com",Score board, -http://visiongpu2.cs.princeton.edu:8010/ots0000_creativity_chenille_stems_1.html,"ots0000:creativity_chenille_stems:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.09747198,-0.99523824,0.00000000,0.00000000,0.99523824,0.09747198,0.00000000,0.04913583,0.06209556,0.09132390,1.00000000]",,L,P,6 -http://visiongpu2.cs.princeton.edu:8010/ots0000_kleenex_tissue_box_1.html,"ots0000:kleenex_tissue_box:[-0.12206189,0.06687545,-0.99026692,0.00000000,0.99041975,-0.05670366,-0.12591010,0.00000000,-0.06457207,-0.99614877,-0.05931341,0.00000000,-0.05397752,0.11012781,-0.05392877,1.00000000]",,L,L,118 -http://visiongpu2.cs.princeton.edu:8010/ots0001_dasani_water_bottle_1.html,"ots0001:dasani_water_bottle:[0.06341305,0.99798739,0.00000000,0.00000000,-0.99798739,0.06341305,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.13165849,0.15000001,0.08606308,1.00000000]",,,Z,666 -http://visiongpu2.cs.princeton.edu:8010/ots0001_elmers_washable_no_run_school_glue_1.html,"ots0001:elmers_washable_no_run_school_glue:[0.24648936,0.96914548,0.00000000,0.00000000,-0.96914548,0.24648936,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.11673349,0.12086711,0.09113570,1.00000000]",,L,C,839 -http://visiongpu2.cs.princeton.edu:8010/ots0001_elmers_washable_no_run_school_glue_2.html,"ots0001:elmers_washable_no_run_school_glue:[0.06159643,0.99759537,0.03177130,0.00000000,0.99503946,-0.05888502,-0.08018151,0.00000000,-0.07811785,0.03655259,-0.99627382,0.00000000,-0.10363482,0.12549685,0.12696925,1.00000000]",,L,yc,59 -http://visiongpu2.cs.princeton.edu:8010/ots0001_scotch_bubble_mailer_1.html,"ots0001:scotch_bubble_mailer:[0.99549919,-0.04065376,-0.08560774,0.00000000,-0.02175609,-0.97722739,0.21107663,0.00000000,-0.09223929,-0.20826413,-0.97371352,0.00000000,0.00000000,0.15489082,-0.12797563,1.00000000]",,L,MIT Total ,1688 -http://visiongpu2.cs.princeton.edu:8010/ots0001_scotch_bubble_mailer_2.html,"ots0001:scotch_bubble_mailer:[0.99638832,-0.01251115,-0.08398675,0.00000000,0.00908320,-0.96770674,0.25191504,0.00000000,-0.08442629,-0.25176805,-0.96409804,0.00000000,0.00000000,0.17180446,-0.11656222,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0001_up_glucose_bottle_1.html,"ots0001:up_glucose_bottle:[-0.03378012,0.99696761,-0.07010295,0.00000000,-0.68364555,0.02811578,0.72927243,0.00000000,0.72903198,0.07256050,0.68062276,0.00000000,0.13329728,0.12391257,-0.03041557,1.00000000]",,L,shuran,62 -http://visiongpu2.cs.princeton.edu:8010/ots0001_womens_knit_gloves_1.html,"ots0001:womens_knit_gloves:[0.99845922,0.05394375,-0.01300887,0.00000000,-0.00778592,-0.09592503,-0.99535811,0.00000000,-0.05494122,0.99392581,-0.09535723,0.00000000,-0.05008377,0.06704287,0.00216463,1.00000000]",,L,ln,407 -http://visiongpu2.cs.princeton.edu:8010/ots0002_cherokee_easy_tee_shirt_1.html,"ots0002:cherokee_easy_tee_shirt:[-0.15580033,0.11061855,0.98157519,0.00000000,-0.98134243,0.09600618,-0.16658279,0.00000000,-0.11266444,-0.98921502,0.09359688,0.00000000,-0.08204506,0.06863027,0.04834193,1.00000000]",,L,A,10 -http://visiongpu2.cs.princeton.edu:8010/ots0002_folgers_classic_roast_coffee_1.html,"ots0002:folgers_classic_roast_coffee:[-0.03187893,-0.99197185,0.12237467,0.00000000,-0.80090064,-0.04789551,-0.59687871,0.00000000,0.59794807,-0.11703780,-0.79294401,0.00000000,0.14553498,0.10629187,-0.07635984,1.00000000]",,L,E,3 -http://visiongpu2.cs.princeton.edu:8010/ots0002_i_am_a_bunny_book_1.html,"ots0002:i_am_a_bunny_book:[0.03503755,-0.97727281,0.20906994,0.00000000,-0.99798608,-0.02314529,0.05906021,0.00000000,-0.05287895,-0.21071821,-0.97611558,0.00000000,-0.07065333,0.16800000,-0.09508068,1.00000000]",,L,Princeton Total,479 -http://visiongpu2.cs.princeton.edu:8010/ots0002_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0002:kyjen_squeakin_eggs_plush_puppies:[-0.04843460,-0.02656084,-0.99847311,0.00000000,-0.99744648,-0.05124108,0.04974790,0.00000000,-0.05248420,0.99833304,-0.02401116,0.00000000,0.14482272,0.08696696,0.10557456,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0003_command_hooks_1.html,"ots0003:command_hooks:[0.11998840,0.00981722,0.99272674,0.00000000,-0.99220359,0.03511569,0.11957791,0.00000000,-0.03368637,-0.99933505,0.01395415,0.00000000,0.15486404,0.05076623,0.03738671,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0003_easter_turtle_sippy_cup_1.html,"ots0003:easter_turtle_sippy_cup:[0.14867134,0.98837417,0.03183277,0.00000000,-0.96646845,0.15204109,-0.20693545,0.00000000,-0.20936956,0.00000000,0.97783661,0.00000000,-0.07060301,0.10487706,-0.03265235,1.00000000]",object is different from the scene,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0003_jane_eyre_dvd_1.html,"ots0003:jane_eyre_dvd:[0.99999875,0.00156863,0.00000002,0.00000000,0.00002191,-0.01398177,0.99990225,0.00000000,0.00156848,-0.99990106,-0.01398178,0.00000000,-0.04225576,0.05692686,0.08406304,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0003_laugh_out_loud_joke_book_1.html,"ots0003:laugh_out_loud_joke_book:[0.12838776,0.97187573,-0.19741888,0.00000000,0.99165791,-0.12810922,0.01423638,0.00000000,-0.01145519,-0.19759977,-0.98021585,0.00000000,-0.08936596,0.13215896,-0.12567343,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0004_oral_b_toothbrush_red_1.html,"ots0004:oral_b_toothbrush_red:[-0.98970169,0.06412913,-0.12797697,0.00000000,0.07071231,0.99636167,-0.04757329,0.00000000,0.12446051,-0.05613291,-0.99063551,0.00000000,-0.04865322,0.04377633,0.09876178,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0004_rolodex_jumbo_pencil_cup_1.html,"ots0004:rolodex_jumbo_pencil_cup:[-0.05233501,0.99862957,0.00000000,0.00000000,-0.99862957,-0.05233501,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.09487265,0.12056234,-0.02651822,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8010/ots0004_scotch_duct_tape_1.html,"ots0004:scotch_duct_tape:[-0.43736449,0.11542097,0.89184660,0.00000000,0.89818782,0.00710745,0.43955445,0.00000000,0.04439504,0.99329126,-0.10677826,0.00000000,0.12686178,0.06976055,0.00000000,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0005_barkely_hide_bones_1.html,"ots0005:barkely_hide_bones:[0.96764100,-0.24178000,-0.07220381,0.00000000,0.07404744,-0.00146489,0.99725366,0.00000000,-0.24122176,-0.97033000,0.01648570,0.00000000,-0.04608442,0.04634501,0.06425535,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0005_platinum_pets_dog_bowl_1.html,"ots0005:platinum_pets_dog_bowl:[-0.89466405,0.13582417,0.42559129,0.00000000,-0.42336690,0.04632717,-0.90477306,0.00000000,-0.14260648,-0.98964924,0.01605623,0.00000000,-0.04533569,0.05240081,-0.05466441,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_cool_shot_glue_sticks_1.html,"ots0006:cool_shot_glue_sticks:[0.99906045,0.04333844,-0.00000001,0.00000000,-0.00161355,0.03719663,0.99930668,0.00000000,0.04330839,-0.99836779,0.03723161,0.00000000,-0.07803328,0.05557691,0.01329018,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_crayola_24_ct_1.html,"ots0006:crayola_24_ct:[0.98903900,0.03174252,0.14420196,0.00000000,-0.03106376,0.99949318,-0.00695667,0.00000000,-0.14434971,0.00240097,0.98952383,0.00000000,-0.10078633,0.08827936,0.09496620,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_dove_beauty_bar_1.html,"ots0006:dove_beauty_bar:[-0.99748951,0.07080784,-0.00097649,0.00000000,0.07080173,0.99747640,0.00529157,0.00000000,0.00134871,0.00520915,-0.99998552,0.00000000,-0.10740460,0.08533641,0.12410374,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_fiskars_scissors_red_1.html,n/a,point cloud too unclear,,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_fitness_gear_3lb_dumbbell_1.html,"ots0006:fitness_gear_3lb_dumbbell:[0.99856991,-0.05276911,0.00857920,0.00000000,-0.05256291,-0.93974793,0.33780310,0.00000000,-0.00976328,-0.33777094,-0.94117767,0.00000000,-0.08014344,0.07896857,-0.07437377,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_oral_b_toothbrush_green_1.html,"ots0006:oral_b_toothbrush_green:[0.01463469,0.04737686,0.99876988,0.00000000,-0.87274325,-0.48685902,0.03588231,0.00000000,0.48796013,-0.87219477,0.03422282,0.00000000,0.19839159,0.05140948,0.02572581,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_rawlings_baseball_1.html,"ots0006:rawlings_baseball:[0.20476583,-0.87431979,-0.44004068,0.00000000,0.97805727,0.20040472,0.05693767,0.00000000,0.03840449,-0.44204387,0.89617091,0.00000000,0.05301561,0.07961561,0.01233274,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_staples_index_cards_1.html,"ots0006:staples_index_cards:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.02812994,0.99960428,0.00000000,0.00000000,-0.99960428,-0.02812994,0.00000000,0.06145345,0.04722437,0.10875610,1.00000000]",,P,, -http://visiongpu2.cs.princeton.edu:8010/ots0006_staples_index_cards_2.html,"ots0006:staples_index_cards:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.02781432,0.99961311,0.00000000,0.00000000,-0.99961311,-0.02781432,0.00000000,0.12483051,0.05583040,-0.10486969,1.00000000]",,P,, -http://visiongpu2.cs.princeton.edu:8010/ots0007_creativity_chenille_stems_1.html,"ots0007:creativity_chenille_stems:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.97865289,-0.20551993,0.00000000,0.00000000,0.20551993,-0.97865289,0.00000000,0.00000000,0.08940272,0.13821024,1.00000000]",,P,, -http://visiongpu2.cs.princeton.edu:8010/ots0007_dasani_water_bottle_1.html,"ots0007:dasani_water_bottle:[-0.99660808,0.05407378,0.06203541,0.00000000,-0.05396933,-0.99853694,0.00335940,0.00000000,0.06212630,0.00000000,0.99806827,0.00000000,0.10481938,0.08054737,-0.06897826,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8010/ots0007_safety_first_outlet_plugs_1.html,n/a,target not in the scene,,, -http://visiongpu2.cs.princeton.edu:8010/ots0007_soft_white_lightbulb_1.html,"ots0007:soft_white_lightbulb:[0.03079893,0.99923921,0.02392693,0.00000000,0.00581449,-0.02411701,0.99969226,0.00000000,0.99950868,-0.03065034,-0.00655285,0.00000000,0.09852982,0.10100557,0.00490118,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0007_woods_extension_cord_1.html,"ots0007:woods_extension_cord:[-0.99551994,0.06498611,0.06867932,0.00000000,0.04639658,-0.29715362,0.95370173,0.00000000,0.08238568,0.95261562,0.29280725,0.00000000,0.09388771,0.05283195,0.05969831,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0008_cloud_b_plush_bear_1.html,"ots0008:cloud_b_plush_bear:[0.97769421,-0.01108725,-0.20974058,0.00000000,0.21000856,0.03624161,0.97702760,0.00000000,-0.00323121,-0.99928153,0.03776163,0.00000000,-0.04776311,0.08041586,-0.08096685,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0008_peva_shower_curtain_liner_1.html,"ots0008:peva_shower_curtain_liner:[0.99166143,0.10892341,-0.06887139,0.00000000,-0.05877918,-0.09329811,-0.99390161,0.00000000,-0.11468472,0.98966211,-0.08611771,0.00000000,0.03823463,0.05263792,0.04254361,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0009_clorox_utility_brush_1.html,"ots0009:clorox_utility_brush:[-0.01221175,-0.03129580,-0.99943554,0.00000000,0.23554341,-0.97147346,0.02754219,0.00000000,-0.97178710,-0.23507413,0.01923493,0.00000000,-0.11232360,0.08070790,-0.05720711,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0009_hanes_tube_socks_1.html,"ots0009:hanes_tube_socks:[-0.99645394,-0.05581805,0.06295936,0.00000000,0.06186907,0.02105208,0.99786222,0.00000000,-0.05702415,0.99821895,-0.01752400,0.00000000,0.10182529,0.07437471,-0.04899532,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0009_scotch_duct_tape_1.html,"ots0009:scotch_duct_tape:[-0.96832913,0.16906530,-0.18372715,0.00000000,0.18555994,-0.00503289,-0.98262006,0.00000000,-0.16705163,-0.98559201,-0.02649825,0.00000000,-0.02060210,0.06401398,0.09811203,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0010_dr_browns_bottle_brush_1.html,"ots0010:dr_browns_bottle_brush:[0.99810344,-0.03122068,-0.05305507,0.00000000,-0.05372282,-0.02095224,-0.99833602,0.00000000,0.03005711,0.99929285,-0.02258977,0.00000000,-0.00295066,0.07826964,0.08376003,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0010_expo_dry_erase_board_eraser_1.html,"ots0010:expo_dry_erase_board_eraser:[-0.99599040,0.04081339,0.07960799,0.00000000,-0.07708699,0.06001240,-0.99521661,0.00000000,-0.04539562,-0.99736291,-0.05662559,0.00000000,-0.08273528,0.07802723,-0.08391921,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8010/ots0010_expo_dry_erase_board_eraser_2.html,"ots0010:expo_dry_erase_board_eraser:[0.99244189,-0.00000000,-0.12271536,0.00000000,0.12223304,-0.08857384,0.98854125,0.00000000,-0.01086937,-0.99606961,-0.08790439,0.00000000,-0.07719871,0.06926244,-0.03414644,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8010/ots0010_ticonderoga_12_pencils_1.html,"ots0010:ticonderoga_12_pencils:[0.99940526,-0.03448342,0.00000001,0.00000000,0.00116174,0.03366994,0.99943233,0.00000000,-0.03446385,-0.99883795,0.03368998,0.00000000,0.17013313,0.05879405,-0.08810649,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0011_cool_shot_glue_sticks_1.html,"ots0011:cool_shot_glue_sticks:[0.98205346,-0.08921263,-0.16616879,0.00000000,0.16709355,0.00294680,0.98593664,0.00000000,-0.08746833,-0.99600822,0.01780077,0.00000000,-0.08643974,0.06334986,0.03113858,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0011_elmers_washable_no_run_school_glue_1.html,"ots0011:elmers_washable_no_run_school_glue:[0.02036813,0.99979031,0.00211890,0.00000000,-0.99442381,0.02047805,-0.10345014,0.00000000,-0.10347185,0.00000000,0.99463236,0.00000000,0.07944335,0.11009664,0.05892780,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0011_scotch_bubble_mailer_1.html,"ots0011:scotch_bubble_mailer:[0.99999714,0.00219850,0.00094357,0.00000000,0.00199975,-0.98460621,0.17477608,0.00000000,0.00131329,-0.17477369,-0.98460776,0.00000000,-0.02067986,0.16645278,-0.11599204,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0011_soft_white_lightbulb_1.html,"ots0011:soft_white_lightbulb:[0.00530882,0.99976218,-0.02115097,0.00000000,0.96587598,-0.01060380,-0.25878790,0.00000000,-0.25895062,-0.01905535,-0.96570259,0.00000000,-0.08684973,0.10621877,-0.04553747,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0012_command_hooks_1.html,"ots0012:command_hooks:[0.04364811,0.96299350,-0.26596683,0.00000000,0.99393487,-0.06875487,-0.08582696,0.00000000,-0.10093733,-0.26060754,-0.96015382,0.00000000,0.07149918,0.12432743,-0.12171510,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0012_i_am_a_bunny_book_1.html,"ots0012:i_am_a_bunny_book:[-0.02034959,-0.99397171,-0.10773181,0.00000000,-0.99830401,0.01432244,0.05642683,0.00000000,-0.05454369,0.10869736,-0.99257743,0.00000000,0.11796711,0.14390582,0.12558728,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0012_laugh_out_loud_joke_book_1.html,"ots0012:laugh_out_loud_joke_book:[0.11143597,0.98629087,-0.12170614,0.00000000,0.99371988,-0.11184114,0.00351885,0.00000000,-0.01014114,-0.12133394,-0.99255997,0.00000000,-0.08861079,0.14535189,-0.11662203,1.00000000]",,P,, -http://visiongpu2.cs.princeton.edu:8010/ots0012_platinum_pets_dog_bowl_1.html,"ots0012:platinum_pets_dog_bowl:[0.99469507,-0.10286760,0.00000000,0.00000000,0.00085724,0.00828923,0.99996525,0.00000000,-0.10286403,-0.99466050,0.00833344,0.00000000,0.04749603,0.03257816,0.00377497,1.00000000]",object pointcloud is poor,P,, -http://visiongpu2.cs.princeton.edu:8010/ots0012_safety_first_outlet_plugs_1.html,"ots0012:safety_first_outlet_plugs:[0.99249142,-0.00000000,-0.12231434,0.00000000,0.12230527,0.01218459,0.99241775,0.00000000,0.00149035,-0.99992579,0.01209310,0.00000000,-0.07399184,0.06459000,0.08707255,1.00000000]",,P,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_creativity_chenille_stems_1.html,"ots0013:creativity_chenille_stems:[0.99903530,-0.04171576,-0.01372051,0.00000000,-0.04343319,-0.98474348,-0.16850485,0.00000000,-0.00648188,0.16893822,-0.98560536,0.00000000,0.10684516,0.08022615,0.11853800,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_dasani_water_bottle_1.html,"ots0013:dasani_water_bottle:[-0.05361593,0.99856162,0.00000000,0.00000000,-0.99856162,-0.05361593,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.02657761,0.15000001,0.03233517,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_hanes_tube_socks_1.html,"ots0013:hanes_tube_socks:[0.99992424,-0.01200808,0.00269503,0.00000000,-0.01211622,-0.99893445,0.04453246,0.00000000,0.00215741,-0.04456174,-0.99900430,0.00000000,0.13337456,0.17334589,-0.07557736,1.00000000]",ambiguous object orientation,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_jane_eyre_dvd_1.html,"ots0013:jane_eyre_dvd:[-0.00712790,0.99992275,-0.01018335,0.00000000,-0.99483097,-0.00605930,0.10136377,0.00000000,0.10129423,0.01085322,0.99479729,0.00000000,-0.05902144,0.15185323,-0.11147322,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0013:kyjen_squeakin_eggs_plush_puppies:[0.97549903,-0.22000362,0.00000000,0.00000000,-0.12467887,-0.55282778,0.82391542,0.00000000,-0.18126439,-0.80372870,-0.56671280,0.00000000,-0.10170326,0.10743997,-0.04921055,1.00000000]",object color different,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_oral_b_toothbrush_green_1.html,"ots0013:oral_b_toothbrush_green:[0.90726930,0.00069241,0.42054963,0.00000000,0.01046514,0.99965179,-0.02422275,0.00000000,-0.42041996,0.02637767,0.90694612,0.00000000,-0.06276593,0.07341602,0.04766877,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_rawlings_baseball_1.html,"ots0013:rawlings_baseball:[-0.66059458,-0.08912338,0.74543399,0.00000000,0.74665272,0.02551093,0.66472471,0.00000000,-0.07825923,0.99569386,0.04969181,0.00000000,-0.11643519,0.09169575,0.10552830,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_scotch_duct_tape_1.html,"ots0013:scotch_duct_tape:[0.92804468,0.37190053,0.02056776,0.00000000,-0.37246883,0.92662871,0.05124670,0.00000000,0.00000000,-0.05522008,0.99847418,0.00000000,0.11767774,0.10394506,0.07551783,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0013_up_glucose_bottle_1.html,"ots0013:up_glucose_bottle:[0.00656822,0.99995792,0.00640847,0.00000000,-0.34428719,0.00827815,-0.93882787,0.00000000,-0.93884140,0.00396008,0.34432706,0.00000000,0.06569663,0.13112560,-0.02184347,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_barkely_hide_bones_1.html,"ots0014:barkely_hide_bones:[-0.99433553,-0.02650972,0.10292763,0.00000000,0.10342077,-0.01795298,0.99447566,0.00000000,-0.02451541,0.99948734,0.02059295,0.00000000,0.08424179,0.05822437,-0.08112060,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_dasani_water_bottle_1.html,"ots0014:dasani_water_bottle:[0.04799194,0.99884772,0.00000000,0.00000000,-0.99884772,0.04799194,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.12967604,0.14109083,0.09603081,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_dove_beauty_bar_1.html,"ots0014:dove_beauty_bar:[0.03228031,-0.99947888,0.00000000,0.00000000,0.99947888,0.03228031,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.03333078,0.09881300,-0.02283579,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_folgers_classic_roast_coffee_1.html,"ots0014:folgers_classic_roast_coffee:[-0.02361795,-0.99955243,0.01836033,0.00000000,0.61665177,-0.00011019,0.78723603,0.00000000,-0.78688169,0.02991483,0.61637843,0.00000000,0.00000000,0.10744099,0.07105989,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_kleenex_tissue_box_1.html,"ots0014:kleenex_tissue_box:[0.05551923,-0.07353290,0.99574620,0.00000000,-0.06473738,-0.99545109,-0.06990158,0.00000000,0.99635673,-0.06058112,-0.06002701,0.00000000,0.11334952,0.09939776,0.02940289,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_scotch_duct_tape_1.html,"ots0014:scotch_duct_tape:[-0.98028076,0.06338831,0.18716705,0.00000000,-0.18822721,-0.01113431,-0.98206240,0.00000000,-0.06016730,-0.99792683,0.02284618,0.00000000,-0.13591686,0.06797984,0.00482186,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0014_staples_index_cards_1.html,"ots0014:staples_index_cards:[0.98745257,-0.12635566,-0.09471904,0.00000000,0.09168231,-0.02964935,0.99534678,0.00000000,-0.12857607,-0.99154180,-0.01769275,0.00000000,-0.12164090,0.05139562,-0.09022022,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0015_easter_turtle_sippy_cup_1.html,"ots0015:easter_turtle_sippy_cup:[-0.02468919,0.99597603,0.08615200,0.00000000,-0.05253110,-0.08735171,0.99479151,0.00000000,0.99831402,0.02003496,0.05447638,0.00000000,-0.12390620,0.10734894,-0.04893583,1.00000000]",object orientation does not match,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0015_fitness_gear_3lb_dumbbell_1.html,"ots0015:fitness_gear_3lb_dumbbell:[0.01073826,0.99994236,0.00000000,0.00000000,-0.99994236,0.01073826,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.03539236,0.10284072,-0.01022861,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0015_kleenex_paper_towels_1.html,"ots0015:kleenex_paper_towels:[-0.99854541,0.05358901,0.00593973,0.00000000,0.04132372,0.83141810,-0.55410856,0.00000000,-0.03463253,-0.55305713,-0.83242321,0.00000000,0.04292599,0.08727732,0.09749915,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0016_creativity_chenille_stems_1.html,"ots0016:creativity_chenille_stems:[0.72105229,-0.05647412,-0.69057530,0.00000000,-0.67798567,0.14804006,-0.72001356,0.00000000,0.14289494,0.98736763,0.06845598,0.00000000,-0.00450782,0.05302966,-0.01895041,1.00000000]","template and point cloud color variance, template does not bend like point cloud image",z,, -http://visiongpu2.cs.princeton.edu:8010/ots0016_fiskars_scissors_red_1.html,"ots0016:fiskars_scissors_red:[0.91288567,0.37491965,-0.16147748,0.00000000,-0.36436477,0.92672122,0.09179369,0.00000000,0.18405986,-0.02496045,0.98259807,0.00000000,-0.07960751,0.07376743,-0.11794250,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0017_elmers_washable_no_run_school_glue_1.html,"ots0017:elmers_washable_no_run_school_glue:[0.03738867,0.99929857,-0.00210438,0.00000000,-0.99771947,0.03744784,0.05615560,0.00000000,0.05619502,0.00000000,0.99841982,0.00000000,0.04650246,0.11866698,0.10289172,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0017_scotch_bubble_mailer_1.html,"ots0017:scotch_bubble_mailer:[0.99985236,0.00000000,-0.01718340,0.00000000,-0.01717838,-0.02415362,-0.99956065,0.00000000,-0.00041504,0.99970824,-0.02415006,0.00000000,-0.00434043,0.04716067,-0.01969851,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0017_woods_extension_cord_1.html,"ots0017:woods_extension_cord:[-0.99941230,-0.00453523,0.03397769,0.00000000,0.00730076,0.94030595,0.34025207,0.00000000,-0.03349254,0.34030017,-0.93972021,0.00000000,-0.08305604,0.08680598,0.13928317,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0018_cherokee_easy_tee_shirt_1.html,"ots0018:cherokee_easy_tee_shirt:[-0.99695432,0.07797978,-0.00113929,0.00000000,0.00395489,0.03596184,-0.99934536,0.00000000,-0.07788776,-0.99630612,-0.03616072,0.00000000,-0.06596459,0.06972763,-0.04545193,1.00000000]",template and point cloud image folded differently,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0018_clorox_utility_brush_1.html,"ots0018:clorox_utility_brush:[0.99848592,0.00000000,0.05500771,0.00000000,-0.00305578,-0.99845582,0.05546769,0.00000000,0.05492277,-0.05555180,-0.99694407,0.00000000,-0.01994197,0.08107383,0.08704276,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0019_cloud_b_plush_bear_1.html,"ots0019:cloud_b_plush_bear:[-0.13291383,-0.22449343,-0.96536863,0.00000000,0.99049902,0.00459718,-0.13744290,0.00000000,0.03529299,-0.97446477,0.22174951,0.00000000,-0.00687340,0.06933265,0.06888114,1.00000000]",template does not bend legs like point cloud image,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0019_crayola_24_ct_1.html,"ots0019:crayola_24_ct:[0.07410473,0.99725050,0.00000005,0.00000000,0.04665485,-0.00346698,0.99890512,0.00000000,0.99615860,-0.07402363,-0.04678353,0.00000000,0.03096926,0.08511095,-0.04855822,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0019_expo_dry_erase_board_eraser_1.html,"ots0019:expo_dry_erase_board_eraser:[-0.02344660,-0.00781937,-0.99969453,0.00000000,0.99969620,-0.00778466,-0.02338576,0.00000000,-0.00759943,-0.99993914,0.00799953,0.00000000,-0.13044530,0.07101108,0.06146868,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0019_rolodex_jumbo_pencil_cup_1.html,"ots0019:rolodex_jumbo_pencil_cup:[0.11199353,0.99370897,0.00000000,0.00000000,-0.99370897,0.11199353,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.11873907,0.10909627,-0.05744339,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0020_dr_browns_bottle_brush_1.html,"ots0020:dr_browns_bottle_brush:[0.97379130,-0.11989684,-0.19327503,0.00000000,-0.19772004,-0.02624301,-0.97990716,0.00000000,0.11241566,0.99243945,-0.04926123,0.00000000,0.00199268,0.05679902,0.03294813,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0020_staples_index_cards_1.html,"ots0020:staples_index_cards:[0.99647051,-0.06727676,-0.05020294,0.00000000,0.04514378,-0.07471868,0.99618232,0.00000000,-0.07077102,-0.99493265,-0.07141784,0.00000000,-0.08296005,0.05725219,-0.08652104,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0021_expo_dry_erase_board_eraser_1.html,"ots0021:expo_dry_erase_board_eraser:[-0.99590731,0.04227916,0.07988223,0.00000000,-0.07623502,0.08179660,-0.99372911,0.00000000,-0.04854812,-0.99575186,-0.07823870,0.00000000,0.09316690,0.06845112,-0.09672058,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0021_oral_b_toothbrush_red_1.html,"ots0021:oral_b_toothbrush_red:[0.99923992,0.00448780,-0.03872197,0.00000000,-0.00000000,0.99335074,0.11512747,0.00000000,0.03898117,-0.11503997,0.99259573,0.00000000,-0.07084429,0.05864635,-0.05422577,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0021_peva_shower_curtain_liner_1.html,"ots0021:peva_shower_curtain_liner:[-0.99987888,-0.00852403,0.01302244,0.00000000,-0.01309790,0.00885738,-0.99987501,0.00000000,0.00840762,-0.99992448,-0.00896797,0.00000000,0.08593152,0.06057044,0.04019490,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0021_womens_knit_gloves_1.html,"ots0021:womens_knit_gloves:[-0.15728003,-0.13511005,-0.97826803,0.00000000,0.98704946,0.01015535,-0.16009441,0.00000000,0.03156504,-0.99077857,0.13176306,0.00000000,-0.10289901,0.07062177,0.06834491,1.00000000]",template and point cloud image differ,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0022_creativity_chenille_stems_1.html,"ots0022:creativity_chenille_stems:[0.99836594,-0.01456790,0.05525555,0.00000000,0.05567665,0.03028723,-0.99798936,0.00000000,0.01286507,0.99943507,0.03104883,0.00000000,-0.00374920,0.03895876,0.06309698,1.00000000]",template and point cloud color variance,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0022_kleenex_tissue_box_1.html,"ots0022:kleenex_tissue_box:[0.14593308,0.04658193,0.98819715,0.00000000,-0.98074740,0.13783209,0.13833575,0.00000000,-0.12976132,-0.98935962,0.06579938,0.00000000,-0.07704840,0.09338509,-0.07372941,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0023_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0023_elmers_washable_no_run_school_glue_1.html,"ots0023:elmers_washable_no_run_school_glue:[0.99624920,-0.08430918,-0.01948100,0.00000000,0.02208097,0.03001673,0.99930549,0.00000000,-0.08366587,-0.99598742,0.03176577,0.00000000,-0.03843272,0.04165895,0.07594160,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0023_elmers_washable_no_run_school_glue_2.html,"ots0023:elmers_washable_no_run_school_glue:[0.07254542,0.99689174,0.03072452,0.00000000,0.97878617,-0.06524191,-0.19421929,0.00000000,-0.19161108,0.04416245,-0.98047680,0.00000000,-0.06059111,0.10073500,0.12607330,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0023_scotch_bubble_mailer_1.html,"ots0023:scotch_bubble_mailer:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.98902559,-0.14774413,0.00000000,0.00000000,0.14774413,0.98902559,0.00000000,-0.01200896,0.14402679,-0.13046646,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0023_scotch_bubble_mailer_2.html,"ots0023:scotch_bubble_mailer:[0.99772525,0.00119657,-0.06740122,0.00000000,-0.01244855,0.98591721,-0.16677023,0.00000000,0.06625247,0.16722992,0.98368937,0.00000000,-0.00290710,0.13741733,-0.12524758,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0023_womens_knit_gloves_1.html,"ots0023:womens_knit_gloves:[0.97046310,-0.08844157,-0.22445379,0.00000000,0.21544608,-0.10092920,0.97128594,0.00000000,-0.10855599,-0.99095482,-0.07889368,0.00000000,-0.02788042,0.01657221,-0.01188002,1.00000000]",template and point cloud image orientation differ,z,, -http://visiongpu2.cs.princeton.edu:8010/ots0024_cherokee_easy_tee_shirt_1.html,"ots0024:cherokee_easy_tee_shirt:[0.04779131,-0.13666837,-0.98946339,0.00000000,-0.99878114,0.00569817,-0.04902841,0.00000000,0.01233876,0.99060047,-0.13622946,0.00000000,-0.07019644,0.05752575,0.07637127,1.00000000]",template does not match point cloud image,z,, 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-http://visiongpu2.cs.princeton.edu:8010/ots0039_folgers_classic_roast_coffee_1.html,"ots0039:folgers_classic_roast_coffee:[-0.03716355,-0.99910218,0.02033935,0.00000000,-0.55638522,0.00378037,-0.83091587,0.00000000,0.83009297,-0.04219630,-0.55602616,0.00000000,0.12926531,0.07265164,0.04496824,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0039_jane_eyre_dvd_1.html,"ots0039:jane_eyre_dvd:[0.01713519,0.97382051,0.22667146,0.00000000,-0.99975216,0.01990906,-0.00995674,0.00000000,-0.01420888,-0.22644468,0.97392040,0.00000000,-0.06208408,0.11737867,0.10565583,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0039_rawlings_baseball_1.html,"ots0039:rawlings_baseball:[0.99073422,0.10291258,0.08862650,0.00000000,-0.05828758,0.91158921,-0.40694925,0.00000000,-0.12267115,0.39801273,0.90914118,0.00000000,0.09632597,0.06006798,-0.05480735,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0039_womens_knit_gloves_1.html,"ots0039:womens_knit_gloves:[0.98144424,-0.18332225,-0.05621529,0.00000000,0.04996234,-0.03855500,0.99800664,0.00000000,-0.18512422,-0.98229653,-0.02868037,0.00000000,-0.05733780,0.03187175,0.02183090,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0040_rolodex_jumbo_pencil_cup_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8010/ots0040_safety_first_outlet_plugs_1.html,"ots0040:safety_first_outlet_plugs:[0.99246800,-0.11285296,0.04765953,0.00000000,-0.04785567,0.00097184,0.99885380,0.00000000,-0.11276992,-0.99361122,-0.00443613,0.00000000,-0.00532351,0.03416045,0.04778336,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_barkely_hide_bones_1.html,"ots0041:barkely_hide_bones:[-0.99980938,-0.01896780,-0.00462444,0.00000000,0.00536109,-0.03897183,-0.99922591,0.00000000,0.01877289,-0.99906027,0.03906610,0.00000000,-0.05512561,0.03252633,-0.04278180,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_elmers_washable_no_run_school_glue_1.html,"ots0041:elmers_washable_no_run_school_glue:[0.06670394,0.99767452,0.01400312,0.00000000,-0.81247020,0.04616409,0.58117211,0.00000000,0.57917416,-0.05014359,0.81366020,0.00000000,-0.04954899,0.09249005,0.03016766,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0041:kyjen_squeakin_eggs_plush_puppies:[0.46621197,-0.67344040,-0.57369363,0.00000000,-0.81778866,-0.57541567,0.01088612,0.00000000,-0.33744347,0.46408492,-0.81899756,0.00000000,0.15816301,0.06385977,0.09888187,1.00000000]",ambiguous orientation and color,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_oral_b_toothbrush_green_1.html,"ots0041:oral_b_toothbrush_green:[-0.99177247,0.12757358,0.01060056,0.00000000,-0.02381870,-0.10253745,-0.99444395,0.00000000,-0.12577781,-0.98651463,0.10473243,0.00000000,-0.02733910,0.03134850,-0.10898475,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_oral_b_toothbrush_red_1.html,"ots0041:oral_b_toothbrush_red:[-0.99598801,0.08830610,0.01448977,0.00000000,0.08831537,0.99609256,0.00000000,0.00000000,-0.01443316,0.00127967,-0.99989504,0.00000000,-0.02541156,0.02985477,-0.13788922,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_scotch_duct_tape_1.html,"ots0041:scotch_duct_tape:[-0.97582024,0.02419660,0.21723099,0.00000000,0.21782762,0.02556976,0.97565222,0.00000000,0.01805293,0.99938017,-0.03022216,0.00000000,-0.12120447,0.04704553,0.09875577,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_staples_index_cards_1.html,"ots0041:staples_index_cards:[0.46603093,0.02466927,-0.88442445,0.00000000,0.88476843,-0.01308345,0.46584725,0.00000000,-0.00007921,-0.99961007,-0.02792388,0.00000000,0.14489253,0.03005019,-0.07325484,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0041_staples_index_cards_2.html,"ots0041:staples_index_cards:[0.86918956,-0.04338653,-0.49257192,0.00000000,0.48760709,-0.09029165,0.86838168,0.00000000,-0.08215120,-0.99496984,-0.05732498,0.00000000,0.05634259,0.03802187,0.05745563,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0042_cool_shot_glue_sticks_1.html,"ots0042:cool_shot_glue_sticks:[-0.00746578,0.00118987,-0.99997145,0.00000000,0.99574327,-0.09186085,-0.00754350,0.00000000,-0.09186720,-0.99577117,-0.00049900,0.00000000,-0.06562933,0.04136283,-0.04406944,1.00000000]",,L,, -http://visiongpu2.cs.princeton.edu:8010/ots0042_dasani_water_bottle_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8010/ots0042_dr_browns_bottle_brush_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8010/ots0042_kleenex_tissue_box_1.html,"ots0042:kleenex_tissue_box:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.05597829,0.99843198,0.00000000,0.00000000,-0.99843198,-0.05597829,0.00000000,0.02990277,0.09625922,-0.06478999,1.00000000]",Difficult to decide which surface is the front,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0043_creativity_chenille_stems_1.html,"ots0043:creativity_chenille_stems:[0.99526119,-0.02054571,0.09504221,0.00000000,-0.09417702,0.03962360,0.99476665,0.00000000,-0.02420410,-0.99900341,0.03750090,0.00000000,0.03654393,0.04924111,0.01051459,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0043_expo_dry_erase_board_eraser_1.html,"ots0043:expo_dry_erase_board_eraser:[-0.99403846,0.08898357,-0.06300351,0.00000000,0.06868705,0.06232185,-0.99568975,0.00000000,-0.08467354,-0.99408144,-0.06806233,0.00000000,0.07810345,0.03757325,-0.08670554,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0043_laugh_out_loud_joke_book_1.html,"ots0043:laugh_out_loud_joke_book:[0.27251095,0.91564089,-0.29553267,0.00000000,0.94598383,-0.19890526,0.25602978,0.00000000,0.17564833,-0.34934005,-0.92038536,0.00000000,-0.06247505,0.12061087,-0.12449370,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0043_scotch_bubble_mailer_1.html,"ots0043:scotch_bubble_mailer:[0.99680775,-0.07606484,0.02425822,0.00000000,-0.07133491,-0.98497695,-0.15726346,0.00000000,0.03585601,0.15503098,-0.98725873,0.00000000,0.00000000,0.13797158,0.08373269,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0044_crayola_24_ct_1.html,"ots0044:crayola_24_ct:[-0.04323606,-0.99827385,0.03974865,0.00000000,0.00000000,-0.03978583,-0.99920821,0.00000000,0.99906486,-0.04320185,0.00172021,0.00000000,0.10598952,0.07665738,-0.02373177,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0044_creativity_chenille_stems_1.html,"ots0044:creativity_chenille_stems:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.95783788,-0.28730929,0.00000000,0.00000000,0.28730929,-0.95783788,0.00000000,0.04953918,0.06350420,0.11814953,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0044_dasani_water_bottle_1.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0044_scotch_bubble_mailer_1.html,"ots0044:scotch_bubble_mailer:[-0.99984133,0.01758474,-0.00285365,0.00000000,-0.01781478,-0.98693043,0.16015917,0.00000000,0.00000000,0.16018459,0.98708707,0.00000000,0.00000000,0.16492386,-0.11808361,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0044_ticonderoga_12_pencils_1.html,"ots0044:ticonderoga_12_pencils:[-0.99845338,0.00000000,-0.05559494,0.00000000,0.05558155,-0.02194643,-0.99821293,0.00000000,-0.00122011,-0.99975914,0.02191251,0.00000000,-0.04023677,0.05591438,0.04739757,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0044_woods_extension_cord_1.html,"ots0044:woods_extension_cord:[0.99998593,-0.00068714,0.00526206,0.00000000,0.00530673,0.12948281,-0.99156749,0.00000000,0.00000000,0.99158144,0.12948462,0.00000000,-0.04798400,0.06315127,-0.05838284,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0045_elmers_washable_no_run_school_glue_1.html,"ots0045:elmers_washable_no_run_school_glue:[0.20438488,0.97809148,0.03954590,0.00000000,0.62907296,-0.16219066,0.76023775,0.00000000,0.74999601,-0.13050385,-0.64844024,0.00000000,0.04092300,0.10132457,0.02651115,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0045_fiskars_scissors_red_1.html,"ots0045:fiskars_scissors_red:[0.74976099,-0.00000000,0.66170871,0.00000000,0.65116143,0.17783420,-0.73781013,0.00000000,-0.11767443,0.98406047,0.13333315,0.00000000,-0.06337464,0.05417256,0.05595048,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0045_staples_index_cards_1.html,"ots0045:staples_index_cards:[-0.99869490,0.00000000,0.05107251,0.00000000,0.05099568,0.05483115,0.99719256,0.00000000,-0.00280036,0.99849564,-0.05475956,0.00000000,-0.03061981,0.05066323,-0.07602600,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0046_expo_dry_erase_board_eraser_1.html,"ots0046:expo_dry_erase_board_eraser:[-0.99926925,-0.01204187,-0.03627663,0.00000000,0.03523703,0.07752666,-0.99636739,0.00000000,0.01481054,-0.99691755,-0.07704570,0.00000000,-0.03361794,0.04228828,-0.05463069,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0046_safety_first_outlet_plugs_1.html,"ots0046:safety_first_outlet_plugs:[-0.98331225,0.18189122,-0.00355435,0.00000000,0.01140577,0.04213767,-0.99904668,0.00000000,-0.18156806,-0.98241538,-0.04350910,0.00000000,0.00000000,0.02899963,0.04029744,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0047_kleenex_tissue_box_1.html,"ots0047:kleenex_tissue_box:[-0.15281574,0.04490089,0.98723418,0.00000000,-0.97799832,0.13667767,-0.15760241,0.00000000,-0.14200935,-0.98959744,0.02302650,0.00000000,0.10214820,0.09079368,-0.06102443,1.00000000]",Difficult to decide which surface is the front,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0047_peva_shower_curtain_liner_1.html,"ots0047:peva_shower_curtain_liner:[0.99896699,0.00000000,0.04544198,0.00000000,0.01764951,-0.92149234,-0.38799536,0.00000000,0.04187443,0.38839659,-0.92054039,0.00000000,0.00000000,0.08573345,0.10730344,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0047_soft_white_lightbulb_1.html,"ots0047:soft_white_lightbulb:[0.12700674,0.99183416,-0.01158493,0.00000000,0.07526878,-0.02128285,-0.99693608,0.00000000,-0.98904186,0.12574561,-0.07735720,0.00000000,-0.07220557,0.09790048,-0.12094396,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0047_up_glucose_bottle_1.html,"ots0047:up_glucose_bottle:[0.14614879,0.98852718,-0.03813856,0.00000000,-0.95649552,0.15104310,0.24960430,0.00000000,0.25250122,0.00000000,0.96759659,0.00000000,0.09253217,0.09902955,0.04830352,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0047_womens_knit_gloves_1.html,"ots0047:womens_knit_gloves:[0.99657625,-0.00846977,-0.08224358,0.00000000,0.08106572,-0.09542141,0.99213064,0.00000000,-0.01625091,-0.99540097,-0.09440810,0.00000000,-0.07386739,0.04443043,-0.00677422,1.00000000]",Different tag direction,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0048_easter_turtle_sippy_cup_1.html,"ots0048:easter_turtle_sippy_cup:[0.05661511,0.99838871,-0.00383679,0.00000000,-0.64644957,0.03372872,-0.76221085,0.00000000,-0.76085329,0.04563294,0.64731747,0.00000000,-0.03362313,0.10577632,-0.06919923,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0048_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0048:kyjen_squeakin_eggs_plush_puppies:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.06575198,0.99783599,0.00000000,0.00000000,-0.99783599,0.06575198,0.00000000,-0.06300239,0.05903850,0.02789491,1.00000000]",The package is different. The colors of the balls are different.,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0049_barkely_hide_bones_1.html,"ots0049:barkely_hide_bones:[-0.99888319,-0.04710629,-0.00366833,0.00000000,0.00289790,0.01641310,-0.99986112,0.00000000,0.04715996,-0.99875504,-0.01625832,0.00000000,-0.02378791,0.04511277,-0.08611325,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0049_cherokee_easy_tee_shirt_1.html,"ots0049:cherokee_easy_tee_shirt:[0.99775046,-0.06140542,0.02689602,0.00000000,0.03406639,0.11888538,-0.99232340,0.00000000,0.05773650,0.99100739,0.12070981,0.00000000,-0.07951955,0.06299366,0.03988649,1.00000000]","The color of the shirt's tag is different, and the shirt doesn't fold well. Difficult to figure out the direction.",C,, -http://visiongpu2.cs.princeton.edu:8010/ots0049_dasani_water_bottle_1.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0049_folgers_classic_roast_coffee_1.html,"ots0049:folgers_classic_roast_coffee:[-0.05091947,-0.99840522,-0.02437661,0.00000000,0.86534458,-0.03192160,-0.50015974,0.00000000,0.49858397,-0.04656203,0.86558998,0.00000000,0.14141412,0.11452808,-0.05923545,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0049_rawlings_baseball_1.html,"ots0049:rawlings_baseball:[0.96318114,0.26526618,-0.04377168,0.00000000,-0.26885331,0.95033002,-0.15681435,0.00000000,0.00000000,0.16280879,0.98665762,0.00000000,0.07738179,0.07123218,-0.09038171,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0049_scotch_duct_tape_1.html,"ots0049:scotch_duct_tape:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.08953548,0.08114489,-0.00621949,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0050_fitness_gear_3lb_dumbbell_1.html,"ots0050:fitness_gear_3lb_dumbbell:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.76850212,0.63984722,0.00000000,0.00000000,-0.63984722,-0.76850212,0.00000000,-0.02926624,0.08097128,-0.11333424,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0050_i_am_a_bunny_book_1.html,"ots0050:i_am_a_bunny_book:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.95662922,0.29130840,0.00000000,0.00000000,-0.29130840,0.95662922,0.00000000,-0.05230179,0.11525522,0.11675017,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0050_oral_b_toothbrush_red_1.html,"ots0050:oral_b_toothbrush_red:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.03086747,-0.00608881,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0050_rolodex_jumbo_pencil_cup_1.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0051_cool_shot_glue_sticks_1.html,"ots0051:cool_shot_glue_sticks:[0.95327568,-0.30030289,-0.03291831,0.00000000,-0.05222129,-0.05647798,-0.99703717,0.00000000,0.29755399,0.95217037,-0.06952129,0.00000000,-0.06409978,0.04334970,-0.09078521,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0051_dove_beauty_bar_1.html,"ots0051:dove_beauty_bar:[-0.02777291,0.99112338,0.13001205,0.00000000,-0.10469499,0.12646279,-0.98643100,0.00000000,-0.99411649,-0.04100766,0.10025340,0.00000000,0.08466542,0.07637496,-0.02309008,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0051_jane_eyre_dvd_1.html,"ots0051:jane_eyre_dvd:[-0.97688586,0.16874841,-0.13121739,0.00000000,0.12826987,-0.02829916,-0.99133545,0.00000000,-0.17099962,-0.98525286,0.00599969,0.00000000,-0.06360535,0.03636987,0.07457618,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0052_dr_browns_bottle_brush_1.html,"ots0052:dr_browns_bottle_brush:[0.98870504,0.00153084,0.14986664,0.00000000,0.14975363,0.03005193,-0.98826653,0.00000000,-0.00601667,0.99954718,0.02948325,0.00000000,0.06223230,0.05458882,-0.07911058,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0052_oral_b_toothbrush_green_1.html,"ots0052:oral_b_toothbrush_green:[0.99812603,-0.06119139,0.00000000,0.00000000,0.06119139,0.99812603,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00894732,0.04188613,0.04543263,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0053_clorox_utility_brush_1.html,"ots0053:clorox_utility_brush:[0.82177204,-0.24279258,0.51550215,0.00000000,-0.42609563,-0.86249566,0.27302685,0.00000000,0.37832949,-0.44401905,-0.81222773,0.00000000,-0.05292803,0.05904828,0.08268554,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0053_command_hooks_1.html,"ots0053:command_hooks:[0.99551362,0.08003251,0.05047198,0.00000000,-0.04759098,-0.03750695,0.99816245,0.00000000,0.08177850,-0.99608636,-0.03352985,0.00000000,-0.02989419,0.05956491,-0.07687771,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0053_elmers_washable_no_run_school_glue_1.html,"ots0053:elmers_washable_no_run_school_glue:[-0.04557981,0.99705434,0.06168648,0.00000000,0.48563486,0.07607851,-0.87084496,0.00000000,-0.87297273,-0.00973578,-0.48767206,0.00000000,0.08444951,0.09584105,0.04572843,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0053_platinum_pets_dog_bowl_1.html,"ots0053:platinum_pets_dog_bowl:[-0.64002562,-0.10704099,0.76086098,0.00000000,-0.76187027,-0.03995792,-0.64649600,0.00000000,0.09960400,-0.99345136,-0.05597724,0.00000000,0.08347001,0.02989894,-0.03857226,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0054_cloud_b_plush_bear_1.html,"ots0054:cloud_b_plush_bear:[0.91950136,-0.17639121,-0.35128814,0.00000000,0.35458365,-0.01353991,0.93492621,0.00000000,-0.16966918,-0.98422700,0.05009548,0.00000000,-0.05551711,0.07107963,-0.06486752,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0054_soft_white_lightbulb_1.html,"ots0054:soft_white_lightbulb:[0.09607716,0.99537355,-0.00076926,0.00000000,0.11643030,-0.01047067,0.99314362,0.00000000,0.98854089,-0.09550791,-0.11689758,0.00000000,-0.07156772,0.10792294,0.05410926,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8010/ots0067_soft_white_lightbulb_1.html,"ots0067:soft_white_lightbulb:[0.09298661,0.99500293,-0.03637193,0.00000000,0.06182472,-0.04222986,-0.99719334,0.00000000,-0.99374616,0.09047705,-0.06544269,0.00000000,0.11168572,0.08711422,-0.07420822,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0067_staples_index_cards_1.html,"ots0067:staples_index_cards:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.02350782,0.05815983,0.04885910,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0067_woods_extension_cord_1.html,"ots0067:woods_extension_cord:[0.99709189,-0.04039024,0.06462524,0.00000000,0.06906558,0.12046356,-0.99031228,0.00000000,0.03221396,0.99189574,0.12290281,0.00000000,-0.06509603,0.03960469,0.12022671,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0068_elmers_washable_no_run_school_glue_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0068_kleenex_tissue_box_1.html,"ots0068:kleenex_tissue_box:[-0.04407143,-0.00374035,0.99902141,0.00000000,-0.98370898,0.17461337,-0.04274216,0.00000000,-0.17428263,-0.98462999,-0.01137488,0.00000000,0.11708158,0.07833211,-0.04220572,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0068_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0068:kyjen_squeakin_eggs_plush_puppies:[-0.99862736,0.01710564,0.04950522,0.00000000,-0.04849519,0.05512659,-0.99730098,0.00000000,-0.01978853,-0.99833280,-0.05422135,0.00000000,0.08883177,0.06881040,0.08630348,1.00000000]",object color different,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0068_platinum_pets_dog_bowl_1.html,"ots0068:platinum_pets_dog_bowl:[0.98128253,-0.18808751,0.04132397,0.00000000,-0.05476714,-0.06684472,0.99625915,0.00000000,-0.18462162,-0.97987491,-0.07589457,0.00000000,-0.05798511,0.04380714,-0.02807515,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0069_cherokee_easy_tee_shirt_1.html,"ots0069:cherokee_easy_tee_shirt:[-0.99984366,-0.00256614,-0.01749137,0.00000000,-0.01766501,0.18381564,0.98280197,0.00000000,0.00069318,0.98295736,-0.18383221,0.00000000,0.12141224,0.05561515,-0.03053848,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0069_cool_shot_glue_sticks_1.html,"ots0069:cool_shot_glue_sticks:[-0.99308944,0.02529242,-0.11460239,0.00000000,0.11735760,0.22050895,-0.96829903,0.00000000,0.00078022,-0.97505695,-0.22195336,0.00000000,-0.11085293,0.06026486,-0.01875674,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0069_dr_browns_bottle_brush_1.html,"ots0069:dr_browns_bottle_brush:[0.99785656,-0.05756180,0.03112757,0.00000000,-0.00923528,0.34703797,0.93780559,0.00000000,-0.06478422,-0.93608296,0.34576249,0.00000000,-0.03187246,0.07170448,0.07533879,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0069_ticonderoga_12_pencils_1.html,"ots0069:ticonderoga_12_pencils:[0.06043442,0.98527712,-0.15992725,0.00000000,0.99412507,-0.07382504,-0.07915310,0.00000000,-0.08979437,-0.15420412,-0.98395026,0.00000000,-0.08342979,0.12090299,-0.11552878,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0070_clorox_utility_brush_1.html,"ots0070:clorox_utility_brush:[0.98544133,0.16962184,0.01156944,0.00000000,0.16788408,-0.98157156,0.09128086,0.00000000,0.02683946,-0.08800960,-0.99575794,0.00000000,0.10040599,0.08103278,-0.10147899,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0070_command_hooks_1.html,"ots0070:command_hooks:[-0.99087781,0.12890959,0.03928591,0.00000000,-0.03051631,0.06931330,-0.99712807,0.00000000,-0.13126241,-0.98923099,-0.06474714,0.00000000,-0.06043950,0.04367521,0.09408408,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0070_crayola_24_ct_1.html,"ots0070:crayola_24_ct:[0.19792540,0.98021621,0.00131331,0.00000000,0.98019582,-0.19791213,-0.00685042,0.00000000,-0.00645497,0.00264317,-0.99997568,0.00000000,-0.10011231,0.08452735,-0.13097081,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0070_hanes_tube_socks_1.html,"ots0070:hanes_tube_socks:[-0.97708774,0.21162982,0.02263484,0.00000000,-0.03276173,-0.04446815,-0.99847347,0.00000000,-0.21030024,-0.97633773,0.05038268,0.00000000,0.11747381,0.05755848,0.06046720,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0070_kleenex_paper_towels_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0070_oral_b_toothbrush_green_1.html,"ots0070:oral_b_toothbrush_green:[0.10469180,-0.00024774,-0.99450469,0.00000000,0.99033439,-0.09145721,0.10427558,0.00000000,-0.09098045,-0.99580896,-0.00932948,0.00000000,-0.15689440,0.04846608,0.00438270,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0071_scotch_duct_tape_1.html,"ots0071:scotch_duct_tape:[0.79826379,0.05673502,-0.59962994,0.00000000,0.60226297,-0.06301297,0.79580694,0.00000000,0.00736566,-0.99639875,-0.08447037,0.00000000,0.06734396,0.05944595,-0.06335139,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0071_staples_index_cards_1.html,"ots0071:staples_index_cards:[-0.11738624,0.00868152,-0.99304837,0.00000000,-0.99150592,-0.05741584,0.11670198,0.00000000,-0.05600357,0.99831259,0.01534763,0.00000000,-0.10069077,0.05791217,0.00000000,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0071_up_glucose_bottle_1.html,"ots0071:up_glucose_bottle:[0.12246110,0.99201912,0.03002209,0.00000000,0.50278956,-0.08809145,0.85990840,0.00000000,0.85569030,-0.09021053,-0.50956464,0.00000000,0.04938657,0.10195225,0.06269952,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0072_dasani_water_bottle_1.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0072_dasani_water_bottle_2.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0072_oral_b_toothbrush_red_1.html,"ots0072:oral_b_toothbrush_red:[-0.05532827,0.01896247,0.99828815,0.00000000,0.00104935,0.99982017,-0.01893342,0.00000000,-0.99846768,-0.00000000,-0.05533822,0.00000000,-0.11740414,0.04554366,0.01380926,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0072_peva_shower_curtain_liner_1.html,"ots0072:peva_shower_curtain_liner:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.02465360,-0.99969608,0.00000000,0.00000000,0.99969608,-0.02465360,0.00000000,0.05050019,0.07328951,0.03291988,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0073_cloud_b_plush_bear_1.html,"ots0073:cloud_b_plush_bear:[-0.99964976,-0.00893146,-0.02491180,0.00000000,0.02645836,-0.31704873,-0.94804013,0.00000000,0.00056913,-0.94836718,0.31717399,0.00000000,-0.08311056,0.06541533,-0.07685684,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0073_folgers_classic_roast_coffee_1.html,"ots0073:folgers_classic_roast_coffee:[-0.06943443,-0.99753392,-0.01024613,0.00000000,-0.45812035,0.02276075,0.88859874,0.00000000,-0.88617414,0.06639330,-0.45857096,0.00000000,0.04691654,0.08463318,-0.02056456,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0073_womens_knit_gloves_1.html,"ots0073:womens_knit_gloves:[0.84529400,0.00000000,-0.53430146,0.00000000,0.53423125,0.01621636,0.84518284,0.00000000,0.00866443,-0.99986851,0.01370759,0.00000000,-0.06173041,0.04992685,0.06831365,1.00000000]","Not the same gloves -they have different tags",C,, -http://visiongpu2.cs.princeton.edu:8010/ots0074_i_am_a_bunny_book_1.html,"ots0074:i_am_a_bunny_book:[-0.99818110,0.05899834,-0.01239822,0.00000000,-0.01315717,-0.01249301,0.99983537,0.00000000,0.05883374,0.99817991,0.01324653,0.00000000,-0.06618856,0.04881264,0.01822373,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0074_jane_eyre_dvd_1.html,"ots0074:jane_eyre_dvd:[-0.01453265,0.99675071,-0.07922664,0.00000000,0.99775636,0.01963480,0.06400567,0.00000000,0.06535330,-0.07811871,-0.99479967,0.00000000,-0.08314335,0.13267668,-0.09637670,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0075_crayola_24_ct_1.html,"ots0075:crayola_24_ct:[-0.09979079,0.99498862,-0.00628312,0.00000000,0.99224108,0.09998190,0.07389999,0.00000000,0.07415785,0.00114017,-0.99724585,0.00000000,-0.09225921,0.09615098,-0.12740730,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0075_i_am_a_bunny_book_1.html,"ots0075:i_am_a_bunny_book:[-0.05174143,0.96781558,0.24628414,0.00000000,0.99820518,0.04267404,0.04201633,0.00000000,0.03015412,0.24801609,-0.96828651,0.00000000,-0.02405133,0.14080274,0.09546256,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0075_kleenex_paper_towels_1.html,"ots0075:kleenex_paper_towels:[0.97808737,-0.19738577,0.06621189,0.00000000,0.19703324,0.98032486,0.01187801,0.00000000,-0.06725372,0.00142821,0.99773490,0.00000000,0.10596266,0.05964510,-0.06250342,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0075_platinum_pets_dog_bowl_1.html,"ots0075:platinum_pets_dog_bowl:[0.34244296,-0.04632613,0.93839580,0.00000000,-0.93953413,-0.01379147,0.34217751,0.00000000,-0.00290991,-0.99883115,-0.04824777,0.00000000,-0.09906341,0.03516389,-0.05622951,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0075_woods_extension_cord_1.html,"ots0075:woods_extension_cord:[-0.93256503,-0.00000000,0.36100194,0.00000000,-0.35742244,0.14047313,-0.92331821,0.00000000,-0.05071107,-0.99008447,-0.13100028,0.00000000,-0.05650945,0.05997388,0.01300237,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0076_dove_beauty_bar_1.html,"ots0076:dove_beauty_bar:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.07616726,0.06679946,0.05752992,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0076_fiskars_scissors_red_1.html,"ots0076:fiskars_scissors_red:[-0.95639753,-0.29193822,0.00870775,0.00000000,0.02884056,-0.06473006,0.99748600,0.00000000,-0.29064062,0.95424426,0.07032731,0.00000000,0.04832637,0.04074874,-0.05548424,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0077_dasani_water_bottle_1.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0077_folgers_classic_roast_coffee_1.html,"ots0077:folgers_classic_roast_coffee:[-0.15759572,-0.98738933,-0.01502820,0.00000000,0.97882104,-0.15417832,-0.13467877,0.00000000,0.13066335,-0.03593472,0.99077535,0.00000000,0.14849594,0.08188838,0.07243065,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8010/ots0077_rawlings_baseball_1.html,"ots0077:rawlings_baseball:[-0.59945077,0.79297209,-0.10887655,0.00000000,0.20574404,0.02120023,-0.97837621,0.00000000,-0.77351677,-0.60888904,-0.17585780,0.00000000,0.07818896,0.06546935,-0.04054096,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8011/ots0077_womens_knit_gloves_1.html,"ots0077:womens_knit_gloves:[-0.98205125,0.00000005,-0.18861380,0.00000000,-0.18735074,-0.11553521,0.97547489,0.00000000,-0.02179150,0.99330336,0.11346157,0.00000000,-0.07883791,0.06502707,0.07518046,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0078_cloud_b_plush_bear_1.html,"ots0078:cloud_b_plush_bear:[0.16380259,0.00479044,-0.98648149,0.00000000,-0.05098514,0.99869287,-0.00361620,0.00000000,0.98517472,0.05088824,0.16383272,0.00000000,-0.12465424,0.07935809,0.01023244,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0078_command_hooks_1.html,"ots0078:command_hooks:[-0.97542346,-0.04212025,-0.21627511,0.00000000,0.21753098,-0.02789635,-0.97565466,0.00000000,0.03506153,-0.99872303,0.03637322,0.00000000,0.05208101,0.04574717,-0.07904831,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0078_scotch_duct_tape_1.html,"ots0078:scotch_duct_tape:[0.47454658,-0.06540509,0.87779707,0.00000000,0.88010502,0.05208676,-0.47191331,0.00000000,-0.01485609,0.99649847,0.08228093,0.00000000,0.08079436,0.06548057,0.04882295,1.00000000",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_barkely_hide_bones_1.html,"ots0079:barkely_hide_bones:[-0.97917986,-0.20295741,-0.00388912,0.00000000,0.00187854,0.01009810,-0.99994725,0.00000000,0.20298597,-0.97913551,-0.00950662,0.00000000,-0.03193271,0.06117935,-0.07193024,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_dasani_water_bottle_1.html,"ots0079:dasani_water_bottle:[0.37887070,0.91618800,-0.13060077,0.00000000,-0.92538309,0.37674403,-0.04159401,0.00000000,0.01109513,0.13661449,0.99056214,0.00000000,0.12085658,0.18308271,-0.08403807,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_fitness_gear_3lb_dumbbell_1.html,"ots0079:fitness_gear_3lb_dumbbell:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.05464431,0.08280987,0.05720294,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_jane_eyre_dvd_1.html,n/a,cannot find the object,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_peva_shower_curtain_liner_1.html,"ots0079:peva_shower_curtain_liner:[0.98838407,-0.15197657,0.00000000,0.00000000,0.15055008,0.97910684,0.13669115,0.00000000,-0.02077385,-0.13510336,0.99061370,0.00000000,-0.04029244,0.11339325,0.13205959,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_safety_first_outlet_plugs_1.html,"ots0079:safety_first_outlet_plugs:[0.99716169,-0.07529021,0.00000000,0.00000000,0.00451842,0.05984313,0.99819756,0.00000000,-0.07515451,-0.99536431,0.06001347,0.00000000,-0.01090841,0.05632420,0.00041050,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_soft_white_lightbulb_1.html,"ots0079:soft_white_lightbulb:[0.18363646,0.98299426,0.00000000,0.00000000,-0.98299426,0.18363646,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.15998833,0.08938196,-0.01021634,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0079_up_glucose_bottle_1.html,"ots0079:up_glucose_bottle:[0.09524827,0.99545354,0.00000000,0.00000000,-0.99545354,0.09524827,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.15394703,0.10548674,0.07953319,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0080_expo_dry_erase_board_eraser_1.html,"ots0080:expo_dry_erase_board_eraser:[-0.99450654,0.09696455,-0.03942904,0.00000000,-0.09394366,-0.99294484,-0.07235423,0.00000000,-0.04616666,-0.06825265,0.99659932,0.00000000,-0.03196274,0.07062060,0.00000000,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8011/ots0080_kleenex_tissue_box_1.html,"ots0080:kleenex_tissue_box:[0.98509675,-0.16364916,-0.05294614,0.00000000,-0.15668806,-0.98078871,0.11619983,0.00000000,-0.07094497,-0.10617205,-0.99181366,0.00000000,0.12896271,0.07490989,-0.07063314,1.00000000]",,shuran,, 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-http://visiongpu2.cs.princeton.edu:8011/ots0118_safety_first_outlet_plugs_1.html,"ots0118:safety_first_outlet_plugs:[-0.99996996,0.00774423,-0.00000002,0.00000000,-0.00006348,-0.00819948,-0.99996638,0.00000000,-0.00774397,-0.99993640,0.00819975,0.00000000,-0.00998609,0.04791244,-0.11125714,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0118_ticonderoga_12_pencils_1.html,"ots0118:ticonderoga_12_pencils:[-0.03324048,0.96086395,0.27501923,0.00000000,-0.99585956,-0.00854748,-0.09050235,0.00000000,-0.08460972,-0.27688885,0.95716965,0.00000000,-0.03000082,0.12460241,0.10457324,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0119_dove_beauty_bar_1.html,"ots0119:dove_beauty_bar:[0.36581227,0.02681426,-0.93030232,0.00000000,0.91616398,-0.18628260,0.35488358,0.00000000,-0.16378319,-0.98213023,-0.09271073,0.00000000,-0.08378701,0.05950784,-0.08442975,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0119_elmers_washable_no_run_school_glue_1.html,"ots0119:elmers_washable_no_run_school_glue:[0.03792552,0.99792063,-0.05211599,0.00000000,-0.99125534,0.03097328,-0.12827158,0.00000000,-0.12639065,0.05652502,0.99036878,0.00000000,-0.04944715,0.10252034,0.04141143,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0119_laugh_out_loud_joke_book_1.html,"ots0119:laugh_out_loud_joke_book:[0.06159765,0.99163848,0.11339670,0.00000000,0.99556822,-0.06913216,0.06375406,0.00000000,0.07106034,0.10896706,-0.99150217,0.00000000,-0.04261744,0.12517168,0.11697426,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0119_rolodex_jumbo_pencil_cup_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8011/ots0119_staples_index_cards_1.html,"ots0119:staples_index_cards:[0.83580148,-0.04088879,0.54750705,0.00000000,-0.52551883,-0.34828991,0.77622432,0.00000000,0.15895228,-0.93649471,-0.31258908,0.00000000,0.06284547,0.04967049,-0.05470640,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0120_cherokee_easy_tee_shirt_1.html,"ots0120:cherokee_easy_tee_shirt:[0.95486385,0.28663394,-0.07794890,0.00000000,-0.05632601,-0.08293682,-0.99496174,0.00000000,-0.29165462,0.95444357,-0.06304842,0.00000000,-0.07492549,0.06793753,0.03113837,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8011/ots0120_up_glucose_bottle_1.html,"ots0120:up_glucose_bottle:[0.10470975,0.99418068,0.02531016,0.00000000,0.50949544,-0.03177016,-0.85988665,0.00000000,-0.85407859,0.10293394,-0.50985718,0.00000000,0.00000000,0.11222882,-0.08212432,1.00000000]",,ln,, 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-http://visiongpu2.cs.princeton.edu:8011/ots0125_rawlings_baseball_1.html,"ots0125:rawlings_baseball:[0.19572255,-0.41355789,0.88919210,0.00000000,-0.55545282,-0.79400891,-0.24702647,0.00000000,0.80818617,-0.44555560,-0.38511735,0.00000000,0.03854252,0.06995251,-0.05991014,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0126_elmers_washable_no_run_school_glue_1.html,"ots0126:elmers_washable_no_run_school_glue:[-0.05818226,0.99830592,0.00029026,0.00000000,-0.99749947,-0.05814694,0.04017089,0.00000000,0.04011971,0.00204770,0.99919277,0.00000000,0.11261253,0.11052340,0.04730580,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0126_i_am_a_bunny_book_1.html,"ots0126:i_am_a_bunny_book:[0.99682504,-0.07408867,0.02916619,0.00000000,0.06235885,0.95419663,0.29260918,0.00000000,-0.04950930,-0.28986141,0.95578718,0.00000000,-0.03882497,0.11953781,0.09378705,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0126_oral_b_toothbrush_green_1.html,"ots0126:oral_b_toothbrush_green:[-0.99904007,0.03652914,0.02417772,0.00000000,-0.02343444,0.02064054,-0.99951226,0.00000000,-0.03701037,-0.99911940,-0.01976467,0.00000000,-0.06473493,0.04579725,-0.11207368,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0126_safety_first_outlet_plugs_1.html,"ots0126:safety_first_outlet_plugs:[0.99734676,0.00000000,-0.07279757,0.00000000,0.07278017,-0.02186056,0.99710840,0.00000000,-0.00159139,-0.99976104,-0.02180256,0.00000000,0.14017965,0.02941622,-0.00521031,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0126_womens_knit_gloves_1.html,"ots0126:womens_knit_gloves:[-0.99804163,-0.00336820,-0.06246224,0.00000000,0.06253925,-0.03280019,-0.99750340,0.00000000,0.00131102,-0.99945623,0.03294659,0.00000000,-0.05455311,0.04871203,-0.01520989,1.00000000]",template has additional white tag,z,, 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-http://visiongpu2.cs.princeton.edu:8011/ots0130_creativity_chenille_stems_1.html,"ots0130:creativity_chenille_stems:[0.99477690,-0.09234326,0.04349329,0.00000000,0.03139709,-0.12862119,-0.99119663,0.00000000,0.09712449,0.98738509,-0.12505008,0.00000000,0.10261788,0.04715564,0.07933246,1.00000000]",template and point cloud color variance,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0130_kleenex_paper_towels_1.html,"ots0130:kleenex_paper_towels:[-0.99820584,-0.05250103,0.02878816,0.00000000,0.00703558,-0.58031207,-0.81436378,0.00000000,0.05946106,-0.81270009,0.57964033,0.00000000,0.02963234,0.11906733,-0.07994653,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0130_scotch_duct_tape_1.html,"ots0130:scotch_duct_tape:[-0.60727888,0.79103512,0.07399858,0.00000000,0.78355938,0.61171728,-0.10879647,0.00000000,-0.13132803,-0.00808752,-0.99130595,0.00000000,0.03612157,0.08115778,0.00385566,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0130_staples_index_cards_1.html,"ots0130:staples_index_cards:[-0.06860993,0.02050415,0.99743289,0.00000000,-0.99523139,0.06807631,-0.06985790,0.00000000,-0.06933397,-0.99746943,0.01573562,0.00000000,-0.14437933,0.06290444,0.04876245,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0131_cloud_b_plush_bear_1.html,"ots0131:cloud_b_plush_bear:[0.93243790,-0.11754030,-0.34167805,0.00000000,0.32778916,-0.12270855,0.93674803,0.00000000,-0.15203246,-0.98545772,-0.07588966,0.00000000,-0.03474152,0.07683048,0.05195800,1.00000000]",template orientation off,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0131_fiskars_scissors_red_1.html,"ots0131:fiskars_scissors_red:[-0.99094701,-0.00820965,-0.13400266,0.00000000,0.13348313,0.04655335,-0.98995709,0.00000000,0.01436548,-0.99888211,-0.04503609,0.00000000,-0.07726002,0.05331192,-0.09638102,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0132_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0132_oral_b_toothbrush_red_1.html,"ots0132:oral_b_toothbrush_red:[0.99782020,-0.04806546,-0.04521707,0.00000000,0.05019382,0.99762475,0.04717492,0.00000000,0.04284218,-0.04934170,0.99786270,0.00000000,-0.05647330,0.05441741,-0.08345115,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0133_crayola_24_ct_1.html,"ots0133:crayola_24_ct:[-0.73240924,0.03490619,0.67996931,0.00000000,-0.67932707,0.02961538,-0.73323780,0.00000000,-0.04573209,-0.99895173,0.00202212,0.00000000,-0.01811473,0.05087555,-0.03672045,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0134_command_hooks_1.html,"ots0134:command_hooks:[-0.98592013,0.04396763,0.16133283,0.00000000,-0.16285715,-0.03360459,-0.98607719,0.00000000,-0.03793396,-0.99846762,0.04029190,0.00000000,0.03318747,0.05119369,0.00791604,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0134_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0135_command_hooks_1.html,"ots0135:command_hooks:[0.98140240,-0.01294199,-0.19152492,0.00000000,0.18445729,-0.21266280,0.95955724,0.00000000,-0.05314881,-0.97703993,-0.20632054,0.00000000,0.11180780,0.03957802,0.00672109,1.00000000]",point clound unclear,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0135_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0135_expo_dry_erase_board_eraser_1.html,"ots0135:expo_dry_erase_board_eraser:[0.00202682,-0.04047854,0.99917835,0.00000000,-0.03675088,0.99850237,0.04052570,0.00000000,-0.99932241,-0.03680282,0.00053616,0.00000000,-0.07128390,0.07384234,0.03020636,1.00000000]",,yc,, 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-http://visiongpu2.cs.princeton.edu:8011/ots0137_expo_dry_erase_board_eraser_1.html,n/a,unable to detect object,,, -http://visiongpu2.cs.princeton.edu:8011/ots0137_peva_shower_curtain_liner_1.html,"ots0137:peva_shower_curtain_liner:[-0.98409373,0.05585202,0.16864182,0.00000000,0.17761436,0.32833558,0.92771161,0.00000000,-0.00355654,0.94290841,-0.33303308,0.00000000,-0.07407787,0.08480079,0.02871623,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0137_safety_first_outlet_plugs_1.html,n/a,no targat,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0138_command_hooks_1.html,"ots0138:command_hooks:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.14069958,0.99005234,0.00000000,0.00000000,-0.99005234,-0.14069958,0.00000000,0.10130250,0.07510858,0.00187669,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0138_dasani_water_bottle_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8011/ots0138_expo_dry_erase_board_eraser_1.html,"ots0138:expo_dry_erase_board_eraser:[-0.95921755,-0.26291224,0.10382103,0.00000000,-0.26282018,0.96473110,0.01481302,0.00000000,-0.10405390,-0.01307735,-0.99448568,0.00000000,-0.02942617,0.09671539,0.09422169,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0139_command_hooks_1.html,n/a,hard to recognize,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0139_crayola_24_ct_1.html,"ots0139:crayola_24_ct:[-0.84527683,-0.53432858,0.00000000,0.00000000,-0.53345925,0.84390152,0.05702178,0.00000000,-0.03046837,0.04819919,-0.99837291,0.00000000,0.00596154,0.11374239,0.00000000,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0139_dasani_water_bottle_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8011/ots0139_expo_dry_erase_board_eraser_1.html,"ots0139:expo_dry_erase_board_eraser:[-0.99135816,-0.13040650,-0.01425099,0.00000000,-0.13087325,0.99062455,0.03918221,0.00000000,0.00900776,0.04070868,-0.99913043,0.00000000,-0.02228665,0.08561057,0.09763726,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0140_command_hooks_1.html,n/a,hard to recognize,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0140_dasani_water_bottle_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8011/ots0140_expo_dry_erase_board_eraser_1.html,"ots0140:expo_dry_erase_board_eraser:[0.99697119,-0.07710643,0.01015241,0.00000000,-0.07537622,-0.99014294,-0.11804824,0.00000000,0.01915462,0.11692544,-0.99295598,0.00000000,-0.02542835,0.07972662,0.09703298,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0140_fitness_gear_3lb_dumbbell_1.html,"ots0140:fitness_gear_3lb_dumbbell:[0.95953876,-0.01842156,-0.28097332,0.00000000,0.19650933,-0.67086047,0.71507365,0.00000000,-0.20166665,-0.74135476,-0.64009660,0.00000000,-0.08026408,0.09454162,0.05803917,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0141_cloud_b_plush_bear_1.html,"ots0141:cloud_b_plush_bear:[0.99469197,-0.02320883,0.10024580,0.00000000,0.10099700,0.03384073,-0.99431103,0.00000000,0.01968441,0.99915773,0.03600512,0.00000000,-0.12014830,0.08123906,0.03543532,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0142_expo_dry_erase_board_eraser_1.html,"ots0142:expo_dry_erase_board_eraser:[-0.99986386,-0.01644473,-0.00136067,0.00000000,0.01650092,-0.99645871,-0.08244877,0.00000000,0.00000000,-0.08245999,0.99659437,0.00000000,-0.08766355,0.08141770,-0.02757633,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0142_ticonderoga_12_pencils_1.html,"ots0142:ticonderoga_12_pencils:[0.99993342,-0.00231260,0.01130415,0.00000000,0.00486092,0.97295684,-0.23093581,0.00000000,-0.01046439,0.23097539,0.97290331,0.00000000,-0.05896304,0.09998751,-0.10311174,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0143_peva_shower_curtain_liner_1.html,"ots0143:peva_shower_curtain_liner:[-0.99703735,0.07643491,-0.00861258,0.00000000,0.00039280,-0.10690903,-0.99426872,0.00000000,-0.07691760,-0.99132645,0.10656227,0.00000000,-0.07397143,0.04975049,0.03468406,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0143_ticonderoga_12_pencils_1.html,"ots0143:ticonderoga_12_pencils:[-0.99856430,0.04029746,0.03529127,0.00000000,-0.03325696,0.05008298,-0.99819118,0.00000000,-0.04199206,-0.99793178,-0.04867089,0.00000000,-0.08024015,0.04273949,-0.09719270,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0144_cherokee_easy_tee_shirt_1.html,"ots0144:cherokee_easy_tee_shirt:[-0.12803683,0.05675660,-0.99014401,0.00000000,0.98956358,-0.05923755,-0.13135737,0.00000000,-0.06610911,-0.99662912,-0.04857966,0.00000000,-0.05339132,0.06431961,-0.04947747,1.00000000]",shirt folded differently,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0144_dove_beauty_bar_1.html,"ots0144:dove_beauty_bar:[-0.98333180,0.07032299,0.16766998,0.00000000,-0.16648886,0.02237540,-0.98578942,0.00000000,-0.07307535,-0.99727327,-0.01029444,0.00000000,-0.10564045,0.06548275,0.07569341,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0145_crayola_24_ct_1.html,"ots0145:crayola_24_ct:[-0.99535304,-0.07039139,0.06570673,0.00000000,0.06637069,-0.99589843,-0.06149154,0.00000000,0.06976570,-0.05684479,0.99594247,0.00000000,-0.11816455,0.08506881,-0.08433710,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0145_up_glucose_bottle_1.html,"ots0145:up_glucose_bottle:[0.09938417,0.99352103,0.05512518,0.00000000,0.99440342,-0.09717164,-0.04146792,0.00000000,-0.03584265,0.05893793,-0.99761802,0.00000000,-0.10195503,0.11999738,0.04005149,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0146_kyjen_squeakin_eggs_plush_puppies_1.html,n/a,color dose not match,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0147_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0147:kyjen_squeakin_eggs_plush_puppies:[0.98953128,0.03370049,0.14032847,0.00000000,0.14074308,-0.44044024,-0.88668126,0.00000000,0.03192472,0.89714915,-0.44057250,0.00000000,-0.06518048,0.06718971,0.06429611,1.00000000]",color dose not match,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0147_rolodex_jumbo_pencil_cup_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8011/ots0148_expo_dry_erase_board_eraser_1.html,"ots0148:expo_dry_erase_board_eraser:[0.98918915,-0.12692723,-0.07344560,0.00000000,-0.06996117,0.03170166,-0.99704587,0.00000000,0.12888062,0.99140531,0.02247896,0.00000000,-0.14028040,0.06633925,-0.03215387,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0148_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0148:kyjen_squeakin_eggs_plush_puppies:[0.98993939,0.04889198,0.13277650,0.00000000,0.14082861,-0.43123847,-0.89117938,0.00000000,0.01368682,0.90091228,-0.43378535,0.00000000,-0.09731932,0.08940356,0.06874380,1.00000000]",color does not match,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0148_rolodex_jumbo_pencil_cup_1.html,n/a,,,, -http://visiongpu2.cs.princeton.edu:8011/ots0149_folgers_classic_roast_coffee_1.html,"ots0149:folgers_classic_roast_coffee:[-0.00093457,-0.99851638,-0.05444372,0.00000000,0.02989968,-0.05444729,0.99806887,0.00000000,-0.99955243,-0.00069506,0.02990623,0.00000000,-0.15146771,0.11919014,0.03126552,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0150_up_glucose_bottle_1.html,n/a,no target,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0151_i_am_a_bunny_book_1.html,"ots0151:i_am_a_bunny_book:[-0.91083932,0.05192005,0.40948266,0.00000000,-0.40652561,0.05894666,-0.91173583,0.00000000,-0.07147501,-0.99691004,-0.03258410,0.00000000,-0.05233713,0.05887521,-0.03926996,1.00000000]",,yc,, -http://visiongpu2.cs.princeton.edu:8011/ots0151_up_glucose_bottle_1.html,n/a,no target,,, -http://visiongpu2.cs.princeton.edu:8011/ots0152_dove_beauty_bar_1.html,"ots0152:dove_beauty_bar:[-0.44476610,0.00000001,-0.89564675,0.00000000,0.89452553,-0.05002170,-0.44420931,0.00000000,-0.04480178,-0.99874812,0.02224796,0.00000000,0.11289117,0.05861282,-0.08594662,1.00000000]",point clound unclear,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0152_folgers_classic_roast_coffee_1.html,"ots0152:folgers_classic_roast_coffee:[-0.13479230,-0.99082774,-0.00956068,0.00000000,0.96890241,-0.12977669,-0.21068032,0.00000000,0.20750715,-0.03766144,0.97750825,0.00000000,-0.03956843,0.11220049,0.06300106,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8011/ots0152_laugh_out_loud_joke_book_1.html,n/a,object not found,z,, 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-http://visiongpu2.cs.princeton.edu:8012/ots0179_i_am_a_bunny_book_1.html,"ots0179:i_am_a_bunny_book:[0.02171101,-0.99798566,-0.05960885,0.00000000,-0.99869692,-0.02440355,0.04482044,0.00000000,-0.04618482,0.05855808,-0.99721503,0.00000000,0.10999645,0.14216754,0.12898082,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0179_laugh_out_loud_joke_book_1.html,"ots0179:laugh_out_loud_joke_book:[0.05895035,0.98818731,-0.14145914,0.00000000,0.99823815,-0.05931172,0.00166434,0.00000000,-0.00674550,-0.14130801,-0.98994273,0.00000000,-0.08408150,0.13621120,-0.11342746,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0179_platinum_pets_dog_bowl_1.html,"ots0179:platinum_pets_dog_bowl:[0.99671197,0.08102645,-0.00000000,0.00000000,0.00099907,-0.01228966,0.99992400,0.00000000,0.08102029,-0.99663621,-0.01233020,0.00000000,0.02221764,0.07377905,0.01200869,1.00000000]",missing point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0179_safety_first_outlet_plugs_1.html,"ots0179:safety_first_outlet_plugs:[0.99141461,0.01333920,-0.13007362,0.00000000,0.13049400,-0.03801811,0.99071991,0.00000000,0.00827026,-0.99918801,-0.03943240,0.00000000,-0.05318329,0.06389792,0.09413335,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_creativity_chenille_stems_1.html,"ots0180:creativity_chenille_stems:[-0.99808788,-0.01215206,0.06060413,0.00000000,-0.01577616,-0.89792532,-0.43986499,0.00000000,0.05976325,-0.43998003,0.89601672,0.00000000,0.04410774,0.08657409,0.11307129,1.00000000]",missing point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_hanes_tube_socks_1.html,"ots0180:hanes_tube_socks:[0.15704317,0.98708636,-0.03159024,0.00000000,-0.97967941,0.15974620,0.12128244,0.00000000,0.12476266,0.01190173,0.99211520,0.00000000,0.02050212,0.13982332,-0.07507364,1.00000000]",missing point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_jane_eyre_dvd_1.html,"ots0180:jane_eyre_dvd:[-0.04179851,0.99623299,0.07597828,0.00000000,0.99871850,0.04383227,-0.02529950,0.00000000,-0.02853450,0.07482343,-0.99678844,0.00000000,-0.05488081,0.14685449,-0.11465511,1.00000000]",difficult to locate object,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_kyjen_squeakin_eggs_plush_puppies_1.html,"ots0180:kyjen_squeakin_eggs_plush_puppies:[0.95261329,0.23995954,0.18694212,0.00000000,0.00000000,0.61456913,-0.78886300,0.00000000,-0.30418405,0.75148135,0.58544672,0.00000000,-0.08426466,0.09655636,-0.04018845,1.00000000]",object color variance,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_oral_b_toothbrush_green_1.html,"ots0180:oral_b_toothbrush_green:[0.88987648,-0.10469171,0.44402650,0.00000000,0.20017210,0.96421784,-0.17382485,0.00000000,-0.40994024,0.24356435,0.87899113,0.00000000,-0.07413579,0.06082192,0.04703899,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_rawlings_baseball_1.html,"ots0180:rawlings_baseball:[-0.76401877,0.11044351,0.63567096,0.00000000,0.64118117,0.02025644,0.76712215,0.00000000,0.07184723,0.99367595,-0.08629061,0.00000000,-0.13220233,0.08964872,0.10661346,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_scotch_duct_tape_1.html,"ots0180:scotch_duct_tape:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.09161431,0.09860429,0.08546054,1.00000000]",missing point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0180_up_glucose_bottle_1.html,"ots0180:up_glucose_bottle:[0.20962273,0.97623855,0.05492350,0.00000000,0.90692353,-0.17313075,-0.38407737,0.00000000,-0.36544219,0.13032277,-0.92166591,0.00000000,0.06307191,0.12009548,0.00803352,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_barkely_hide_bones_1.html,"ots0181:barkely_hide_bones:[-0.99584907,0.07778312,0.04727025,0.00000000,-0.04610016,0.01677140,-0.99879605,0.00000000,-0.07848226,-0.99682921,-0.01311599,0.00000000,0.09360186,0.02888632,-0.08154706,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_dove_beauty_bar_1.html,"ots0181:dove_beauty_bar:[0.24433118,0.96939903,-0.02382824,0.00000000,-0.96482170,0.24549034,0.09409361,0.00000000,0.09706386,-0.00000000,0.99527818,0.00000000,-0.04369917,0.07573012,-0.02664029,1.00000000]",direction of objext is unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_folgers_classic_roast_coffee_1.html,"ots0181:folgers_classic_roast_coffee:[-0.18666779,-0.97940433,-0.07695693,0.00000000,0.47985125,-0.15924920,0.86277604,0.00000000,-0.85726190,0.12412460,0.49969506,0.00000000,-0.01511424,0.08926179,0.06709006,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_kleenex_tissue_box_1.html,"ots0181:kleenex_tissue_box:[-0.04741160,-0.01921671,0.99869055,0.00000000,-0.07352759,-0.99703538,-0.02267549,0.00000000,0.99616557,-0.07450639,0.04585809,0.00000000,0.10687896,0.09508109,0.03879967,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_scotch_duct_tape_1.html,"ots0181:scotch_duct_tape:[-0.94934517,-0.01203981,0.31400457,0.00000000,-0.31350583,-0.03176010,-0.94905502,0.00000000,0.02139925,-0.99942303,0.02637671,0.00000000,-0.14160715,0.06892723,0.00146315,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0181_staples_index_cards_1.html,"ots0181:staples_index_cards:[0.99364877,-0.06861674,-0.08918437,0.00000000,0.08430827,-0.07095166,0.99391049,0.00000000,-0.07452668,-0.99511689,-0.06471607,0.00000000,-0.11115150,0.05063428,-0.08851414,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0182_easter_turtle_sippy_cup_1.html,"ots0182:easter_turtle_sippy_cup:[0.06822809,0.98289043,0.17108871,0.00000000,0.36408198,-0.18419127,0.91297203,0.00000000,0.92886448,-0.00000002,-0.37041971,0.00000000,-0.09865454,0.10841224,-0.05371412,1.00000000]",template handle and turtle direction do not match,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0182_fitness_gear_3lb_dumbbell_1.html,"ots0182:fitness_gear_3lb_dumbbell:[0.14252231,0.98979121,-0.00088600,0.00000000,-0.98977208,0.14252506,0.00615301,0.00000000,0.00621647,0.00000000,0.99998069,0.00000000,0.04054263,0.10066787,-0.01103363,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0182_kleenex_paper_towels_1.html,"ots0182:kleenex_paper_towels:[-0.99710548,0.03001701,0.06985418,0.00000000,0.00000000,0.91876602,-0.39480251,0.00000000,-0.07603044,-0.39365974,-0.91610664,0.00000000,0.03334138,0.09089939,0.08607321,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0183_elmers_washable_no_run_school_glue_1.html,"ots0183:elmers_washable_no_run_school_glue:[0.15839976,0.98737276,0.00213878,0.00000000,-0.98728275,0.15841420,-0.01333068,0.00000000,-0.01350117,0.00000000,0.99990886,0.00000000,0.05828535,0.12202018,0.10352939,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0183_scotch_bubble_mailer_1.html,"ots0183:scotch_bubble_mailer:[0.99918181,-0.03730030,-0.01563293,0.00000000,-0.01666501,-0.02752103,-0.99948233,0.00000000,0.03685075,0.99892509,-0.02812013,0.00000000,0.00558236,0.04967898,-0.01554134,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0183_woods_extension_cord_1.html,"ots0183:woods_extension_cord:[-0.99046588,0.13574465,0.02346660,0.00000000,0.13773705,0.97286361,0.18591648,0.00000000,0.00240737,0.18737616,-0.98228526,0.00000000,-0.07904285,0.08017009,0.13957803,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0184_cherokee_easy_tee_shirt_1.html,"ots0184:cherokee_easy_tee_shirt:[-0.98064095,0.11209222,-0.16055730,0.00000000,-0.16825359,-0.06289930,0.98373491,0.00000000,0.10017009,0.99170512,0.08054154,0.00000000,-0.05327241,0.05205321,-0.04443078,1.00000000]",template wrinkles do not match object,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0184_clorox_utility_brush_1.html,"ots0184:clorox_utility_brush:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.99764663,0.06856561,0.00000000,0.00000000,-0.06856561,-0.99764663,0.00000000,-0.04007600,0.09043059,0.08594622,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0185_cloud_b_plush_bear_1.html,"ots0185:cloud_b_plush_bear:[0.00959484,0.09394146,-0.99553150,0.00000000,0.99482453,-0.10160815,-0.00000003,0.00000000,-0.10115411,-0.99037910,-0.09443019,0.00000000,-0.03084987,0.06794525,0.07444450,1.00000000]",template legs are not bent,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0185_crayola_24_ct_1.html,"ots0185:crayola_24_ct:[0.00993304,0.99894404,-0.04485681,0.00000000,0.02450871,0.04460234,0.99870414,0.00000000,0.99965024,-0.01101955,-0.02403978,0.00000000,0.02501785,0.08871223,-0.03819538,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0185_expo_dry_erase_board_eraser_1.html,"ots0185:expo_dry_erase_board_eraser:[-0.01806831,-0.01962901,-0.99964410,0.00000000,0.99846315,0.05203578,-0.01906871,0.00000000,0.05239158,-0.99845231,0.01865862,0.00000000,-0.12852390,0.07543694,0.06280540,1.00000000]",point cloud color different from template,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0185_rolodex_jumbo_pencil_cup_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0186_dr_browns_bottle_brush_1.html,"ots0186:dr_browns_bottle_brush:[0.98289287,-0.03101917,-0.18154740,0.00000000,0.18383551,0.10511678,0.97732031,0.00000000,-0.01123199,-0.99397600,0.10902096,0.00000000,0.00467363,0.07264952,0.03432900,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0186_staples_index_cards_1.html,"ots0186:staples_index_cards:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.01158663,0.99993289,0.00000000,0.00000000,-0.99993289,-0.01158663,0.00000000,-0.07996868,0.06025530,-0.09194490,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0187_expo_dry_erase_board_eraser_1.html,"ots0187:expo_dry_erase_board_eraser:[-0.99771535,-0.00271156,0.06750358,0.00000000,-0.06752813,0.06974675,-0.99527651,0.00000000,-0.00200940,-0.99756104,-0.06977051,0.00000000,0.08424862,0.07820994,-0.09056389,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0187_oral_b_toothbrush_red_1.html,"ots0187:oral_b_toothbrush_red:[0.99697351,-0.00095891,-0.07773572,0.00000000,-0.00348851,0.99836487,-0.05705607,0.00000000,0.07766332,0.05715458,0.99534005,0.00000000,-0.07196999,0.07065397,-0.05118436,1.00000000]",color point depth not clear,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0187_peva_shower_curtain_liner_1.html,"ots0187:peva_shower_curtain_liner:[-0.99956793,0.00000003,0.02939233,0.00000000,-0.02936423,-0.04372129,-0.99861211,0.00000000,0.00128504,-0.99904376,0.04370242,0.00000000,0.08514425,0.06397419,0.04462457,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0187_womens_knit_gloves_1.html,"ots0187:womens_knit_gloves:[-0.27286267,0.04458194,-0.96101946,0.00000000,0.96201986,0.00435454,-0.27294472,0.00000000,-0.00798361,-0.99899626,-0.04407689,0.00000000,-0.10322081,0.07347760,0.06055681,1.00000000]","template has additional white tag not in image, curve of template is different from point cloud",z,, -http://visiongpu2.cs.princeton.edu:8012/ots0188_expo_dry_erase_board_eraser_1.html,"ots0188:expo_dry_erase_board_eraser:[-0.05998450,-0.03721846,0.99750519,0.00000000,-0.99819487,-0.00073938,-0.06005358,0.00000000,0.00297265,-0.99930686,-0.03710691,0.00000000,0.08481279,0.07282988,-0.02298606,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0189_easter_turtle_sippy_cup_1.html,"ots0189:easter_turtle_sippy_cup:[0.99758434,-0.00919814,-0.06885396,0.00000000,0.06907529,0.02642007,0.99726152,0.00000000,-0.00735383,-0.99960864,0.02699161,0.00000000,0.00000000,0.07157241,-0.07783645,1.00000000]",point color and template unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0189_fitness_gear_3lb_dumbbell_1.html,"ots0189:fitness_gear_3lb_dumbbell:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.15000001,-0.01075516,1.00000000]",cannot locate template in image,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0189_kleenex_paper_towels_1.html,"ots0189:kleenex_paper_towels:[-0.99969506,0.01649799,-0.01837338,0.00000000,0.01359484,0.98885936,0.14823090,0.00000000,0.02061420,0.14793591,-0.98878205,0.00000000,0.02189459,0.08480103,0.08913139,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0190_command_hooks_1.html,"ots0190:command_hooks:[-0.01518414,0.03101983,0.99940342,0.00000000,-0.99928004,0.03428486,-0.01624641,0.00000000,-0.03476836,-0.99893057,0.03047692,0.00000000,0.15447436,0.03609179,0.05404747,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8012/ots0190_easter_turtle_sippy_cup_1.html,"ots0190:easter_turtle_sippy_cup:[0.03359221,0.99796081,-0.05427563,0.00000000,0.22077696,-0.06037434,-0.97345388,0.00000000,-0.97474569,0.02071767,-0.22235487,0.00000000,0.00358040,0.10581371,-0.06621907,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8012/ots0190_jane_eyre_dvd_1.html,"ots0190:jane_eyre_dvd:[-0.99908251,0.00000002,-0.04282728,0.00000000,0.04276521,-0.05381953,-0.99763447,0.00000000,-0.00230496,-0.99855065,0.05377015,0.00000000,-0.02153931,0.04536592,0.06786506,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8012/ots0190_laugh_out_loud_joke_book_1.html,"ots0190:laugh_out_loud_joke_book:[0.12367000,0.97675991,-0.17505945,0.00000000,0.99224097,-0.12399436,0.00912687,0.00000000,-0.01279162,-0.17482989,-0.98451561,0.00000000,-0.04761971,0.13025244,-0.14100172,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8012/ots0191_creativity_chenille_stems_1.html,"ots0191:creativity_chenille_stems:[0.99904805,-0.00000000,0.04362324,0.00000000,0.04357631,-0.04637057,-0.99797338,0.00000000,0.00202283,0.99892431,-0.04632642,0.00000000,0.03486727,0.05176787,0.08306476,1.00000000]",point clound and template unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0191_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0191_safety_first_outlet_plugs_1.html,"ots0191:safety_first_outlet_plugs:[0.99889493,0.01661282,0.04396511,0.00000000,-0.00714784,-0.87086582,0.49146885,0.00000000,0.04645240,-0.49123999,-0.86978471,0.00000000,0.07572034,0.08148578,0.04371706,1.00000000]","point cloud unclear, template may not exist in image",z,, -http://visiongpu2.cs.princeton.edu:8012/ots0191_soft_white_lightbulb_1.html,"ots0191:soft_white_lightbulb:[0.14247386,-0.98840141,-0.05256301,0.00000000,-0.00870548,0.05185197,-0.99861628,0.00000000,0.98975980,0.14273381,-0.00121649,0.00000000,0.10128224,0.09538905,-0.02844843,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0191_woods_extension_cord_1.html,"ots0191:woods_extension_cord:[0.99291515,0.00866099,0.11850941,0.00000000,0.08516467,0.64363497,-0.76057935,0.00000000,-0.08286417,0.76528358,0.63833731,0.00000000,0.05344664,0.07519776,0.03630641,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0192_expo_dry_erase_board_eraser_1.html,"ots0192:expo_dry_erase_board_eraser:[0.13761930,0.99028432,-0.01994799,0.00000000,-0.11537658,0.03602984,0.99266815,0.00000000,0.98374242,-0.13430877,0.11921402,0.00000000,-0.13064611,0.10304426,-0.03016041,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ots0193_folgers_classic_roast_coffee_1.html,"ots0193:folgers_classic_roast_coffee:[-0.21281810,-0.97683382,0.02245187,0.00000000,-0.10721190,0.00050589,-0.99423605,0.00000000,0.97119206,-0.21399854,-0.10483587,0.00000000,-0.11819857,0.10213186,0.07026393,1.00000000]",template not the same as point cloud image,z,, 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side view",z,, -http://visiongpu2.cs.princeton.edu:8012/ott0000_laugh_out_loud_joke_book_1.html,"ott0000:laugh_out_loud_joke_book:[-0.00568777,-0.99605137,-0.08859644,0.00000000,0.96833831,0.01662621,-0.24908729,0.00000000,0.24957676,-0.08720808,0.96442014,0.00000000,-0.05410502,0.11162166,0.25111696,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0000_up_glucose_bottle_1.html,"ott0000:up_glucose_bottle:[-0.88996094,0.02334101,-0.45543894,0.00000000,-0.33358964,0.64763063,0.68504924,0.00000000,0.31094596,0.76159686,-0.56857967,0.00000000,-0.07702067,0.06360331,0.15931402,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0001_elmers_washable_no_run_school_glue_1.html,"ott0001:elmers_washable_no_run_school_glue:[0.02924700,0.07743517,-0.99656820,0.00000000,-0.99877876,-0.03745031,-0.03222173,0.00000000,-0.03981700,0.99629366,0.07624540,0.00000000,-0.10647471,0.04327775,-0.18736690,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0001_folgers_classic_roast_coffee_1.html,"ott0001:folgers_classic_roast_coffee:[-0.11844247,-0.98851305,0.09387913,0.00000000,0.73393971,-0.15083416,-0.66225487,0.00000000,0.66880774,-0.00953749,0.74337417,0.00000000,0.09967327,0.09629129,0.17233583,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0001_peva_shower_curtain_liner_1.html,"ott0001:peva_shower_curtain_liner:[-0.07150614,0.00294184,0.99743581,0.00000000,-0.99660623,0.04067235,-0.07156665,0.00000000,-0.04077858,-0.99916822,0.00002355,0.00000000,-0.08411042,0.03852378,0.05422095,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0001_ticonderoga_12_pencils_1.html,"ott0001:ticonderoga_12_pencils:[-0.26866075,0.06973826,-0.96070701,0.00000000,0.95973241,-0.06559634,-0.27314985,0.00000000,-0.08206785,-0.99540633,-0.04930692,0.00000000,0.08557297,0.03522420,-0.04762455,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0002_creativity_chenille_stems_1.html,"ott0002:creativity_chenille_stems:[-0.16438861,-0.13645746,0.97691137,0.00000000,0.97656173,0.11698453,0.18067047,0.00000000,-0.13893735,0.98371440,0.11402819,0.00000000,-0.02952528,0.02863881,0.11286879,1.00000000]",template and point cloud color variance,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0002_kleenex_paper_towels_1.html,"ott0002:kleenex_paper_towels:[0.03834116,0.02571497,-0.99893385,0.00000000,-0.99750203,0.06033638,-0.03673306,0.00000000,0.05932752,0.99784690,0.02796404,0.00000000,0.09810635,0.08854845,-0.06406111,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0002_peva_shower_curtain_liner_1.html,"ott0002:peva_shower_curtain_liner:[0.11724152,0.65429538,-0.74709570,0.00000000,-0.99159503,0.03567850,-0.12436402,0.00000000,-0.05471555,0.75539696,0.65297902,0.00000000,-0.07564045,0.13548875,-0.16597804,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0002_scotch_duct_tape_1.html,"ott0002:scotch_duct_tape:[0.99098969,-0.00267320,-0.13391170,0.00000000,-0.13310082,0.09198108,-0.98682505,0.00000000,0.01495532,0.99575716,0.09079649,0.00000000,0.09545778,0.05029999,0.19524698,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0002_woods_extension_cord_1.html,"ott0002:woods_extension_cord:[-0.89480305,0.24409226,0.37382683,0.00000000,0.28092977,-0.34293884,0.89636570,0.00000000,0.34699565,0.90708983,0.23828991,0.00000000,0.02502600,0.03493967,0.14352389,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0003_creativity_chenille_stems_1.html,"ott0003:creativity_chenille_stems:[0.07863240,0.26414835,-0.96127135,0.00000000,0.99666548,-0.04191029,0.07001114,0.00000000,-0.02179380,-0.96357107,-0.26656306,0.00000000,-0.03393784,0.06014569,0.09804191,1.00000000]",template and point cloud color variance,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0003_kleenex_paper_towels_1.html,"ott0003:kleenex_paper_towels:[-0.00160914,0.00633020,-0.99997866,0.00000000,-0.96917665,-0.24636672,-0.00000000,0.00000000,-0.24636148,0.96915597,0.00653153,0.00000000,0.09896663,0.08064879,-0.06112679,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0003_peva_shower_curtain_liner_1.html,"ott0003:peva_shower_curtain_liner:[-0.03945525,0.02066587,-0.99900758,0.00000000,-0.99861217,-0.03571942,0.03870076,0.00000000,-0.03488422,0.99914813,0.02204654,0.00000000,-0.06521747,0.03514687,-0.07283953,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0003_woods_extension_cord_1.html,"ott0003:woods_extension_cord:[-0.83976156,0.12656370,0.52799821,0.00000000,0.48129088,-0.27659729,0.83177698,0.00000000,0.25131565,0.95261508,0.17136186,0.00000000,0.04192238,0.03496331,0.14254799,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0004_barkely_hide_bones_1.html,"ott0004:barkely_hide_bones:[-0.16267438,-0.00983047,0.98663080,0.00000000,-0.97831357,0.13154827,-0.15999235,0.00000000,-0.12821676,-0.99126101,-0.03101680,0.00000000,-0.04221680,0.02830466,0.07076310,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0004_elmers_washable_no_run_school_glue_1.html,"ott0004:elmers_washable_no_run_school_glue:[0.02612068,0.99766392,-0.06312232,0.00000000,-0.38147002,0.06831338,0.92185354,0.00000000,0.92401206,-0.00000016,0.38236326,0.00000000,-0.09119727,0.11688348,-0.18937629,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0004_fitness_gear_3lb_dumbbell_1.html,"ott0004:fitness_gear_3lb_dumbbell:[-0.12721582,-0.00160571,-0.99187374,0.00000000,-0.75148666,0.65282494,0.09532744,0.00000000,0.64736682,0.75750709,-0.08425631,0.00000000,0.02044713,0.05862229,0.04158418,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0004_woods_extension_cord_1.html,"ott0004:woods_extension_cord:[-0.02836674,0.13979287,-0.98977435,0.00000000,0.99827182,-0.04701910,-0.03525111,0.00000000,-0.05146614,-0.98906380,-0.13821752,0.00000000,-0.08055082,0.04193845,-0.09556348,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_barkely_hide_bones_1.html,"ott0005:barkely_hide_bones:[0.16808254,-0.01625503,0.98563886,0.00000000,-0.96151769,0.21773246,0.16755991,0.00000000,-0.21732925,-0.97587311,0.02096754,0.00000000,-0.06230495,0.05623145,-0.16415980,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_clorox_utility_brush_1.html,"ott0005:clorox_utility_brush:[0.97890121,-0.07192019,-0.19125886,0.00000000,-0.08272585,-0.99536127,-0.04911597,0.00000000,-0.18683922,0.06390174,-0.98030996,0.00000000,0.09903835,0.05441681,-0.08440301,1.00000000]",point cloud image show double image,z,, 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-http://visiongpu2.cs.princeton.edu:8012/ott0005_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0005:kyjen_squeakin_eggs_plush_puppies:[0.99392313,0.01163069,-0.10946034,0.00000000,0.10655735,0.14777054,0.98326468,0.00000000,0.02761106,-0.98895329,0.14563322,0.00000000,0.07117572,0.05567181,-0.20077857,1.00000000]",point cloud and template color variance,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_laugh_out_loud_joke_book_1.html,n/a,template does not exist in point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_oral_b_toothbrush_green_1.html,"ott0005:oral_b_toothbrush_green:[-0.60192811,-0.36447641,-0.71052057,0.00000000,-0.79615724,0.20507948,0.56927675,0.00000000,-0.06177477,0.90834975,-0.41362366,0.00000000,0.01041797,0.06996935,-0.16924185,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_safety_first_outlet_plugs_1.html,"ott0005:safety_first_outlet_plugs:[0.06015320,0.02038375,-0.99798101,0.00000000,0.99793243,-0.02390190,0.05966209,0.00000000,-0.02263750,-0.99950647,-0.02177938,0.00000000,-0.07353027,0.05092539,0.10178296,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_scotch_bubble_mailer_1.html,"ott0005:scotch_bubble_mailer:[-0.99534440,0.08935596,-0.03612668,0.00000000,0.03946533,0.03588281,-0.99857646,0.00000000,-0.08793243,-0.99535322,-0.03924226,0.00000000,0.02661716,0.02586673,-0.10891236,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_scotch_duct_tape_1.html,"ott0005:scotch_duct_tape:[-0.08703731,-0.02712712,0.99583566,0.00000000,0.99387121,0.06602087,0.08866404,0.00000000,-0.06815115,0.99744946,0.02121457,0.00000000,-0.09754362,0.08593070,-0.15174881,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0005_up_glucose_bottle_1.html,"ott0005:up_glucose_bottle:[-0.80040532,0.10670049,-0.58988672,0.00000000,-0.19488353,-0.97689503,0.08772979,0.00000000,-0.56689662,0.18517859,0.80270612,0.00000000,-0.03685267,0.06194808,-0.02659245,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_barkely_hide_bones_1.html,"ott0006:barkely_hide_bones:[-0.99851120,-0.00665968,-0.05413884,0.00000000,0.05445471,-0.06402139,-0.99646169,0.00000000,0.00317007,-0.99792629,0.06428876,0.00000000,-0.06239140,0.03322211,0.12126161,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_cherokee_easy_tee_shirt_1.html,"ott0006:cherokee_easy_tee_shirt:[0.97555017,0.20889291,-0.06830550,0.00000000,0.08146644,-0.05505253,0.99515450,0.00000000,0.20412032,-0.97638774,-0.07072427,0.00000000,0.03712172,0.04263274,-0.17017837,1.00000000]",template differ from point cloud image,z,, 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-http://visiongpu2.cs.princeton.edu:8012/ott0006_elmers_washable_no_run_school_glue_1.html,"ott0006:elmers_washable_no_run_school_glue:[0.00932143,0.99788946,-0.06426304,0.00000000,-0.14324495,0.06493558,0.98755467,0.00000000,0.98964334,-0.00000004,0.14354794,0.00000000,-0.07962795,0.10247523,-0.21117194,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_fitness_gear_3lb_dumbbell_1.html,"ott0006:fitness_gear_3lb_dumbbell:[0.20863539,-0.00659329,0.97797126,0.00000000,-0.97135103,0.11495188,0.20799802,0.00000000,-0.11379100,-0.99334913,0.01757865,0.00000000,0.02539603,0.05528369,0.00984499,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_oral_b_toothbrush_green_1.html,"ott0006:oral_b_toothbrush_green:[-0.06321174,0.03865055,-0.99725145,0.00000000,0.97676367,-0.20264590,-0.06976705,0.00000000,-0.20478544,-0.97848904,-0.02494286,0.00000000,-0.10768390,0.03614208,-0.15863022,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_oral_b_toothbrush_red_1.html,"ott0006:oral_b_toothbrush_red:[-0.02638456,0.04581494,-0.99860144,0.00000000,0.06277706,0.99705344,0.04408525,0.00000000,0.99767876,-0.06152609,-0.02918295,0.00000000,-0.14222020,0.03479588,-0.16898237,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_staples_index_cards_1.html,"ott0006:staples_index_cards:[0.99307382,-0.06765897,-0.09605565,0.00000000,0.09020411,-0.08479775,0.99230665,0.00000000,-0.07528375,-0.99409837,-0.07810730,0.00000000,-0.05478677,0.02869309,0.20461047,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0006_ticonderoga_12_pencils_1.html,"ott0006:ticonderoga_12_pencils:[0.70995110,0.70351213,-0.03225106,0.00000000,0.03169753,0.01382784,0.99940187,0.00000000,0.70353729,-0.71054876,-0.01248251,0.00000000,0.08813110,0.08422318,0.18045923,1.00000000]",,z,, 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-http://visiongpu2.cs.princeton.edu:8012/ott0015_ticonderoga_12_pencils_1.html,"ott0015:ticonderoga_12_pencils:[0.04823247,0.95040429,0.30725443,0.00000000,-0.99761164,0.06106446,-0.03228154,0.00000000,-0.04944284,-0.30496359,0.95107973,0.00000000,-0.00025444,0.12381744,0.24061120,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0015_up_glucose_bottle_1.html,"ott0015:up_glucose_bottle:[0.03943522,0.99845195,0.03922454,0.00000000,0.93683165,-0.02329068,-0.34900421,0.00000000,-0.34755036,0.05050984,-0.93629986,0.00000000,0.09174269,0.10129799,-0.22210166,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_crayola_24_ct_1.html,"ott0016:crayola_24_ct:[0.00133723,0.01974845,0.99980420,0.00000000,-0.99972415,-0.02342187,0.00179988,0.00000000,0.02345271,-0.99953073,0.01971156,0.00000000,-0.04018439,0.04053802,-0.17761435,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_dr_browns_bottle_brush_1.html,"ott0016:dr_browns_bottle_brush:[-0.98311740,0.06946914,0.16927554,0.00000000,-0.11531946,0.48302373,-0.86798012,0.00000000,-0.14206193,-0.87284714,-0.46685791,0.00000000,0.00474387,0.05004185,0.14161152,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_oral_b_toothbrush_green_1.html,"ott0016:oral_b_toothbrush_green:[0.70759887,-0.09237045,0.70055091,0.00000000,-0.67745310,-0.37055692,0.63540924,0.00000000,0.20090097,-0.92420518,-0.32478231,0.00000000,-0.01956815,0.04964018,-0.01750915,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_oral_b_toothbrush_green_2.html,n/a,"same image as above, there is no second green toothbrush",z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_peva_shower_curtain_liner_1.html,"ott0016:peva_shower_curtain_liner:[0.05005639,-0.03047722,-0.99828130,0.00000000,0.43055207,-0.90122908,0.04910323,0.00000000,-0.90117663,-0.43227002,-0.03199026,0.00000000,-0.13242540,0.10970603,-0.05877555,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_safety_first_outlet_plugs_1.html,"ott0016:safety_first_outlet_plugs:[-0.37633482,0.05005112,-0.92513078,0.00000000,0.92607105,0.05012290,-0.37400556,0.00000000,0.02765086,-0.99748814,-0.06521390,0.00000000,0.08535396,0.04350620,-0.09001037,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_scotch_bubble_mailer_1.html,"ott0016:scotch_bubble_mailer:[0.01267984,0.03350783,-0.99935800,0.00000000,0.99922407,-0.03769567,0.01141424,0.00000000,-0.03728900,-0.99872732,-0.03395981,0.00000000,0.02943488,0.02727704,0.01720279,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0016_up_glucose_bottle_1.html,"ott0016:up_glucose_bottle:[-0.02303309,0.99916738,0.03367439,0.00000000,0.96937180,0.03055920,-0.24368918,0.00000000,-0.24451534,0.02703008,-0.96926856,0.00000000,0.10020299,0.10048547,-0.21412908,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0017_crayola_24_ct_1.html,"ott0017:crayola_24_ct:[0.04947755,0.00649402,0.99875414,0.00000000,-0.99769545,0.04680827,0.04912077,0.00000000,-0.04643098,-0.99888283,0.00879500,0.00000000,-0.03627013,0.04403009,-0.18771099,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0017_dr_browns_bottle_brush_1.html,"ott0017:dr_browns_bottle_brush:[-0.98406535,0.06410403,0.16584975,0.00000000,-0.12390754,0.42173761,-0.89821172,0.00000000,-0.12752406,-0.90444905,-0.40707442,0.00000000,0.01140801,0.04201865,0.13542813,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0017_oral_b_toothbrush_green_1.html,"ott0017:oral_b_toothbrush_green:[0.68943036,-0.03906798,0.72329766,0.00000000,-0.70463234,-0.26758170,0.65718597,0.00000000,0.16786626,-0.96274287,-0.21200752,0.00000000,-0.00988698,0.03447272,-0.02539491,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0017_oral_b_toothbrush_green_2.html,n/a,"same image as above, there is no second green toothbrush",z,, -http://visiongpu2.cs.princeton.edu:8012/ott0017_peva_shower_curtain_liner_1.html,"ott0017:peva_shower_curtain_liner:[0.06008720,-0.00293059,-0.99818879,0.00000000,0.40413350,-0.91430110,0.02701162,0.00000000,-0.91272432,-0.40502459,-0.05375342,0.00000000,-0.12843816,0.09915832,-0.07133226,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0017_scotch_bubble_mailer_1.html,"ott0017:scotch_bubble_mailer:[0.00395598,0.01327266,-0.99990404,0.00000000,-0.99970639,0.02395428,-0.00363719,0.00000000,0.02390365,0.99962491,0.01336357,0.00000000,0.03442195,0.02847176,0.00245060,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0018_crayola_24_ct_1.html,"ott0018:crayola_24_ct:[0.08728156,-0.07376698,0.99344873,0.00000000,-0.98838860,-0.13092430,0.07711541,0.00000000,0.12437801,-0.98864412,-0.08433771,0.00000000,-0.05484481,0.04614219,-0.16567087,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0018_oral_b_toothbrush_green_1.html,n/a,point cloud image too unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0018_oral_b_toothbrush_green_2.html,n/a,point cloud image too unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0018_peva_shower_curtain_liner_1.html,"ott0018:peva_shower_curtain_liner:[-0.10838127,0.13766572,-0.98453116,0.00000000,-0.99130726,-0.08927409,0.09664412,0.00000000,-0.07458854,0.98644733,0.14614466,0.00000000,-0.05998438,0.06088626,-0.03470781,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0018_scotch_bubble_mailer_1.html,"ott0018:scotch_bubble_mailer:[0.04109737,0.08060359,-0.99589860,0.00000000,0.99812406,-0.04858236,0.03725717,0.00000000,-0.04538004,-0.99556154,-0.08244899,0.00000000,0.02065375,0.02478195,0.03616085,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0019_crayola_24_ct_1.html,"ott0019:crayola_24_ct:[0.09111203,-0.02174106,0.99560326,0.00000000,-0.99556917,0.02135445,0.09157522,0.00000000,-0.02325150,-0.99953556,-0.01969908,0.00000000,-0.05811374,0.04641974,-0.15118848,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0019_oral_b_toothbrush_green_1.html,"ott0019:oral_b_toothbrush_green:[0.65932709,0.00000001,0.75185621,0.00000000,-0.68125719,-0.42306271,0.59741652,0.00000000,0.31808233,-0.90610039,-0.27893671,0.00000000,-0.02058475,0.04016465,0.01132773,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0019_oral_b_toothbrush_green_2.html,n/a,"same image as above, there is no second green toothbrush",z,, -http://visiongpu2.cs.princeton.edu:8012/ott0019_scotch_bubble_mailer_1.html,"ott0019:scotch_bubble_mailer:[0.07399611,0.00713139,-0.99723297,0.00000000,0.99683714,-0.02959331,0.07375506,0.00000000,-0.02898550,-0.99953651,-0.00929858,0.00000000,0.01041901,0.02190692,0.03979262,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0020_crayola_24_ct_1.html,"ott0020:crayola_24_ct:[0.11251725,0.99364692,-0.00239152,0.00000000,-0.02092657,-0.00003663,-0.99978101,0.00000000,-0.99342936,0.11254266,0.02078949,0.00000000,-0.14758088,0.07227762,0.02504876,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0021_cloud_b_plush_bear_1.html,"ott0021:cloud_b_plush_bear:[-0.21961826,0.11478011,-0.96881026,0.00000000,0.95132399,-0.19489415,-0.23874447,0.00000000,-0.21621858,-0.97408509,-0.06639077,0.00000000,-0.11285276,0.06515237,-0.15146908,1.00000000]",template position differs from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0021_fitness_gear_3lb_dumbbell_1.html,"ott0021:fitness_gear_3lb_dumbbell:[-0.69380862,0.06412177,-0.71729904,0.00000000,0.61242437,-0.47151116,-0.63451838,0.00000000,-0.37890097,-0.87952578,0.28786883,0.00000000,0.04518357,0.05528120,0.14924550,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0021_safety_first_outlet_plugs_1.html,"ott0021:safety_first_outlet_plugs:[0.80864727,0.02898068,-0.58757949,0.00000000,-0.58760637,0.08805744,-0.80434108,0.00000000,0.02843038,0.99569374,0.08823665,0.00000000,0.06090629,0.03448639,-0.14211142,1.00000000]",template orientation oppisite of point cloud image,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0021_scotch_bubble_mailer_1.html,"ott0021:scotch_bubble_mailer:[0.99983341,-0.00357061,-0.01789964,0.00000000,0.01773958,-0.04070897,0.99901354,0.00000000,-0.00429576,-0.99916464,-0.04063885,0.00000000,-0.00427608,0.02390463,-0.11718028,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0021_staples_index_cards_1.html,"ott0021:staples_index_cards:[-0.46535489,0.04473505,-0.88399303,0.00000000,0.87954873,-0.08855053,-0.46749642,0.00000000,-0.09919151,-0.99506664,0.00186074,0.00000000,-0.08165360,0.03719479,0.01422146,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0021_woods_extension_cord_1.html,"ott0021:woods_extension_cord:[-0.85824156,0.15609610,-0.48893294,0.00000000,0.50203556,0.05730309,-0.86294651,0.00000000,-0.10668523,-0.98607826,-0.12754565,0.00000000,-0.07116987,0.03256436,0.17257299,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0022_cloud_b_plush_bear_1.html,"ott0022:cloud_b_plush_bear:[-0.12937351,0.04361912,-0.99063605,0.00000000,0.98893595,-0.06745056,-0.13212144,0.00000000,-0.07258201,-0.99676865,-0.03441017,0.00000000,-0.10258168,0.07436341,-0.16828863,1.00000000]",template position differs from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0022_fitness_gear_3lb_dumbbell_1.html,"ott0022:fitness_gear_3lb_dumbbell:[-0.72765374,0.06919076,-0.68244606,0.00000000,0.68216276,-0.03133492,-0.73052859,0.00000000,-0.07193022,-0.99711120,-0.02439837,0.00000000,0.06220375,0.05635295,0.15258919,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0022_scotch_bubble_mailer_1.html,"ott0022:scotch_bubble_mailer:[0.99956751,-0.02940618,0.00013464,0.00000000,-0.00110695,-0.03305099,0.99945307,0.00000000,-0.02938565,-0.99902099,-0.03306925,0.00000000,0.01101015,0.02887252,-0.11876307,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0022_staples_index_cards_1.html,"ott0022:staples_index_cards:[-0.48754221,0.08877274,-0.86857468,0.00000000,0.86630505,-0.07468154,-0.49390104,0.00000000,-0.10871144,-0.99324822,-0.04049387,0.00000000,-0.06663563,0.03872051,0.02066946,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0022_woods_extension_cord_1.html,"ott0022:woods_extension_cord:[-0.85547084,0.14214943,-0.49795899,0.00000000,0.49975756,-0.02534059,-0.86579454,0.00000000,-0.13569079,-0.98952079,-0.04936212,0.00000000,-0.06064817,0.03340435,0.16886826,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8012/ott0023_cloud_b_plush_bear_1.html,"ott0023:cloud_b_plush_bear:[0.83056605,0.00755679,-0.55686891,0.00000000,0.53107280,-0.31183130,0.78785968,0.00000000,-0.16769548,-0.95010740,-0.26300970,0.00000000,-0.07645975,0.06556495,-0.18755367,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0023_fitness_gear_3lb_dumbbell_1.html,"ott0023:fitness_gear_3lb_dumbbell:[0.90326065,0.01477392,-0.42883793,0.00000000,0.42031723,-0.23154731,0.87733644,0.00000000,-0.08633457,-0.97271144,-0.21535730,0.00000000,-0.02958394,0.05732683,-0.05591604,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0023_hanes_tube_socks_1.html,"ott0023:hanes_tube_socks:[0.94521749,0.10574748,-0.30883875,0.00000000,0.30429348,0.05711946,0.95086426,0.00000000,0.11819220,-0.99275112,0.02181204,0.00000000,0.04244389,0.07074721,0.11201061,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0023_scotch_bubble_mailer_1.html,"ott0023:scotch_bubble_mailer:[-0.99702287,0.07710280,-0.00076334,0.00000000,-0.00150038,-0.00950170,0.99995375,0.00000000,0.07709198,0.99697787,0.00958909,0.00000000,0.00000000,0.03078728,-0.13455586,1.00000000]",label on mailer template is not clear,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0023_staples_index_cards_1.html,"ott0023:staples_index_cards:[-0.39866745,0.00000001,-0.91709554,0.00000000,0.90355647,0.17119586,-0.39278194,0.00000000,0.15700296,-0.98523700,-0.06825021,0.00000000,0.08446001,0.04589460,-0.14913638,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0023_woods_extension_cord_1.html,"ott0023:woods_extension_cord:[-0.39330989,0.04066292,-0.91850632,0.00000000,0.91893023,0.04952081,-0.39129907,0.00000000,0.02957381,-0.99794501,-0.05684341,0.00000000,-0.10912289,0.03360977,0.16602705,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0024_cloud_b_plush_bear_1.html,"ott0024:cloud_b_plush_bear:[0.90105349,-0.09393045,-0.42341435,0.00000000,0.39589930,-0.22052629,0.89142132,0.00000000,-0.17710559,-0.97084773,-0.16151899,0.00000000,-0.08915108,0.06765064,-0.16848335,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0024_fitness_gear_3lb_dumbbell_1.html,"ott0024:fitness_gear_3lb_dumbbell:[0.88208318,-0.00000003,-0.47109368,0.00000000,0.41387519,-0.47766659,0.77494639,0.00000000,-0.22502574,-0.87854117,-0.42134166,0.00000000,-0.04705982,0.07330674,-0.05468585,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0024_hanes_tube_socks_1.html,"ott0024:hanes_tube_socks:[0.93803477,0.18805189,-0.29107946,0.00000000,0.31413144,-0.10674536,0.94335938,0.00000000,0.14632913,-0.97634107,-0.15920387,0.00000000,0.02201227,0.07676533,0.10945531,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0024_scotch_bubble_mailer_1.html,"ott0024:scotch_bubble_mailer:[-0.99985355,-0.01414701,-0.00962677,0.00000000,0.00904564,0.04058258,-0.99913526,0.00000000,0.01452546,-0.99907601,-0.04044866,0.00000000,-0.01404083,0.02967652,-0.12628311,1.00000000]",label on mailer template is not clear,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0024_staples_index_cards_1.html,"ott0024:staples_index_cards:[-0.51096886,-0.02375344,-0.85927093,0.00000000,0.85768294,-0.08079722,-0.50779104,0.00000000,-0.05736493,-0.99644744,0.06165781,0.00000000,0.06710192,0.04912237,-0.15489319,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0025_cloud_b_plush_bear_1.html,"ott0025:cloud_b_plush_bear:[0.95994931,-0.01481004,-0.27978203,0.00000000,0.27966192,-0.00968316,0.96004969,0.00000000,-0.01692756,-0.99984342,-0.00515354,0.00000000,-0.06550512,0.05918729,-0.16637532,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0025_fitness_gear_3lb_dumbbell_1.html,"ott0025:fitness_gear_3lb_dumbbell:[0.88975912,0.04184756,-0.45450798,0.00000000,0.45611161,-0.04430860,0.88881886,0.00000000,0.01705630,-0.99814105,-0.05851114,0.00000000,-0.02929759,0.06875396,-0.04588644,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0025_hanes_tube_socks_1.html,"ott0025:hanes_tube_socks:[0.93386275,-0.02290722,-0.35689729,0.00000000,0.35651404,0.13846317,0.92397279,0.00000000,0.02825149,-0.99010265,0.13747233,0.00000000,0.06628568,0.07845083,0.10859047,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0025_rolodex_jumbo_pencil_cup_1.html,n/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0025_scotch_bubble_mailer_1.html,"ott0025:scotch_bubble_mailer:[0.99856639,-0.00245428,-0.05347098,0.00000000,0.05335841,-0.03364355,0.99800849,0.00000000,-0.00424834,-0.99943089,-0.03346436,0.00000000,0.01628907,0.02868377,-0.11616129,1.00000000]",label on mailer template is not clear,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0025_staples_index_cards_1.html,"ott0025:staples_index_cards:[-0.49391061,0.01754423,-0.86933571,0.00000000,0.85578138,0.18678816,-0.48244014,0.00000000,0.15391758,-0.98224354,-0.10727070,0.00000000,0.09104401,0.05180115,-0.14449541,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0026_fitness_gear_3lb_dumbbell_1.html,"ott0026:fitness_gear_3lb_dumbbell:[0.90979749,0.02248233,-0.41444308,0.00000000,0.41478845,-0.08485668,0.90595245,0.00000000,-0.01480036,-0.99613947,-0.08652780,0.00000000,-0.03471454,0.06633438,-0.05793860,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0026_hanes_tube_socks_1.html,"ott0026:hanes_tube_socks:[0.93608129,0.03612220,-0.34992430,0.00000000,0.35058326,-0.01368215,0.93643159,0.00000000,0.02903824,-0.99925369,-0.02547144,0.00000000,0.04541373,0.06885490,0.10230011,1.00000000]",No price tag on the package.,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0026_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0026_scotch_bubble_mailer_1.html,"ott0026:scotch_bubble_mailer:[0.99816328,0.03789501,-0.04726595,0.00000000,0.04937000,-0.05665730,0.99717230,0.00000000,0.03510989,-0.99767423,-0.05842411,0.00000000,-0.00130941,0.03792075,-0.11790383,1.00000000]",label on mailer template is not clear,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0026_staples_index_cards_1.html,"ott0026:staples_index_cards:[-0.45970464,0.07784745,-0.88465327,0.00000000,0.88724166,-0.00280344,-0.46129638,0.00000000,-0.03839082,-0.99696136,-0.06778075,0.00000000,0.08582661,0.05404469,-0.15170841,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0027_fitness_gear_3lb_dumbbell_1.html,"ott0027:fitness_gear_3lb_dumbbell:[0.89077896,0.09336008,-0.44474351,0.00000000,0.40267563,0.29145285,0.86770248,0.00000000,0.21063054,-0.95201844,0.22202623,0.00000000,-0.02559085,0.05678340,-0.03115919,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0027_hanes_tube_socks_1.html,"ott0027:hanes_tube_socks:[-0.03375925,-0.13239719,0.99062169,0.00000000,0.99936312,-0.01593928,0.03192684,0.00000000,0.01156276,0.99106860,0.13285094,0.00000000,0.08420536,0.06484130,0.13460711,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0027_scotch_bubble_mailer_1.html,"ott0027:scotch_bubble_mailer:[0.99983984,0.01789530,0.00009577,0.00000000,-0.00018194,0.00481376,0.99998838,0.00000000,0.01789463,-0.99982828,0.00481625,0.00000000,0.00755879,0.03278966,-0.09651832,1.00000000]",Different mailer. The black barcode doesn't match.,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0027_staples_index_cards_1.html,"ott0027:staples_index_cards:[-0.53365988,0.10026344,-0.83973473,0.00000000,0.84561080,0.04890255,-0.53155524,0.00000000,-0.01223037,-0.99375844,-0.11088119,0.00000000,0.09376092,0.04369639,-0.13191830,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0028_fitness_gear_3lb_dumbbell_1.html,"ott0028:fitness_gear_3lb_dumbbell:[0.81382096,-0.29386869,-0.50133491,0.00000000,-0.13591576,0.74252671,-0.65588182,0.00000000,0.56499767,0.60190964,0.56434244,0.00000000,-0.01551424,0.06392801,0.00338900,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0028_hanes_tube_socks_1.html,"ott0028:hanes_tube_socks:[0.00062684,-0.12892722,0.99165386,0.00000000,0.99944168,-0.03304562,-0.00492809,0.00000000,0.03340519,0.99110329,0.12883453,0.00000000,0.06548218,0.07499336,0.12994422,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0028_staples_index_cards_1.html,"ott0028:staples_index_cards:[-0.50294554,0.02685628,-0.86390078,0.00000000,0.86425161,0.00322665,-0.50304943,0.00000000,-0.01072251,-0.99963409,-0.02483343,0.00000000,0.08687724,0.03590940,-0.06132917,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0029_fitness_gear_3lb_dumbbell_1.html,"ott0029:fitness_gear_3lb_dumbbell:[0.85947829,0.01062636,-0.51106179,0.00000000,-0.50492662,0.17345835,-0.84555382,0.00000000,0.07966278,0.98478389,0.15444922,0.00000000,-0.01496426,0.07290291,0.01100864,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0029_hanes_tube_socks_1.html,"ott0029:hanes_tube_socks:[-0.01186040,-0.07983515,0.99673754,0.00000000,0.98914421,-0.14694814,-0.00000000,0.00000000,0.14646870,0.98591715,0.08071132,0.00000000,0.04911173,0.09345395,0.13432252,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_creativity_chenille_stems_1.html,"ott0030:creativity_chenille_stems:[-0.72406393,0.06623428,-0.68654525,0.00000000,-0.68957651,-0.04832436,0.72259873,0.00000000,0.01468393,0.99663317,0.08066358,0.00000000,-0.00891494,0.03671563,0.06924928,1.00000000]",The color doesn't match.,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_expo_dry_erase_board_eraser_1.html,"ott0030:expo_dry_erase_board_eraser:[0.96657133,-0.03213140,0.25437650,0.00000000,-0.25552908,-0.03911760,0.96600968,0.00000000,-0.02108864,-0.99871790,-0.04602046,0.00000000,0.03461481,0.04599552,0.19709755,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_hanes_tube_socks_1.html,"ott0030:hanes_tube_socks:[0.12502849,-0.02791982,-0.99176025,0.00000000,-0.17003427,-0.98541796,0.00630552,0.00000000,-0.97747439,0.16784486,-0.12795267,0.00000000,0.12361170,0.13112438,-0.03913234,1.00000000]",different back,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0030:kyjen_squeakin_eggs_plush_puppies:[-0.99705416,0.04715907,0.06049025,0.00000000,-0.05619935,0.08753920,-0.99457455,0.00000000,-0.05219848,-0.99504417,-0.08463103,0.00000000,-0.00209057,0.08143020,-0.18665479,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_peva_shower_curtain_liner_1.html,"ott0030:peva_shower_curtain_liner:[0.00029661,0.03876112,0.99924845,0.00000000,0.28215694,-0.95865053,0.03710257,0.00000000,0.95936823,0.28193387,-0.01122107,0.00000000,-0.12288242,0.11790866,-0.11412656,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0030_scotch_bubble_mailer_1.html,"ott0030:scotch_bubble_mailer:[0.06552023,0.08240970,-0.99444234,0.00000000,-0.99783903,0.00050185,-0.06570236,0.00000000,-0.00491555,0.99659830,0.08226459,0.00000000,0.03062153,0.04943393,-0.06890650,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0031_expo_dry_erase_board_eraser_1.html,"ott0031:expo_dry_erase_board_eraser:[0.96421212,-0.09612285,0.24709378,0.00000000,-0.25033951,-0.02312462,0.96788192,0.00000000,-0.08732163,-0.99510086,-0.04636039,0.00000000,0.01361808,0.03735304,0.21501479,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0031_hanes_tube_socks_1.html,"ott0031:hanes_tube_socks:[0.07710199,0.18165857,-0.98033434,0.00000000,-0.21392003,-0.95734811,-0.19422367,0.00000000,-0.97380364,0.22468817,-0.03495306,0.00000000,0.11888791,0.15399705,-0.14434986,1.00000000]",different package back ,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0031_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0031:kyjen_squeakin_eggs_plush_puppies:[0.40303147,0.29697531,-0.86566234,0.00000000,-0.91507632,0.14541630,-0.37615070,0.00000000,0.01417393,0.94374770,0.33036244,0.00000000,-0.02461924,0.07619583,-0.17048959,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0031_peva_shower_curtain_liner_1.html,"ott0031:peva_shower_curtain_liner:[0.01977992,0.00205799,0.99980223,0.00000000,0.24914135,-0.96846265,-0.00293548,0.00000000,0.96826512,0.24915016,-0.01966881,0.00000000,-0.14084983,0.11390400,-0.11197511,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0031_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0031_scotch_bubble_mailer_1.html,"ott0031:scotch_bubble_mailer:[-0.02253260,0.07427777,-0.99698293,0.00000000,-0.99966782,0.01080449,0.02339828,0.00000000,0.01250982,0.99717903,0.07400969,0.00000000,0.00000000,0.03260889,-0.07214499,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_expo_dry_erase_board_eraser_1.html,"ott0032:expo_dry_erase_board_eraser:[0.96812451,0.00000000,0.25046954,0.00000000,-0.24731347,-0.15824801,0.95592552,0.00000000,0.03963631,-0.98739940,-0.15320377,0.00000000,0.04116111,0.06057180,0.21584143,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_hanes_tube_socks_1.html,"ott0032:hanes_tube_socks:[0.05286698,0.00841981,-0.99856603,0.00000000,-0.18607387,-0.98236835,-0.01813452,0.00000000,-0.98111242,0.18676578,-0.05036811,0.00000000,0.13881522,0.13799979,-0.13013235,1.00000000]",different package back,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0032:kyjen_squeakin_eggs_plush_puppies:[0.41303375,0.17709817,-0.89333051,0.00000000,0.90944666,-0.02844136,0.41484675,0.00000000,0.04806106,-0.98378217,-0.17280859,0.00000000,-0.02444290,0.09583236,-0.10228076,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_peva_shower_curtain_liner_1.html,"ott0032:peva_shower_curtain_liner:[-0.02082590,-0.05578392,0.99822563,0.00000000,0.19704525,-0.97908759,-0.05060349,0.00000000,0.98017317,0.19564176,0.03138233,0.00000000,-0.10807620,0.15379731,-0.12199889,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_scotch_bubble_mailer_1.html,"ott0032:scotch_bubble_mailer:[-0.02092249,0.02370821,-0.99949998,0.00000000,0.99926078,-0.03175366,-0.02167067,0.00000000,-0.03225155,-0.99921453,-0.02302633,0.00000000,0.04557634,0.04163350,-0.08015113,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0032_woods_extension_cord_1.html,"ott0032:woods_extension_cord:[-0.51945919,-0.09581144,-0.84910673,0.00000000,0.85258716,-0.12448425,-0.50754189,0.00000000,-0.05707211,-0.98758483,0.14635211,0.00000000,0.08651011,0.04418435,0.10022203,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0033_expo_dry_erase_board_eraser_1.html,"ott0033:expo_dry_erase_board_eraser:[0.97204924,0.05068615,0.22924045,0.00000000,-0.22597064,-0.06293330,0.97209907,0.00000000,0.06369882,-0.99672979,-0.04972069,0.00000000,0.02257387,0.04488189,0.21507421,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0033_hanes_tube_socks_1.html,"ott0033:hanes_tube_socks:[0.02416895,0.23956960,-0.97057831,0.00000000,-0.11813026,-0.96337569,-0.24073339,0.00000000,-0.99270391,0.12047294,0.00501663,0.00000000,0.10461030,0.12325031,-0.11294457,1.00000000]",different package back,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0033_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0033:kyjen_squeakin_eggs_plush_puppies:[0.43691227,0.12276451,-0.89108729,0.00000000,-0.89946562,0.06879497,-0.43154243,0.00000000,0.00832421,0.99004853,0.14047982,0.00000000,-0.02388555,0.05800417,-0.07915995,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0033_peva_shower_curtain_liner_1.html,"ott0033:peva_shower_curtain_liner:[-0.00852237,0.01760413,0.99980873,0.00000000,0.24953172,-0.96817678,0.01917417,0.00000000,0.96832913,0.24964739,0.00385837,0.00000000,-0.12841535,0.10532483,-0.10960513,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0033_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0033_woods_extension_cord_1.html,"ott0033:woods_extension_cord:[-0.54887158,0.14287725,-0.82360554,0.00000000,0.83511758,0.13652913,-0.53285873,0.00000000,0.03631277,-0.98027849,-0.19425628,0.00000000,0.06288827,0.03370670,0.10564416,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0034_expo_dry_erase_board_eraser_1.html,"ott0034:expo_dry_erase_board_eraser:[0.95924902,-0.00931283,0.28240854,0.00000000,-0.28242573,-0.06264094,0.95724183,0.00000000,0.00877570,-0.99799269,-0.06271845,0.00000000,0.01208460,0.03149046,0.23634920,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0034_hanes_tube_socks_1.html,"ott0034:hanes_tube_socks:[0.09179891,0.06000315,-0.99396807,0.00000000,-0.09347795,-0.99325567,-0.06859338,0.00000000,-0.99138027,0.09921090,-0.08557080,0.00000000,0.09846643,0.11096448,-0.10260076,1.00000000]",different package back,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0034_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0034:kyjen_squeakin_eggs_plush_puppies:[0.34639588,-0.00000000,-0.93808842,0.00000000,0.93320060,-0.10194904,0.34459099,0.00000000,-0.09563723,-0.99478960,-0.03531471,0.00000000,-0.05068685,0.07425455,-0.07203273,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0034_peva_shower_curtain_liner_1.html,"ott0034:peva_shower_curtain_liner:[0.03252974,-0.10589610,0.99384499,0.00000000,0.23315366,-0.96613282,-0.11057472,0.00000000,0.97189569,0.23531556,-0.00673802,0.00000000,-0.15049593,0.12639366,-0.09248406,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0034_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0035_cool_shot_glue_sticks_1.html,"ott0035:cool_shot_glue_sticks:[-0.59990495,0.22445910,-0.76794022,0.00000000,0.77747655,-0.06294871,-0.62575370,0.00000000,-0.18879697,-0.97244823,-0.13674843,0.00000000,0.04545441,0.03885813,0.11825877,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0035_expo_dry_erase_board_eraser_1.html,"ott0035:expo_dry_erase_board_eraser:[0.97981179,0.00000000,0.19992210,0.00000000,-0.19988358,-0.01963035,0.97962296,0.00000000,0.00392454,-0.99980730,-0.01923405,0.00000000,-0.00003749,0.04770944,0.22103110,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0035_hanes_tube_socks_1.html,"ott0035:hanes_tube_socks:[0.02634352,0.03407734,-0.99907196,0.00000000,-0.31107914,-0.94951683,-0.04058959,0.00000000,-0.95001882,0.31185970,-0.01441287,0.00000000,0.09987824,0.11321948,-0.11755836,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0035_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0035:kyjen_squeakin_eggs_plush_puppies:[0.48761171,0.08285432,-0.86912024,0.00000000,-0.87285924,0.06764308,-0.48326096,0.00000000,0.01874972,0.99426335,0.10530371,0.00000000,-0.04880474,0.07268798,-0.08615957,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0035_peva_shower_curtain_liner_1.html,"ott0035:peva_shower_curtain_liner:[-0.01468815,0.00528340,0.99987817,0.00000000,0.15552408,-0.98780358,0.00750423,0.00000000,0.98772287,0.15561534,0.01368732,0.00000000,-0.13389635,0.10566527,-0.09692854,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0035_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0036_cool_shot_glue_sticks_1.html,"ott0036:cool_shot_glue_sticks:[-0.71976835,-0.04464661,-0.69277716,0.00000000,0.68144250,0.14510211,-0.71734333,0.00000000,0.13255037,-0.98840886,-0.07401581,0.00000000,0.08481147,0.02931548,0.12032870,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0036_expo_dry_erase_board_eraser_1.html,"ott0036:expo_dry_erase_board_eraser:[0.99173999,0.00000000,0.12826459,0.00000000,-0.12603226,-0.18575600,0.97447962,0.00000000,0.02382592,-0.98259586,-0.18422166,0.00000000,0.02900145,0.04195365,0.20833093,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0036_hanes_tube_socks_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0036_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0036:kyjen_squeakin_eggs_plush_puppies:[0.77741486,0.20317566,-0.59526956,0.00000000,0.61080003,-0.01791663,0.79158217,0.00000000,0.15016501,-0.97897840,-0.13802835,0.00000000,-0.00012199,0.07914171,-0.06350232,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0036_peva_shower_curtain_liner_1.html,"ott0036:peva_shower_curtain_liner:[0.01692059,-0.06328243,0.99785221,0.00000000,-0.20056273,0.97749597,0.06539241,0.00000000,-0.97953475,-0.20123844,0.00384771,0.00000000,-0.14653561,0.09947510,-0.08462366,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0036_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0037_cool_shot_glue_sticks_1.html,"ott0037:cool_shot_glue_sticks:[-0.94569492,0.14544357,-0.29070136,0.00000000,0.30037674,0.04920844,-0.95255041,0.00000000,-0.12423738,-0.98814201,-0.09022405,0.00000000,0.06958017,0.03182792,0.02427176,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0037_expo_dry_erase_board_eraser_1.html,"ott0037:expo_dry_erase_board_eraser:[0.99101877,0.00000000,0.13372266,0.00000000,-0.13332008,-0.07753714,0.98803532,0.00000000,0.01036847,-0.99698949,-0.07684077,0.00000000,0.03470192,0.03441790,0.20910697,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0037_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0037:kyjen_squeakin_eggs_plush_puppies:[0.84879243,0.19560304,-0.49121371,0.00000000,0.45686719,0.19629107,0.86760718,0.00000000,0.26612747,-0.96083778,0.07724576,0.00000000,-0.00688850,0.07110958,-0.12184668,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0037_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0038_cool_shot_glue_sticks_1.html,"ott0038:cool_shot_glue_sticks:[-0.95501733,-0.03110620,-0.29491416,0.00000000,0.29525936,-0.00705450,-0.95539111,0.00000000,0.02763811,-0.99949121,0.01592156,0.00000000,0.07412030,0.03816191,0.02632067,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0038_expo_dry_erase_board_eraser_1.html,"ott0038:expo_dry_erase_board_eraser:[0.98793280,0.06968122,0.13832329,0.00000000,-0.13521522,-0.04752589,0.98967576,0.00000000,0.07553575,-0.99643654,-0.03753042,0.00000000,0.03975452,0.04552109,0.20455544,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0038_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0039_cool_shot_glue_sticks_1.html,"ott0039:cool_shot_glue_sticks:[-0.91201824,-0.00632399,-0.41010088,0.00000000,0.40977761,-0.05662705,-0.91042608,0.00000000,-0.01746528,-0.99837536,0.05423633,0.00000000,0.06771634,0.03487591,0.02362140,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0039_expo_dry_erase_board_eraser_1.html,"ott0039:expo_dry_erase_board_eraser:[0.98614383,-0.02426215,0.16410892,0.00000000,-0.16463549,-0.02157437,0.98611850,0.00000000,-0.02038481,-0.99947280,-0.02526984,0.00000000,0.03315995,0.03424934,0.20580079,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0040_cool_shot_glue_sticks_1.html,"ott0040:cool_shot_glue_sticks:[-0.92158997,-0.05453866,-0.38431433,0.00000000,0.38624191,-0.03041683,-0.92189586,0.00000000,0.03858934,-0.99804831,0.04909695,0.00000000,0.06438491,0.02796629,0.02274637,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_dr_browns_bottle_brush_1.html,"ott0041:dr_browns_bottle_brush:[0.58122301,-0.09815066,-0.80780339,0.00000000,0.12776019,-0.96938127,0.20970768,0.00000000,-0.80365241,-0.22509204,-0.55088693,0.00000000,0.05756428,0.07827189,0.11290988,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_easter_turtle_sippy_cup_1.html,"ott0041:easter_turtle_sippy_cup:[-0.04843070,0.99606454,-0.07422885,0.00000000,0.51076686,-0.03916710,-0.85882664,0.00000000,-0.85835409,-0.07950718,-0.50685990,0.00000000,0.02999903,0.09333508,0.04435321,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_hanes_tube_socks_1.html,"ott0041:hanes_tube_socks:[-0.99848020,0.05511143,0.00000000,0.00000000,-0.05511143,-0.99848020,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.13360189,-0.19963342,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_jane_eyre_dvd_1.html,"ott0041:jane_eyre_dvd:[0.03038041,0.97673154,0.21230289,0.00000000,-0.99948990,0.02759333,0.01607909,0.00000000,0.00984682,-0.21268310,0.97707164,0.00000000,0.08592115,0.11687583,0.25641912,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_peva_shower_curtain_liner_1.html,"ott0041:peva_shower_curtain_liner:[-0.05149494,-0.00000000,-0.99867326,0.00000000,0.97347140,-0.22323509,-0.05019544,0.00000000,-0.22293890,-0.97476465,0.01149547,0.00000000,-0.07706328,0.03838995,0.11264355,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_safety_first_outlet_plugs_1.html,"ott0041:safety_first_outlet_plugs:[-0.99848789,-0.05490339,-0.00274768,0.00000000,0.00000000,0.04998311,-0.99875009,0.00000000,0.05497210,-0.99723983,-0.04990754,0.00000000,0.05125163,0.04688226,-0.06747736,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0041_up_glucose_bottle_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0042_dr_browns_bottle_brush_1.html,"ott0042:dr_browns_bottle_brush:[0.54427290,0.07839480,-0.83523726,0.00000000,0.15656789,-0.98762316,0.00932805,0.00000000,-0.82416838,-0.13584834,-0.54981059,0.00000000,0.03719608,0.08502205,0.11897118,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0042_easter_turtle_sippy_cup_1.html,"ott0042:easter_turtle_sippy_cup:[0.01199782,0.99990749,-0.00640202,0.00000000,-0.35697502,0.01026376,0.93405747,0.00000000,0.93403685,-0.00892124,0.35706520,0.00000000,0.01219247,0.10340003,0.03721983,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0042_hanes_tube_socks_1.html,"ott0042:hanes_tube_socks:[-0.99603999,0.05169385,-0.07233340,0.00000000,-0.05155807,-0.99866301,-0.00374420,0.00000000,-0.07243023,-0.00000000,0.99737346,0.00000000,-0.01305097,0.11899959,-0.18595129,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0042_jane_eyre_dvd_1.html,"ott0042:jane_eyre_dvd:[0.05188347,0.97242367,0.22737703,0.00000000,-0.99662864,0.03592794,0.07376020,0.00000000,0.06355697,-0.23043738,0.97100931,0.00000000,0.06167114,0.11336569,0.25298786,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0042_safety_first_outlet_plugs_1.html,"ott0042:safety_first_outlet_plugs:[-0.99920136,-0.01978359,-0.03471597,0.00000000,0.03132810,0.15140909,-0.98797458,0.00000000,0.02480200,-0.98827320,-0.15066837,0.00000000,0.04890105,0.04483963,-0.06532158,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0042_up_glucose_bottle_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0043_dr_browns_bottle_brush_1.html,"ott0043:dr_browns_bottle_brush:[0.83400357,-0.06447262,-0.54797930,0.00000000,-0.02677379,0.98725092,-0.15690389,0.00000000,0.55110908,0.14552990,0.82164460,0.00000000,0.02285788,0.04736029,0.04232723,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0043_easter_turtle_sippy_cup_1.html,"ott0043:easter_turtle_sippy_cup:[0.32202801,0.94013411,-0.11156091,0.00000000,-0.37633654,0.23524602,0.89611948,0.00000000,0.86871678,-0.24659114,0.42956263,0.00000000,-0.00615732,0.09716127,-0.00901679,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0043_hanes_tube_socks_1.html,"ott0043:hanes_tube_socks:[-0.99875969,0.04979026,0.00000000,0.00000000,-0.04979026,-0.99875969,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.00797195,0.11303914,-0.21819267,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0043_safety_first_outlet_plugs_1.html,"ott0043:safety_first_outlet_plugs:[-0.99311388,0.00185231,-0.11713842,0.00000000,0.11708990,-0.01713571,-0.99297351,0.00000000,-0.00384655,-0.99985147,0.01680079,0.00000000,0.04981357,0.04858319,-0.10491828,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0043_up_glucose_bottle_1.html,"ott0043:up_glucose_bottle:[0.23762037,0.97035956,0.04403361,0.00000000,-0.97135812,0.23737608,0.01077181,0.00000000,0.00000000,-0.04533201,0.99897200,0.00000000,0.04050380,0.09975741,0.07184908,1.00000000]",target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8012/ott0044_clorox_utility_brush_1.html,"ott0044:clorox_utility_brush:[-0.71353740,0.15062615,-0.68423396,0.00000000,-0.06196232,-0.98635626,-0.15251890,0.00000000,-0.69787180,-0.06643122,0.71313524,0.00000000,-0.07545317,0.06517554,0.19117016,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_easter_turtle_sippy_cup_1.html,"ott0044:easter_turtle_sippy_cup:[-0.12679659,0.98996520,0.06238195,0.00000000,0.44496506,0.11297344,-0.88839352,0.00000000,-0.88652623,-0.08488748,-0.45482457,0.00000000,-0.02809542,0.08552784,-0.04698085,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_hanes_tube_socks_1.html,"ott0044:hanes_tube_socks:[-0.99510485,-0.02083578,-0.09660347,0.00000000,0.02073828,-0.99978292,0.00201325,0.00000000,-0.09662444,0.00000000,0.99532092,0.00000000,-0.00334324,0.11947889,-0.19203053,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0044:kyjen_squeakin_eggs_plush_puppies:[-0.67430580,0.03173935,-0.73776984,0.00000000,-0.70815742,0.25543472,0.65822959,0.00000000,0.20934384,0.96630520,-0.14976469,0.00000000,-0.00294654,0.07359012,0.09758397,1.00000000]",tag is different from the scene,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_peva_shower_curtain_liner_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_safety_first_outlet_plugs_1.html,"ott0044:safety_first_outlet_plugs:[-0.98843253,-0.05922958,-0.13961735,0.00000000,0.13538922,0.07024527,-0.98829919,0.00000000,0.06834400,-0.99576980,-0.06141366,0.00000000,0.04491880,0.04775821,-0.10476031,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_scotch_duct_tape_1.html,"ott0044:scotch_duct_tape:[0.97209674,0.02071022,0.23366432,0.00000000,-0.23061487,-0.09800608,0.96809691,0.00000000,0.04295003,-0.99497032,-0.09049531,0.00000000,0.06943610,0.05373780,0.21533334,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0044_up_glucose_bottle_1.html,"ott0044:up_glucose_bottle:[0.12336682,0.99236113,0.00000000,0.00000000,-0.99236113,0.12336682,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.09064991,0.09268667,0.08948065,1.00000000]",not the same bottle,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0045_dove_beauty_bar_1.html,"ott0045:dove_beauty_bar:[-0.19796257,0.06397695,0.97811949,0.00000000,-0.97860199,0.04422718,-0.20095304,0.00000000,-0.05611582,-0.99697083,0.05385265,0.00000000,0.09373918,0.05637376,-0.08963861,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0045_easter_turtle_sippy_cup_1.html,"ott0045:easter_turtle_sippy_cup:[0.15174808,-0.23528007,0.96000826,0.00000000,-0.98837805,-0.02725860,0.14955193,0.00000000,-0.00901812,-0.97154528,-0.23668212,0.00000000,-0.09936125,0.08922371,-0.06411723,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0045_folgers_classic_roast_coffee_1.html,"ott0045:folgers_classic_roast_coffee:[-0.13447301,-0.98546964,-0.10376202,0.00000000,0.99037564,-0.13712227,0.01880305,0.00000000,-0.03275792,-0.10023487,0.99442440,0.00000000,-0.09349986,0.08110666,0.13327868,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0045_i_am_a_bunny_book_1.html,"ott0045:i_am_a_bunny_book:[0.27853864,0.96039116,-0.00806744,0.00000000,-0.02608532,-0.00083187,-0.99965936,0.00000000,-0.96007073,0.27865419,0.02482040,0.00000000,0.14132133,0.12741558,0.07608644,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0045_rawlings_baseball_1.html,"ott0045:rawlings_baseball:[0.82689881,0.48534590,-0.28403822,0.00000000,-0.42392200,0.86986566,0.25223774,0.00000000,0.36949763,-0.08816504,0.92503971,0.00000000,-0.00550132,0.07518587,-0.17316850,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0045_scotch_duct_tape_1.html,"ott0045:scotch_duct_tape:[0.36936373,-0.07523984,0.92623395,0.00000000,-0.92927897,-0.02636447,0.36843628,0.00000000,-0.00330133,-0.99681675,-0.07965682,0.00000000,0.01906937,0.05177868,0.04746811,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0046_dove_beauty_bar_1.html,"ott0046:dove_beauty_bar:[-0.22749022,0.04034884,0.97294408,0.00000000,-0.96946579,0.08456603,-0.23018397,0.00000000,-0.09156567,-0.99560058,0.01987888,0.00000000,0.10226580,0.04825968,-0.10782760,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0046_easter_turtle_sippy_cup_1.html,"ott0046:easter_turtle_sippy_cup:[0.17504416,-0.05166755,0.98320395,0.00000000,0.98331767,-0.04098776,-0.17721829,0.00000000,0.04945580,0.99782282,0.04363097,0.00000000,-0.08143048,0.08167217,-0.08055691,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0046_folgers_classic_roast_coffee_1.html,"ott0046:folgers_classic_roast_coffee:[0.05949859,-0.99822837,0.00000000,0.00000000,0.99822837,0.05949859,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.09611020,0.08225103,0.16018102,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0046_rawlings_baseball_1.html,"ott0046:rawlings_baseball:[-0.92181915,-0.38762021,0.00000000,0.00000000,0.38762021,-0.92181915,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00291001,0.06233273,-0.18632621,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0046_scotch_duct_tape_1.html,"ott0046:scotch_duct_tape:[-0.79099542,0.09713869,0.60406148,0.00000000,0.61091661,0.07170591,0.78844100,0.00000000,0.03327335,0.99268442,-0.11606269,0.00000000,0.00249448,0.05081982,0.05776533,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0047_dove_beauty_bar_1.html,"ott0047:dove_beauty_bar:[-0.21065472,0.03287711,0.97700751,0.00000000,-0.97755307,-0.00317576,-0.21066549,0.00000000,-0.00382333,-0.99945438,0.03280811,0.00000000,0.09106778,0.04799439,-0.09225678,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0047_easter_turtle_sippy_cup_1.html,"ott0047:easter_turtle_sippy_cup:[0.07079534,-0.00423764,0.99748188,0.00000000,-0.97524065,0.20973918,0.07010784,0.00000000,-0.20950812,-0.97774822,0.01071584,0.00000000,-0.10547177,0.08169762,-0.06328875,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0047_rawlings_baseball_1.html,"ott0047:rawlings_baseball:[0.84782338,0.52430326,0.07938296,0.00000000,-0.53027874,0.83826959,0.12691952,0.00000000,0.00000000,-0.14970043,0.98873138,0.00000000,-0.01481680,0.06632151,-0.16915376,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0047_scotch_duct_tape_1.html,"ott0047:scotch_duct_tape:[-0.70647895,-0.02163925,0.70740318,0.00000000,0.70422000,0.07798793,0.70568556,0.00000000,-0.07043942,0.99671942,-0.03985805,0.00000000,-0.01581315,0.04955226,0.06376084,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0048_easter_turtle_sippy_cup_1.html,"ott0048:easter_turtle_sippy_cup:[0.04980292,-0.11255573,0.99239653,0.00000000,-0.85792005,0.50391626,0.10020749,0.00000000,-0.51136369,-0.85638750,-0.07146730,0.00000000,-0.09948941,0.09796552,-0.09734374,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0048_rawlings_baseball_1.html,"ott0048:rawlings_baseball:[0.16921702,-0.98557884,0.00000000,0.00000000,0.98557884,0.16921702,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.01411858,0.07238595,-0.18086466,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0048_scotch_duct_tape_1.html,"ott0048:scotch_duct_tape:[0.07585983,0.00000000,0.99711847,0.00000000,-0.99315506,-0.08907259,0.07555830,0.00000000,0.08881591,-0.99602515,-0.00675704,0.00000000,-0.01264203,0.04915454,0.05995598,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0049_easter_turtle_sippy_cup_1.html,"ott0049:easter_turtle_sippy_cup:[0.14093427,-0.03622966,0.98935580,0.00000000,-0.91112036,0.38619083,0.14393167,0.00000000,-0.38729474,-0.92170715,0.02141795,0.00000000,-0.10525270,0.07569801,-0.07423683,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0049_scotch_duct_tape_1.html,"ott0049:scotch_duct_tape:[0.45843765,-0.10406790,0.88261247,0.00000000,-0.88544834,-0.13870642,0.44355589,0.00000000,0.07626408,-0.98485047,-0.15573500,0.00000000,0.00000000,0.04823451,0.05187109,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0050_dove_beauty_bar_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0050_folgers_classic_roast_coffee_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0050_rawlings_baseball_1.html,n/a,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0050_scotch_duct_tape_1.html,"ott0050:scotch_duct_tape:[-0.77931505,0.12275898,0.61449027,0.00000000,0.62000149,0.00877461,0.78455156,0.00000000,0.09091883,0.99239773,-0.08294894,0.00000000,0.00290461,0.06005180,0.07845158,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0051_clorox_utility_brush_1.html,"ott0051:clorox_utility_brush:[0.00687439,0.06705762,-0.99772543,0.00000000,0.18937448,-0.97978115,-0.06454676,0.00000000,-0.98188090,-0.18850002,-0.01943445,0.00000000,0.11611152,0.06262397,-0.12416644,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0051_cool_shot_glue_sticks_1.html,"ott0051:cool_shot_glue_sticks:[-0.72787237,0.06624813,-0.68250495,0.00000000,0.66555768,-0.17128865,-0.72642493,0.00000000,-0.16502963,-0.98299104,0.08058430,0.00000000,0.04185699,0.03257776,0.18910614,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0051_folgers_classic_roast_coffee_1.html,"ott0051:folgers_classic_roast_coffee:[0.11785163,-0.13735043,0.98348659,0.00000000,0.05201266,0.98988271,0.13201098,0.00000000,-0.99166811,0.03559605,0.12380326,0.00000000,-0.09075788,0.07109895,0.15447162,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0051_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0051_scotch_duct_tape_1.html,"ott0051:scotch_duct_tape:[0.22592147,-0.05917253,0.97234672,0.00000000,-0.97241187,0.04582485,0.22872531,0.00000000,-0.05809191,-0.99719542,-0.04718726,0.00000000,0.08256428,0.04407927,0.05752843,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0052_clorox_utility_brush_1.html,"ott0052:clorox_utility_brush:[0.05518472,0.00890050,-0.99843651,0.00000000,-0.07063450,-0.99742019,-0.01279549,0.00000000,-0.99597460,0.07123018,-0.05441368,0.00000000,0.10661852,0.06668108,-0.13276009,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0052_cool_shot_glue_sticks_1.html,"ott0052:cool_shot_glue_sticks:[-0.76137310,-0.00000001,-0.64831394,0.00000000,0.64316982,0.12572309,-0.75533193,0.00000000,0.08150803,-0.99206537,-0.09572215,0.00000000,0.03962971,0.04152862,0.18241508,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0052_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0052_scotch_duct_tape_1.html,"ott0052:scotch_duct_tape:[-0.30589566,-0.07779327,0.94888145,0.00000000,-0.95101011,-0.02193777,-0.30838042,0.00000000,0.04480627,-0.99672812,-0.06727151,0.00000000,0.08412683,0.04341835,0.05834917,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0053_clorox_utility_brush_1.html,"ott0053:clorox_utility_brush:[0.03385459,0.09381788,-0.99501359,0.00000000,0.15965615,-0.98330653,-0.08728187,0.00000000,-0.98659199,-0.15590514,-0.04826804,0.00000000,0.10645790,0.07019154,-0.13614102,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0053_cool_shot_glue_sticks_1.html,"ott0053:cool_shot_glue_sticks:[-0.78667206,0.06837416,-0.61357319,0.00000000,0.61524421,0.00439817,-0.78832430,0.00000000,-0.05120242,-0.99765003,-0.04552672,0.00000000,0.04257277,0.03515431,0.16293491,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0053_scotch_duct_tape_1.html,"ott0053:scotch_duct_tape:[-0.75752121,-0.04037380,-0.65156084,0.00000000,0.65280831,-0.04943065,-0.75590867,0.00000000,-0.00168817,-0.99796122,0.06380113,0.00000000,0.09575158,0.04160819,0.03436840,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0054_clorox_utility_brush_1.html,"ott0054:clorox_utility_brush:[-0.90247166,0.01397897,0.43052238,0.00000000,-0.13987315,-0.95482212,-0.26220268,0.00000000,0.40740696,-0.29684901,0.86365515,0.00000000,0.01089362,0.07132889,-0.14377512,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0054_cool_shot_glue_sticks_1.html,"ott0054:cool_shot_glue_sticks:[-0.74382722,-0.09339169,-0.66181499,0.00000000,0.66151184,0.03863689,-0.74893874,0.00000000,0.09551512,-0.99487948,0.03304054,0.00000000,0.02214404,0.02997972,0.16013213,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0055_cool_shot_glue_sticks_1.html,"ott0055:cool_shot_glue_sticks:[-0.75287688,0.02728845,-0.65759546,0.00000000,0.64811438,-0.14317343,-0.74796337,0.00000000,-0.11456095,-0.98932135,0.09010591,0.00000000,0.02244896,0.04403700,0.16446599,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0056_cherokee_easy_tee_shirt_1.html,"ott0056:cherokee_easy_tee_shirt:[0.75335175,-0.00000000,0.65761775,0.00000000,-0.63176066,-0.27765566,0.72373044,0.00000000,0.18259130,-0.96068066,-0.20917238,0.00000000,-0.12189696,0.12796266,0.10515454,1.00000000]","ambiguous object orientation, the tshirt folds different.",C,, -http://visiongpu2.cs.princeton.edu:8013/ott0056_cloud_b_plush_bear_1.html,"ott0056:cloud_b_plush_bear:[-0.27079809,-0.03993564,-0.96180743,0.00000000,0.95923036,0.07277748,-0.27309436,0.00000000,0.08090411,-0.99654830,0.01859949,0.00000000,0.08159261,0.05398842,0.15754530,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0056_command_hooks_1.html,"ott0056:command_hooks:[0.21730632,0.20789251,0.95370787,0.00000000,-0.97539610,0.08343920,0.20405972,0.00000000,-0.03715416,-0.97458643,0.22090939,0.00000000,0.04993585,0.04887912,-0.14656690,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0056_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0056_platinum_pets_dog_bowl_1.html,"ott0056:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.04469549,0.99900067,0.00000000,0.00000000,-0.99900067,-0.04469549,0.00000000,0.03730215,0.03059735,-0.04786019,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0056_womens_knit_gloves_1.html,"ott0056:womens_knit_gloves:[0.34174562,-0.06557312,0.93750203,0.00000000,-0.91384625,-0.25597322,0.31521848,0.00000000,0.21930559,-0.96445727,-0.14740147,0.00000000,-0.14339717,0.05203822,-0.12276420,1.00000000]","ambiguous object orientation, the tshirt folds different.",C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_creativity_chenille_stems_1.html,"ott0057:creativity_chenille_stems:[0.04357494,-0.05289877,-0.99764872,0.00000000,-0.99866879,-0.02989676,-0.04203429,0.00000000,-0.02760289,0.99815226,-0.05413111,0.00000000,-0.10733888,0.04226876,-0.10209113,1.00000000]",Different color,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_dr_browns_bottle_brush_1.html,"ott0057:dr_browns_bottle_brush:[-0.03816400,-0.04464047,0.99827391,0.00000000,0.83769614,0.54322517,0.05631687,0.00000000,-0.54480147,0.83839947,0.01666350,0.00000000,0.11276356,0.06334388,-0.08211283,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_elmers_washable_no_run_school_glue_1.html,"ott0057:elmers_washable_no_run_school_glue:[-0.07576036,-0.01579406,0.99700093,0.00000000,-0.99557549,-0.05454076,-0.07651605,0.00000000,0.05558570,-0.99838662,-0.01159215,0.00000000,-0.07932542,0.04028886,0.19061148,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_fitness_gear_3lb_dumbbell_1.html,"ott0057:fitness_gear_3lb_dumbbell:[0.25347152,-0.05504542,0.96577543,0.00000000,-0.01397363,-0.99848384,-0.05324224,0.00000000,0.96724188,0.00000000,-0.25385639,0.00000000,-0.01517658,0.06871314,0.16640876,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_i_am_a_bunny_book_1.html,"ott0057:i_am_a_bunny_book:[-0.03122456,-0.03743970,0.99881095,0.00000000,0.18932745,0.98098558,0.04269024,0.00000000,-0.98141742,0.19043532,-0.02354248,0.00000000,0.16479614,0.09747064,0.10202505,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0057:kyjen_squeakin_eggs_plush_puppies:[0.86824667,0.15729980,0.47053638,0.00000000,0.47443092,0.01419472,-0.88017827,0.00000000,-0.14513101,0.98744887,-0.06230338,0.00000000,0.00000000,0.05584344,0.00000000,1.00000000]",tag is not the same,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_safety_first_outlet_plugs_1.html,"ott0057:safety_first_outlet_plugs:[0.13649926,-0.04056058,0.98980945,0.00000000,-0.98899925,-0.06306458,0.13380325,0.00000000,0.05699478,-0.99718487,-0.04872266,0.00000000,0.06206216,0.04061598,0.16559391,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0057_scotch_bubble_mailer_1.html,"ott0057:scotch_bubble_mailer:[0.02448139,-0.00063960,0.99970007,0.00000000,0.99936908,0.02575585,-0.02445682,0.00000000,-0.02573249,0.99966806,0.00126972,0.00000000,0.03338784,0.03171802,-0.10655339,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_creativity_chenille_stems_1.html,"ott0058:creativity_chenille_stems:[0.05965379,0.06227678,0.99627453,0.00000000,-0.99402708,0.09507766,0.05357592,0.00000000,-0.09138688,-0.99351990,0.06757658,0.00000000,-0.13650832,0.05799407,-0.08135175,1.00000000]",Different color,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_dr_browns_bottle_brush_1.html,"ott0058:dr_browns_bottle_brush:[0.03305444,-0.00665053,0.99943143,0.00000000,0.81254715,-0.58208400,-0.03074696,0.00000000,0.58195752,0.81310147,-0.01383662,0.00000000,0.09097689,0.05528601,-0.09761854,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_elmers_washable_no_run_school_glue_1.html,"ott0058:elmers_washable_no_run_school_glue:[-0.01506561,-0.00693390,0.99986249,0.00000000,-0.99077177,0.13481668,-0.01399368,0.00000000,-0.13470112,-0.99084634,-0.00890102,0.00000000,-0.11312132,0.04178487,0.19136418,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_fitness_gear_3lb_dumbbell_1.html,"ott0058:fitness_gear_3lb_dumbbell:[0.15873824,0.10801125,0.98139477,0.00000000,0.43503377,-0.89995718,0.02868264,0.00000000,0.88631135,0.42238685,-0.18984614,0.00000000,-0.05132037,0.06081941,0.15545280,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_kyjen_squeakin_eggs_plush_puppies_1.html,"ott0058:kyjen_squeakin_eggs_plush_puppies:[0.99637049,0.07301240,-0.04376092,0.00000000,-0.01758339,-0.32647067,-0.94504374,0.00000000,-0.08328657,0.94238317,-0.32400194,0.00000000,-0.04262502,0.06648599,0.00000000,1.00000000]","tag is not the same,the colors of the balls are not the same",C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_safety_first_outlet_plugs_1.html,"ott0058:safety_first_outlet_plugs:[0.03652378,-0.02489281,0.99902266,0.00000000,-0.99521828,0.08971662,0.03862016,0.00000000,-0.09059029,-0.99565619,-0.02149697,0.00000000,0.00098703,0.02747552,0.14832933,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0058_scotch_bubble_mailer_1.html,"ott0058:scotch_bubble_mailer:[0.02539341,-0.00000003,0.99967760,0.00000000,-0.99966997,0.00389580,0.02539326,0.00000000,-0.00389458,-0.99999243,0.00009886,0.00000000,-0.04594291,0.02325355,-0.08234414,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_creativity_chenille_stems_1.html,"ott0059:creativity_chenille_stems:[0.03564630,0.07752229,-0.99635315,0.00000000,-0.98765010,0.15493661,-0.02327994,0.00000000,0.15256688,0.98487812,0.08208781,0.00000000,-0.12488002,0.04624611,-0.11759453,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_dr_browns_bottle_brush_1.html,"ott0059:dr_browns_bottle_brush:[0.11519460,0.00953459,0.99329716,0.00000000,0.87555248,0.47133678,-0.10606384,0.00000000,-0.46918878,0.88190174,0.04594743,0.00000000,0.09843358,0.06377455,-0.09960529,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_elmers_washable_no_run_school_glue_1.html,"ott0059:elmers_washable_no_run_school_glue:[0.01889572,0.02311247,0.99955428,0.00000000,-0.98675317,-0.16067909,0.02236906,0.00000000,0.16112447,-0.98673606,0.01977016,0.00000000,-0.09779505,0.04066945,0.17996427,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_fitness_gear_3lb_dumbbell_1.html,"ott0059:fitness_gear_3lb_dumbbell:[0.18949756,0.10877028,0.97583795,0.00000000,0.08081035,-0.99220127,0.09490167,0.00000000,0.97855014,0.06087417,-0.19680947,0.00000000,-0.03929424,0.06807762,0.14597546,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_safety_first_outlet_plugs_1.html,"ott0059:safety_first_outlet_plugs:[0.06291539,-0.00000002,0.99801886,0.00000000,-0.99771672,0.02460475,0.06289634,0.00000000,-0.02455601,-0.99969727,0.00154800,0.00000000,0.00974250,0.02671042,0.15187098,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0059_scotch_bubble_mailer_1.html,"ott0059:scotch_bubble_mailer:[-0.01286847,0.01419858,0.99981636,0.00000000,-0.99824095,0.05769021,-0.01366746,0.00000000,-0.05787368,-0.99823356,0.01343122,0.00000000,0.00000000,0.02245161,-0.10601182,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0060_creativity_chenille_stems_1.html,"ott0060:creativity_chenille_stems:[-0.00407157,0.00579593,-0.99997491,0.00000000,-0.99786723,0.06512500,0.00444045,0.00000000,0.06514911,0.99786031,0.00551840,0.00000000,-0.12890974,0.04125420,-0.08666934,1.00000000]",Different color,C,, -http://visiongpu2.cs.princeton.edu:8013/ott0060_dasani_water_bottle_1.html,N/a,,C,, 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-http://visiongpu2.cs.princeton.edu:8013/ott0075_safety_first_outlet_plugs_1.html,n/a,template not in point cloud image,z,, -http://visiongpu2.cs.princeton.edu:8013/ott0075_scotch_bubble_mailer_1.html,"ott0075:scotch_bubble_mailer:[0.11850080,-0.00000000,0.99295396,0.00000000,0.99270093,-0.02257374,-0.11847062,0.00000000,0.02241467,0.99974519,-0.00267502,0.00000000,-0.01184776,0.02281268,-0.06917677,1.00000000]",point cloud mailer label unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/ott0076_crayola_24_ct_1.html,"ott0076:crayola_24_ct:[-0.01724207,-0.00602339,0.99983317,0.00000000,-0.99984622,-0.00309763,-0.01726096,0.00000000,0.00320109,-0.99997705,-0.00596905,0.00000000,-0.10103042,0.03905759,-0.00402042,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/ott0076_kleenex_tissue_box_1.html,"ott0076:kleenex_tissue_box:[-0.98931599,-0.01687367,0.14480712,0.00000000,0.14506923,-0.01550534,0.98930001,0.00000000,-0.01444783,0.99973738,0.01778756,0.00000000,0.07327404,0.09298068,0.01450656,1.00000000]",template and point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0000_barkely_hide_bones_1.html,"wcp0000:barkely_hide_bones:[0.98008150,-0.19508471,0.03717851,0.00000000,-0.01036362,0.13671105,0.99055678,0.00000000,-0.19832519,-0.97121161,0.13196619,0.00000000,-0.08405690,0.05938189,0.06521191,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0000_expo_dry_erase_board_eraser_1.html,"wcp0000:expo_dry_erase_board_eraser:[0.98544198,-0.16734430,0.02999956,0.00000000,-0.01973524,0.06266604,0.99783939,0.00000000,-0.16886270,-0.98390490,0.05845117,0.00000000,-0.08323210,0.06795597,-0.04331475,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0001_kleenex_paper_towels_1.html,"wcp0001:kleenex_paper_towels:[0.99391580,-0.02196692,-0.10793003,0.00000000,0.11008302,0.23040032,0.96684921,0.00000000,0.00362841,-0.97284794,0.23141670,0.00000000,-0.00632678,0.09779144,-0.01061585,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0002_clorox_utility_brush_1.html,"wcp0002:clorox_utility_brush:[0.99265260,-0.11458636,-0.03886960,0.00000000,-0.10986621,-0.98814321,0.10724962,0.00000000,-0.05069808,-0.10219115,-0.99347204,0.00000000,0.02266667,0.07442597,-0.09019919,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0002_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0002_dr_browns_bottle_brush_1.html,"wcp0002:dr_browns_bottle_brush:[0.99392676,-0.10549285,0.03131898,0.00000000,-0.01186781,-0.38570341,-0.92254651,0.00000000,0.10940190,0.91657197,-0.38461292,0.00000000,0.04031850,0.05990606,0.10769697,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0003_peva_shower_curtain_liner_1.html,"wcp0003:peva_shower_curtain_liner:[0.89404726,-0.19274195,-0.40438843,0.00000000,0.39819297,-0.07164807,0.91449928,0.00000000,-0.20523602,-0.97863024,0.01269173,0.00000000,0.06961760,0.03700067,0.02735928,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0003_rolodex_jumbo_pencil_cup_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0004_easter_turtle_sippy_cup_1.html,"wcp0004:easter_turtle_sippy_cup:[0.10810155,0.98880160,-0.10288556,0.00000000,0.90110350,-0.05374494,0.43026030,0.00000000,0.41991249,-0.13922234,-0.89682251,0.00000000,-0.10566276,0.12177543,-0.03053361,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0004_folgers_classic_roast_coffee_1.html,"wcp0004:folgers_classic_roast_coffee:[-0.08715727,-0.99281955,-0.08193240,0.00000000,0.49896154,-0.11469168,0.85900122,0.00000000,-0.86223018,0.03398711,0.50537503,0.00000000,0.06503996,0.11151250,-0.02381075,1.00000000]","point cloud unclear, template and point cloud color variance",z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0005_jane_eyre_dvd_1.html,"wcp0005:jane_eyre_dvd:[0.03569641,0.96452022,-0.26158458,0.00000000,0.98283869,0.01351984,0.18397093,0.00000000,0.18098027,-0.26366255,-0.94748521,0.00000000,-0.08325191,0.14181025,-0.07439978,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0005_kyjen_squeakin_eggs_plush_puppies_1.html,"wcp0005:kyjen_squeakin_eggs_plush_puppies:[-0.96515691,-0.11646210,-0.23432599,0.00000000,0.23820610,-0.02039849,-0.97100037,0.00000000,0.10830484,-0.99298561,0.04742975,0.00000000,0.19045566,0.07022467,-0.03379891,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0005_oral_b_toothbrush_green_1.html,"wcp0005:oral_b_toothbrush_green:[0.99351805,-0.09893768,0.05597549,0.00000000,-0.06276056,-0.06685091,0.99578714,0.00000000,-0.09477886,-0.99284554,-0.07262696,0.00000000,-0.06248515,0.05331098,0.11598980,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0005_woods_extension_cord_1.html,"wcp0005:woods_extension_cord:[0.99871784,-0.04259732,-0.02735189,0.00000000,-0.02804780,-0.01582593,-0.99948132,0.00000000,0.04214236,0.99896699,-0.01700040,0.00000000,-0.06708860,0.05963296,0.01022947,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0006_creativity_chenille_stems_1.html,"wcp0006:creativity_chenille_stems:[0.99399865,-0.05734170,0.09315920,0.00000000,-0.07940508,0.20755079,0.97499615,0.00000000,-0.07524320,-0.97654217,0.20175199,0.00000000,0.01345596,0.04934771,0.08135570,1.00000000]",template and point cloud color variance,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0006_i_am_a_bunny_book_1.html,"wcp0006:i_am_a_bunny_book:[0.02858661,0.96052909,-0.27670687,0.00000000,-0.99940443,0.03281725,0.01066957,0.00000000,0.01932919,0.27623704,0.96089512,0.00000000,-0.03655626,0.13316117,-0.11566880,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0006_kleenex_tissue_box_1.html,"wcp0006:kleenex_tissue_box:[-0.16665225,0.02795645,0.98561937,0.00000000,-0.98595268,0.00658023,-0.16689524,0.00000000,-0.01115142,-0.99958748,0.02646711,0.00000000,0.16642921,0.09478676,-0.01272109,1.00000000]",,A,, -http://visiongpu2.cs.princeton.edu:8013/wcp0006_laugh_out_loud_joke_book_1.html,"wcp0006:laugh_out_loud_joke_book:[0.07915483,0.98663169,0.14245130,0.00000000,0.99645847,-0.08237788,0.01686291,0.00000000,0.02837232,0.14061202,-0.98965812,0.00000000,-0.08250633,0.13302466,0.12556560,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0007_command_hooks_1.html,"wcp0007:command_hooks:[0.99528062,-0.09383553,0.02472629,0.00000000,-0.07818454,-0.92636067,-0.36843327,0.00000000,0.05747759,0.36476129,-0.92932528,0.00000000,-0.06953777,0.09506401,0.10857866,1.00000000]",point clound unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0007_hanes_tube_socks_1.html,"wcp0007:hanes_tube_socks:[-0.00249375,0.05245337,0.99862027,0.00000000,-0.99078661,0.13509382,-0.00957010,0.00000000,-0.13540941,-0.98944342,0.05163321,0.00000000,0.12682360,0.07282558,-0.02635310,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0007_womens_knit_gloves_1.html,"wcp0007:womens_knit_gloves:[0.02828584,-0.16129471,-0.98650086,0.00000000,0.91165394,-0.40061095,0.09164041,0.00000000,-0.40998417,-0.90193951,0.13571334,0.00000000,-0.07496197,0.05269193,-0.02671324,1.00000000]",template has additional white tag,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0008_cherokee_easy_tee_shirt_1.html,"wcp0008:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.12428728,-0.99224627,0.00000000,0.00000000,0.99224627,0.12428728,0.00000000,-0.10965150,0.07790032,-0.11899513,1.00000000]",shirt folded differently,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0008_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0008_fitness_gear_3lb_dumbbell_1.html,"wcp0008:fitness_gear_3lb_dumbbell:[-0.03254564,-0.08811928,0.99557805,0.00000000,0.94905239,0.30965334,0.05843237,0.00000000,-0.31343305,0.94675750,0.07355197,0.00000000,-0.07179169,0.06716714,0.04536182,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0008_ticonderoga_12_pencils_1.html,"wcp0008:ticonderoga_12_pencils:[0.99500126,0.00926532,0.09943176,0.00000000,-0.09979586,0.05588210,0.99343747,0.00000000,0.00364806,-0.99839437,0.05652740,0.00000000,0.10955331,0.03959136,0.08179779,1.00000000]",point clound unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0009_easter_turtle_sippy_cup_1.html,"wcp0009:easter_turtle_sippy_cup:[0.02684886,0.99963719,-0.00216158,0.00000000,0.99641317,-0.02693576,-0.08022025,0.00000000,-0.08024937,-0.00000000,-0.99677485,0.00000000,-0.03376579,0.11235352,-0.03950562,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0009_folgers_classic_roast_coffee_1.html,"wcp0009:folgers_classic_roast_coffee:[-0.10000817,-0.99465370,-0.02573653,0.00000000,0.61834013,-0.08239473,0.78157955,0.00000000,-0.77952152,0.06225041,0.62327451,0.00000000,0.06031846,0.10314858,-0.02383127,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0010_easter_turtle_sippy_cup_1.html,"wcp0010:easter_turtle_sippy_cup:[0.22491385,0.96485984,-0.13586479,0.00000000,0.95646870,-0.24523462,-0.15820120,0.00000000,-0.18596074,-0.09436879,-0.97801489,0.00000000,-0.03496647,0.11248238,-0.03482685,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0010_folgers_classic_roast_coffee_1.html,"wcp0010:folgers_classic_roast_coffee:[-0.02007399,-0.99932849,-0.03065316,0.00000000,0.54748416,-0.03664126,0.83601350,0.00000000,-0.83657527,0.00000000,0.54785204,0.00000000,0.07589854,0.10358252,-0.02039025,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0011_creativity_chenille_stems_1.html,"wcp0011:creativity_chenille_stems:[0.99371839,-0.10914247,0.02473183,0.00000000,-0.02665202,-0.01616962,0.99951398,0.00000000,-0.10868952,-0.99389458,-0.01897692,0.00000000,0.05983734,0.04696737,0.08485480,1.00000000]",color variance between images,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0011_dove_beauty_bar_1.html,"wcp0011:dove_beauty_bar:[-0.92750669,0.07044207,0.36710930,0.00000000,-0.36904970,-0.01638459,-0.92926520,0.00000000,-0.05944443,-0.99738127,0.04119344,0.00000000,0.03441695,0.05409394,-0.05988361,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0011_elmers_washable_no_run_school_glue_1.html,"wcp0011:elmers_washable_no_run_school_glue:[-0.98767442,0.15650265,-0.00249563,0.00000000,0.05031175,0.33253038,0.94174957,0.00000000,0.14821619,0.93001640,-0.33630568,0.00000000,-0.10214025,0.06619613,-0.01709758,1.00000000]",point clound unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0011_soft_white_lightbulb_1.html,"wcp0011:soft_white_lightbulb:[0.99793208,-0.04039565,-0.04999762,0.00000000,0.03857674,0.99857682,-0.03682566,0.00000000,0.05141407,0.03482077,0.99807018,0.00000000,-0.09575424,0.08262109,-0.09756727,1.00000000]",point clound unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0011_up_glucose_bottle_1.html,"wcp0011:up_glucose_bottle:[0.03686885,0.99918580,-0.01638352,0.00000000,-0.21696840,0.02400733,0.97588336,0.00000000,0.97548211,-0.03242498,0.21767688,0.00000000,0.04578432,0.10348554,0.00153762,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_expo_dry_erase_board_eraser_1.html,"wcp0012:expo_dry_erase_board_eraser:[-0.93712890,0.07232270,0.34140703,0.00000000,0.33726916,-0.06364904,0.93925411,0.00000000,0.08965963,0.99534827,0.03525517,0.00000000,-0.09149707,0.05872263,-0.08695870,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_platinum_pets_dog_bowl_1.html,"wcp0012:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.00773824,0.99997008,0.00000000,0.00000000,-0.99997008,-0.00773824,0.00000000,0.04827997,0.05057338,-0.03285395,1.00000000]",point cloud very unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_safety_first_outlet_plugs_1.html,"wcp0012:safety_first_outlet_plugs:[0.99144375,-0.10184400,-0.08165191,0.00000000,0.08090347,-0.01146481,0.99665600,0.00000000,-0.10243955,-0.99473429,-0.00312718,0.00000000,-0.07736528,0.05686354,0.04684048,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_scotch_bubble_mailer_1.html,"wcp0012:scotch_bubble_mailer:[0.99949050,0.00000000,0.03191758,0.00000000,-0.00093901,0.99956715,0.02940474,0.00000000,-0.03190376,-0.02941973,0.99905789,0.00000000,0.00000000,0.16610973,0.10404055,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_scotch_bubble_mailer_2.html,"wcp0012:scotch_bubble_mailer:[0.99994218,0.00173382,0.01061077,0.00000000,-0.00174000,0.99999833,0.00057361,0.00000000,-0.01060976,-0.00059204,0.99994355,0.00000000,0.00000000,0.16227765,0.10479329,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_staples_index_cards_1.html,"wcp0012:staples_index_cards:[0.99561763,-0.00360187,-0.09344851,0.00000000,0.09323069,-0.04002588,0.99483967,0.00000000,-0.00732364,-0.99919218,-0.03951467,0.00000000,0.06324191,0.05400371,0.04787920,1.00000000]",point cloud very unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcp0012_staples_index_cards_2.html,"wcp0012:staples_index_cards:[0.99958390,-0.02884489,-0.00000000,0.00000000,0.00154894,0.05367654,0.99855715,0.00000000,-0.02880327,-0.99814165,0.05369888,0.00000000,0.07081577,0.04675436,0.05821107,1.00000000]",point cloud very unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_barkely_hide_bones_1.html,"wcs0000:barkely_hide_bones:[-0.62067270,-0.00957029,0.78401130,0.00000000,-0.78072232,0.09984217,-0.61685020,0.00000000,-0.07237394,-0.99495727,-0.06944103,0.00000000,0.07899936,0.04807348,0.21569519,1.00000000]",template shape does not match point clound image,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_dr_browns_bottle_brush_1.html,"wcs0000:dr_browns_bottle_brush:[-0.24542104,0.09698933,-0.96455252,0.00000000,0.89607233,-0.35695443,-0.26389000,0.00000000,-0.36989582,-0.92907298,0.00069469,0.00000000,-0.01576041,0.05866105,0.10557951,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_easter_turtle_sippy_cup_1.html,"wcs0000:easter_turtle_sippy_cup:[-0.10540367,-0.07842268,-0.99133241,0.00000000,-0.62485576,-0.77028000,0.12737353,0.00000000,-0.77359247,0.63286543,0.03218748,0.00000000,-0.10611752,0.07591528,0.07465452,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_folgers_classic_roast_coffee_1.html,"wcs0000:folgers_classic_roast_coffee:[0.05549540,-0.99769390,-0.03907859,0.00000000,-0.81573862,-0.06787392,0.57442456,0.00000000,-0.57575232,0.00000000,-0.81762409,0.00000000,-0.10518490,0.08772912,0.19369014,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_laugh_out_loud_joke_book_1.html,"wcs0000:laugh_out_loud_joke_book:[0.04872409,0.84756666,-0.52844739,0.00000000,-0.99536848,-0.00269345,-0.09609526,0.00000000,-0.08287050,0.53068209,0.84350991,0.00000000,-0.04714156,0.11025035,-0.22571950,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_oral_b_toothbrush_red_1.html,"wcs0000:oral_b_toothbrush_red:[0.83219713,-0.50660735,0.22538181,0.00000000,0.36977741,0.80995488,0.45523375,0.00000000,-0.41317385,-0.29550311,0.86137408,0.00000000,0.00515780,0.08606546,0.11789784,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_platinum_pets_dog_bowl_1.html,"wcs0000:platinum_pets_dog_bowl:[0.08768873,0.06825685,-0.99380666,0.00000000,0.99386585,0.06149644,0.09191765,0.00000000,0.06738957,-0.99577063,-0.06244559,0.00000000,0.02676919,0.03948418,-0.07497436,1.00000000]",point cloud depth unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_safety_first_outlet_plugs_1.html,"wcs0000:safety_first_outlet_plugs:[-0.07040908,-0.00112497,-0.99751753,0.00000000,0.99750406,-0.00540250,-0.07040204,0.00000000,-0.00530990,-0.99998474,0.00150256,0.00000000,0.11753117,0.06692257,-0.14681166,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_scotch_bubble_mailer_1.html,"wcs0000:scotch_bubble_mailer:[0.01624122,-0.03742126,-0.99916756,0.00000000,-0.99903649,-0.04135589,-0.01469020,0.00000000,-0.04077175,0.99844342,-0.03805687,0.00000000,0.02660584,0.02980466,0.09807795,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_soft_white_lightbulb_1.html,"wcs0000:soft_white_lightbulb:[0.99607199,0.02318907,-0.08545643,0.00000000,-0.08406550,-0.05548090,-0.99491447,0.00000000,-0.02781235,0.99819040,-0.05331358,0.00000000,-0.08952139,0.06189306,-0.12760171,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_up_glucose_bottle_1.html,"wcs0000:up_glucose_bottle:[-0.07772833,0.05340318,-0.99554324,0.00000000,0.93041205,0.36263511,-0.05319057,0.00000000,0.35817838,-0.93039984,-0.07787398,0.00000000,0.13056892,0.06520677,0.04518190,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0000_womens_knit_gloves_1.html,n/a,cannot locate template in point cloud,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_barkely_hide_bones_1.html,"wcs0001:barkely_hide_bones:[-0.59357184,-0.00313559,0.80477488,0.00000000,-0.79976094,0.11381752,-0.58943027,0.00000000,-0.08974927,-0.99349672,-0.07006660,0.00000000,0.08722281,0.04222749,0.20727491,1.00000000]",template shape does not match point cloud,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_dr_browns_bottle_brush_1.html,"wcs0001:dr_browns_bottle_brush:[-0.26939452,0.11794490,-0.95578009,0.00000000,0.91126740,-0.28977999,-0.29260764,0.00000000,-0.31147754,-0.94979817,-0.02941418,0.00000000,-0.00746076,0.06436734,0.09582719,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_easter_turtle_sippy_cup_1.html,"wcs0001:easter_turtle_sippy_cup:[-0.26707321,-0.13748358,-0.95381874,0.00000000,-0.69917774,-0.65350479,0.28996897,0.00000000,-0.66319108,0.74433178,0.07840814,0.00000000,-0.10619488,0.08209102,0.06647781,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_laugh_out_loud_joke_book_1.html,"wcs0001:laugh_out_loud_joke_book:[0.05512884,0.86264735,-0.50279260,0.00000000,-0.99217319,-0.00917668,-0.12453167,0.00000000,-0.11204088,0.50572264,0.85538965,0.00000000,-0.04503338,0.11061657,-0.23766331,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_oral_b_toothbrush_red_1.html,"wcs0001:oral_b_toothbrush_red:[0.85369974,-0.44435129,0.27156705,0.00000000,0.45743170,0.88908637,0.01678168,0.00000000,-0.24890353,0.10989687,0.96227318,0.00000000,0.00756395,0.08901732,0.11056340,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_platinum_pets_dog_bowl_1.html,"wcs0001:platinum_pets_dog_bowl:[-0.23906265,-0.00434553,-0.97099441,0.00000000,0.96870840,-0.06979057,-0.23818751,0.00000000,-0.06673121,-0.99755222,0.02089387,0.00000000,0.03540735,0.04025101,-0.09151613,1.00000000]",point cloud depth hard to identify,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_safety_first_outlet_plugs_1.html,"wcs0001:safety_first_outlet_plugs:[-0.05353445,-0.07206940,-0.99596190,0.00000000,0.99570763,0.07155967,-0.05869894,0.00000000,0.07550111,-0.99482924,0.06792913,0.00000000,0.11269607,0.06051927,-0.16072229,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_scotch_bubble_mailer_1.html,"wcs0001:scotch_bubble_mailer:[-0.99995852,0.00100370,-0.00905569,0.00000000,-0.00910916,-0.08938177,0.99595577,0.00000000,0.00019023,0.99599695,0.08938720,0.00000000,0.02421398,0.02514174,0.10485062,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_soft_white_lightbulb_1.html,"wcs0001:soft_white_lightbulb:[0.99333817,-0.09827594,-0.06017619,0.00000000,-0.05602530,0.04446656,-0.99743867,0.00000000,0.10070005,0.99416524,0.03866439,0.00000000,-0.08411704,0.05986395,-0.13869458,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_up_glucose_bottle_1.html,"wcs0001:up_glucose_bottle:[-0.00298188,0.07441748,-0.99722272,0.00000000,0.96725768,0.25329089,0.01600948,0.00000000,0.25377882,-0.96452361,-0.07273616,0.00000000,0.13476394,0.06242684,0.03430207,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0001_womens_knit_gloves_1.html,n/a,cannot identify template in point cloud,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_barkely_hide_bones_1.html,"wcs0002:barkely_hide_bones:[-0.68303001,-0.10451715,0.72287351,0.00000000,-0.72924286,0.15304156,-0.66692066,0.00000000,-0.04092505,-0.98267716,-0.18075037,0.00000000,0.08927251,0.04104292,0.20333330,1.00000000]",template shape differs from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_dr_browns_bottle_brush_1.html,"wcs0002:dr_browns_bottle_brush:[-0.25608253,0.10294677,-0.96115750,0.00000000,0.92196614,-0.27281788,-0.27486145,0.00000000,-0.29051706,-0.95654190,-0.02504955,0.00000000,-0.01004397,0.05759456,0.10683176,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_easter_turtle_sippy_cup_1.html,"wcs0002:easter_turtle_sippy_cup:[-0.43188131,-0.39041713,-0.81305164,0.00000000,-0.60551798,-0.54259121,0.58218789,0.00000000,-0.66845083,0.74375343,-0.00206954,0.00000000,-0.10619736,0.07161636,0.07842570,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_laugh_out_loud_joke_book_1.html,"wcs0002:laugh_out_loud_joke_book:[0.06412696,0.88815087,-0.45505577,0.00000000,-0.98937857,-0.00302591,-0.14533010,0.00000000,-0.13045202,0.45954201,0.87852341,0.00000000,-0.05789307,0.11155894,-0.22302090,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_oral_b_toothbrush_red_1.html,"wcs0002:oral_b_toothbrush_red:[0.85176551,-0.41626847,0.31814465,0.00000000,0.45505288,0.88873535,-0.05546487,0.00000000,-0.25965813,0.19201571,0.94641834,0.00000000,0.00000000,0.08460835,0.11666567,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_platinum_pets_dog_bowl_1.html,"wcs0002:platinum_pets_dog_bowl:[-0.42698571,0.00000000,-0.90425837,0.00000000,0.90424490,0.00545999,-0.42697933,0.00000000,0.00493724,-0.99998510,-0.00233134,0.00000000,0.02974746,0.04100392,-0.09038835,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_scotch_bubble_mailer_1.html,"wcs0002:scotch_bubble_mailer:[-0.99981993,0.00000000,0.01897545,0.00000000,0.01897461,-0.00939854,0.99977577,0.00000000,0.00017834,0.99995583,0.00939687,0.00000000,0.01403046,0.02008334,0.11330598,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_soft_white_lightbulb_1.html,"wcs0002:soft_white_lightbulb:[0.99275285,-0.04882611,-0.10980818,0.00000000,-0.10899860,0.01895360,-0.99386120,0.00000000,0.05060764,0.99862742,0.01349427,0.00000000,-0.09044212,0.06094790,-0.12842718,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_up_glucose_bottle_1.html,"wcs0002:up_glucose_bottle:[-0.04982043,0.07027185,-0.99628299,0.00000000,0.92634439,0.37615746,-0.01979116,0.00000000,0.37336850,-0.92388713,-0.08383626,0.00000000,0.13264802,0.06426580,0.04639151,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0002_womens_knit_gloves_1.html,"wcs0002:womens_knit_gloves:[-0.21770796,0.00000000,-0.97601396,0.00000000,0.97334111,0.07395680,-0.21711174,0.00000000,0.07218289,-0.99726146,-0.01610101,0.00000000,0.11266488,0.04137348,-0.15377903,1.00000000]","template has additional tag, point clooud unclear",z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_barkely_hide_bones_1.html,"wcs0003:barkely_hide_bones:[-0.53099418,-0.07790118,0.84378701,0.00000000,0.84563482,0.01507689,0.53354895,0.00000000,-0.05428578,0.99684709,0.05787021,0.00000000,0.08622880,0.06424481,0.20988186,1.00000000]",template shape does not match point cloud image,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_dr_browns_bottle_brush_1.html,"wcs0003:dr_browns_bottle_brush:[-0.25465551,0.05939128,-0.96520633,0.00000000,0.86482060,-0.43262804,-0.25479075,0.00000000,-0.43270764,-0.89961421,0.05880828,0.00000000,-0.00819138,0.06226949,0.10007489,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_easter_turtle_sippy_cup_1.html,"wcs0003:easter_turtle_sippy_cup:[-0.50185084,0.00834045,-0.86491400,0.00000000,-0.75080401,-0.50069356,0.43081233,0.00000000,-0.42946371,0.86558443,0.25753555,0.00000000,-0.10357637,0.07112085,0.06606083,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_laugh_out_loud_joke_book_1.html,"wcs0003:laugh_out_loud_joke_book:[0.02601258,0.85516566,-0.51770163,0.00000000,-0.98662549,-0.06139974,-0.15099743,0.00000000,-0.16091457,0.51470548,0.84213108,0.00000000,-0.04400596,0.10989506,-0.23029956,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_oral_b_toothbrush_red_1.html,"wcs0003:oral_b_toothbrush_red:[0.85202926,-0.46188506,0.24639066,0.00000000,0.49273401,0.86654371,-0.07946809,0.00000000,-0.17680316,0.18911420,0.96590710,0.00000000,0.01655732,0.07717944,0.11679228,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_platinum_pets_dog_bowl_1.html,"wcs0003:platinum_pets_dog_bowl:[-0.35802954,0.00000000,-0.93371028,0.00000000,0.93107694,0.07505036,-0.35701981,0.00000000,0.07007529,-0.99717975,-0.02687025,0.00000000,0.03299265,0.04924138,-0.09718592,1.00000000]",point cloud image depth unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_scotch_bubble_mailer_1.html,"wcs0003:scotch_bubble_mailer:[-0.99989367,0.00631868,-0.01314053,0.00000000,-0.01332720,-0.03047012,0.99944681,0.00000000,0.00591479,0.99951571,0.03055113,0.00000000,0.02124963,0.02446202,0.10803891,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_soft_white_lightbulb_1.html,"wcs0003:soft_white_lightbulb:[0.99929696,0.00512148,-0.03713975,0.00000000,-0.03744220,0.08569598,-0.99561751,0.00000000,-0.00191631,0.99630815,0.08582749,0.00000000,-0.08542635,0.06313154,-0.13272485,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0003_womens_knit_gloves_1.html,"wcs0003:womens_knit_gloves:[-0.23213436,0.00000000,-0.97268373,0.00000000,0.97212499,0.03388979,-0.23200099,0.00000000,0.03296406,-0.99942559,-0.00786701,0.00000000,0.11640310,0.03911858,-0.15424791,1.00000000]","point cloud image depth unclear, template has additional tag",z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_dr_browns_bottle_brush_1.html,"wcs0004:dr_browns_bottle_brush:[-0.17304680,0.07583972,-0.98198938,0.00000000,0.87652737,-0.44283861,-0.18866296,0.00000000,-0.44917098,-0.89338809,0.01015623,0.00000000,-0.01029820,0.05754006,0.09878469,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_easter_turtle_sippy_cup_1.html,"wcs0004:easter_turtle_sippy_cup:[-0.37467989,0.06169303,-0.92509943,0.00000000,-0.67461503,-0.70260167,0.22637466,0.00000000,-0.63601065,0.70890397,0.30486977,0.00000000,-0.09382454,0.04789439,0.06483837,1.00000000]",template and point cloud both unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_laugh_out_loud_joke_book_1.html,"wcs0004:laugh_out_loud_joke_book:[0.08931424,0.83551353,-0.54216242,0.00000000,-0.98702466,0.00132143,-0.16056310,0.00000000,-0.13343622,0.54946828,0.82479048,0.00000000,-0.04747641,0.10810432,-0.22511789,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_oral_b_toothbrush_red_1.html,"wcs0004:oral_b_toothbrush_red:[0.85670710,-0.42905116,0.28630060,0.00000000,0.46524858,0.88242596,-0.06977241,0.00000000,-0.22270316,0.19297548,0.95559603,0.00000000,0.00972181,0.08054791,0.11358273,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_platinum_pets_dog_bowl_1.html,"wcs0004:platinum_pets_dog_bowl:[-0.43029919,0.00864200,-0.90264499,0.00000000,0.89587039,0.12673862,-0.42585626,0.00000000,0.11071974,-0.99189854,-0.06227765,0.00000000,0.04377182,0.03660741,-0.09886069,1.00000000]",point cloud depth unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_scotch_bubble_mailer_1.html,"wcs0004:scotch_bubble_mailer:[-0.99984664,0.00000000,0.01751535,0.00000000,0.01750005,-0.04179392,0.99897301,0.00000000,0.00073204,0.99912626,0.04178748,0.00000000,0.02016689,0.02484928,0.12177173,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_soft_white_lightbulb_1.html,"wcs0004:soft_white_lightbulb:[0.99856895,0.00000000,-0.05347968,0.00000000,-0.05315810,0.10949830,-0.99256450,0.00000000,0.00585593,0.99398696,0.10934160,0.00000000,-0.08450549,0.06247749,-0.12793817,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8013/wcs0004_womens_knit_gloves_1.html,,,ln,, -http://visiongpu2.cs.princeton.edu:8013/wcs0005_dr_browns_bottle_brush_1.html,"wcs0005:dr_browns_bottle_brush:[-0.20390207,0.04512432,-0.97795081,0.00000000,0.96817845,-0.13876353,-0.20826729,0.00000000,-0.14510180,-0.98929697,-0.01539426,0.00000000,-0.00029221,0.04703367,0.11870436,1.00000000]",,ln,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0000_crayola_24_ct_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0000_dove_beauty_bar_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0000_dr_browns_bottle_brush_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0000_easter_turtle_sippy_cup_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0000_expo_dry_erase_board_eraser_1.html,"wpt0000:expo_dry_erase_board_eraser:[-0.96973586,-0.00456721,0.24411352,0.00000000,-0.24339005,0.09722974,-0.96504283,0.00000000,-0.01932754,-0.99525148,-0.09539877,0.00000000,0.06223221,0.04777427,-0.09872121,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0000_fitness_gear_3lb_dumbbell_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0000_folgers_classic_roast_coffee_1.html,,target not in the scene,C,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0001_cool_shot_glue_sticks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_crayola_24_ct_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_dove_beauty_bar_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_dr_browns_bottle_brush_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_easter_turtle_sippy_cup_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_expo_dry_erase_board_eraser_1.html,"wpt0001:expo_dry_erase_board_eraser:[-0.98488176,-0.00355006,0.17319162,0.00000000,-0.17321132,0.03405529,-0.98429573,0.00000000,-0.00240378,-0.99941367,-0.03415536,0.00000000,0.07113528,0.04607905,-0.10574491,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_fitness_gear_3lb_dumbbell_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_folgers_classic_roast_coffee_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_scotch_duct_tape_1.html,"wpt0001:scotch_duct_tape:[0.71004963,-0.06082636,0.70151955,0.00000000,0.70026153,-0.04358033,-0.71255499,0.00000000,0.07391457,0.99719656,0.01165015,0.00000000,-0.01540018,0.03280026,0.06787421,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_soft_white_lightbulb_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0001_up_glucose_bottle_1.html,"wpt0001:up_glucose_bottle:[0.81630111,0.02006470,-0.57727808,0.00000000,0.15296909,0.95620579,0.24954148,0.00000000,0.55700362,-0.29200667,0.77748251,0.00000000,-0.07927683,0.06067821,0.00000000,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_barkely_hide_bones_1.html,"wpt0002:barkely_hide_bones:[0.80811417,-0.00982680,-0.58894390,0.00000000,0.57723182,0.21229500,0.78850126,0.00000000,0.11728141,-0.97715622,0.17723092,0.00000000,-0.06078619,0.03228446,0.17908724,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_clorox_utility_brush_1.html,"wpt0002:clorox_utility_brush:[0.31235948,0.06528754,0.94771785,0.00000000,0.01744808,-0.99786156,0.06299116,0.00000000,0.94980371,-0.00314003,-0.31283072,0.00000000,0.09542789,0.06995830,0.03394710,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_expo_dry_erase_board_eraser_1.html,"wpt0002:expo_dry_erase_board_eraser:[-0.97719294,0.00302766,0.21233173,0.00000000,-0.21003924,0.13343121,-0.96854508,0.00000000,-0.03126410,-0.99105346,-0.12975210,0.00000000,0.06329454,0.05183546,-0.08851176,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_hanes_tube_socks_1.html,"wpt0002:hanes_tube_socks:[0.03503397,0.98352021,-0.17737155,0.00000000,0.99732673,-0.02301876,0.06935107,0.00000000,0.06412530,-0.17932703,-0.98169738,0.00000000,0.04126697,0.16059740,-0.20916621,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_jane_eyre_dvd_1.html,"wpt0002:jane_eyre_dvd:[0.05563975,0.10678393,-0.99272424,0.00000000,0.07931394,-0.99159509,-0.10221713,0.00000000,-0.99529564,-0.07304954,-0.06364152,0.00000000,-0.15693930,0.10505790,-0.12726156,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0002:kyjen_squeakin_eggs_plush_puppies:[0.61802292,-0.25240135,0.74454093,0.00000000,0.78612953,0.19006942,-0.58811045,0.00000000,0.00692542,0.94877142,0.31588742,0.00000000,0.07884495,0.05973780,0.18901646,1.00000000]",tag is not the same one,C,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0002_scotch_duct_tape_1.html,"wpt0002:scotch_duct_tape:[0.97466576,0.22366643,0.00000000,0.00000000,-0.02268731,0.09886394,0.99484229,0.00000000,0.22251283,-0.96963871,0.10143369,0.00000000,-0.08383454,0.07389417,0.12508519,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0002_up_glucose_bottle_1.html,"wpt0002:up_glucose_bottle:[0.79544121,0.00000000,-0.60603076,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.60603076,0.00000000,0.79544121,0.00000000,-0.08782473,0.09541004,0.02300219,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0003_barkely_hide_bones_1.html,"wpt0003:barkely_hide_bones:[0.84900486,0.05743637,-0.52525401,0.00000000,0.48583800,0.30595651,0.81875032,0.00000000,0.20773093,-0.95031136,0.23185381,0.00000000,-0.05446209,0.04169879,0.18502077,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0003_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0003:kyjen_squeakin_eggs_plush_puppies:[0.40616539,0.08936035,0.90941983,0.00000000,0.91255635,0.01223049,-0.40876800,0.00000000,-0.04765030,0.99592423,-0.07657875,0.00000000,0.08648804,0.06542989,0.19838969,1.00000000]",tag is not the same one,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0003_laugh_out_loud_joke_book_1.html,"wpt0003:laugh_out_loud_joke_book:[0.07627735,-0.04703712,0.99597657,0.00000000,-0.98567963,0.14710540,0.08243614,0.00000000,-0.15039109,-0.98800176,-0.03514273,0.00000000,-0.07328280,0.04534507,-0.13337293,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0003_oral_b_toothbrush_green_1.html,"wpt0003:oral_b_toothbrush_green:[-0.65168273,-0.37159473,-0.66123146,0.00000000,0.75236923,-0.42723262,-0.50141090,0.00000000,-0.09617800,-0.82425100,0.55799651,0.00000000,0.07302383,0.08398745,0.18154097,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0003_scotch_bubble_mailer_1.html,"wpt0003:scotch_bubble_mailer:[0.99886191,0.03900157,-0.02745415,0.00000000,-0.03282252,0.14445359,-0.98896706,0.00000000,-0.03460542,0.98874265,0.14556931,0.00000000,0.00000000,0.02916012,0.12112372,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0003_scotch_duct_tape_1.html,"wpt0003:scotch_duct_tape:[0.72248101,0.32947180,0.60784006,0.00000000,0.63318104,0.03778256,-0.77308106,0.00000000,-0.27767417,0.94340920,-0.18131812,0.00000000,-0.07608539,0.07977533,0.13237318,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0003_up_glucose_bottle_1.html,"wpt0003:up_glucose_bottle:[0.80459321,-0.19182709,-0.56198943,0.00000000,0.29742819,0.94930214,0.10179345,0.00000000,0.51397103,-0.24905382,0.82085687,0.00000000,-0.08226544,0.07373730,0.02023787,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0004_barkely_hide_bones_1.html,"wpt0004:barkely_hide_bones:[0.82375717,-0.00744109,-0.56689399,0.00000000,-0.56443572,-0.10469507,-0.81881088,0.00000000,-0.05325814,0.99447656,-0.09044333,0.00000000,-0.06170380,0.06593948,0.17694652,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0004_clorox_utility_brush_1.html,"wpt0004:clorox_utility_brush:[0.28367072,0.11482415,0.95202225,0.00000000,-0.06235230,-0.98849517,0.13780208,0.00000000,0.95689243,-0.09845119,-0.27324760,0.00000000,0.08124885,0.07529585,0.03693426,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0004_expo_dry_erase_board_eraser_1.html,"wpt0004:expo_dry_erase_board_eraser:[-0.97515094,0.01163978,0.22123559,0.00000000,-0.22109534,0.01221964,-0.97517568,0.00000000,-0.01405425,-0.99985760,-0.00934251,0.00000000,0.04585327,0.05424486,-0.09493612,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0004_hanes_tube_socks_1.html,"wpt0004:hanes_tube_socks:[0.11683883,0.98532969,-0.12439489,0.00000000,0.99208385,-0.12159878,-0.03135955,0.00000000,-0.04602576,-0.11974615,-0.99173713,0.00000000,0.06199252,0.14378965,-0.21117502,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0004_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0004:kyjen_squeakin_eggs_plush_puppies:[0.69030112,0.08339387,0.71870011,0.00000000,0.71731979,0.05090519,-0.69488204,0.00000000,-0.09453449,0.99521565,-0.02468017,0.00000000,0.05964096,0.06902303,0.19546410,1.00000000]",tag is not the same,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0004_oral_b_toothbrush_green_1.html,"wpt0004:oral_b_toothbrush_green:[-0.65652966,-0.34038964,-0.67312980,0.00000000,0.65642744,-0.69743258,-0.28756011,0.00000000,-0.37158015,-0.63065261,0.68132627,0.00000000,0.03913349,0.08729558,0.16357619,1.00000000]",,C,, 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scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0010_expo_dry_erase_board_eraser_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0010_hanes_tube_socks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0010_kyjen_squeakin_eggs_plush_puppies_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0010_oral_b_toothbrush_green_1.html,"wpt0010:oral_b_toothbrush_green:[-0.59600776,-0.06507181,0.80033767,0.00000000,-0.79402357,-0.10068007,-0.59949154,0.00000000,0.11958804,-0.99278861,0.00833753,0.00000000,-0.06552779,0.03233650,0.01681821,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0010_scotch_bubble_mailer_1.html,"wpt0010:scotch_bubble_mailer:[-0.98802650,0.00088702,0.15428190,0.00000000,0.15426287,0.02240583,0.98777574,0.00000000,-0.00258064,0.99974859,-0.02227439,0.00000000,0.00000000,0.02360215,0.10060709,1.00000000]",,C,, 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in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0011_oral_b_toothbrush_green_1.html,"wpt0011:oral_b_toothbrush_green:[-0.65174872,-0.05916273,0.75612396,0.00000000,-0.74889266,-0.10744660,-0.65392280,0.00000000,0.11993080,-0.99244899,0.02572165,0.00000000,-0.05643174,0.04257005,0.00000000,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0011_scotch_bubble_mailer_1.html,"wpt0011:scotch_bubble_mailer:[-0.98399061,-0.01674128,0.17743215,0.00000000,0.17801499,-0.04456437,0.98301816,0.00000000,-0.00854983,0.99886620,0.04683112,0.00000000,0.00000000,0.01104555,0.07507170,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0011_scotch_duct_tape_1.html,"wpt0011:scotch_duct_tape:[-0.08887893,-0.89758539,0.43178812,0.00000000,0.41826639,-0.42706296,-0.80166733,0.00000000,0.90396559,0.10935113,0.41338670,0.00000000,-0.12167668,0.08716463,-0.20148203,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0012_oral_b_toothbrush_green_1.html,"wpt0012:oral_b_toothbrush_green:[-0.62890035,0.04134288,0.77638596,0.00000000,-0.76745236,-0.19292013,-0.61139077,0.00000000,0.12450381,-0.98034310,0.15305622,0.00000000,-0.05451062,0.03816875,0.01027502,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0012_scotch_bubble_mailer_1.html,"wpt0012:scotch_bubble_mailer:[-0.99622846,0.00654390,0.08652195,0.00000000,-0.08611146,0.04796961,-0.99513000,0.00000000,-0.01066245,-0.99882734,-0.04722519,0.00000000,-0.00930400,0.02286763,0.10217920,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0012_scotch_duct_tape_1.html,"wpt0012:scotch_duct_tape:[0.20978516,-0.76551050,-0.60826296,0.00000000,0.34739730,0.63987231,-0.68547684,0.00000000,0.91395038,-0.06750604,0.40017202,0.00000000,-0.12108918,0.07631385,-0.19711110,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0013_clorox_utility_brush_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0013_expo_dry_erase_board_eraser_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0013_hanes_tube_socks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0013_kyjen_squeakin_eggs_plush_puppies_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0013_oral_b_toothbrush_green_1.html,"wpt0013:oral_b_toothbrush_green:[-0.84811550,0.06662602,0.52560544,0.00000000,0.07524662,-0.96685737,0.24397708,0.00000000,0.52444071,0.24647078,0.81499332,0.00000000,-0.02539952,0.04325928,-0.01017542,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0013_scotch_duct_tape_1.html,"wpt0013:scotch_duct_tape:[0.39183217,-0.55565101,-0.73329359,0.00000000,0.21573012,0.83029461,-0.51387876,0.00000000,0.89438701,0.04316073,0.44520676,0.00000000,-0.08073144,0.08587143,-0.19969782,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0014_laugh_out_loud_joke_book_1.html,"wpt0014:laugh_out_loud_joke_book:[-0.99989212,0.00496760,0.01382571,0.00000000,-0.01339121,0.07884305,-0.99679708,0.00000000,-0.00604175,-0.99687469,-0.07876804,0.00000000,0.06782068,0.02600005,0.16051657,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0014_oral_b_toothbrush_green_1.html,"wpt0014:oral_b_toothbrush_green:[-0.70055860,0.10140523,0.70635301,0.00000000,-0.13553758,-0.99074143,0.00780679,0.00000000,0.70060486,-0.09026825,0.70781672,0.00000000,-0.04016665,0.04494766,-0.04819965,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0014_platinum_pets_dog_bowl_1.html,"wpt0014:platinum_pets_dog_bowl:[0.45348737,-0.01381112,0.89115566,0.00000000,-0.89126271,-0.00702732,0.45343292,0.00000000,0.00000002,-0.99987990,-0.01549614,0.00000000,-0.08479513,0.03086458,0.06956022,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0014_safety_first_outlet_plugs_1.html,"wpt0014:safety_first_outlet_plugs:[0.13155103,-0.12508723,0.98338574,0.00000000,-0.98935562,-0.07881793,0.12232396,0.00000000,0.06220725,-0.98901010,-0.13412434,0.00000000,0.04869837,0.05791935,0.14103299,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0014_scotch_bubble_mailer_1.html,"wpt0014:scotch_bubble_mailer:[0.99943089,0.03356509,-0.00336055,0.00000000,0.00458528,-0.03647800,0.99932396,0.00000000,0.03341981,-0.99877059,-0.03661114,0.00000000,0.02809082,0.02279926,-0.01505958,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0014_up_glucose_bottle_1.html,"wpt0014:up_glucose_bottle:[-0.05685424,0.99713081,-0.04997695,0.00000000,0.74891734,0.07569746,0.65832567,0.00000000,0.66021991,0.00000001,-0.75107229,0.00000000,-0.01806812,0.10776677,-0.17031798,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0015_i_am_a_bunny_book_1.html,"wpt0015:i_am_a_bunny_book:[-0.67029911,0.08979353,-0.73663843,0.00000000,-0.10415382,0.97144336,0.21318944,0.00000000,0.73474556,0.21962440,-0.64180529,0.00000000,-0.08791457,0.10535478,0.18860030,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_jane_eyre_dvd_1.html,"wpt0015:jane_eyre_dvd:[0.12111722,0.96930975,0.21393757,0.00000000,-0.97845119,0.08027230,0.19023572,0.00000000,0.16722406,-0.23236829,0.95814461,0.00000000,0.06991670,0.10673761,0.22721802,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_laugh_out_loud_joke_book_1.html,"wpt0015:laugh_out_loud_joke_book:[-0.99824125,-0.05927464,-0.00098182,0.00000000,-0.00501495,0.10093559,-0.99488032,0.00000000,0.05907027,-0.99312562,-0.10105534,0.00000000,0.04655072,0.03223654,0.14971459,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_oral_b_toothbrush_green_1.html,"wpt0015:oral_b_toothbrush_green:[-0.80549097,-0.05935674,0.58962792,0.00000000,0.26160616,-0.92838997,0.26392096,0.00000000,0.53173918,0.36683625,0.76333779,0.00000000,-0.08272512,0.03288140,-0.02233690,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_platinum_pets_dog_bowl_1.html,"wpt0015:platinum_pets_dog_bowl:[-0.17560570,0.00000000,-0.98446059,0.00000000,0.98293138,0.05571621,-0.17533292,0.00000000,0.05485041,-0.99844664,-0.00978408,0.00000000,-0.10092825,0.05782963,0.07517414,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_safety_first_outlet_plugs_1.html,"wpt0015:safety_first_outlet_plugs:[0.10045885,-0.18051903,0.97842765,0.00000000,-0.98873168,0.09158409,0.11841384,0.00000000,-0.11098427,-0.97929823,-0.16928437,0.00000000,0.03868306,0.05347495,0.12869081,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_scotch_bubble_mailer_1.html,"wpt0015:scotch_bubble_mailer:[0.01086198,0.09592109,-0.99532968,0.00000000,0.99885905,0.04525150,0.01526144,0.00000000,0.04650406,-0.99435985,-0.09532014,0.00000000,0.01830844,0.03036129,0.00000000,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0015_up_glucose_bottle_1.html,"wpt0015:up_glucose_bottle:[-0.06162073,0.99768758,0.02867803,0.00000000,0.70208758,0.02290533,0.71172214,0.00000000,0.70941943,0.06399133,-0.70187545,0.00000000,-0.02446928,0.10642081,-0.16953173,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_barkely_hide_bones_1.html,"wpt0016:barkely_hide_bones:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.07010051,0.99753994,0.00000000,0.00000000,-0.99753994,-0.07010051,0.00000000,0.08304712,0.03119696,0.01327531,1.00000000]",The tag is folded,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_creativity_chenille_stems_1.html,"wpt0016:creativity_chenille_stems:[0.06553529,-0.10821191,-0.99196535,0.00000000,0.97864771,0.20105575,0.04272258,0.00000000,0.19481725,-0.97358447,0.11907760,0.00000000,0.06547423,0.05672727,-0.11584552,1.00000000]",The tag is folded,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_expo_dry_erase_board_eraser_1.html,"wpt0016:expo_dry_erase_board_eraser:[0.03179451,-0.00524393,0.99948061,0.00000000,-0.99928987,0.02006321,0.03189367,0.00000000,-0.02022000,-0.99978495,-0.00460227,0.00000000,0.12296368,0.05880778,-0.15303509,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_i_am_a_bunny_book_1.html,"wpt0016:i_am_a_bunny_book:[-0.65912020,0.00822532,-0.75199258,0.00000000,-0.22198127,0.95325869,0.20499299,0.00000000,0.71852958,0.30204332,-0.62648624,0.00000000,-0.08839357,0.10174348,0.16996087,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_laugh_out_loud_joke_book_1.html,"wpt0016:laugh_out_loud_joke_book:[-0.99942005,-0.00972293,0.03263424,0.00000000,-0.03354025,0.11557575,-0.99273223,0.00000000,0.00588054,-0.99325109,-0.11583482,0.00000000,0.06739007,0.03504112,0.14814286,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_oral_b_toothbrush_green_1.html,"wpt0016:oral_b_toothbrush_green:[-0.75760567,-0.07627434,0.64824057,0.00000000,0.08471245,-0.99623889,-0.01821673,0.00000000,0.64719194,0.04111295,0.76121765,0.00000000,-0.06743187,0.03869096,-0.02119156,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_platinum_pets_dog_bowl_1.html,"wpt0016:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.06383915,0.99796021,0.00000000,0.00000000,-0.99796021,-0.06383915,0.00000000,-0.09226608,0.03253222,0.07356215,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_safety_first_outlet_plugs_1.html,"wpt0016:safety_first_outlet_plugs:[0.21413192,-0.01269585,0.97672224,0.00000000,-0.97605866,0.03629175,0.21445817,0.00000000,-0.03816967,-0.99926054,-0.00462065,0.00000000,0.05069698,0.05633719,0.12423505,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_scotch_bubble_mailer_1.html,"wpt0016:scotch_bubble_mailer:[0.03741012,0.01357399,-0.99920774,0.00000000,0.99274647,0.11382261,0.03871442,0.00000000,0.11425791,-0.99340832,-0.00921738,0.00000000,0.03506437,0.03347318,0.00000000,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0016_up_glucose_bottle_1.html,"wpt0016:up_glucose_bottle:[-0.01227357,0.99987012,-0.01044514,0.00000000,0.76145422,0.01611650,0.64801830,0.00000000,0.64810246,0.00000000,-0.76155317,0.00000000,-0.01101741,0.10342623,-0.17468810,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0017_barkely_hide_bones_1.html,"wpt0017:barkely_hide_bones:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.02410434,0.99970949,0.00000000,0.00000000,-0.99970949,-0.02410434,0.00000000,0.09131834,0.04125452,-0.02482319,1.00000000]",tag is folded,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0017_creativity_chenille_stems_1.html,"wpt0017:creativity_chenille_stems:[-0.01202294,-0.10945733,-0.99391878,0.00000000,0.99340081,0.11207768,-0.02435947,0.00000000,0.11406241,-0.98765260,0.10738751,0.00000000,0.07671039,0.08241893,-0.09904884,1.00000000]",Color is different,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0017_expo_dry_erase_board_eraser_1.html,"wpt0017:expo_dry_erase_board_eraser:[0.02474224,0.01010135,0.99964285,0.00000000,-0.99567592,0.08981125,0.02373653,0.00000000,-0.08953941,-0.99590760,0.01227980,0.00000000,0.13169460,0.06580773,-0.15254001,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0017_i_am_a_bunny_book_1.html,"wpt0017:i_am_a_bunny_book:[-0.73233664,0.02807381,-0.68036383,0.00000000,-0.63267630,0.34141594,0.69509411,0.00000000,0.25180101,0.93949294,-0.23226981,0.00000000,-0.03900371,0.07175006,0.14782895,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8015/wpt0017_laugh_out_loud_joke_book_1.html,"wpt0017:laugh_out_loud_joke_book:[0.98078668,-0.03953271,0.19103578,0.00000000,-0.19468063,-0.13545367,0.97146887,0.00000000,-0.01252829,-0.98999470,-0.14054741,0.00000000,0.06930493,0.04517463,0.09116980,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8015/wpt0017_oral_b_toothbrush_green_1.html,"wpt0017:oral_b_toothbrush_green:[-0.61400843,-0.03242597,0.78863305,0.00000000,0.12699871,-0.99019605,0.05816419,0.00000000,0.77901536,0.13586868,0.61210686,0.00000000,-0.07787277,0.04475716,-0.03781233,1.00000000]",point cloud unclear,z,, 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-http://visiongpu2.cs.princeton.edu:8015/wpt0029_up_glucose_bottle_1.html,"wpt0029:up_glucose_bottle:[0.01159386,0.99993283,0.00000000,0.00000000,-0.99993283,0.01159386,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.09950617,0.09404630,0.01131509,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_elmers_washable_no_run_school_glue_1.html,"wpt0030:elmers_washable_no_run_school_glue:[0.05748374,0.99800265,0.02619787,0.00000000,0.92214692,-0.06313306,0.38165340,0.00000000,0.38254505,0.00221942,-0.92393416,0.00000000,0.11036725,0.11505807,-0.20389637,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_expo_dry_erase_board_eraser_1.html,"wpt0030:expo_dry_erase_board_eraser:[-0.97593212,0.10271408,0.19237016,0.00000000,0.09653623,0.99447465,-0.04124207,0.00000000,-0.19554339,-0.02167877,-0.98045540,0.00000000,0.08880805,0.05526582,-0.04888693,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_fitness_gear_3lb_dumbbell_1.html,"wpt0030:fitness_gear_3lb_dumbbell:[0.99673361,0.00000000,0.08075934,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.08075934,0.00000000,0.99673361,0.00000000,0.00519943,0.05765689,0.07504679,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0030:kyjen_squeakin_eggs_plush_puppies:[-0.46534783,-0.09477261,0.88003951,0.00000000,-0.88475853,0.02108496,-0.46557248,0.00000000,0.02556792,-0.99527562,-0.09366272,0.00000000,-0.03994761,0.05445557,-0.05208005,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_staples_index_cards_1.html,"wpt0030:staples_index_cards:[-0.99534029,-0.00621070,0.09622448,0.00000000,-0.09640723,0.04510048,-0.99431968,0.00000000,0.00183565,-0.99896318,-0.04548911,0.00000000,0.06096177,0.03649728,0.13836315,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_staples_index_cards_2.html,"wpt0030:staples_index_cards:[-0.99778169,0.00301406,0.06650200,0.00000000,-0.06595197,0.09107982,-0.99365729,0.00000000,-0.00905193,-0.99583900,-0.09067897,0.00000000,0.06116787,0.03879553,0.14488056,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_ticonderoga_12_pencils_1.html,"wpt0030:ticonderoga_12_pencils:[0.06470785,0.06319847,-0.99590105,0.00000000,0.29079053,0.95348644,0.07940077,0.00000000,0.95459616,-0.29473644,0.04332054,0.00000000,0.13903645,0.08652648,0.15735620,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0030_up_glucose_bottle_1.html,"wpt0030:up_glucose_bottle:[-0.04592865,0.99894470,0.00000000,0.00000000,-0.42965528,-0.01975433,-0.90277690,0.00000000,-0.90182418,-0.04146332,0.43010917,0.00000000,0.11656871,0.09796210,0.02141336,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0031_elmers_washable_no_run_school_glue_1.html,"wpt0031:elmers_washable_no_run_school_glue:[0.00591977,0.99282956,0.11939198,0.00000000,0.93149745,-0.04889926,0.36044610,0.00000000,0.36369970,0.10907956,-0.92510766,0.00000000,0.11867649,0.11383694,-0.22599453,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8015/wpt0031_fitness_gear_3lb_dumbbell_1.html,"wpt0031:fitness_gear_3lb_dumbbell:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00884664,0.05292387,0.04944925,1.00000000]",,ln,, -http://visiongpu2.cs.princeton.edu:8016/wpt0031_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0031:kyjen_squeakin_eggs_plush_puppies:[-0.52147591,0.17598312,0.83492082,0.00000000,-0.84957933,-0.19794972,-0.48890784,0.00000000,0.07923283,-0.96428514,0.25273764,0.00000000,-0.05384985,0.04739062,-0.05361899,1.00000000]",Ball colors were off (the balls must have shifted within the package),,, -http://visiongpu2.cs.princeton.edu:8016/wpt0031_staples_index_cards_1.html,"wpt0031:staples_index_cards:[-0.99162900,-0.12254978,0.04066196,0.00000000,-0.03451468,-0.05187436,-0.99805701,0.00000000,0.12442098,-0.99110574,0.04721037,0.00000000,0.07302067,0.03487917,0.12424555,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0031_staples_index_cards_2.html,"wpt0031:staples_index_cards:[-0.99520242,-0.09693432,0.01326100,0.00000000,-0.00861834,-0.04815767,-0.99880254,0.00000000,0.09745687,-0.99412501,0.04709122,0.00000000,0.05569929,0.04553451,0.12443218,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0031_ticonderoga_12_pencils_1.html,"wpt0031:ticonderoga_12_pencils:[0.11336805,-0.13936561,0.98373008,0.00000000,-0.19204298,-0.97451532,-0.11592854,0.00000000,0.97481650,-0.17577587,-0.13724309,0.00000000,0.13624357,0.09621914,0.13418816,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0031_up_glucose_bottle_1.html,"wpt0031:up_glucose_bottle:[0.06036723,0.99595481,0.06655595,0.00000000,0.18255058,0.05453746,-0.98168260,0.00000000,-0.98134136,0.07141121,-0.17851979,0.00000000,0.12498475,0.09508010,-0.01104712,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_cherokee_easy_tee_shirt_1.html,"wpt0032:cherokee_easy_tee_shirt:[0.32468170,-0.65350449,-0.68374968,0.00000000,0.88863915,-0.03678228,0.45712963,0.00000000,-0.32388616,-0.75602835,0.56878716,0.00000000,-0.04973691,0.07001160,0.18427260,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_cloud_b_plush_bear_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_cool_shot_glue_sticks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_dr_browns_bottle_brush_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_elmers_washable_no_run_school_glue_1.html,"wpt0032:elmers_washable_no_run_school_glue:[-0.00953377,0.99745297,0.07068675,0.00000000,0.87600303,-0.02575794,0.48161727,0.00000000,0.48221135,0.06651343,-0.87352628,0.00000000,0.11217471,0.07975654,-0.20465268,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_fiskars_scissors_red_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0032:kyjen_squeakin_eggs_plush_puppies:[-0.53527939,-0.33394736,0.77585763,0.00000000,0.84422725,-0.24141911,0.47853649,0.00000000,0.02750087,0.91115087,0.41115418,0.00000000,0.02834377,0.04690715,-0.05340176,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_oral_b_toothbrush_green_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_peva_shower_curtain_liner_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_platinum_pets_dog_bowl_1.html,"wpt0032:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.21659192,-0.97626221,0.00000000,0.00000000,0.97626221,-0.21659192,0.00000000,-0.06526860,0.02591700,-0.21266197,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_scotch_bubble_mailer_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0032_scotch_duct_tape_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_barkely_hide_bones_1.html,"wpt0033:barkely_hide_bones:[0.34263957,0.07565734,-0.93641555,0.00000000,-0.93874693,-0.01144550,-0.34441736,0.00000000,-0.03677541,0.99706823,0.06710139,0.00000000,0.03475550,0.05511542,-0.21858941,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_cherokee_easy_tee_shirt_1.html,"wpt0033:cherokee_easy_tee_shirt:[-0.13137352,0.85683590,-0.49857119,0.00000000,-0.97960013,-0.18935384,-0.06729559,0.00000000,-0.15206765,0.47955954,0.86423266,0.00000000,-0.08051797,0.02437804,0.17967777,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_creativity_chenille_stems_1.html,"wpt0033:creativity_chenille_stems:[0.01653467,0.00420979,0.99985445,0.00000000,-0.85339874,0.52112240,0.01191858,0.00000000,-0.52099633,-0.85347158,0.01220922,0.00000000,-0.10654339,0.05556641,-0.10334312,1.00000000]",different color,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_elmers_washable_no_run_school_glue_1.html,"wpt0033:elmers_washable_no_run_school_glue:[0.43559662,0.06834615,0.89754355,0.00000000,0.90010476,-0.04213829,-0.43363088,0.00000000,0.00818394,0.99677140,-0.07987399,0.00000000,0.11580238,0.05370719,-0.14217822,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_fitness_gear_3lb_dumbbell_1.html,"wpt0033:fitness_gear_3lb_dumbbell:[0.99001640,0.00000000,0.14095229,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.14095229,0.00000000,0.99001640,0.00000000,0.01473904,0.05923542,0.05649626,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_i_am_a_bunny_book_1.html,"wpt0033:i_am_a_bunny_book:[0.12569299,0.99019551,0.06094341,0.00000000,0.01936557,-0.06386783,0.99777043,0.00000000,0.99188018,-0.12423255,-0.02720343,0.00000000,0.14722170,0.13689584,-0.14116161,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0033:kyjen_squeakin_eggs_plush_puppies:[-0.12259094,-0.00000002,-0.99245727,0.00000000,-0.98309702,-0.13701762,0.12143473,0.00000000,-0.13598414,0.99056864,0.01679709,0.00000000,0.02060949,0.07432250,-0.02930721,1.00000000]",different tag,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_platinum_pets_dog_bowl_1.html,"wpt0033:platinum_pets_dog_bowl:[0.99997485,0.00697476,-0.00127253,0.00000000,-0.00115755,-0.01646395,-0.99986374,0.00000000,-0.00699476,0.99984014,-0.01645546,0.00000000,-0.04930292,0.03144664,-0.23323421,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_staples_index_cards_1.html,"wpt0033:staples_index_cards:[-0.96922535,-0.01544607,-0.24568990,0.00000000,0.24248368,0.11228167,-0.96363604,0.00000000,0.04247086,-0.99355632,-0.10508079,0.00000000,0.05714295,0.05837531,0.13453640,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_ticonderoga_12_pencils_1.html,"wpt0033:ticonderoga_12_pencils:[0.03582149,0.08788009,-0.99548680,0.00000000,0.15696461,0.98326761,0.09244960,0.00000000,0.98695439,-0.15956788,0.02142805,0.00000000,0.15740994,0.06825086,0.12396070,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0033_up_glucose_bottle_1.html,"wpt0033:up_glucose_bottle:[-0.18564962,-0.08761249,0.97870237,0.00000000,0.92441493,0.32212463,0.20418811,0.00000000,-0.33315361,0.94263452,0.02118795,0.00000000,0.12676881,0.06088731,0.00000000,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_cherokee_easy_tee_shirt_1.html,"wpt0034:cherokee_easy_tee_shirt:[0.01158498,-0.11309005,0.99351722,0.00000000,-0.99479395,-0.10190722,-0.00000000,0.00000000,0.10124655,-0.98834491,-0.11368190,0.00000000,-0.08452483,0.04788350,0.18490487,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_creativity_chenille_stems_1.html,"wpt0034:creativity_chenille_stems:[0.06210121,-0.04945154,0.99684399,0.00000000,-0.42143685,0.90406597,0.07110360,0.00000000,-0.90472889,-0.42452240,0.03530289,0.00000000,-0.13202445,0.05256185,-0.06005055,1.00000000]",different color,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_elmers_washable_no_run_school_glue_1.html,"wpt0034:elmers_washable_no_run_school_glue:[0.51972383,-0.10113922,0.84832662,0.00000000,0.85433155,0.06405227,-0.51576632,0.00000000,-0.00217304,0.99280822,0.11969592,0.00000000,0.10142159,0.04082829,-0.13007824,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_fitness_gear_3lb_dumbbell_1.html,"wpt0034:fitness_gear_3lb_dumbbell:[0.99195796,0.00000000,0.12656789,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.12656789,0.00000000,0.99195796,0.00000000,-0.00193546,0.05099698,0.07309321,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_i_am_a_bunny_book_1.html,"wpt0034:i_am_a_bunny_book:[0.15172896,0.98839891,-0.00678436,0.00000000,0.01957488,0.00385763,0.99980098,0.00000000,0.98822832,-0.15183161,-0.01876253,0.00000000,0.14933804,0.12578225,-0.13715839,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0034:kyjen_squeakin_eggs_plush_puppies:[-0.06061953,-0.15340482,-0.98630226,0.00000000,-0.99353284,0.10431623,0.04483910,0.00000000,0.09600879,0.98264188,-0.15873630,0.00000000,-0.00461973,0.05602561,0.00000000,1.00000000]",different tag,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_platinum_pets_dog_bowl_1.html,"wpt0034:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.11300720,-0.99359417,0.00000000,0.00000000,0.99359417,0.11300720,0.00000000,-0.06806696,0.04696870,-0.20912787,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_staples_index_cards_1.html,"wpt0034:staples_index_cards:[0.96614254,0.00042972,0.25800848,0.00000000,-0.25205317,-0.21204764,0.94419539,0.00000000,0.05511583,-0.97725922,-0.20475993,0.00000000,0.03997214,0.03379513,0.16377199,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_ticonderoga_12_pencils_1.html,"wpt0034:ticonderoga_12_pencils:[0.00048286,-0.00011340,-0.99999988,0.00000000,0.22852440,0.97353816,-0.00000005,0.00000000,0.97353810,-0.22852437,0.00049600,0.00000000,0.14035384,0.06759685,0.14807974,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0034_up_glucose_bottle_1.html,"wpt0034:up_glucose_bottle:[-0.17244516,-0.05380179,0.98354870,0.00000000,0.97843450,-0.12461681,0.16473176,0.00000000,0.11370385,0.99074519,0.07413110,0.00000000,0.11253092,0.06020953,0.01643133,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0035_cherokee_easy_tee_shirt_1.html,"wpt0035:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.10669439,0.99429184,0.00000000,0.00000000,-0.99429184,0.10669439,0.00000000,-0.09632677,0.05447446,0.18292791,1.00000000]",different folding,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0035_creativity_chenille_stems_1.html,"wpt0035:creativity_chenille_stems:[0.02149209,-0.01883251,0.99959159,0.00000000,-0.36202976,0.93182206,0.02533967,0.00000000,-0.93191874,-0.36242652,0.01320887,0.00000000,-0.12821312,0.05749711,-0.07609862,1.00000000]",different color,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0035_elmers_washable_no_run_school_glue_1.html,"wpt0035:elmers_washable_no_run_school_glue:[0.40323874,0.00000000,0.91509479,0.00000000,0.89479202,0.20947769,-0.39429224,0.00000000,-0.19169195,0.97781342,0.08446952,0.00000000,0.08624159,0.04524410,-0.14061923,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0035_fitness_gear_3lb_dumbbell_1.html,"wpt0035:fitness_gear_3lb_dumbbell:[0.99295968,-0.00677161,0.11825906,0.00000000,-0.00000000,0.99836463,0.05716715,0.00000000,-0.11845277,-0.05676468,0.99133581,0.00000000,-0.00022191,0.05456660,0.06474048,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8016/wpt0037_fitness_gear_3lb_dumbbell_1.html,"wpt0037:fitness_gear_3lb_dumbbell:[0.99019599,0.00000000,0.13968503,0.00000000,-0.00846311,0.99816293,0.05999309,0.00000000,-0.13942842,-0.06058709,0.98837692,0.00000000,0.00516566,0.05737928,0.08864863,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0037_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0037:kyjen_squeakin_eggs_plush_puppies:[-0.68529695,0.00000001,0.72826374,0.00000000,0.72759479,-0.04285137,0.68466747,0.00000000,0.03120711,0.99908143,0.02936593,0.00000000,-0.00360112,0.05828578,-0.05864264,1.00000000]",different color different tag,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0037_staples_index_cards_1.html,"wpt0037:staples_index_cards:[-0.97720474,-0.03406608,-0.20954791,0.00000000,0.20849958,0.03190050,-0.97750205,0.00000000,0.03998435,-0.99891031,-0.02407054,0.00000000,0.05632169,0.03258344,0.16568771,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0037_ticonderoga_12_pencils_1.html,"wpt0037:ticonderoga_12_pencils:[0.01941011,0.13423380,-0.99075955,0.00000000,0.05202879,0.98946798,0.13507812,0.00000000,0.99845695,-0.05416990,0.01222166,0.00000000,0.14675167,0.06837948,0.14971519,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0037_up_glucose_bottle_1.html,"wpt0037:up_glucose_bottle:[-0.20421237,0.00644622,0.97890538,0.00000000,0.97299421,0.11125889,0.20224661,0.00000000,-0.10760818,0.99377054,-0.02899255,0.00000000,0.11634301,0.07286555,0.03491163,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_cherokee_easy_tee_shirt_1.html,"wpt0038:cherokee_easy_tee_shirt:[-0.16584028,0.06803851,-0.98380274,0.00000000,0.98615265,0.01144199,-0.16544509,0.00000000,0.00000003,-0.99761707,-0.06899390,0.00000000,0.03366386,0.06274663,0.15394887,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_command_hooks_1.html,"wpt0038:command_hooks:[-0.00462670,0.99959284,-0.02815695,0.00000000,0.00162979,0.02816473,0.99960196,0.00000000,0.99998802,0.00457894,-0.00175946,0.00000000,0.14045942,0.09617514,-0.13519175,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_cool_shot_glue_sticks_1.html,"wpt0038:cool_shot_glue_sticks:[0.05726977,-0.16729814,-0.98424160,0.00000000,0.99609268,0.07596122,0.04504770,0.00000000,0.06722778,-0.98297572,0.17099474,0.00000000,-0.04217528,0.04661385,-0.16716477,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_creativity_chenille_stems_1.html,"wpt0038:creativity_chenille_stems:[-0.05148819,-0.04578164,0.99762368,0.00000000,-0.97507799,0.21816939,-0.04031262,0.00000000,-0.21580540,-0.97483647,-0.05587383,0.00000000,-0.10856292,0.04213978,-0.05007786,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_fitness_gear_3lb_dumbbell_1.html,"wpt0038:fitness_gear_3lb_dumbbell:[0.98840851,0.00000000,0.15181758,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.15181758,0.00000000,0.98840851,0.00000000,0.00973020,0.04861879,0.06627436,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_kyjen_squeakin_eggs_plush_puppies_1.html,"wpt0038:kyjen_squeakin_eggs_plush_puppies:[0.96649045,-0.25670254,-0.00000000,0.00000000,0.06509309,0.24507685,-0.96731597,0.00000000,0.24831249,0.93490165,0.25357401,0.00000000,-0.09586941,0.09252773,-0.03827731,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_rolodex_jumbo_pencil_cup_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_safety_first_outlet_plugs_1.html,"wpt0038:safety_first_outlet_plugs:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.22438128,0.97450143,0.00000000,0.00000000,-0.97450143,0.22438128,0.00000000,0.00959197,0.06012390,-0.21985812,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_staples_index_cards_1.html,"wpt0038:staples_index_cards:[0.94726753,-0.22441874,0.22873667,0.00000000,-0.24562766,-0.05009491,0.96806896,0.00000000,-0.20579427,-0.97320437,-0.10257673,0.00000000,0.05883601,0.03909031,0.16093919,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_ticonderoga_12_pencils_1.html,"wpt0038:ticonderoga_12_pencils:[0.17575704,0.98443359,0.00000000,0.00000000,0.03005510,-0.00536592,0.99953383,0.00000000,0.98397470,-0.17567509,-0.03053034,0.00000000,0.15455469,0.13838072,0.17237373,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_up_glucose_bottle_1.html,"wpt0038:up_glucose_bottle:[-0.00999967,0.99992508,-0.00705738,0.00000000,0.89050841,0.01211543,0.45480543,0.00000000,0.45485687,-0.00173675,-0.89056289,0.00000000,0.12027750,0.09774058,-0.00351106,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0038_woods_extension_cord_1.html,"wpt0038:woods_extension_cord:[0.10732456,-0.11523722,-0.98752308,0.00000000,0.97787678,-0.16714144,0.12578046,0.00000000,-0.17955062,-0.97917521,0.09474943,0.00000000,0.04151540,0.03680573,-0.08579715,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_cherokee_easy_tee_shirt_1.html,"wpt0039:cherokee_easy_tee_shirt:[0.02092644,-0.05175778,-0.99844038,0.00000000,0.99976146,-0.00516918,0.02122211,0.00000000,-0.00625951,-0.99864632,0.05163723,0.00000000,0.02767462,0.08055636,0.19461854,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_command_hooks_1.html,"wpt0039:command_hooks:[0.07545739,0.99694651,-0.02009578,0.00000000,0.00554715,0.01973322,0.99978989,0.00000000,0.99713361,-0.07555303,-0.00404121,0.00000000,0.12396569,0.09228674,-0.11548889,1.00000000]",,,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_cool_shot_glue_sticks_1.html,"wpt0039:cool_shot_glue_sticks:[-0.13106342,-0.01196455,-0.99130177,0.00000000,0.99092835,0.02839663,-0.13135679,0.00000000,0.02972124,-0.99952513,0.00813427,0.00000000,-0.04092692,0.04363786,-0.15128110,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_creativity_chenille_stems_1.html,"wpt0039:creativity_chenille_stems:[-0.04264551,0.00156018,0.99908906,0.00000000,-0.94639558,0.32041040,-0.04089668,0.00000000,-0.32018232,-0.94727755,-0.01218752,0.00000000,-0.10937411,0.04147042,-0.02058501,1.00000000]",template color does not match point cloud image,z,, 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-http://visiongpu2.cs.princeton.edu:8016/wpt0039_staples_index_cards_1.html,"wpt0039:staples_index_cards:[0.90369183,-0.00000004,0.42818341,0.00000000,-0.42815524,0.01146797,0.90363246,0.00000000,-0.00491044,-0.99993426,0.01036349,0.00000000,0.06225055,0.02943812,0.18100168,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_ticonderoga_12_pencils_1.html,"wpt0039:ticonderoga_12_pencils:[0.08547799,0.99387950,0.06997883,0.00000000,-0.00680496,-0.06965189,0.99754816,0.00000000,0.99631685,-0.08574463,0.00080959,0.00000000,0.15326346,0.13666892,0.19877867,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_up_glucose_bottle_1.html,"wpt0039:up_glucose_bottle:[-0.08622539,0.99559575,-0.03680002,0.00000000,0.91568696,0.09374998,0.39080474,0.00000000,0.39253354,-0.00000000,-0.91973770,0.00000000,0.12179382,0.09380742,0.02461072,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8016/wpt0039_woods_extension_cord_1.html,"wpt0039:woods_extension_cord:[0.11732043,0.00047562,-0.99309397,0.00000000,0.99227738,-0.04060440,0.11720450,0.00000000,-0.04026825,-0.99917519,-0.00523566,0.00000000,0.03855811,0.04006141,-0.05749904,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8016/wpt0040_cherokee_easy_tee_shirt_1.html,"wpt0040:cherokee_easy_tee_shirt:[-0.07569728,0.00000000,-0.99713081,0.00000000,0.99196148,0.10169341,-0.07530487,0.00000000,0.10140161,-0.99481577,-0.00769789,0.00000000,0.04091812,0.07530115,0.14556026,1.00000000]",template folded differently from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8016/wpt0040_command_hooks_1.html,"wpt0040:command_hooks:[0.06565522,0.99781263,0.00772138,0.00000000,0.00865748,-0.00830752,0.99992812,0.00000000,0.99780494,-0.06558376,-0.00918408,0.00000000,0.11766089,0.10949869,-0.15808079,1.00000000]",point cloud unclear,z,, 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-http://visiongpu2.cs.princeton.edu:8016/wpt0051_barkely_hide_bones_1.html,"wpt0051:barkely_hide_bones:[0.09546538,0.00000004,-0.99543273,0.00000000,0.97716820,0.19068311,0.09371375,0.00000000,0.18981221,-0.98165166,0.01820360,0.00000000,0.05209313,0.04790710,-0.12273017,1.00000000]",ambiguous object orientation,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_cherokee_easy_tee_shirt_1.html,"wpt0051:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.05725395,-0.99835962,0.00000000,0.00000000,0.99835962,0.05725395,0.00000000,-0.11821266,0.06448358,-0.18687427,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_clorox_utility_brush_1.html,"wpt0051:clorox_utility_brush:[-0.12704934,-0.03851291,0.99114847,0.00000000,0.03626879,-0.99875808,-0.03415952,0.00000000,0.99123311,0.03160781,0.12828836,0.00000000,-0.03183836,0.08229050,-0.11168953,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_creativity_chenille_stems_1.html,"wpt0051:creativity_chenille_stems:[-0.70392966,-0.08841123,0.70474571,0.00000000,0.70371956,-0.22125576,0.67514789,0.00000000,0.09623838,0.97119999,0.21796519,0.00000000,-0.02979577,0.03400164,0.12718827,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_dove_beauty_bar_1.html,"wpt0051:dove_beauty_bar:[-0.05572279,-0.00000000,-0.99844629,0.00000000,-0.99808526,0.02688917,0.05570263,0.00000000,0.02684740,0.99963844,-0.00149835,0.00000000,0.10910495,0.06263089,0.19236447,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_rawlings_baseball_1.html,"wpt0051:rawlings_baseball:[0.62273544,-0.78243244,0.00000000,0.00000000,0.78243244,0.62273544,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.05451461,0.21497430,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_safety_first_outlet_plugs_1.html,"wpt0051:safety_first_outlet_plugs:[0.10742596,0.00000002,-0.99421310,0.00000000,0.94745636,0.30306116,0.10237385,0.00000000,0.30130738,-0.95297110,0.03255661,0.00000000,-0.10565075,0.04329207,0.04156686,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0051_scotch_bubble_mailer_1.html,"wpt0051:scotch_bubble_mailer:[0.03450497,-0.00307697,-0.99939984,0.00000000,0.99914128,0.02305837,0.03442509,0.00000000,0.02293864,-0.99972939,0.00386992,0.00000000,0.02721140,0.04155086,-0.07171376,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_cherokee_easy_tee_shirt_1.html,"wpt0052:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.03786762,-0.99928278,0.00000000,0.00000000,0.99928278,-0.03786762,0.00000000,-0.12861536,0.05971186,-0.17775613,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_clorox_utility_brush_1.html,"wpt0052:clorox_utility_brush:[-0.06830983,-0.01304494,0.99757886,0.00000000,-0.10780525,-0.99396312,-0.02037969,0.00000000,0.99182248,-0.10893637,0.06649113,0.00000000,-0.04777532,0.06895889,-0.10513724,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_creativity_chenille_stems_1.html,"wpt0052:creativity_chenille_stems:[0.69945580,0.00000000,-0.71467584,0.00000000,0.70934498,-0.12191236,0.69423842,0.00000000,-0.08712784,-0.99254084,-0.08527230,0.00000000,-0.00331982,0.04638673,0.10976800,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_dove_beauty_bar_1.html,"wpt0052:dove_beauty_bar:[0.00344238,0.09084009,-0.99585956,0.00000000,-0.99928278,0.03786796,-0.00000000,0.00000000,0.03771119,0.99514526,0.09090526,0.00000000,0.10035649,0.05962829,0.20164856,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_rawlings_baseball_1.html,"wpt0052:rawlings_baseball:[0.43146983,-0.89518070,-0.11173758,0.00000000,0.90212739,0.42814738,0.05344189,0.00000000,0.00000000,-0.12386010,0.99229968,0.00000000,-0.01547504,0.05812584,0.22644275,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_safety_first_outlet_plugs_1.html,"wpt0052:safety_first_outlet_plugs:[0.07282497,-0.04709646,-0.99623209,0.00000000,0.97597086,0.20905338,0.06146092,0.00000000,0.20537107,-0.97676945,0.06118911,0.00000000,-0.12082177,0.04522558,0.05422346,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0052_scotch_bubble_mailer_1.html,"wpt0052:scotch_bubble_mailer:[0.01033376,0.06434140,-0.99787444,0.00000000,-0.99994540,-0.00089020,-0.01041262,0.00000000,-0.00155826,0.99792755,0.06432868,0.00000000,0.01004690,0.03374802,-0.07393823,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_cherokee_easy_tee_shirt_1.html,"wpt0053:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.04399356,-0.99903184,0.00000000,0.00000000,0.99903184,-0.04399356,0.00000000,-0.13274711,0.10759840,-0.17696978,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_clorox_utility_brush_1.html,"wpt0053:clorox_utility_brush:[-0.09500197,0.00000000,0.99547708,0.00000000,0.01156722,-0.99993247,0.00110390,0.00000000,0.99540985,0.01161977,0.09499558,0.00000000,-0.03574654,0.08362671,-0.12035672,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_creativity_chenille_stems_1.html,"wpt0053:creativity_chenille_stems:[-0.70064068,0.04326205,0.71220160,0.00000000,0.67997867,-0.26193029,0.68485153,0.00000000,0.21617523,0.96411669,0.15410170,0.00000000,0.00000000,0.05054925,0.09014849,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_dove_beauty_bar_1.html,"wpt0053:dove_beauty_bar:[0.06463258,0.00000004,0.99790919,0.00000000,0.99747586,-0.02946708,-0.06460457,0.00000000,0.02940542,0.99956578,-0.00190462,0.00000000,0.09531581,0.06135063,0.18917400,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_rawlings_baseball_1.html,"wpt0053:rawlings_baseball:[0.43282408,-0.90147841,0.00000000,0.00000000,0.90147841,0.43282408,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.00780237,0.04990662,0.20860872,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0053_scotch_bubble_mailer_1.html,"wpt0053:scotch_bubble_mailer:[-0.02852269,-0.00282883,-0.99958915,0.00000000,-0.99719727,-0.06911375,0.02865005,0.00000000,-0.06916641,0.99760473,-0.00084957,0.00000000,0.01878260,0.04392120,-0.07003877,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0054_cherokee_easy_tee_shirt_1.html,"wpt0054:cherokee_easy_tee_shirt:[0.14364719,0.32450086,-0.93491423,0.00000000,-0.98700237,-0.02180662,-0.15921928,0.00000000,-0.07205414,0.94563395,0.31715068,0.00000000,-0.13384980,0.07847949,-0.13946413,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0054_clorox_utility_brush_1.html,"wpt0054:clorox_utility_brush:[-0.01320562,-0.00286399,0.99990869,0.00000000,-0.15915915,-0.98724061,-0.00492970,0.00000000,0.98716462,-0.15920971,0.01258131,0.00000000,-0.03697018,0.07887353,-0.09982043,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0054_creativity_chenille_stems_1.html,"wpt0054:creativity_chenille_stems:[-0.70033306,-0.08002977,0.70931572,0.00000000,0.67008781,0.26874533,0.69192362,0.00000000,-0.24599977,0.95988083,-0.13458428,0.00000000,-0.04171325,0.03163125,0.15824607,1.00000000]",different color and tag,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0054_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0054_dove_beauty_bar_1.html,"wpt0054:dove_beauty_bar:[0.00404913,-0.07281027,0.99733758,0.00000000,0.99845725,0.05552608,0.00000000,0.00000000,-0.05537824,0.99579895,0.07292278,0.00000000,0.09551539,0.05661128,0.21129161,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0054_scotch_bubble_mailer_1.html,"wpt0054:scotch_bubble_mailer:[0.00216535,0.00250732,-0.99999452,0.00000000,-0.98742658,-0.15805808,-0.00253446,0.00000000,-0.15806356,0.98742664,0.00213353,0.00000000,0.01511664,0.05413183,-0.05681672,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0055_cherokee_easy_tee_shirt_1.html,"wpt0055:cherokee_easy_tee_shirt:[0.00534578,-0.10751402,0.99418920,0.00000000,0.99876618,0.04966063,0.00000002,0.00000000,-0.04937207,0.99296254,0.10764683,0.00000000,-0.08221227,0.05073286,-0.16456620,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0055_clorox_utility_brush_1.html,"wpt0055:clorox_utility_brush:[-0.09054591,0.13172163,0.98714274,0.00000000,0.64157283,-0.75040615,0.15898059,0.00000000,0.76169920,0.64771903,-0.01656278,0.00000000,-0.04298894,0.09174001,-0.14366531,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0055_creativity_chenille_stems_1.html,"wpt0055:creativity_chenille_stems:[-0.72342658,-0.06095294,0.68770540,0.00000000,0.68881011,-0.13131033,0.71295035,0.00000000,0.04684641,0.98946565,0.13697840,0.00000000,-0.05287297,0.03003764,0.11740007,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0055_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0055_dove_beauty_bar_1.html,"wpt0055:dove_beauty_bar:[-0.00762038,-0.03902649,-0.99920911,0.00000000,-0.98146474,0.19164288,0.00000000,0.00000000,0.19149131,0.98068851,-0.03976350,0.00000000,0.10377295,0.06760693,0.18099287,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0056_cherokee_easy_tee_shirt_1.html,"wpt0056:cherokee_easy_tee_shirt:[0.00598987,0.00000000,-0.99998206,0.00000000,-0.98044938,-0.19668370,-0.00587285,0.00000000,-0.19668020,0.98046696,-0.00117808,0.00000000,-0.12953012,0.08698764,-0.17856012,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0056_clorox_utility_brush_1.html,"wpt0056:clorox_utility_brush:[-0.08349418,-0.08343788,0.99300897,0.00000000,0.46910858,-0.88245833,-0.03470524,0.00000000,0.87918478,0.46293133,0.11282156,0.00000000,-0.05671439,0.08419145,-0.14979106,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0056_creativity_chenille_stems_1.html,"wpt0056:creativity_chenille_stems:[-0.69370890,-0.00933655,0.72019500,0.00000000,0.71905160,-0.06676649,0.69174200,0.00000000,0.04162641,0.99772495,0.05302997,0.00000000,-0.05400563,0.05123201,0.11795775,1.00000000]",different color and tag,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0056_dove_beauty_bar_1.html,"wpt0056:dove_beauty_bar:[-0.10889582,0.09590408,-0.98941606,0.00000000,-0.99097735,0.06776577,0.11563618,0.00000000,0.07813854,0.99308115,0.08765935,0.00000000,0.09589226,0.05177739,0.17580137,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0057_cherokee_easy_tee_shirt_1.html,"wpt0057:cherokee_easy_tee_shirt:[0.00901514,0.00000000,-0.99995935,0.00000000,-0.99531025,0.09631675,-0.00897321,0.00000000,0.09631283,0.99535072,0.00086832,0.00000000,-0.13346523,0.08213366,-0.16669241,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0057_clorox_utility_brush_1.html,"wpt0057:clorox_utility_brush:[-0.08068589,-0.12915613,0.98833621,0.00000000,0.78147954,-0.62367964,-0.01770416,0.00000000,0.61869174,0.77093607,0.15125503,0.00000000,-0.04218192,0.07919422,-0.13677047,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0057_creativity_chenille_stems_1.html,"wpt0057:creativity_chenille_stems:[-0.69368339,-0.02080890,0.71997941,0.00000000,0.71724147,-0.11167483,0.68781787,0.00000000,0.06609084,0.99352694,0.09239197,0.00000000,-0.04261499,0.04270259,0.12624304,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0058_cherokee_easy_tee_shirt_1.html,"wpt0058:cherokee_easy_tee_shirt:[-0.15737458,0.11769931,-0.98049986,0.00000000,-0.98686892,-0.05531115,0.15175731,0.00000000,-0.03637089,0.99150765,0.12485842,0.00000000,-0.14491293,0.06869942,-0.19406424,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0058_clorox_utility_brush_1.html,"wpt0058:clorox_utility_brush:[-0.10845635,0.00954149,0.99405545,0.00000000,0.48462206,-0.87257659,0.06125012,0.00000000,0.86797392,0.48838416,0.09001244,0.00000000,-0.06325194,0.09382223,-0.12659359,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0058_scotch_bubble_mailer_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0059_cherokee_easy_tee_shirt_1.html,"wpt0059:cherokee_easy_tee_shirt:[0.00230604,-0.01687791,-0.99985492,0.00000000,0.99079460,0.13537411,0.00000000,0.00000000,0.13535449,-0.99065083,0.01703470,0.00000000,-0.12066287,0.07316015,-0.19719142,1.00000000]",different folding,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_command_hooks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_creativity_chenille_stems_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_dr_browns_bottle_brush_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_elmers_washable_no_run_school_glue_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_folgers_classic_roast_coffee_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_i_am_a_bunny_book_1.html,"wpt0060:i_am_a_bunny_book:[-0.10746942,-0.99387300,0.02582192,0.00000000,0.05264639,0.02024700,0.99840790,0.00000000,-0.99281347,0.10865777,0.05014792,0.00000000,0.11695483,0.14346717,0.13982643,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_kleenex_paper_towels_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_kyjen_squeakin_eggs_plush_puppies_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_platinum_pets_dog_bowl_1.html,"wpt0060:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.02775801,-0.99961466,0.00000000,0.00000000,0.99961466,0.02775801,0.00000000,-0.09081947,0.04797423,0.00825683,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_scotch_duct_tape_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_soft_white_lightbulb_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0060_womens_knit_gloves_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0061_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0061_i_am_a_bunny_book_1.html,"wpt0061:i_am_a_bunny_book:[-0.06123469,-0.99728519,0.04089657,0.00000000,-0.04973340,0.04397114,0.99779415,0.00000000,-0.99688357,0.05906569,-0.05229094,0.00000000,0.13192147,0.14603260,0.19678275,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0061_peva_shower_curtain_liner_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8016/wpt0061_platinum_pets_dog_bowl_1.html,"wpt0061:platinum_pets_dog_bowl:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.08471267,-0.99640542,0.00000000,0.00000000,0.99640542,0.08471267,0.00000000,0.02749040,0.05690288,-0.02357643,1.00000000]",,C,, 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-http://visiongpu2.cs.princeton.edu:8017/wpt0073_scotch_bubble_mailer_1.html,"wpt0073:scotch_bubble_mailer:[0.99510139,0.06202419,-0.07698178,0.00000000,-0.07940371,0.03757506,-0.99613410,0.00000000,-0.05889182,0.99736708,0.04231595,0.00000000,0.00000000,0.04337315,-0.14101911,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_cherokee_easy_tee_shirt_1.html,"wpt0074:cherokee_easy_tee_shirt:[0.46370962,-0.00000000,0.88598722,0.00000000,0.88597405,-0.00545753,-0.46370271,0.00000000,0.00483531,0.99998510,-0.00253070,0.00000000,-0.03177501,0.06974490,-0.04421927,1.00000000]",different folding,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_creativity_chenille_stems_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_dove_beauty_bar_1.html,"wpt0074:dove_beauty_bar:[0.35151413,0.00323609,-0.93617702,0.00000000,0.03181658,-0.99945766,0.00849160,0.00000000,-0.93564177,-0.03277086,-0.35142645,0.00000000,-0.13062489,0.07228076,-0.10375829,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_elmers_washable_no_run_school_glue_1.html,"wpt0074:elmers_washable_no_run_school_glue:[0.01900882,0.99981934,0.00000000,0.00000000,-0.96885246,0.01842007,-0.24695256,0.00000000,-0.24690795,0.00469428,0.96902758,0.00000000,-0.10616418,0.08291619,0.05282561,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_folgers_classic_roast_coffee_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_hanes_tube_socks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_kyjen_squeakin_eggs_plush_puppies_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_rawlings_baseball_1.html,"wpt0074:rawlings_baseball:[0.26103508,-0.96532929,0.00000000,0.00000000,0.96532929,0.26103508,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,-0.02352106,0.07154126,0.05952433,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_scotch_bubble_mailer_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_soft_white_lightbulb_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0074_up_glucose_bottle_1.html,"wpt0074:up_glucose_bottle:[-0.02524469,0.99928796,-0.02804041,0.00000000,0.66861027,0.03773009,0.74265516,0.00000000,0.74318433,0.00000000,-0.66908669,0.00000000,-0.04846274,0.10375758,-0.12832627,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_cherokee_easy_tee_shirt_1.html,"wpt0075:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.07453536,-0.99721837,0.00000000,0.00000000,0.99721837,0.07453536,0.00000000,-0.03083476,0.05915270,-0.04484117,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_creativity_chenille_stems_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_dasani_water_bottle_1.html,N/a,,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_dove_beauty_bar_1.html,"wpt0075:dove_beauty_bar:[0.27161059,0.20803095,-0.93965465,0.00000000,-0.12293293,0.97586006,0.18051229,0.00000000,0.95452356,0.06648545,0.29062778,0.00000000,-0.11544209,0.06817336,-0.11492833,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_elmers_washable_no_run_school_glue_1.html,"wpt0075:elmers_washable_no_run_school_glue:[-0.08532714,0.99400824,-0.06831413,0.00000000,-0.77595758,-0.10930480,-0.62124246,0.00000000,-0.62498724,0.00000000,0.78063500,0.00000000,-0.09385399,0.09249889,0.04777840,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_folgers_classic_roast_coffee_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_hanes_tube_socks_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_kyjen_squeakin_eggs_plush_puppies_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_scotch_bubble_mailer_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_soft_white_lightbulb_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0075_up_glucose_bottle_1.html,"wpt0075:up_glucose_bottle:[-0.05280932,0.99200416,-0.11462519,0.00000000,0.41509432,0.12620522,0.90098220,0.00000000,0.90824443,-0.00000000,-0.41844007,0.00000000,-0.03035700,0.10784411,-0.12113982,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_barkely_hide_bones_1.html,"wpt0076:barkely_hide_bones:[-0.38752806,-0.01220816,-0.92177707,0.00000000,0.91068006,-0.16030967,-0.38073954,0.00000000,-0.14312164,-0.98699129,0.07324222,0.00000000,-0.07034448,0.03190629,0.17853394,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_cherokee_easy_tee_shirt_1.html,"wpt0076:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.04075319,-0.99916923,0.00000000,0.00000000,0.99916923,-0.04075319,0.00000000,-0.05282310,0.05991231,-0.05419101,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_cool_shot_glue_sticks_1.html,"wpt0076:cool_shot_glue_sticks:[0.14348722,-0.02738857,-0.98927307,0.00000000,-0.98356688,0.10673563,-0.14561459,0.00000000,0.10957884,0.99391013,-0.01162328,0.00000000,0.12613080,0.07078170,-0.15023427,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_crayola_24_ct_1.html,"wpt0076:crayola_24_ct:[0.37966415,-0.00000000,0.92512435,0.00000000,-0.00000000,-0.99999994,-0.00000000,0.00000000,0.92512435,0.00000000,-0.37966412,0.00000000,0.04566793,0.07751952,-0.18073124,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_dove_beauty_bar_1.html,"wpt0076:dove_beauty_bar:[-0.31399107,0.00000000,0.94942594,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.94942594,0.00000000,-0.31399107,0.00000000,-0.12062498,0.06657301,-0.10532820,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_elmers_washable_no_run_school_glue_1.html,"wpt0076:elmers_washable_no_run_school_glue:[-0.05782615,0.99831825,0.00409398,0.00000000,-0.99786633,-0.05792352,0.03012785,0.00000000,0.03031432,-0.00234306,0.99953765,0.00000000,-0.09559345,0.09128073,0.05977808,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_fiskars_scissors_red_1.html,,target not in the scene,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_oral_b_toothbrush_red_1.html,"wpt0076:oral_b_toothbrush_red:[0.38917196,0.00000000,0.92116511,0.00000000,0.28358644,0.95143288,-0.11980902,0.00000000,-0.87642682,0.30785626,0.37027100,0.00000000,0.08290815,0.02311981,-0.04900965,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_rawlings_baseball_1.html,"wpt0076:rawlings_baseball:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,1.00000000,0.00000000,0.00743315,0.06159959,0.04663279,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_ticonderoga_12_pencils_1.html,"wpt0076:ticonderoga_12_pencils:[0.03519387,0.06887002,-0.99700469,0.00000000,0.37333599,0.92449182,0.07703967,0.00000000,0.92702842,-0.37492904,0.00682478,0.00000000,0.13781823,0.07384244,-0.01391101,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0076_up_glucose_bottle_1.html,"wpt0076:up_glucose_bottle:[-0.15152259,0.97542369,-0.15996720,0.00000000,0.22783570,0.19194314,0.95459348,0.00000000,0.96183771,0.10819623,-0.25132006,0.00000000,-0.02652301,0.10759196,-0.12137106,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_cherokee_easy_tee_shirt_1.html,"wpt0077:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.25660121,-0.96651739,0.00000000,0.00000000,0.96651739,-0.25660121,0.00000000,-0.02844631,0.06542743,-0.04906986,1.00000000]",Different folding,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_cool_shot_glue_sticks_1.html,"wpt0077:cool_shot_glue_sticks:[0.03421380,0.00000000,-0.99941456,0.00000000,-0.99912339,-0.02413511,-0.03420384,0.00000000,-0.02412097,0.99970871,-0.00082576,0.00000000,0.11305138,0.07204988,-0.16232555,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_crayola_24_ct_1.html,"wpt0077:crayola_24_ct:[0.29421443,0.00000000,0.95573944,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.95573944,0.00000000,0.29421443,0.00000000,0.04796677,0.07860287,-0.17630388,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_dove_beauty_bar_1.html,"wpt0077:dove_beauty_bar:[0.22440481,0.01362877,-0.97440070,0.00000000,0.15627006,-0.98746538,0.02217754,0.00000000,-0.96188468,-0.15724640,-0.22372174,0.00000000,-0.11779524,0.07671534,-0.10672043,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_elmers_washable_no_run_school_glue_1.html,"wpt0077:elmers_washable_no_run_school_glue:[-0.00967377,0.99992913,-0.00693796,0.00000000,-0.81255722,-0.01190450,-0.58275980,0.00000000,-0.58280110,-0.00000000,0.81261480,0.00000000,-0.09452460,0.09616515,0.06181908,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_fiskars_scissors_red_1.html,"wpt0077:fiskars_scissors_red:[0.96355194,-0.06143922,0.26037061,0.00000000,0.24503504,-0.18788488,-0.95113468,0.00000000,0.10735666,0.98026758,-0.16598208,0.00000000,-0.05430702,0.03289576,-0.21409486,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_oral_b_toothbrush_red_1.html,"wpt0077:oral_b_toothbrush_red:[0.44341537,0.00000000,0.89631623,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.89631623,0.00000000,0.44341537,0.00000000,0.08403793,0.02753698,-0.04263087,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_rawlings_baseball_1.html,"wpt0077:rawlings_baseball:[0.59680891,0.00000000,-0.80238336,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.80238336,0.00000000,0.59680891,0.00000000,0.00326472,0.07002931,0.04804922,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_ticonderoga_12_pencils_1.html,"wpt0077:ticonderoga_12_pencils:[-0.01592250,0.02573070,-0.99954212,0.00000000,0.00000000,0.99966884,0.02573396,0.00000000,0.99987322,0.00040975,-0.01591722,0.00000000,0.15110318,0.07398091,-0.00521429,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0077_up_glucose_bottle_1.html,"wpt0077:up_glucose_bottle:[0.00889883,0.97192305,-0.23513061,0.00000000,0.23422776,0.22657222,0.94541121,0.00000000,0.97214103,-0.06348717,-0.22563514,0.00000000,-0.03343426,0.10015104,-0.12332924,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_barkely_hide_bones_1.html,"wpt0078:barkely_hide_bones:[0.08771180,-0.03798965,-0.99542123,0.00000000,0.98923892,-0.11414847,0.09152348,0.00000000,-0.11710273,-0.99273711,0.02756865,0.00000000,0.01719779,0.04966530,-0.23341139,1.00000000]",Tag is folded,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_cherokee_easy_tee_shirt_1.html,"wpt0078:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.02208424,-0.99975610,0.00000000,0.00000000,0.99975610,0.02208424,0.00000000,-0.04297387,0.06459119,-0.02225541,1.00000000]",different folding,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_cool_shot_glue_sticks_1.html,"wpt0078:cool_shot_glue_sticks:[-0.09076887,-0.00000000,0.99587196,0.00000000,0.98940194,-0.11380440,0.09017918,0.00000000,0.11333463,0.99350315,0.01032992,0.00000000,0.10502447,0.05369041,-0.20175393,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_crayola_24_ct_1.html,"wpt0078:crayola_24_ct:[0.97304469,0.01751945,-0.22995007,0.00000000,0.23040488,-0.11655823,0.96608889,0.00000000,-0.00987724,-0.99302930,-0.11745294,0.00000000,0.06264016,0.03053193,0.11174146,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_dove_beauty_bar_1.html,"wpt0078:dove_beauty_bar:[0.34630123,0.00000000,-0.93812335,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.93812335,0.00000000,0.34630123,0.00000000,-0.13055868,0.06608283,-0.10178736,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_elmers_washable_no_run_school_glue_1.html,"wpt0078:elmers_washable_no_run_school_glue:[0.60130060,0.60582805,-0.52097023,0.00000000,-0.42913949,-0.30512816,-0.85013884,0.00000000,-0.67400068,0.73475790,0.07651101,0.00000000,-0.10342760,0.05701511,0.03746918,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_fiskars_scissors_red_1.html,"wpt0078:fiskars_scissors_red:[0.92644054,-0.02755114,-0.37543157,0.00000000,-0.37390220,0.04828848,-0.92621022,0.00000000,0.04364716,0.99845338,0.03443497,0.00000000,-0.09169305,0.04768876,-0.19648239,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_kleenex_tissue_box_1.html,"wpt0078:kleenex_tissue_box:[0.98168403,0.00000000,-0.19051625,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,0.19051625,0.00000000,0.98168403,0.00000000,-0.09528612,0.07704060,0.17695802,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_oral_b_toothbrush_red_1.html,"wpt0078:oral_b_toothbrush_red:[0.32939360,-0.05195661,0.94276208,0.00000000,0.25883859,0.96520233,-0.03724284,0.00000000,-0.90802115,0.25629076,0.33137986,0.00000000,0.06925496,0.03133529,-0.04728434,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_rawlings_baseball_1.html,"wpt0078:rawlings_baseball:[0.77564210,-0.63117296,0.00000000,0.00000000,0.59196764,0.72746307,-0.34694639,0.00000000,0.21898319,0.26910624,0.93788499,0.00000000,-0.01463702,0.06088381,-0.11079452,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_ticonderoga_12_pencils_1.html,"wpt0078:ticonderoga_12_pencils:[0.03436473,0.00119624,-0.99940866,0.00000000,0.05533985,0.99846280,0.00309797,0.00000000,0.99787605,-0.05541359,0.03424570,0.00000000,0.13858894,0.09147742,-0.02579383,1.00000000]",,C,, -http://visiongpu2.cs.princeton.edu:8017/wpt0078_up_glucose_bottle_1.html,"wpt0078:up_glucose_bottle:[-0.01704255,0.99934793,0.03183219,0.00000000,0.95455104,0.00678735,0.29797021,0.00000000,0.29755986,0.03546362,-0.95404428,0.00000000,0.07565690,0.09490196,0.19060457,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_barkely_hide_bones_1.html,"wpt0079:barkely_hide_bones:[-0.08838729,-0.02693687,-0.99572188,0.00000000,0.99313086,-0.07932944,-0.08601122,0.00000000,-0.07667319,-0.99648446,0.03376355,0.00000000,0.03796247,0.04330445,-0.23961876,1.00000000]",template does not bend like point cloud image,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_cherokee_easy_tee_shirt_1.html,"wpt0079:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,0.17923017,0.98380715,0.00000000,0.00000000,-0.98380715,0.17923017,0.00000000,-0.02447382,0.04301817,0.01937719,1.00000000]",template folded differently from point cloud image,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_cool_shot_glue_sticks_1.html,"wpt0079:cool_shot_glue_sticks:[0.10470565,-0.00895198,-0.99446297,0.00000000,-0.99351668,0.04358919,-0.10499842,0.00000000,0.04428780,0.99900943,-0.00432993,0.00000000,0.13867481,0.05103429,-0.18675749,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_crayola_24_ct_1.html,"wpt0079:crayola_24_ct:[0.95047301,0.01153940,-0.31059283,0.00000000,0.31073585,-0.05667961,0.94880486,0.00000000,-0.00665564,-0.99832571,-0.05745814,0.00000000,0.08981627,0.02989051,0.11705333,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_dove_beauty_bar_1.html,"wpt0079:dove_beauty_bar:[0.24217960,-0.09298350,-0.96576554,0.00000000,-0.05116262,-0.99523604,0.08299115,0.00000000,-0.96888155,0.02931233,-0.24578314,0.00000000,-0.10639086,0.06752718,-0.10393563,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_elmers_washable_no_run_school_glue_1.html,"wpt0079:elmers_washable_no_run_school_glue:[0.63998538,0.27719530,-0.71664602,0.00000000,-0.76838505,0.23302346,-0.59605742,0.00000000,0.00177101,0.93212807,0.36212435,0.00000000,-0.07063507,0.05628445,0.03675449,1.00000000]",point cloud depth unclear,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_fiskars_scissors_red_1.html,"wpt0079:fiskars_scissors_red:[0.85465837,-0.00000000,-0.51919079,0.00000000,-0.51842910,0.05414732,-0.85340452,0.00000000,0.02811278,0.99853295,0.04627746,0.00000000,-0.07210525,0.03420357,-0.20327814,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0079_oral_b_toothbrush_red_1.html,"wpt0079:oral_b_toothbrush_red:[0.34093985,-0.07700994,0.93692553,0.00000000,-0.00000000,0.99663907,0.08191805,0.00000000,-0.94008511,-0.02792913,0.33979398,0.00000000,0.09254210,0.03148277,-0.05071021,1.00000000]",,z,, 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-http://visiongpu2.cs.princeton.edu:8017/wpt0090_fiskars_scissors_red_1.html,"wpt0090:fiskars_scissors_red:[0.36347353,0.00000006,0.93160456,0.00000000,0.92257696,-0.13887714,-0.35995135,0.00000000,0.12937851,0.99030966,-0.05047825,0.00000000,-0.11260882,0.03913042,-0.13394845,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0090_oral_b_toothbrush_red_1.html,"wpt0090:oral_b_toothbrush_red:[0.97243237,0.00000000,0.23318517,0.00000000,0.00000000,1.00000000,0.00000000,0.00000000,-0.23318517,0.00000000,0.97243237,0.00000000,0.02032492,0.02430908,0.22749381,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0090_ticonderoga_12_pencils_1.html,"wpt0090:ticonderoga_12_pencils:[-0.02350295,0.01197057,0.99965209,0.00000000,-0.16533081,0.98611325,-0.01569556,0.00000000,-0.98595810,-0.16564219,-0.02119747,0.00000000,-0.16383912,0.07584153,-0.00968014,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0090_up_glucose_bottle_1.html,"wpt0090:up_glucose_bottle:[0.01628050,0.99971223,0.01761979,0.00000000,0.67844719,-0.02398986,0.73425746,0.00000000,0.73446882,0.00000000,-0.67864251,0.00000000,0.10395208,0.10530696,0.02987537,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_cherokee_easy_tee_shirt_1.html,"wpt0091:cherokee_easy_tee_shirt:[0.07645012,0.00000005,-0.99707341,0.00000000,0.99232471,-0.09748160,0.07608604,0.00000000,-0.09719627,-0.99523735,-0.00745256,0.00000000,0.09550466,0.06245246,-0.17031600,1.00000000]",template folded differently from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_cool_shot_glue_sticks_1.html,"wpt0091:cool_shot_glue_sticks:[-0.13794589,0.01343218,-0.99034864,0.00000000,-0.96300876,-0.23551631,0.13094340,0.00000000,-0.23148443,0.97177756,0.04542384,0.00000000,-0.09249529,0.03459651,0.09729471,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_crayola_24_ct_1.html,n/a,template does not exist in point cloud,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_dove_beauty_bar_1.html,"wpt0091:dove_beauty_bar:[0.05025875,0.99873555,0.00116685,0.00000000,0.13309944,-0.00785576,0.99107152,0.00000000,0.98982757,-0.04965470,-0.13332595,0.00000000,0.03067916,0.09059443,-0.04755573,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_elmers_washable_no_run_school_glue_1.html,"wpt0091:elmers_washable_no_run_school_glue:[0.98286510,0.00079976,-0.18432453,0.00000000,0.17553647,-0.30917826,0.93466341,0.00000000,-0.05624164,-0.95100373,-0.30402091,0.00000000,-0.07077052,0.04598654,-0.11579073,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_fiskars_scissors_red_1.html,"wpt0091:fiskars_scissors_red:[0.52529579,-0.00895439,0.85087258,0.00000000,0.84833401,-0.07238296,-0.52449030,0.00000000,0.06628520,0.99733669,-0.03042614,0.00000000,-0.11310110,0.03912543,-0.17198938,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_oral_b_toothbrush_red_1.html,"wpt0091:oral_b_toothbrush_red:[0.97470784,0.06899704,0.21256524,0.00000000,-0.07042347,0.99751681,-0.00086278,0.00000000,-0.21209693,-0.01412862,0.97714651,0.00000000,0.02618927,0.02763922,0.20502801,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0091_up_glucose_bottle_1.html,"wpt0091:up_glucose_bottle:[-0.00796964,0.99993098,-0.00863217,0.00000000,0.67830205,0.01174857,0.73468930,0.00000000,0.73473996,-0.00000002,-0.67834890,0.00000000,0.10642867,0.09952646,0.01034447,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_cherokee_easy_tee_shirt_1.html,"wpt0092:cherokee_easy_tee_shirt:[-0.15472759,0.00000002,0.98795712,0.00000000,0.98426193,-0.08640864,0.15414894,0.00000000,0.08536808,0.99625975,0.01336984,0.00000000,0.11490807,0.08288798,-0.16493851,1.00000000]",template folded differently from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_cool_shot_glue_sticks_1.html,"wpt0092:cool_shot_glue_sticks:[-0.09615006,-0.01631486,-0.99523312,0.00000000,0.88167799,0.46264330,-0.09276357,0.00000000,0.46195135,-0.88639438,-0.03009871,0.00000000,-0.11062232,0.03812413,0.10490852,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_crayola_24_ct_1.html,n/a,template does not exist in point cloud,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_dove_beauty_bar_1.html,"wpt0092:dove_beauty_bar:[-0.05970053,0.99799156,0.02118099,0.00000000,0.24513805,-0.00591133,0.96947014,0.00000000,0.96764827,0.06307016,-0.24429278,0.00000000,0.03007929,0.07411679,-0.03983828,1.00000000]",point cloud unclear,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_fiskars_scissors_red_1.html,"wpt0092:fiskars_scissors_red:[0.47165939,-0.00000000,0.88178080,0.00000000,0.88171870,-0.01187076,-0.47162616,0.00000000,0.01046741,0.99992955,-0.00559895,0.00000000,-0.10812099,0.03410484,-0.15202479,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_oral_b_toothbrush_red_1.html,"wpt0092:oral_b_toothbrush_red:[0.97547251,0.02886777,0.21822020,0.00000000,-0.02958068,0.99956238,-0.00000000,0.00000000,-0.21812472,-0.00645510,0.97589958,0.00000000,0.02809588,0.02725481,0.21984556,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0092_up_glucose_bottle_1.html,"wpt0092:up_glucose_bottle:[0.02416632,0.99970108,-0.00371019,0.00000000,0.66896141,-0.01341304,0.74317610,0.00000000,0.74290419,-0.02044182,-0.66908556,0.00000000,0.10574289,0.09834528,0.02375766,1.00000000]",,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0093_cherokee_easy_tee_shirt_1.html,"wpt0093:cherokee_easy_tee_shirt:[-0.15498750,0.00000000,0.98791647,0.00000000,0.98698854,0.04333190,0.15484191,0.00000000,-0.04280831,0.99906075,-0.00671592,0.00000000,0.02780420,0.08008918,-0.08504322,1.00000000]",template folded differently from point cloud,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0093_dasani_water_bottle_1.html,n/a,,z,, -http://visiongpu2.cs.princeton.edu:8017/wpt0093_i_am_a_bunny_book_1.html,"wpt0093:i_am_a_bunny_book:[0.07160250,0.99737799,0.01050170,0.00000000,-0.04593815,0.01381508,-0.99884880,0.00000000,-0.99637485,0.07103768,0.04680686,0.00000000,0.15695001,0.15000001,-0.13210803,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0093_ticonderoga_12_pencils_1.html,"wpt0093:ticonderoga_12_pencils:[-0.00454566,-0.06524528,0.99785888,0.00000000,-0.19426812,-0.97880024,-0.06488410,0.00000000,0.98093796,-0.19414711,-0.00822579,0.00000000,0.15207723,0.12007320,0.12673374,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0094_cherokee_easy_tee_shirt_1.html,"wpt0094:cherokee_easy_tee_shirt:[1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-0.04479407,0.99899626,0.00000000,0.00000000,-0.99899626,-0.04479407,0.00000000,0.00000000,0.06088972,-0.04945892,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0094_i_am_a_bunny_book_1.html,"wpt0094:i_am_a_bunny_book:[0.24433775,0.96954310,-0.01689252,0.00000000,0.04442693,-0.02859507,-0.99860334,0.00000000,-0.96867198,0.24324606,-0.05006071,0.00000000,0.15817402,0.15000001,-0.10354452,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0094_ticonderoga_12_pencils_1.html,"wpt0094:ticonderoga_12_pencils:[0.06709743,-0.08826527,0.99383456,0.00000000,-0.02712126,-0.99587262,-0.08661521,0.00000000,0.99737775,-0.02114239,-0.06921436,0.00000000,0.15147902,0.09722663,0.14738066,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0095_cherokee_easy_tee_shirt_1.html,,no this object,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0095_i_am_a_bunny_book_1.html,"wpt0095:i_am_a_bunny_book:[0.18891744,0.97776479,-0.09102874,0.00000000,0.01244267,-0.09507395,-0.99539244,0.00000000,-0.98191416,0.18691434,-0.03012713,0.00000000,0.16781805,0.13848428,-0.10918634,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0095_ticonderoga_12_pencils_1.html,,no this object,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0096_i_am_a_bunny_book_1.html,"wpt0096:i_am_a_bunny_book:[0.14349183,0.97174692,0.18739809,0.00000000,-0.09470556,0.20197175,-0.97480166,0.00000000,-0.98510963,0.12212846,0.12101112,0.00000000,0.16076355,0.15000001,-0.09898573,1.00000000]",,shuran,, -http://visiongpu2.cs.princeton.edu:8017/wpt0096_ticonderoga_12_pencils_1.html,,target not in scene,shuran,, \ No newline at end of file diff --git a/vis-utils/parseLabels.m b/vis-utils/parseLabels.m deleted file mode 100644 index 66c8a65..0000000 --- a/vis-utils/parseLabels.m +++ /dev/null @@ -1,49 +0,0 @@ -function entries = parseLabels(labelFile) -%PARSELABELS Summary of this function goes here -% Detailed explanation goes here - -fid = fopen(labelFile,'rb'); -entries = {}; -while ~feof(fid) - labelLineText = fgets(fid); - - % Skip text lines without an object pose label - if isempty(strfind(labelLineText,':[')); - continue; - end - - % Parse sequence path, object name, and object label - quoteIdx = strfind(labelLineText,'"'); - labelText = labelLineText((quoteIdx(1)+1):(quoteIdx(2)-1)); - entry.seqName = labelText(1:7); - colonIdx = strfind(labelText,':'); - entry.objName = labelText((colonIdx(1)+1):(colonIdx(2)-1)); - bracketIdx = strfind(labelText,'['); - objLabel = labelText((bracketIdx+1):(end-1)); - entry.objPose = reshape(str2num(char(strsplit(objLabel,','))),4,4); - - % Check label correctly corresponds to link - if ~(size(strfind(labelLineText,entry.seqName),2) == 2) || ... - ~(size(strfind(labelLineText,entry.objName),2) == 2) - fprintf('Bad label at: %s',labelLineText(1:(end-1))); - continue; - end - - % Add to list of entries - entries{length(entries)+1} = entry; - -end - -fclose(fid); - - - - - - - - - - - - diff --git a/vis-utils/showObjectPose.m b/vis-utils/showObjectPose.m new file mode 100644 index 0000000..b644ee0 --- /dev/null +++ b/vis-utils/showObjectPose.m @@ -0,0 +1,116 @@ +function [canvasSeg,canvasPose] = dispObjPose(objName,canvasSeg,canvasPose,colorFrame,depthFrame,extCam2World,K,objCloud,objPoseWorld,objColor) +%DISPOBJPOSE Summary of this function goes here +% Detailed explanation goes here + +% Compute object pose in camera coordinates +objPoseCam = inv(extCam2World)*objPoseWorld; + +% Compute projected object model +objPts = objCloud.Location'; +objPtsCam = objPoseCam(1:3,1:3)*objPts+repmat(objPoseCam(1:3,4),1,size(objPts,2)); +objPixX = round(((objPtsCam(1,:).*K(1,1))./objPtsCam(3,:))+K(1,3)); +objPixY = round(((objPtsCam(2,:).*K(2,2))./objPtsCam(3,:))+K(2,3)); +validObjPix = find(objPixX > 0 & objPixX <= 640 & objPixY > 0 & objPixY <= 480); +objPixX = objPixX(validObjPix); +objPixY = objPixY(validObjPix); +objMask = zeros(480,640); +objMask(sub2ind(size(objMask),objPixY',objPixX')) = 1; + +if strcmp(objName,'cherokee_easy_tee_shirt') + drawObj = false; drawAxis = true; drawBbox = false; +else + drawObj = true; drawAxis = false; drawBbox = true; +end + +% Compute object bounding box +bboxRange = [min(objPts(1,:)),max(objPts(1,:));min(objPts(2,:)),max(objPts(2,:));min(objPts(3,:)),max(objPts(3,:))]; +bboxCorners = [[bboxRange(1,1);bboxRange(2,1);bboxRange(3,1)], ... + [bboxRange(1,1);bboxRange(2,1);bboxRange(3,2)], ... + [bboxRange(1,1);bboxRange(2,2);bboxRange(3,2)], ... + [bboxRange(1,1);bboxRange(2,2);bboxRange(3,1)], ... + [bboxRange(1,2);bboxRange(2,1);bboxRange(3,1)], ... + [bboxRange(1,2);bboxRange(2,1);bboxRange(3,2)], ... + [bboxRange(1,2);bboxRange(2,2);bboxRange(3,2)], ... + [bboxRange(1,2);bboxRange(2,2);bboxRange(3,1)]]; +cornerPtsCam = objPoseCam(1:3,1:3) * bboxCorners + repmat(objPoseCam(1:3,4),1,size(bboxCorners,2)); +cornerPixX = round(((cornerPtsCam(1,:).*K(1,1))./cornerPtsCam(3,:))+K(1,3)); +cornerPixY = round(((cornerPtsCam(2,:).*K(2,2))./cornerPtsCam(3,:))+K(2,3)); +cornerPts2D = [cornerPixX; cornerPixY]; + +% Find depth points inside object bounding box +if false % Disabled + [depthPixX,depthPixY] = meshgrid(1:640,1:480); + camX = (depthPixX-K(1,3)).*depthFrame/K(1,1); + camY = (depthPixY-K(2,3)).*depthFrame/K(2,2); + camZ = depthFrame; + camPts = [camX(:),camY(:),camZ(:)]'; + extWorld2Obj = inv(objPoseWorld); + extCam2Obj = extWorld2Obj*extCam2World; + camPtsObj = extCam2Obj(1:3,1:3) * camPts + repmat(extCam2Obj(1:3,4),1,size(camPts,2)); + validCamIdx = find(camPtsObj(1,:) > bboxRange(1,1) & camPtsObj(1,:) < bboxRange(1,2) & ... + camPtsObj(2,:) > bboxRange(2,1) & camPtsObj(2,:) < bboxRange(2,2) & ... + camPtsObj(3,:) > bboxRange(3,1) & camPtsObj(3,:) < bboxRange(3,2)); + segObjMask = zeros(480,640); + segObjMask(validCamIdx) = 1; + objMask = objMask | segObjMask; +end + +% Fill holes +for fillIdx = 1:20 + objMask = imfill(objMask); +end + +% Draw projected object + segmentation +if drawObj + canvasR = double(canvasSeg(:,:,1)); + canvasG = double(canvasSeg(:,:,2)); + canvasB = double(canvasSeg(:,:,3)); + canvasR(find(objMask)) = objColor(1); %(frameR(find(objMask))+objColor(1))./2; + canvasG(find(objMask)) = objColor(2); %(frameG(find(objMask))+objColor(2))./2; + canvasB(find(objMask)) = objColor(3); %(frameB(find(objMask))+objColor(3))./2; + canvasSeg(:,:,1) = uint8(round(canvasR)); + canvasSeg(:,:,2) = uint8(round(canvasG)); + canvasSeg(:,:,3) = uint8(round(canvasB)); + frameR = double(colorFrame(:,:,1)); + frameG = double(colorFrame(:,:,2)); + frameB = double(colorFrame(:,:,3)); + canvasR = double(canvasPose(:,:,1)); + canvasG = double(canvasPose(:,:,2)); + canvasB = double(canvasPose(:,:,3)); + canvasR(find(objMask)) = (frameR(find(objMask))+objColor(1))./2; + canvasG(find(objMask)) = (frameG(find(objMask))+objColor(2))./2; + canvasB(find(objMask)) = (frameB(find(objMask))+objColor(3))./2; + canvasPose(:,:,1) = uint8(round(canvasR)); + canvasPose(:,:,2) = uint8(round(canvasG)); + canvasPose(:,:,3) = uint8(round(canvasB)); +end + +% Draw object axis +if drawAxis + axisRange = [max(objPts(1,:)),max(objPts(2,:)),max(objPts(3,:))]; + axisRange = [0.05,0.05,0.05]; + axisPts = [[0;0;0],[axisRange(1);0;0],[0;axisRange(2);0],[0;0;axisRange(3)]]; + camAxisPts = objPoseCam(1:3,1:3) * axisPts + repmat(objPoseCam(1:3,4)+[0;0;0.05],1,size(axisPts,2)); + axisPixX = round(((camAxisPts(1,:).*K(1,1))./camAxisPts(3,:))+K(1,3)); + axisPixY = round(((camAxisPts(2,:).*K(2,2))./camAxisPts(3,:))+K(2,3)); + axisPts2D = [axisPixX; axisPixY]; + canvasPose = insertShape(canvasPose, 'line', [axisPts2D(:,1)',axisPts2D(:,2)'], 'LineWidth', 5,'Color', objColor); + canvasPose = insertShape(canvasPose, 'line', [axisPts2D(:,1)',axisPts2D(:,3)'], 'LineWidth', 5,'Color', objColor); + canvasPose = insertShape(canvasPose, 'line', [axisPts2D(:,1)',axisPts2D(:,4)'], 'LineWidth', 5,'Color', objColor); +end + +% Draw object bounding box +if drawBbox + [~,furthestCornerIdx] = max(cornerPtsCam(3,:)); + connections = [1,2;2,3;3,4;4,1;5,6;6,7;7,8;8,5;1,5;2,6;3,7;4,8]; + for connIdx = 1:size(connections,1) + if ismember(furthestCornerIdx,connections(connIdx,:)) + canvasPose = insertShape(canvasPose,'line',[cornerPts2D(:,connections(connIdx,1))',cornerPts2D(:,connections(connIdx,2))'],'LineWidth',5,'Color',objColor); % (TODO: add dotted lines to the occluded parts of the bounding box) + else + canvasPose = insertShape(canvasPose,'line',[cornerPts2D(:,connections(connIdx,1))',cornerPts2D(:,connections(connIdx,2))'],'LineWidth',5,'Color',objColor); + end + end +end + +end + diff --git a/vis-utils/splitToteIm.m b/vis-utils/splitToteIm.m deleted file mode 100644 index ae52712..0000000 --- a/vis-utils/splitToteIm.m +++ /dev/null @@ -1,36 +0,0 @@ - -% name = 'wpt0094'; -% -% I1 = imread(strcat('/home/andyz/apc/paper/figures/benchmark_sample/',name,'.pose.png')); -% I2 = imread(strcat('/home/andyz/apc/paper/figures/benchmark_sample/',name,'.seg.png')); -% -% imwrite(I1(1:480,:,:),strcat('/home/andyz/apc/paper/figures/benchmark_sample/',name,'_1.pose.png')); -% imwrite(I1(481:end,:,:),strcat('/home/andyz/apc/paper/figures/benchmark_sample/',name,'_2.pose.png')); -% -% imwrite(I2(1:480,:,:),strcat('/home/andyz/apc/paper/figures/benchmark_sample/',name,'_1.seg.png')); -% imwrite(I2(481:end,:,:),strcat('/home/andyz/apc/paper/figures/benchmark_sample/',name,'_2.seg.png')); - - - - - - -depth = imread('/home/andyz/apc/toolbox/rolodex_jumbo_pencil_cup/000010/frame-000005.rawdepth.png'); - -imshow(double(depth)./10000); -colormap jet - - - - - - - - - - - - - - - diff --git a/vis-utils/visObjLabels.m b/vis-utils/visObjLabels.m deleted file mode 100644 index 4a6bc7a..0000000 --- a/vis-utils/visObjLabels.m +++ /dev/null @@ -1,184 +0,0 @@ -clear all; close all; - -% User configurations (change me) -labelListFile = './labelList.csv'; -saveto_dir = './visualizations'; -dataPath = '/home/andyz/apc/toolbox/data/benchmark'; -objCloudPath = '/home/andyz/apc/toolbox/ros-packages/catkin_ws/src/pose_estimation/src/models/objects'; -toolboxPath = '/home/andyz/apc/toolbox'; - -% Add toolbox paths -addpath(genpath(fullfile(toolboxPath,'rgbd-utils'))); - -mkdir(saveto_dir); - -% Read label data from annotations -labelList = parseLabels(labelListFile); - -% Get set of colors -colorPalette = getColorPalette(); - -for entryIdx = 1:length(labelList) - labelEntry = labelList{entryIdx}; - if isempty(labelEntry) - continue; - end - - % Find all object labels in the current RGB-D sequence - objList = {}; - objPose = {}; - objList{1} = labelEntry.objName; - objPose{1} = labelEntry.objPose; - if entryIdx < length(labelList) - for otherEntryIdx = (entryIdx+1):length(labelList) - otherEntry = labelList{otherEntryIdx}; - if strcmp(labelEntry.seqName,otherEntry.seqName) - objList{length(objList)+1} = otherEntry.objName; - objPose{length(objPose)+1} = otherEntry.objPose; - labelList{otherEntryIdx} = []; - end - end - end - - % Find RGB-D sequence path - switch labelEntry.seqName(1:3) - case 'ots' - scenePath = fullfile(dataPath,'office','test','shelf'); - calibPath = fullfile(dataPath,'office','calibration'); - case 'ott' - scenePath = fullfile(dataPath,'office','test','tote'); - calibPath = fullfile(dataPath,'office','calibration'); - case 'wcp' - scenePath = fullfile(dataPath,'warehouse','competition','shelf'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - case 'wcs' - scenePath = fullfile(dataPath,'warehouse','competition','tote'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - case 'wps' - scenePath = fullfile(dataPath,'warehouse','practice','shelf'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - case 'wpt' - scenePath = fullfile(dataPath,'warehouse','practice','tote'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - end - scenePath = fullfile(scenePath,sprintf('scene-%s',labelEntry.seqName(4:7))); - - % Load RGB-D sequence data - sceneData = loadScene(scenePath); - fprintf('%s\n',scenePath); - - % Apply calibrated camera poses to sequence data - sceneData = loadCalib(calibPath,sceneData); - - % Create point cloud from sequence data - scenePointCloud = getScenePointCloud(sceneData); - - % Convert point cloud from bin coordinates to world coordinates - scenePts = scenePointCloud.Location'; - scenePts = sceneData.extBin2World(1:3,1:3)*scenePts+repmat(sceneData.extBin2World(1:3,4),1,size(scenePts,2)); - scenePointCloud = pointCloud(scenePts','Color',scenePointCloud.Color); - - % Compute coordinate frame transform from world space to web space - extWorld2Web = eye(4); - extWorld2Web(1,4) = -mean(scenePointCloud.XLimits); - extWorld2Web(2,4) = -mean(scenePointCloud.YLimits); - extWorld2Web(3,4) = -min(scenePointCloud.ZLimits); - axesSwap = eye(4); - axesSwap(1:3,1:3) = vrrotvec2mat([1,0,0,-pi/2]); - extWorld2Web = axesSwap*extWorld2Web; - - % Get center camera position - if strcmp(sceneData.env,'shelf') - camLoc = sceneData.extCam2World{8}; - camLoc = camLoc(1:3,4); - else - camLoc = (sceneData.extCam2World{8}+sceneData.extCam2World{11})./2; - camLoc = camLoc(1:3,4); - end - - % Sort objects in the scene from furthest to closest to camera - objOrderVal = zeros(1,length(objList)); - for objIdx=1:length(objList) - objPoseWeb = reshape(objPose{objIdx},[4,4]); - objPoseWorld = inv(extWorld2Web)*objPoseWeb; - objOrderVal(objIdx) = sqrt(sum((objPoseWorld(1:3,4)-camLoc).^ 2)); - end -% if strcmp(seqData.env,'shelf') -% [~,objOrder] = sort(objOrderVal,'descend'); -% else -% [~,objOrder] = sort(objOrderVal,'ascend'); -% end - [~,objOrder] = sort(objOrderVal,'descend'); - - % Get random colors - randColorIdx = randperm(length(colorPalette),length(objList)); - - % Visualize all objects in the scene - if strcmp(sceneData.env,'shelf') - canvas = sceneData.colorFrames{8}; - canvasSeg = uint8(ones(size(canvas))*255); - canvasPose = canvas; - else - canvas1 = sceneData.colorFrames{5}; - canvas2 = sceneData.colorFrames{14}; - canvasSeg1 = uint8(ones(size(canvas1))*255); - canvasPose1 = canvas1; - canvasSeg2 = uint8(ones(size(canvas2))*255); - canvasPose2 = canvas2; - end -% textPosY = 10; - for objIdx=objOrder - - % Load object point cloud - objCloud = pcread(fullfile(objCloudPath,sprintf('%s.ply',objList{objIdx}))); - - % Compute object pose in world space - objPoseWeb = reshape(objPose{objIdx},[4,4]); - objPoseWorld = inv(extWorld2Web)*objPoseWeb; - - % Visualize object - objColor = colorPalette{randColorIdx(objIdx)}; - if strcmp(sceneData.env,'shelf') - [canvasSeg,canvasPose] = dispObjPose(canvasSeg, ... - canvasPose, ... - sceneData.colorFrames{8}, ... - sceneData.depthFrames{8}, ... - sceneData.extCam2World{8}, ... - sceneData.colorK, ... - objCloud, ... - objPoseWorld, ... - objColor); - else - [canvasSeg1,canvasPose1] = dispObjPose(canvasSeg1, ... - canvasPose1, ... - sceneData.colorFrames{5}, ... - sceneData.depthFrames{5}, ... - sceneData.extCam2World{5}, ... - sceneData.colorK, ... - objCloud, ... - objPoseWorld, ... - objColor); - [canvasSeg2,canvasPose2] = dispObjPose(canvasSeg2, ... - canvasPose2, ... - sceneData.colorFrames{14}, ... - sceneData.depthFrames{14}, ... - sceneData.extCam2World{14}, ... - sceneData.colorK, ... - objCloud, ... - objPoseWorld, ... - objColor); - canvasSeg = [canvasSeg1;canvasSeg2]; - canvasPose = [canvasPose1;canvasPose2]; - end - -% % Draw object name -% canvasPose = insertText(canvasPose,[10 textPosY],sprintf('%s',objList{objIdx}),'Font','LucidaSansDemiBold','FontSize',16,'TextColor',objColor,'BoxColor','black'); -% textPosY = textPosY + 28; - end -% imwrite(canvasSeg,fullfile(saveto_dir,sprintf('%s.seg.png',labelEntry.seqName))); - imwrite(canvasPose,fullfile(saveto_dir,sprintf('%s.pose.png',labelEntry.seqName))); -end - - - - diff --git a/vis-utils/visRepImage.m b/vis-utils/visRepImage.m deleted file mode 100644 index 5a2a9da..0000000 --- a/vis-utils/visRepImage.m +++ /dev/null @@ -1,155 +0,0 @@ -clear all; close all; - -% Config options -labelListFile = 'labelList.csv'; -dataPath = '/home/andyz/apc/toolbox/data/benchmark'; -objCloudPath = '/home/andyz/apc/toolbox/data/pointclouds/objects'; -toolboxPath = '/home/andyz/apc/toolbox'; - -% Add toolbox paths -addpath(genpath(fullfile(toolboxPath,'rgbd-utils'))); - -% Read label data from annotations -labelList = parseLabels(labelListFile); - -% Get set of colors -colorPalette = getColorPalette(); - -for entryIdx = 1:length(labelList) - labelEntry = labelList{entryIdx}; - if isempty(labelEntry) - continue; - end - - % Find all object labels in the current RGB-D sequence - objList = {}; - objPose = {}; - objList{1} = labelEntry.objName; - objPose{1} = labelEntry.objPose; - - % Find RGB-D sequence path - switch labelEntry.seqName(1:3) - case 'ots' - scenePath = fullfile(dataPath,'office','test','shelf'); - calibPath = fullfile(dataPath,'office','calibration'); - case 'ott' - scenePath = fullfile(dataPath,'office','test','tote'); - calibPath = fullfile(dataPath,'office','calibration'); - case 'wcp' - scenePath = fullfile(dataPath,'warehouse','competition','shelf'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - case 'wcs' - scenePath = fullfile(dataPath,'warehouse','competition','tote'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - case 'wps' - scenePath = fullfile(dataPath,'warehouse','practice','shelf'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - case 'wpt' - scenePath = fullfile(dataPath,'warehouse','practice','tote'); - calibPath = fullfile(dataPath,'warehouse','calibration'); - end - scenePath = fullfile(scenePath,sprintf('scene-%s',labelEntry.seqName(4:7))); - - % Load RGB-D sequence data - sceneData = loadScene(scenePath); - - % Apply calibrated camera poses to sequence data - sceneData = loadCalib(calibPath,sceneData); - - % Create point cloud from sequence data - scenePointCloud = getScenePointCloud(sceneData); - - % Compute coordinate frame transform from world space to web space - extWorld2Web = eye(4); - extWorld2Web(1,4) = -mean(scenePointCloud.XLimits); - extWorld2Web(2,4) = -mean(scenePointCloud.YLimits); - extWorld2Web(3,4) = -min(scenePointCloud.ZLimits); - axesSwap = eye(4); - axesSwap(1:3,1:3) = vrrotvec2mat([1,0,0,-pi/2]); - extWorld2Web = axesSwap*extWorld2Web; - - % Get center camera position - if strcmp(sceneData.env,'shelf') - camLoc = sceneData.extCam2World{8}; - camLoc = camLoc(1:3,4); - else - camLoc = (sceneData.extCam2World{8}+sceneData.extCam2World{11})./2; - camLoc = camLoc(1:3,4); - end - - % Sort objects in the scene from back to front (X direction for shelf, - % Z direction for tote) - objOrderVal = zeros(1,length(objList)); - for objIdx=1:length(objList) - objPoseWeb = reshape(objPose{objIdx},[4,4]); - objPoseWorld = inv(extWorld2Web)*objPoseWeb; - objOrderVal(objIdx) = sqrt(sum((objPoseWorld(1:3,4)-camLoc).^ 2)); - end - if strcmp(sceneData.env,'shelf') - [~,objOrder] = sort(objOrderVal,'descend'); - else - [~,objOrder] = sort(objOrderVal,'ascend'); - end - - % Get random colors - randColorIdx = randperm(length(colorPalette),length(objList)); - - % Visualize all objects in the scene - if strcmp(sceneData.env,'shelf') - canvas = sceneData.colorFrames{10}; - canvasSeg = uint8(ones(size(canvas))*255); - canvasPose = canvas; - else - canvas1 = sceneData.colorFrames{5}; - canvas2 = sceneData.colorFrames{14}; - canvasSeg1 = uint8(ones(size(canvas1))*255); - canvasPose1 = canvas1; - canvasSeg2 = uint8(ones(size(canvas2))*255); - canvasPose2 = canvas2; - end - for objIdx=objOrder - - % Load object point cloud - objCloud = pcread(fullfile(objCloudPath,sprintf('%s.ply',objList{objIdx}))); - - % Compute object pose in world space - objPoseWeb = reshape(objPose{objIdx},[4,4]); - objPoseWorld = inv(extWorld2Web)*objPoseWeb; - - % Visualize object - objColor = colorPalette{randColorIdx(objIdx)}; - if strcmp(sceneData.env,'shelf') - [canvasSeg,canvasPose] = dispObjPose(canvasSeg, ... - canvasPose, ... - sceneData.colorFrames{10}, ... - sceneData.depthFrames{10}, ... - sceneData.extCam2World{10}, ... - sceneData.colorK, ... - objCloud, ... - objPoseWorld, ... - [42 127 255]); - else - [canvasSeg1,canvasPose1] = dispObjPose(canvasSeg1, ... - canvasPose1, ... - sceneData.colorFrames{5}, ... - sceneData.depthFrames{5}, ... - sceneData.extCam2World{5}, ... - sceneData.colorK, ... - objCloud, ... - objPoseWorld, ... - objColor); - [canvasSeg2,canvasPose2] = dispObjPose(canvasSeg2, ... - canvasPose2, ... - sceneData.colorFrames{14}, ... - sceneData.depthFrames{14}, ... - sceneData.extCam2World{14}, ... - sceneData.colorK, ... - objCloud, ... - objPoseWorld, ... - objColor); - canvasSeg = [canvasSeg1;canvasSeg2]; - canvasPose = [canvasPose1;canvasPose2]; - end - end - imwrite(canvasPose,fullfile(sprintf('%s.pose.png',labelEntry.seqName))); -end \ No newline at end of file