diff --git a/0008_/depth_maps/depth_000236.png b/0008_/depth_maps/depth_000236.png new file mode 100644 index 0000000000000000000000000000000000000000..f13d284fbecbd04598780661da37e4628dee2699 --- /dev/null +++ b/0008_/depth_maps/depth_000236.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:beb42c74f47811a7e00340ca32ec67437284dac9ca69a26768740f644ac0c6e3 +size 112718 diff --git a/0008_/depth_maps/depth_000237.png b/0008_/depth_maps/depth_000237.png new file mode 100644 index 0000000000000000000000000000000000000000..0748baa06e286e49517971df23164676f2e24695 --- /dev/null +++ b/0008_/depth_maps/depth_000237.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:befcd27866744ef2e8c3a1ecd1a5748b40c238a0279e1d253496bca918a90bed +size 122031 diff --git a/0008_/depth_maps/depth_000238.png b/0008_/depth_maps/depth_000238.png new file mode 100644 index 0000000000000000000000000000000000000000..78440afe11f9debf4d9ad2c97a8cfd26e1651ac2 --- /dev/null +++ b/0008_/depth_maps/depth_000238.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3aebd997cc975e44be99b03bd4279830bcde7045a050c35357c81a86f23cbd0a +size 137436 diff --git a/0008_/depth_maps/depth_000239.png b/0008_/depth_maps/depth_000239.png new file mode 100644 index 0000000000000000000000000000000000000000..322fff3495fc8761c8bcb96894a913ad93a0c770 --- /dev/null +++ b/0008_/depth_maps/depth_000239.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9b64de45107583742e897d27a1ceefd6fa61c44c3104fcc674c6c03c10c614c +size 133175 diff --git a/0008_/depth_maps/depth_000240.png b/0008_/depth_maps/depth_000240.png new file mode 100644 index 0000000000000000000000000000000000000000..15c2930d6021d7fd3024f3678873b8a7e786040d --- /dev/null +++ b/0008_/depth_maps/depth_000240.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa30c50c1275a95e5fb54dcf9697ead94d522be707877e6b4538c8ba9df96cc4 +size 142876 diff --git a/0008_/depth_maps/depth_000241.png b/0008_/depth_maps/depth_000241.png new file mode 100644 index 0000000000000000000000000000000000000000..16b48e0c84b96eb3cc5b1473d8387054076a4355 --- /dev/null +++ b/0008_/depth_maps/depth_000241.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d44014716a024e8bfc2ae879f9e0df24d5930d38cba082f64d36b4fe463728ca +size 135816 diff --git a/0008_/depth_maps/depth_000242.png b/0008_/depth_maps/depth_000242.png new file mode 100644 index 0000000000000000000000000000000000000000..e81f406e056982eb0860cfb43edacb1a9c4fa759 --- /dev/null +++ b/0008_/depth_maps/depth_000242.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93efe7d21de04bad19d12fd5293f6e03ce33ae8d3d197bceef050b3f0ea718f2 +size 129996 diff --git a/0008_/depth_maps/depth_000243.png b/0008_/depth_maps/depth_000243.png new file mode 100644 index 0000000000000000000000000000000000000000..a3c23e3230fd50e974c410d632dd7c40ec672793 --- /dev/null +++ b/0008_/depth_maps/depth_000243.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66de806fd34d355f0642c031dd24b3aa62052b9867d794d29d059b6be2a1b6da +size 152497 diff --git a/0008_/depth_maps/depth_000244.png b/0008_/depth_maps/depth_000244.png new file mode 100644 index 0000000000000000000000000000000000000000..a1ff291e7b52fa620ecf211dee80ea393c9e6e9e --- /dev/null +++ b/0008_/depth_maps/depth_000244.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3bfe6cb390ca7f29b55c6af3ecb7ef9570df33717bc0c9a86ad0102301bf40a +size 154461 diff --git a/0008_/depth_maps/depth_000245.png b/0008_/depth_maps/depth_000245.png new file mode 100644 index 0000000000000000000000000000000000000000..1358534f5b28b908b184ded1af61bcd3e3a0b357 --- /dev/null +++ b/0008_/depth_maps/depth_000245.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4f41a37b1204fe968b8b8057b516bab65bf16ec7dc1b1c5dafcb82003609a64 +size 159453 diff --git a/0008_/depth_maps/depth_000246.png b/0008_/depth_maps/depth_000246.png new file mode 100644 index 0000000000000000000000000000000000000000..113226749d72332df516730d387b1e2c8f5215ca --- /dev/null +++ b/0008_/depth_maps/depth_000246.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:862e3f2ad5162bb5ed5c77e3019aa625b3eff5f30c03a0c7b3f9f78e119fbc52 +size 162248 diff --git a/0008_/depth_maps/depth_000247.png b/0008_/depth_maps/depth_000247.png new file mode 100644 index 0000000000000000000000000000000000000000..706682e5f9f556ad218fc56b703e8416dbca3782 --- /dev/null +++ b/0008_/depth_maps/depth_000247.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b8402d0d606e76ea984a0fef8ff43dac2b0c53b763987fe8b3ced133d93b944 +size 161639 diff --git a/0008_/depth_maps/depth_000248.png b/0008_/depth_maps/depth_000248.png new file mode 100644 index 0000000000000000000000000000000000000000..b32830c8cf00ea6c308946df4ffe709b97482d82 --- /dev/null +++ b/0008_/depth_maps/depth_000248.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d28f3db10148b7107c8555548324b064a866752a332b8c67177954743a5febee +size 143516 diff --git a/0008_/depth_maps/depth_000249.png b/0008_/depth_maps/depth_000249.png new file mode 100644 index 0000000000000000000000000000000000000000..eb91beff650884c2fd3f549914cab8f0b0036a27 --- /dev/null +++ b/0008_/depth_maps/depth_000249.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf32eb11355955381e2fb1d19704a6fe2db3d07067fc4d8b1f880a8e319e0e66 +size 149780 diff --git a/0008_/experimental_multi_instance/pem/Slide_holder/Slide_holder_poses_per_frame.json b/0008_/experimental_multi_instance/pem/Slide_holder/Slide_holder_poses_per_frame.json new file mode 100644 index 0000000000000000000000000000000000000000..03461c1b3afbe747e3632e410d5abfb448c2b628 --- /dev/null +++ b/0008_/experimental_multi_instance/pem/Slide_holder/Slide_holder_poses_per_frame.json @@ -0,0 +1,123448 @@ +{ + "format": "label_factory_experimental_multi_instance_poses_per_frame_v1", + "experimental": true, + "changes_current_pipeline": false, + "object_name": "Slide_holder", + "object_identity": { + "object_name": "Slide_holder", + "cad_path": "/workspace/data/0008_/objects/stl/Slide_holder.stl", + "cad_sha256": "b76c3670768b808858484fbaaaade4a40f77fb25c0412b41958ef1f4ad057cd3", + "templates_identity": "b76c3670768b808858484fbaaaade4a40f77fb25c0412b41958ef1f4ad057cd3" + }, + "config_path": "/workspace/scripts/configs/default.yaml", + "dataset_dir": "/workspace/data/0008_", + "cad_path": "/workspace/data/0008_/objects/stl/Slide_holder.stl", + "camera_path": "/workspace/data/0008_/sam6d_sequences/Slide_holder/camera_depth_mm.json", + "depth_unit": "millimetre", + "source_audit": "/workspace/data/0008_/experimental_multi_instance/ism_candidate_audit/summary.json", + "experimental_pem_manifest": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/experimental_pem_manifest.json", + "statistics": { + "frames": 57, + "frames_with_candidates": 46, + "frames_with_poses": 44, + "input_candidates": 80, + "pose_candidates": 75, + "candidates_without_pose": 5 + }, + "frames": [ + { + "frame_id": 0, + "image_path": "/workspace/data/0008_/images/000000.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000000.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000000/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 5, + "image_path": "/workspace/data/0008_/images/000005.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000005.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000005/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 11, + "image_path": "/workspace/data/0008_/images/000011.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000011.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000011/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 17, + "image_path": "/workspace/data/0008_/images/000017.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000017.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 800, + 296, + 200, + 154 + ], + "score": 0.4084031879901886, + "time": 0.0, + "segmentation": { + "counts": [ + 639615, + 6, + 794, + 6, + 788, + 16, + 784, + 16, + 778, + 24, + 776, + 24, + 772, + 32, + 768, + 32, + 742, + 8, + 12, + 42, + 738, + 8, + 12, + 42, + 736, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 724, + 80, + 720, + 80, + 716, + 86, + 714, + 86, + 698, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 686, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 696, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 222047 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000017:0000", + "experimental_retained_index": 0, + "ism_score": 0.41357284784317017, + "R": [ + [ + 0.3782009482383728, + -0.9248802065849304, + 0.03950472176074982 + ], + [ + 0.7965487837791443, + 0.3468738794326782, + 0.4951649606227875 + ], + [ + -0.471671462059021, + -0.15580448508262634, + 0.8679001927375793 + ] + ], + "t": [ + 93.48377227783203, + 12.244132995605469, + 340.4715881347656 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 800, + 296, + 200, + 154 + ], + "score": 0.4084031879901886, + "time": 0.0, + "segmentation": { + "counts": [ + 639615, + 6, + 794, + 6, + 788, + 16, + 784, + 16, + 778, + 24, + 776, + 24, + 772, + 32, + 768, + 32, + 742, + 8, + 12, + 42, + 738, + 8, + 12, + 42, + 736, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 724, + 80, + 720, + 80, + 716, + 86, + 714, + 86, + 698, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 686, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 696, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 222047 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000017:0000", + "experimental_retained_index": 0, + "ism_score": 0.41357284784317017, + "R": [ + [ + 0.3782009482383728, + -0.9248802065849304, + 0.03950472176074982 + ], + [ + 0.7965487837791443, + 0.3468738794326782, + 0.4951649606227875 + ], + [ + -0.471671462059021, + -0.15580448508262634, + 0.8679001927375793 + ] + ], + "t": [ + 93.48377227783203, + 12.244132995605469, + 340.4715881347656 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000017/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000017/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000017:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000017.png" + }, + { + "frame_id": 29, + "image_path": "/workspace/data/0008_/images/000029.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000029.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 886, + 462, + 238, + 144 + ], + "score": 0.39579975605010986, + "time": 0.0, + "segmentation": { + "counts": [ + 708545, + 6, + 794, + 6, + 792, + 14, + 786, + 14, + 786, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 778, + 28, + 772, + 28, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 760, + 44, + 756, + 44, + 750, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 712, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 22, + 778, + 22, + 782, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 122661 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000029:0001", + "experimental_retained_index": 0, + "ism_score": 0.40856748819351196, + "R": [ + [ + -0.4088146388530731, + 0.9115504026412964, + 0.046730976551771164 + ], + [ + -0.9016479849815369, + -0.41129636764526367, + 0.13324150443077087 + ], + [ + 0.14072181284427643, + 0.012366187758743763, + 0.9901334643363953 + ] + ], + "t": [ + 208.973388671875, + 63.57137680053711, + 325.841796875 + ] + }, + { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 0, + 4, + 1278, + 792 + ], + "score": 0.059780966490507126, + "time": 0.0, + "segmentation": { + "counts": [ + 511, + 288, + 510, + 290, + 510, + 290, + 508, + 292, + 508, + 292, + 502, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 496, + 304, + 496, + 304, + 494, + 306, + 494, + 306, + 490, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 480, + 320, + 480, + 320, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 474, + 326, + 474, + 326, + 470, + 330, + 470, + 330, + 468, + 332, + 468, + 332, + 464, + 336, + 464, + 336, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 342, + 456, + 344, + 456, + 344, + 452, + 348, + 452, + 348, + 448, + 352, + 448, + 352, + 442, + 358, + 442, + 358, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 434, + 366, + 434, + 366, + 432, + 368, + 432, + 368, + 430, + 370, + 430, + 370, + 422, + 378, + 422, + 378, + 420, + 380, + 420, + 380, + 418, + 382, + 418, + 382, + 416, + 384, + 416, + 384, + 414, + 386, + 414, + 386, + 408, + 392, + 408, + 392, + 404, + 396, + 404, + 396, + 402, + 398, + 402, + 398, + 400, + 400, + 400, + 400, + 398, + 402, + 398, + 402, + 394, + 406, + 394, + 406, + 390, + 410, + 390, + 410, + 386, + 414, + 386, + 414, + 382, + 418, + 382, + 418, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 376, + 424, + 376, + 424, + 372, + 428, + 372, + 428, + 370, + 430, + 370, + 430, + 368, + 432, + 368, + 432, + 360, + 440, + 360, + 440, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 444, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 346, + 454, + 346, + 454, + 342, + 458, + 342, + 458, + 340, + 460, + 340, + 460, + 338, + 462, + 338, + 462, + 336, + 464, + 336, + 464, + 334, + 466, + 334, + 466, + 328, + 472, + 328, + 472, + 324, + 476, + 324, + 476, + 322, + 478, + 322, + 478, + 320, + 480, + 320, + 480, + 318, + 482, + 318, + 482, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 306, + 494, + 306, + 494, + 300, + 500, + 300, + 500, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 504, + 294, + 506, + 294, + 506, + 292, + 508, + 292, + 508, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 518, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 272, + 528, + 272, + 528, + 266, + 534, + 266, + 534, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 256, + 544, + 256, + 544, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 552, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 588, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 604, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 612, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 166, + 634, + 166, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 648, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 684, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 692, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 710, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 46, + 754, + 46, + 754, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 620, + 6, + 140, + 34, + 620, + 6, + 140, + 32, + 614, + 24, + 130, + 32, + 614, + 24, + 130, + 30, + 612, + 30, + 128, + 30, + 612, + 30, + 128, + 22, + 612, + 44, + 122, + 22, + 612, + 44, + 122, + 20, + 610, + 52, + 118, + 20, + 610, + 52, + 118, + 20, + 606, + 62, + 112, + 20, + 606, + 62, + 112, + 18, + 604, + 68, + 110, + 18, + 604, + 68, + 110, + 14, + 608, + 70, + 108, + 14, + 608, + 70, + 108, + 10, + 608, + 76, + 106, + 10, + 608, + 76, + 106, + 8, + 606, + 84, + 102, + 8, + 606, + 84, + 102, + 8, + 604, + 86, + 102, + 8, + 604, + 86, + 102, + 6, + 606, + 88, + 100, + 6, + 606, + 88, + 100, + 6, + 604, + 90, + 100, + 6, + 604, + 90, + 100, + 4, + 606, + 90, + 100, + 4, + 606, + 90, + 100, + 4, + 410, + 4, + 190, + 92, + 100, + 4, + 410, + 4, + 190, + 92, + 100, + 4, + 408, + 10, + 184, + 94, + 100, + 4, + 408, + 10, + 184, + 94, + 100, + 4, + 408, + 12, + 180, + 98, + 98, + 4, + 408, + 12, + 180, + 98, + 98, + 4, + 408, + 16, + 174, + 100, + 98, + 4, + 408, + 16, + 174, + 100, + 98, + 4, + 404, + 26, + 168, + 100, + 98, + 4, + 404, + 26, + 168, + 100, + 98, + 4, + 360, + 74, + 164, + 102, + 96, + 4, + 360, + 74, + 164, + 102, + 96, + 4, + 360, + 98, + 4, + 6, + 128, + 106, + 94, + 4, + 360, + 98, + 4, + 6, + 128, + 106, + 94, + 4, + 358, + 120, + 4, + 4, + 110, + 106, + 94, + 4, + 358, + 120, + 4, + 4, + 110, + 106, + 94, + 4, + 358, + 150, + 88, + 106, + 94, + 4, + 358, + 150, + 88, + 106, + 94, + 4, + 358, + 156, + 80, + 108, + 94, + 4, + 358, + 156, + 80, + 108, + 94, + 4, + 358, + 156, + 80, + 108, + 94, + 4, + 358, + 156, + 80, + 108, + 94, + 4, + 356, + 158, + 80, + 108, + 94, + 4, + 356, + 158, + 80, + 108, + 94, + 4, + 356, + 158, + 78, + 110, + 94, + 4, + 356, + 158, + 78, + 110, + 94, + 4, + 356, + 158, + 78, + 108, + 96, + 4, + 356, + 158, + 78, + 108, + 96, + 4, + 356, + 160, + 76, + 108, + 96, + 4, + 356, + 160, + 76, + 108, + 96, + 4, + 356, + 160, + 74, + 108, + 98, + 4, + 356, + 160, + 74, + 108, + 98, + 4, + 356, + 160, + 74, + 108, + 98, + 4, + 356, + 160, + 74, + 108, + 98, + 4, + 356, + 160, + 74, + 108, + 98, + 4, + 356, + 160, + 74, + 108, + 98, + 4, + 356, + 160, + 74, + 106, + 100, + 4, + 356, + 160, + 74, + 106, + 100, + 4, + 354, + 162, + 74, + 106, + 100, + 4, + 354, + 162, + 74, + 106, + 100, + 4, + 354, + 162, + 74, + 106, + 100, + 4, + 354, + 162, + 74, + 106, + 100, + 4, + 352, + 164, + 74, + 106, + 100, + 4, + 352, + 164, + 74, + 106, + 100, + 4, + 352, + 164, + 74, + 104, + 102, + 4, + 352, + 164, + 74, + 104, + 102, + 4, + 352, + 164, + 74, + 104, + 102, + 4, + 352, + 164, + 74, + 104, + 102, + 4, + 350, + 166, + 74, + 104, + 102, + 4, + 350, + 166, + 74, + 104, + 102, + 4, + 350, + 166, + 74, + 104, + 102, + 4, + 350, + 166, + 74, + 104, + 102, + 4, + 350, + 166, + 76, + 100, + 104, + 4, + 350, + 166, + 76, + 100, + 104, + 4, + 350, + 166, + 76, + 98, + 106, + 4, + 350, + 166, + 76, + 98, + 106, + 4, + 350, + 166, + 78, + 94, + 108, + 4, + 350, + 166, + 78, + 94, + 108, + 4, + 294, + 22, + 32, + 168, + 78, + 94, + 108, + 4, + 294, + 22, + 32, + 168, + 78, + 94, + 108, + 4, + 288, + 36, + 24, + 168, + 80, + 90, + 110, + 4, + 288, + 36, + 24, + 168, + 80, + 90, + 110, + 4, + 284, + 44, + 20, + 168, + 80, + 90, + 110, + 4, + 284, + 44, + 20, + 168, + 80, + 90, + 110, + 4, + 280, + 50, + 18, + 168, + 80, + 90, + 110, + 4, + 280, + 50, + 18, + 168, + 80, + 90, + 110, + 4, + 278, + 54, + 14, + 170, + 80, + 88, + 112, + 4, + 278, + 54, + 14, + 170, + 80, + 88, + 112, + 4, + 276, + 60, + 10, + 172, + 78, + 82, + 118, + 4, + 276, + 60, + 10, + 172, + 78, + 82, + 118, + 4, + 270, + 66, + 10, + 172, + 78, + 80, + 120, + 4, + 270, + 66, + 10, + 172, + 78, + 80, + 120, + 4, + 270, + 68, + 8, + 172, + 78, + 80, + 120, + 4, + 270, + 68, + 8, + 172, + 78, + 80, + 120, + 4, + 268, + 70, + 8, + 172, + 78, + 78, + 122, + 4, + 268, + 70, + 8, + 172, + 78, + 78, + 122, + 4, + 268, + 250, + 78, + 78, + 122, + 4, + 268, + 250, + 78, + 78, + 122, + 4, + 266, + 252, + 78, + 76, + 124, + 4, + 266, + 252, + 78, + 76, + 124, + 4, + 266, + 84, + 6, + 162, + 76, + 76, + 126, + 4, + 266, + 84, + 6, + 162, + 76, + 76, + 126, + 4, + 264, + 84, + 8, + 162, + 76, + 74, + 128, + 4, + 264, + 84, + 8, + 162, + 76, + 74, + 128, + 4, + 264, + 84, + 8, + 162, + 76, + 74, + 128, + 4, + 264, + 84, + 8, + 162, + 76, + 74, + 128, + 4, + 262, + 86, + 10, + 160, + 74, + 76, + 128, + 4, + 262, + 86, + 10, + 160, + 74, + 76, + 128, + 4, + 262, + 88, + 8, + 160, + 74, + 76, + 128, + 4, + 262, + 88, + 8, + 160, + 74, + 76, + 128, + 4, + 260, + 90, + 8, + 160, + 74, + 74, + 130, + 4, + 260, + 90, + 8, + 160, + 74, + 74, + 130, + 4, + 260, + 90, + 10, + 158, + 74, + 74, + 130, + 4, + 260, + 90, + 10, + 158, + 74, + 74, + 130, + 4, + 260, + 90, + 12, + 156, + 74, + 74, + 130, + 4, + 260, + 90, + 12, + 156, + 74, + 74, + 130, + 4, + 260, + 92, + 14, + 150, + 74, + 76, + 130, + 4, + 260, + 92, + 14, + 150, + 74, + 76, + 130, + 4, + 260, + 94, + 14, + 148, + 74, + 74, + 132, + 4, + 260, + 94, + 14, + 148, + 74, + 74, + 132, + 4, + 260, + 94, + 22, + 140, + 74, + 72, + 134, + 4, + 260, + 94, + 22, + 140, + 74, + 72, + 134, + 4, + 260, + 96, + 20, + 140, + 74, + 70, + 136, + 4, + 260, + 96, + 20, + 140, + 74, + 70, + 136, + 4, + 258, + 98, + 22, + 138, + 74, + 68, + 138, + 4, + 258, + 98, + 22, + 138, + 74, + 68, + 138, + 4, + 258, + 98, + 22, + 138, + 72, + 70, + 138, + 4, + 258, + 98, + 22, + 138, + 72, + 70, + 138, + 4, + 260, + 98, + 22, + 136, + 72, + 68, + 140, + 4, + 260, + 98, + 22, + 136, + 72, + 68, + 140, + 4, + 260, + 100, + 26, + 128, + 74, + 68, + 140, + 4, + 260, + 100, + 26, + 128, + 74, + 68, + 140, + 4, + 260, + 102, + 26, + 126, + 74, + 68, + 140, + 4, + 260, + 102, + 26, + 126, + 74, + 68, + 140, + 4, + 260, + 104, + 38, + 112, + 74, + 68, + 140, + 4, + 260, + 104, + 38, + 112, + 74, + 68, + 140, + 4, + 262, + 102, + 62, + 88, + 74, + 68, + 140, + 4, + 262, + 102, + 62, + 88, + 74, + 68, + 140, + 4, + 264, + 102, + 102, + 44, + 76, + 66, + 142, + 4, + 264, + 102, + 102, + 44, + 76, + 66, + 142, + 4, + 266, + 102, + 120, + 22, + 78, + 66, + 142, + 4, + 266, + 102, + 120, + 22, + 78, + 66, + 142, + 4, + 266, + 106, + 216, + 64, + 144, + 4, + 266, + 106, + 216, + 64, + 144, + 4, + 266, + 106, + 216, + 64, + 144, + 4, + 266, + 106, + 216, + 64, + 144, + 4, + 266, + 108, + 212, + 64, + 146, + 4, + 266, + 108, + 212, + 64, + 146, + 4, + 268, + 106, + 214, + 60, + 148, + 4, + 268, + 106, + 214, + 60, + 148, + 4, + 270, + 106, + 212, + 60, + 148, + 4, + 270, + 106, + 212, + 60, + 148, + 4, + 272, + 104, + 212, + 60, + 148, + 4, + 272, + 104, + 212, + 60, + 148, + 4, + 274, + 104, + 210, + 58, + 150, + 4, + 274, + 104, + 210, + 58, + 150, + 4, + 276, + 102, + 210, + 58, + 150, + 4, + 276, + 102, + 210, + 58, + 150, + 4, + 278, + 102, + 208, + 58, + 150, + 4, + 278, + 102, + 208, + 58, + 150, + 4, + 282, + 102, + 204, + 56, + 152, + 4, + 282, + 102, + 204, + 56, + 152, + 4, + 284, + 102, + 204, + 54, + 152, + 4, + 284, + 102, + 204, + 54, + 152, + 4, + 286, + 100, + 204, + 50, + 156, + 4, + 286, + 100, + 204, + 50, + 156, + 4, + 288, + 100, + 204, + 46, + 158, + 4, + 288, + 100, + 204, + 46, + 158, + 4, + 292, + 98, + 206, + 40, + 160, + 4, + 292, + 98, + 206, + 40, + 160, + 4, + 298, + 94, + 206, + 36, + 162, + 4, + 298, + 94, + 206, + 36, + 162, + 4, + 298, + 96, + 206, + 34, + 162, + 4, + 298, + 96, + 206, + 34, + 162, + 4, + 300, + 94, + 208, + 28, + 166, + 4, + 300, + 94, + 208, + 28, + 166, + 4, + 308, + 86, + 214, + 16, + 172, + 4, + 308, + 86, + 214, + 16, + 172, + 4, + 314, + 82, + 400, + 4, + 314, + 82, + 400, + 4, + 318, + 78, + 400, + 4, + 318, + 78, + 400, + 4, + 318, + 80, + 398, + 4, + 318, + 80, + 398, + 4, + 320, + 78, + 398, + 4, + 320, + 78, + 398, + 4, + 322, + 78, + 46, + 6, + 232, + 2, + 110, + 4, + 322, + 78, + 46, + 6, + 232, + 2, + 110, + 4, + 326, + 76, + 40, + 16, + 220, + 14, + 104, + 4, + 326, + 76, + 40, + 16, + 220, + 14, + 104, + 4, + 238, + 10, + 80, + 76, + 32, + 28, + 208, + 22, + 102, + 4, + 238, + 10, + 80, + 76, + 32, + 28, + 208, + 22, + 102, + 4, + 234, + 16, + 78, + 76, + 28, + 34, + 204, + 26, + 100, + 4, + 234, + 16, + 78, + 76, + 28, + 34, + 204, + 26, + 100, + 4, + 230, + 22, + 80, + 72, + 26, + 38, + 200, + 28, + 100, + 4, + 230, + 22, + 80, + 72, + 26, + 38, + 200, + 28, + 100, + 4, + 228, + 26, + 82, + 68, + 26, + 40, + 196, + 32, + 98, + 4, + 228, + 26, + 82, + 68, + 26, + 40, + 196, + 32, + 98, + 4, + 226, + 32, + 80, + 64, + 26, + 48, + 188, + 38, + 94, + 4, + 226, + 32, + 80, + 64, + 26, + 48, + 188, + 38, + 94, + 4, + 222, + 40, + 80, + 60, + 26, + 54, + 180, + 42, + 92, + 4, + 222, + 40, + 80, + 60, + 26, + 54, + 180, + 42, + 92, + 4, + 218, + 48, + 78, + 56, + 26, + 60, + 172, + 46, + 92, + 4, + 218, + 48, + 78, + 56, + 26, + 60, + 172, + 46, + 92, + 4, + 216, + 52, + 78, + 54, + 26, + 62, + 168, + 50, + 90, + 4, + 216, + 52, + 78, + 54, + 26, + 62, + 168, + 50, + 90, + 4, + 214, + 58, + 76, + 50, + 28, + 64, + 164, + 52, + 90, + 4, + 214, + 58, + 76, + 50, + 28, + 64, + 164, + 52, + 90, + 4, + 212, + 64, + 74, + 46, + 28, + 72, + 156, + 54, + 90, + 4, + 212, + 64, + 74, + 46, + 28, + 72, + 156, + 54, + 90, + 4, + 208, + 76, + 72, + 40, + 26, + 82, + 146, + 56, + 90, + 4, + 208, + 76, + 72, + 40, + 26, + 82, + 146, + 56, + 90, + 4, + 208, + 76, + 74, + 36, + 26, + 86, + 144, + 56, + 90, + 4, + 208, + 76, + 74, + 36, + 26, + 86, + 144, + 56, + 90, + 4, + 206, + 80, + 72, + 36, + 24, + 88, + 142, + 60, + 88, + 4, + 206, + 80, + 72, + 36, + 24, + 88, + 142, + 60, + 88, + 4, + 204, + 84, + 74, + 28, + 28, + 90, + 140, + 60, + 88, + 4, + 204, + 84, + 74, + 28, + 28, + 90, + 140, + 60, + 88, + 4, + 202, + 88, + 78, + 18, + 30, + 98, + 136, + 62, + 84, + 4, + 202, + 88, + 78, + 18, + 30, + 98, + 136, + 62, + 84, + 4, + 194, + 98, + 86, + 2, + 36, + 102, + 132, + 64, + 82, + 4, + 194, + 98, + 86, + 2, + 36, + 102, + 132, + 64, + 82, + 4, + 190, + 102, + 122, + 110, + 128, + 64, + 80, + 4, + 190, + 102, + 122, + 110, + 128, + 64, + 80, + 4, + 188, + 106, + 118, + 112, + 128, + 64, + 80, + 4, + 188, + 106, + 118, + 112, + 128, + 64, + 80, + 4, + 188, + 106, + 118, + 114, + 128, + 62, + 80, + 4, + 188, + 106, + 118, + 114, + 128, + 62, + 80, + 4, + 186, + 110, + 114, + 122, + 126, + 60, + 78, + 4, + 186, + 110, + 114, + 122, + 126, + 60, + 78, + 4, + 182, + 114, + 114, + 126, + 124, + 64, + 72, + 4, + 182, + 114, + 114, + 126, + 124, + 64, + 72, + 4, + 180, + 116, + 112, + 130, + 128, + 60, + 70, + 4, + 180, + 116, + 112, + 130, + 128, + 60, + 70, + 4, + 178, + 120, + 108, + 134, + 128, + 58, + 70, + 4, + 178, + 120, + 108, + 134, + 128, + 58, + 70, + 4, + 174, + 124, + 108, + 138, + 126, + 56, + 70, + 4, + 174, + 124, + 108, + 138, + 126, + 56, + 70, + 4, + 172, + 130, + 102, + 144, + 126, + 54, + 68, + 4, + 172, + 130, + 102, + 144, + 126, + 54, + 68, + 4, + 168, + 136, + 98, + 152, + 122, + 58, + 62, + 4, + 168, + 136, + 98, + 152, + 122, + 58, + 62, + 4, + 164, + 140, + 96, + 156, + 122, + 56, + 62, + 4, + 164, + 140, + 96, + 156, + 122, + 56, + 62, + 4, + 108, + 4, + 50, + 144, + 94, + 158, + 120, + 58, + 60, + 4, + 108, + 4, + 50, + 144, + 94, + 158, + 120, + 58, + 60, + 4, + 106, + 8, + 44, + 148, + 92, + 160, + 120, + 58, + 60, + 4, + 106, + 8, + 44, + 148, + 92, + 160, + 120, + 58, + 60, + 4, + 100, + 16, + 40, + 152, + 88, + 170, + 116, + 56, + 58, + 4, + 100, + 16, + 40, + 152, + 88, + 170, + 116, + 56, + 58, + 4, + 98, + 20, + 36, + 154, + 88, + 172, + 116, + 56, + 56, + 4, + 98, + 20, + 36, + 154, + 88, + 172, + 116, + 56, + 56, + 4, + 98, + 20, + 32, + 158, + 88, + 176, + 114, + 58, + 52, + 4, + 98, + 20, + 32, + 158, + 88, + 176, + 114, + 58, + 52, + 4, + 98, + 22, + 30, + 160, + 84, + 180, + 112, + 58, + 52, + 4, + 98, + 22, + 30, + 160, + 84, + 180, + 112, + 58, + 52, + 4, + 96, + 28, + 22, + 164, + 82, + 184, + 112, + 58, + 50, + 4, + 96, + 28, + 22, + 164, + 82, + 184, + 112, + 58, + 50, + 4, + 96, + 30, + 18, + 170, + 76, + 188, + 112, + 56, + 50, + 4, + 96, + 30, + 18, + 170, + 76, + 188, + 112, + 56, + 50, + 4, + 94, + 220, + 74, + 198, + 106, + 58, + 46, + 4, + 94, + 220, + 74, + 198, + 106, + 58, + 46, + 4, + 94, + 222, + 72, + 202, + 104, + 60, + 42, + 4, + 94, + 222, + 72, + 202, + 104, + 60, + 42, + 4, + 94, + 222, + 70, + 208, + 102, + 58, + 42, + 4, + 94, + 222, + 70, + 208, + 102, + 58, + 42, + 4, + 92, + 226, + 68, + 208, + 104, + 58, + 40, + 4, + 92, + 226, + 68, + 208, + 104, + 58, + 40, + 4, + 94, + 226, + 66, + 210, + 104, + 56, + 40, + 4, + 94, + 226, + 66, + 210, + 104, + 56, + 40, + 4, + 94, + 228, + 60, + 222, + 98, + 56, + 38, + 4, + 94, + 228, + 60, + 222, + 98, + 56, + 38, + 4, + 94, + 228, + 58, + 226, + 98, + 56, + 36, + 4, + 94, + 228, + 58, + 226, + 98, + 56, + 36, + 4, + 94, + 230, + 56, + 226, + 100, + 56, + 34, + 4, + 94, + 230, + 56, + 226, + 100, + 56, + 34, + 4, + 94, + 230, + 54, + 230, + 98, + 58, + 32, + 4, + 94, + 230, + 54, + 230, + 98, + 58, + 32, + 4, + 94, + 232, + 52, + 234, + 96, + 58, + 30, + 4, + 94, + 232, + 52, + 234, + 96, + 58, + 30, + 4, + 96, + 230, + 50, + 240, + 94, + 58, + 28, + 4, + 96, + 230, + 50, + 240, + 94, + 58, + 28, + 4, + 96, + 232, + 48, + 242, + 94, + 58, + 26, + 4, + 96, + 232, + 48, + 242, + 94, + 58, + 26, + 4, + 100, + 228, + 46, + 250, + 90, + 60, + 22, + 4, + 100, + 228, + 46, + 250, + 90, + 60, + 22, + 4, + 104, + 226, + 42, + 254, + 90, + 58, + 22, + 4, + 104, + 226, + 42, + 254, + 90, + 58, + 22, + 4, + 108, + 224, + 40, + 260, + 86, + 58, + 20, + 4, + 108, + 224, + 40, + 260, + 86, + 58, + 20, + 4, + 112, + 220, + 38, + 266, + 84, + 56, + 20, + 4, + 112, + 220, + 38, + 266, + 84, + 56, + 20, + 4, + 114, + 220, + 34, + 270, + 82, + 58, + 18, + 4, + 114, + 220, + 34, + 270, + 82, + 58, + 18, + 4, + 116, + 218, + 34, + 274, + 80, + 58, + 16, + 4, + 116, + 218, + 34, + 274, + 80, + 58, + 16, + 4, + 116, + 220, + 30, + 278, + 82, + 58, + 12, + 4, + 116, + 220, + 30, + 278, + 82, + 58, + 12, + 4, + 116, + 220, + 30, + 280, + 80, + 60, + 10, + 4, + 116, + 220, + 30, + 280, + 80, + 60, + 10, + 4, + 116, + 222, + 28, + 280, + 82, + 58, + 10, + 4, + 116, + 222, + 28, + 280, + 82, + 58, + 10, + 4, + 118, + 220, + 28, + 282, + 82, + 58, + 8, + 4, + 118, + 220, + 28, + 282, + 82, + 58, + 8, + 4, + 120, + 220, + 26, + 282, + 82, + 70, + 120, + 220, + 26, + 282, + 82, + 70, + 122, + 220, + 26, + 278, + 86, + 68, + 122, + 220, + 26, + 278, + 86, + 68, + 124, + 220, + 24, + 276, + 92, + 64, + 124, + 220, + 24, + 276, + 92, + 64, + 124, + 222, + 24, + 274, + 94, + 62, + 124, + 222, + 24, + 274, + 94, + 62, + 124, + 222, + 28, + 268, + 98, + 60, + 124, + 222, + 28, + 268, + 98, + 60, + 124, + 222, + 30, + 262, + 102, + 60, + 124, + 222, + 30, + 262, + 102, + 60, + 126, + 222, + 30, + 260, + 104, + 58, + 126, + 222, + 30, + 260, + 104, + 58, + 128, + 220, + 36, + 252, + 110, + 54, + 128, + 220, + 36, + 252, + 110, + 54, + 128, + 222, + 38, + 248, + 110, + 54, + 128, + 222, + 38, + 248, + 110, + 54, + 130, + 222, + 38, + 246, + 112, + 52, + 130, + 222, + 38, + 246, + 112, + 52, + 132, + 220, + 40, + 242, + 114, + 52, + 132, + 220, + 40, + 242, + 114, + 52, + 132, + 222, + 40, + 240, + 116, + 50, + 132, + 222, + 40, + 240, + 116, + 50, + 134, + 220, + 44, + 232, + 124, + 46, + 134, + 220, + 44, + 232, + 124, + 46, + 136, + 220, + 46, + 226, + 128, + 44, + 136, + 220, + 46, + 226, + 128, + 44, + 136, + 222, + 48, + 222, + 130, + 42, + 136, + 222, + 48, + 222, + 130, + 42, + 136, + 222, + 48, + 220, + 132, + 42, + 136, + 222, + 48, + 220, + 132, + 42, + 136, + 224, + 48, + 218, + 134, + 40, + 136, + 224, + 48, + 218, + 134, + 40, + 138, + 224, + 52, + 210, + 140, + 36, + 138, + 224, + 52, + 210, + 140, + 36, + 138, + 226, + 54, + 206, + 142, + 34, + 138, + 226, + 54, + 206, + 142, + 34, + 140, + 224, + 56, + 204, + 142, + 34, + 140, + 224, + 56, + 204, + 142, + 34, + 142, + 224, + 56, + 200, + 144, + 34, + 142, + 224, + 56, + 200, + 144, + 34, + 144, + 222, + 60, + 194, + 148, + 32, + 144, + 222, + 60, + 194, + 148, + 32, + 146, + 222, + 60, + 190, + 152, + 30, + 146, + 222, + 60, + 190, + 152, + 30, + 146, + 222, + 64, + 184, + 158, + 26, + 146, + 222, + 64, + 184, + 158, + 26, + 146, + 224, + 64, + 182, + 160, + 24, + 146, + 224, + 64, + 182, + 160, + 24, + 148, + 222, + 66, + 182, + 160, + 22, + 148, + 222, + 66, + 182, + 160, + 22, + 148, + 224, + 68, + 178, + 162, + 20, + 148, + 224, + 68, + 178, + 162, + 20, + 148, + 226, + 70, + 176, + 162, + 18, + 148, + 226, + 70, + 176, + 162, + 18, + 150, + 226, + 70, + 178, + 160, + 16, + 150, + 226, + 70, + 178, + 160, + 16, + 152, + 224, + 72, + 178, + 158, + 16, + 152, + 224, + 72, + 178, + 158, + 16, + 152, + 226, + 72, + 178, + 158, + 14, + 152, + 226, + 72, + 178, + 158, + 14, + 154, + 224, + 76, + 180, + 154, + 12, + 154, + 224, + 76, + 180, + 154, + 12, + 156, + 224, + 78, + 178, + 154, + 10, + 156, + 224, + 78, + 178, + 154, + 10, + 156, + 226, + 80, + 176, + 154, + 8, + 156, + 226, + 80, + 176, + 154, + 8, + 156, + 228, + 80, + 178, + 152, + 6, + 156, + 228, + 80, + 178, + 152, + 6, + 154, + 230, + 82, + 180, + 150, + 4, + 154, + 230, + 82, + 180, + 150, + 4, + 154, + 232, + 82, + 178, + 150, + 4, + 154, + 232, + 82, + 178, + 150, + 4, + 154, + 232, + 86, + 178, + 146, + 4, + 154, + 232, + 86, + 178, + 146, + 4, + 154, + 234, + 88, + 178, + 142, + 4, + 154, + 234, + 88, + 178, + 142, + 4, + 152, + 236, + 90, + 178, + 140, + 4, + 152, + 236, + 90, + 178, + 140, + 4, + 152, + 238, + 92, + 176, + 138, + 4, + 152, + 238, + 92, + 176, + 138, + 4, + 152, + 238, + 94, + 180, + 132, + 4, + 152, + 238, + 94, + 180, + 132, + 4, + 152, + 240, + 96, + 100, + 6, + 72, + 130, + 4, + 152, + 240, + 96, + 100, + 6, + 72, + 130, + 4, + 150, + 244, + 98, + 94, + 14, + 68, + 128, + 4, + 150, + 244, + 98, + 94, + 14, + 68, + 128, + 4, + 150, + 246, + 98, + 92, + 18, + 68, + 124, + 4, + 150, + 246, + 98, + 92, + 18, + 68, + 124, + 4, + 150, + 246, + 100, + 90, + 20, + 68, + 122, + 4, + 150, + 246, + 100, + 90, + 20, + 68, + 122, + 4, + 150, + 248, + 102, + 86, + 22, + 68, + 120, + 4, + 150, + 248, + 102, + 86, + 22, + 68, + 120, + 4, + 150, + 250, + 104, + 80, + 28, + 68, + 116, + 4, + 150, + 250, + 104, + 80, + 28, + 68, + 116, + 4, + 150, + 252, + 104, + 78, + 32, + 68, + 112, + 4, + 150, + 252, + 104, + 78, + 32, + 68, + 112, + 4, + 154, + 248, + 106, + 74, + 36, + 68, + 110, + 4, + 154, + 248, + 106, + 74, + 36, + 68, + 110, + 4, + 154, + 250, + 108, + 70, + 38, + 68, + 108, + 4, + 154, + 250, + 108, + 70, + 38, + 68, + 108, + 4, + 160, + 244, + 112, + 62, + 46, + 66, + 106, + 4, + 160, + 244, + 112, + 62, + 46, + 66, + 106, + 4, + 176, + 230, + 114, + 56, + 50, + 68, + 102, + 4, + 176, + 230, + 114, + 56, + 50, + 68, + 102, + 4, + 178, + 228, + 118, + 52, + 54, + 68, + 98, + 4, + 178, + 228, + 118, + 52, + 54, + 68, + 98, + 4, + 178, + 230, + 118, + 48, + 58, + 68, + 96, + 4, + 178, + 230, + 118, + 48, + 58, + 68, + 96, + 4, + 178, + 230, + 120, + 46, + 62, + 66, + 94, + 4, + 178, + 230, + 120, + 46, + 62, + 66, + 94, + 4, + 180, + 228, + 122, + 42, + 66, + 68, + 90, + 4, + 180, + 228, + 122, + 42, + 66, + 68, + 90, + 4, + 180, + 232, + 122, + 38, + 68, + 68, + 86, + 6, + 180, + 232, + 122, + 38, + 68, + 68, + 86, + 6, + 182, + 232, + 124, + 32, + 74, + 68, + 82, + 6, + 182, + 232, + 124, + 32, + 74, + 68, + 82, + 6, + 184, + 230, + 126, + 28, + 78, + 68, + 80, + 6, + 184, + 230, + 126, + 28, + 78, + 68, + 80, + 6, + 184, + 232, + 126, + 26, + 80, + 68, + 78, + 6, + 184, + 232, + 126, + 26, + 80, + 68, + 78, + 6, + 186, + 230, + 130, + 20, + 86, + 66, + 76, + 6, + 186, + 230, + 130, + 20, + 86, + 66, + 76, + 6, + 186, + 232, + 132, + 14, + 92, + 68, + 70, + 6, + 186, + 232, + 132, + 14, + 92, + 68, + 70, + 6, + 188, + 232, + 132, + 10, + 98, + 66, + 68, + 6, + 188, + 232, + 132, + 10, + 98, + 66, + 68, + 6, + 188, + 232, + 242, + 66, + 66, + 6, + 188, + 232, + 242, + 66, + 66, + 6, + 190, + 232, + 244, + 62, + 66, + 6, + 190, + 232, + 244, + 62, + 66, + 6, + 190, + 234, + 244, + 62, + 64, + 6, + 190, + 234, + 244, + 62, + 64, + 6, + 190, + 234, + 246, + 64, + 60, + 6, + 190, + 234, + 246, + 64, + 60, + 6, + 192, + 234, + 246, + 64, + 58, + 6, + 192, + 234, + 246, + 64, + 58, + 6, + 194, + 232, + 250, + 60, + 58, + 6, + 194, + 232, + 250, + 60, + 58, + 6, + 194, + 234, + 250, + 60, + 56, + 6, + 194, + 234, + 250, + 60, + 56, + 6, + 194, + 234, + 254, + 58, + 54, + 6, + 194, + 234, + 254, + 58, + 54, + 6, + 196, + 234, + 256, + 58, + 50, + 6, + 196, + 234, + 256, + 58, + 50, + 6, + 198, + 234, + 256, + 58, + 48, + 6, + 198, + 234, + 256, + 58, + 48, + 6, + 198, + 236, + 258, + 54, + 48, + 6, + 198, + 236, + 258, + 54, + 48, + 6, + 200, + 234, + 262, + 52, + 46, + 6, + 200, + 234, + 262, + 52, + 46, + 6, + 200, + 236, + 262, + 50, + 46, + 6, + 200, + 236, + 262, + 50, + 46, + 6, + 202, + 234, + 264, + 52, + 42, + 6, + 202, + 234, + 264, + 52, + 42, + 6, + 204, + 232, + 268, + 50, + 40, + 6, + 204, + 232, + 268, + 50, + 40, + 6, + 204, + 232, + 272, + 48, + 38, + 6, + 204, + 232, + 272, + 48, + 38, + 6, + 204, + 232, + 278, + 42, + 38, + 6, + 204, + 232, + 278, + 42, + 38, + 6, + 206, + 226, + 288, + 36, + 38, + 6, + 206, + 226, + 288, + 36, + 38, + 6, + 208, + 220, + 82, + 8, + 206, + 32, + 38, + 6, + 208, + 220, + 82, + 8, + 206, + 32, + 38, + 6, + 208, + 218, + 80, + 44, + 178, + 30, + 36, + 6, + 208, + 218, + 80, + 44, + 178, + 30, + 36, + 6, + 210, + 214, + 82, + 48, + 4, + 2, + 174, + 22, + 38, + 6, + 210, + 214, + 82, + 48, + 4, + 2, + 174, + 22, + 38, + 6, + 210, + 208, + 88, + 54, + 10, + 2, + 4, + 10, + 154, + 16, + 38, + 6, + 210, + 208, + 88, + 54, + 10, + 2, + 4, + 10, + 154, + 16, + 38, + 6, + 212, + 206, + 88, + 56, + 8, + 28, + 6, + 26, + 114, + 8, + 42, + 6, + 212, + 206, + 88, + 56, + 8, + 28, + 6, + 26, + 114, + 8, + 42, + 6, + 212, + 204, + 90, + 92, + 6, + 46, + 144, + 6, + 212, + 204, + 90, + 92, + 6, + 46, + 144, + 6, + 214, + 200, + 92, + 90, + 8, + 52, + 138, + 6, + 214, + 200, + 92, + 90, + 8, + 52, + 138, + 6, + 214, + 196, + 96, + 90, + 10, + 52, + 136, + 6, + 214, + 196, + 96, + 90, + 10, + 52, + 136, + 6, + 214, + 194, + 98, + 52, + 4, + 10, + 4, + 20, + 10, + 52, + 136, + 6, + 214, + 194, + 98, + 52, + 4, + 10, + 4, + 20, + 10, + 52, + 136, + 6, + 214, + 192, + 100, + 50, + 32, + 8, + 10, + 52, + 136, + 6, + 214, + 192, + 100, + 50, + 32, + 8, + 10, + 52, + 136, + 6, + 218, + 184, + 104, + 50, + 36, + 2, + 12, + 52, + 136, + 6, + 218, + 184, + 104, + 50, + 36, + 2, + 12, + 52, + 136, + 6, + 218, + 180, + 108, + 52, + 48, + 52, + 136, + 6, + 218, + 180, + 108, + 52, + 48, + 52, + 136, + 6, + 218, + 176, + 112, + 48, + 50, + 54, + 136, + 6, + 218, + 176, + 112, + 48, + 50, + 54, + 136, + 6, + 220, + 172, + 114, + 48, + 50, + 56, + 134, + 6, + 220, + 172, + 114, + 48, + 50, + 56, + 134, + 6, + 222, + 166, + 118, + 48, + 18, + 20, + 12, + 56, + 134, + 6, + 222, + 166, + 118, + 48, + 18, + 20, + 12, + 56, + 134, + 6, + 224, + 160, + 122, + 48, + 16, + 24, + 10, + 56, + 134, + 6, + 224, + 160, + 122, + 48, + 16, + 24, + 10, + 56, + 134, + 6, + 224, + 158, + 124, + 48, + 16, + 24, + 10, + 54, + 136, + 6, + 224, + 158, + 124, + 48, + 16, + 24, + 10, + 54, + 136, + 6, + 224, + 156, + 126, + 48, + 20, + 20, + 10, + 54, + 136, + 6, + 224, + 156, + 126, + 48, + 20, + 20, + 10, + 54, + 136, + 6, + 224, + 152, + 128, + 50, + 32, + 8, + 10, + 56, + 134, + 6, + 224, + 152, + 128, + 50, + 32, + 8, + 10, + 56, + 134, + 6, + 226, + 148, + 130, + 50, + 32, + 8, + 10, + 56, + 134, + 6, + 226, + 148, + 130, + 50, + 32, + 8, + 10, + 56, + 134, + 6, + 228, + 140, + 136, + 50, + 32, + 8, + 10, + 56, + 134, + 6, + 228, + 140, + 136, + 50, + 32, + 8, + 10, + 56, + 134, + 6, + 228, + 138, + 138, + 68, + 4, + 20, + 8, + 54, + 136, + 6, + 228, + 138, + 138, + 68, + 4, + 20, + 8, + 54, + 136, + 6, + 230, + 134, + 140, + 92, + 6, + 56, + 136, + 6, + 230, + 134, + 140, + 92, + 6, + 56, + 136, + 6, + 232, + 126, + 146, + 92, + 6, + 58, + 134, + 6, + 232, + 126, + 146, + 92, + 6, + 58, + 134, + 6, + 232, + 124, + 150, + 90, + 6, + 58, + 134, + 6, + 232, + 124, + 150, + 90, + 6, + 58, + 134, + 6, + 232, + 122, + 164, + 78, + 6, + 58, + 134, + 6, + 232, + 122, + 164, + 78, + 6, + 58, + 134, + 6, + 232, + 120, + 176, + 68, + 8, + 54, + 136, + 6, + 232, + 120, + 176, + 68, + 8, + 54, + 136, + 6, + 234, + 114, + 214, + 34, + 8, + 54, + 136, + 6, + 234, + 114, + 214, + 34, + 8, + 54, + 136, + 6, + 234, + 112, + 228, + 2, + 8, + 12, + 10, + 52, + 136, + 6, + 234, + 112, + 228, + 2, + 8, + 12, + 10, + 52, + 136, + 6, + 234, + 108, + 274, + 42, + 136, + 6, + 234, + 108, + 274, + 42, + 136, + 6, + 238, + 100, + 290, + 30, + 136, + 6, + 238, + 100, + 290, + 30, + 136, + 6, + 238, + 96, + 316, + 6, + 138, + 6, + 238, + 96, + 316, + 6, + 138, + 6, + 238, + 90, + 466, + 6, + 238, + 90, + 466, + 6, + 240, + 86, + 468, + 6, + 240, + 86, + 468, + 6, + 242, + 84, + 468, + 6, + 242, + 84, + 468, + 6, + 244, + 78, + 110, + 6, + 356, + 6, + 244, + 78, + 110, + 6, + 356, + 6, + 244, + 76, + 106, + 18, + 350, + 6, + 244, + 76, + 106, + 18, + 350, + 6, + 244, + 74, + 108, + 22, + 346, + 6, + 244, + 74, + 108, + 22, + 346, + 6, + 244, + 70, + 108, + 26, + 346, + 6, + 244, + 70, + 108, + 26, + 346, + 6, + 246, + 62, + 112, + 30, + 344, + 6, + 246, + 62, + 112, + 30, + 344, + 6, + 248, + 58, + 112, + 32, + 344, + 6, + 248, + 58, + 112, + 32, + 344, + 6, + 250, + 52, + 114, + 34, + 344, + 6, + 250, + 52, + 114, + 34, + 344, + 6, + 250, + 50, + 116, + 34, + 344, + 6, + 250, + 50, + 116, + 34, + 344, + 6, + 252, + 44, + 120, + 34, + 344, + 6, + 252, + 44, + 120, + 34, + 344, + 6, + 252, + 40, + 124, + 34, + 344, + 6, + 252, + 40, + 124, + 34, + 344, + 6, + 254, + 34, + 126, + 34, + 346, + 6, + 254, + 34, + 126, + 34, + 346, + 6, + 254, + 34, + 126, + 32, + 348, + 6, + 254, + 34, + 126, + 32, + 348, + 6, + 254, + 30, + 130, + 32, + 348, + 6, + 254, + 30, + 130, + 32, + 348, + 6, + 254, + 24, + 136, + 30, + 350, + 6, + 254, + 24, + 136, + 30, + 350, + 6, + 256, + 20, + 136, + 28, + 104, + 4, + 246, + 6, + 256, + 20, + 136, + 28, + 104, + 4, + 246, + 6, + 258, + 14, + 140, + 24, + 106, + 12, + 240, + 6, + 258, + 14, + 140, + 24, + 106, + 12, + 240, + 6, + 410, + 24, + 106, + 18, + 236, + 6, + 410, + 24, + 106, + 18, + 236, + 6, + 410, + 20, + 108, + 26, + 230, + 6, + 410, + 20, + 108, + 26, + 230, + 6, + 412, + 14, + 110, + 30, + 228, + 6, + 412, + 14, + 110, + 30, + 228, + 6, + 412, + 12, + 110, + 34, + 226, + 6, + 412, + 12, + 110, + 34, + 226, + 6, + 416, + 4, + 112, + 40, + 222, + 6, + 416, + 4, + 112, + 40, + 222, + 6, + 528, + 50, + 216, + 6, + 528, + 50, + 216, + 6, + 526, + 56, + 212, + 6, + 526, + 56, + 212, + 6, + 526, + 58, + 210, + 6, + 526, + 58, + 210, + 6, + 526, + 60, + 208, + 6, + 526, + 60, + 208, + 6, + 524, + 62, + 208, + 6, + 524, + 62, + 208, + 6, + 524, + 64, + 206, + 6, + 524, + 64, + 206, + 6, + 524, + 64, + 206, + 6, + 524, + 64, + 206, + 6, + 522, + 66, + 206, + 6, + 522, + 66, + 206, + 6, + 522, + 66, + 206, + 6, + 522, + 66, + 206, + 6, + 520, + 68, + 206, + 6, + 520, + 68, + 206, + 6, + 520, + 68, + 206, + 6, + 520, + 68, + 206, + 6, + 518, + 72, + 204, + 6, + 518, + 72, + 204, + 6, + 518, + 72, + 204, + 6, + 518, + 72, + 204, + 6, + 516, + 76, + 202, + 6, + 516, + 76, + 202, + 6, + 516, + 78, + 200, + 6, + 516, + 78, + 200, + 6, + 516, + 80, + 198, + 6, + 516, + 80, + 198, + 6, + 514, + 84, + 196, + 6, + 514, + 84, + 196, + 6, + 514, + 86, + 194, + 6, + 514, + 86, + 194, + 6, + 512, + 90, + 192, + 6, + 512, + 90, + 192, + 6, + 512, + 90, + 192, + 6, + 512, + 90, + 192, + 6, + 510, + 92, + 192, + 6, + 510, + 92, + 192, + 6, + 510, + 92, + 192, + 6, + 510, + 92, + 192, + 6, + 510, + 92, + 192, + 6, + 510, + 92, + 192, + 6, + 508, + 94, + 192, + 6, + 508, + 94, + 192, + 6, + 508, + 96, + 190, + 6, + 508, + 96, + 190, + 6, + 508, + 96, + 190, + 6, + 508, + 96, + 190, + 6, + 506, + 98, + 190, + 6, + 506, + 98, + 190, + 6, + 506, + 98, + 190, + 6, + 506, + 98, + 190, + 6, + 504, + 102, + 188, + 6, + 504, + 102, + 188, + 6, + 504, + 102, + 188, + 6, + 504, + 102, + 188, + 6, + 504, + 102, + 188, + 6, + 504, + 102, + 188, + 6, + 502, + 104, + 188, + 6, + 502, + 104, + 188, + 6, + 502, + 104, + 188, + 6, + 502, + 104, + 188, + 6, + 502, + 102, + 190, + 6, + 502, + 102, + 190, + 6, + 500, + 104, + 190, + 6, + 500, + 104, + 190, + 6, + 498, + 106, + 190, + 6, + 498, + 106, + 190, + 6, + 498, + 104, + 192, + 6, + 498, + 104, + 192, + 6, + 498, + 102, + 194, + 6, + 498, + 102, + 194, + 6, + 496, + 102, + 196, + 6, + 496, + 102, + 196, + 6, + 496, + 102, + 196, + 6, + 496, + 102, + 196, + 6, + 496, + 102, + 196, + 6, + 496, + 102, + 196, + 6, + 494, + 102, + 198, + 6, + 494, + 102, + 198, + 6, + 494, + 102, + 198, + 6, + 494, + 102, + 198, + 6, + 492, + 102, + 200, + 6, + 492, + 102, + 200, + 6, + 492, + 102, + 200, + 6, + 492, + 102, + 200, + 6, + 490, + 102, + 202, + 6, + 490, + 102, + 202, + 6, + 490, + 102, + 202, + 6, + 490, + 102, + 202, + 6, + 490, + 100, + 204, + 6, + 490, + 100, + 204, + 6, + 488, + 100, + 206, + 6, + 488, + 100, + 206, + 6, + 488, + 100, + 206, + 6, + 488, + 100, + 206, + 6, + 486, + 102, + 206, + 6, + 486, + 102, + 206, + 6, + 486, + 102, + 206, + 6, + 486, + 102, + 206, + 6, + 484, + 102, + 208, + 6, + 484, + 102, + 208, + 6, + 484, + 102, + 208, + 6, + 484, + 102, + 208, + 6, + 484, + 102, + 208, + 6, + 484, + 102, + 208, + 6, + 482, + 102, + 210, + 6, + 482, + 102, + 210, + 6, + 480, + 104, + 210, + 6, + 480, + 104, + 210, + 6, + 480, + 102, + 212, + 6, + 480, + 102, + 212, + 6, + 478, + 104, + 212, + 6, + 478, + 104, + 212, + 6, + 478, + 102, + 214, + 6, + 478, + 102, + 214, + 6, + 478, + 102, + 214, + 6, + 478, + 102, + 214, + 6, + 476, + 104, + 214, + 6, + 476, + 104, + 214, + 6, + 476, + 102, + 216, + 6, + 476, + 102, + 216, + 6, + 474, + 104, + 216, + 6, + 474, + 104, + 216, + 6, + 474, + 102, + 218, + 6, + 474, + 102, + 218, + 6, + 472, + 104, + 218, + 6, + 472, + 104, + 218, + 6, + 472, + 102, + 220, + 6, + 472, + 102, + 220, + 6, + 472, + 102, + 220, + 6, + 472, + 102, + 220, + 6, + 472, + 102, + 220, + 6, + 472, + 102, + 220, + 6, + 470, + 102, + 222, + 6, + 470, + 102, + 222, + 6, + 468, + 104, + 222, + 6, + 468, + 104, + 222, + 6, + 468, + 102, + 224, + 6, + 468, + 102, + 224, + 6, + 466, + 104, + 224, + 6, + 466, + 104, + 224, + 6, + 466, + 102, + 226, + 6, + 466, + 102, + 226, + 6, + 466, + 102, + 226, + 6, + 466, + 102, + 226, + 6, + 466, + 102, + 226, + 6, + 466, + 102, + 226, + 6, + 464, + 102, + 228, + 6, + 464, + 102, + 228, + 6, + 466, + 100, + 228, + 6, + 466, + 100, + 228, + 6, + 466, + 100, + 228, + 6, + 466, + 100, + 228, + 6, + 466, + 100, + 228, + 6, + 466, + 100, + 228, + 6, + 464, + 100, + 230, + 6, + 464, + 100, + 230, + 6, + 464, + 100, + 230, + 6, + 464, + 100, + 230, + 6, + 464, + 100, + 230, + 6, + 464, + 100, + 230, + 6, + 464, + 98, + 232, + 6, + 464, + 98, + 232, + 6, + 462, + 98, + 234, + 6, + 462, + 98, + 234, + 6, + 460, + 100, + 234, + 6, + 460, + 100, + 234, + 6, + 460, + 98, + 236, + 6, + 460, + 98, + 236, + 6, + 458, + 100, + 238, + 4, + 458, + 100, + 238, + 4, + 458, + 98, + 240, + 4, + 458, + 98, + 240, + 4, + 458, + 98, + 238, + 6, + 458, + 98, + 238, + 6, + 458, + 96, + 240, + 6, + 458, + 96, + 240, + 6, + 460, + 94, + 240, + 6, + 460, + 94, + 240, + 6, + 462, + 92, + 240, + 6, + 462, + 92, + 240, + 6, + 466, + 86, + 242, + 6, + 466, + 86, + 242, + 6, + 468, + 82, + 244, + 6, + 468, + 82, + 244, + 6, + 472, + 78, + 244, + 6, + 472, + 78, + 244, + 6, + 476, + 72, + 246, + 6, + 476, + 72, + 246, + 6, + 480, + 68, + 246, + 6, + 480, + 68, + 246, + 6, + 484, + 64, + 246, + 6, + 484, + 64, + 246, + 6, + 486, + 60, + 248, + 6, + 486, + 60, + 248, + 6, + 488, + 58, + 248, + 6, + 488, + 58, + 248, + 6, + 492, + 54, + 248, + 6, + 492, + 54, + 248, + 6, + 494, + 50, + 250, + 6, + 494, + 50, + 250, + 6, + 498, + 46, + 250, + 6, + 498, + 46, + 250, + 6, + 502, + 42, + 250, + 6, + 502, + 42, + 250, + 6, + 506, + 38, + 250, + 6, + 506, + 38, + 250, + 6, + 510, + 32, + 252, + 6, + 510, + 32, + 252, + 6, + 514, + 26, + 256, + 4, + 514, + 26, + 256, + 4, + 516, + 22, + 258, + 4, + 516, + 22, + 258, + 4, + 518, + 20, + 258, + 4, + 518, + 20, + 258, + 4, + 520, + 18, + 258, + 4, + 520, + 18, + 258, + 4, + 524, + 12, + 260, + 4, + 524, + 12, + 260, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000029:0000", + "experimental_retained_index": 1, + "ism_score": 0.347816526889801, + "R": [ + [ + 0.4006269574165344, + 0.9131755232810974, + -0.07507491111755371 + ], + [ + 0.8822519779205322, + -0.4065478444099426, + -0.23690105974674225 + ], + [ + -0.2466612458229065, + 0.0286342091858387, + -0.9686678051948547 + ] + ], + "t": [ + -50.32697677612305, + -20.268789291381836, + 305.5406494140625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 886, + 462, + 238, + 144 + ], + "score": 0.39579975605010986, + "time": 0.0, + "segmentation": { + "counts": [ + 708545, + 6, + 794, + 6, + 792, + 14, + 786, + 14, + 786, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 778, + 28, + 772, + 28, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 760, + 44, + 756, + 44, + 750, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 712, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 22, + 778, + 22, + 782, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 122661 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000029:0001", + "experimental_retained_index": 0, + "ism_score": 0.40856748819351196, + "R": [ + [ + -0.4088146388530731, + 0.9115504026412964, + 0.046730976551771164 + ], + [ + -0.9016479849815369, + -0.41129636764526367, + 0.13324150443077087 + ], + [ + 0.14072181284427643, + 0.012366187758743763, + 0.9901334643363953 + ] + ], + "t": [ + 208.973388671875, + 63.57137680053711, + 325.841796875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000029/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000029/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000029:0001", + "Slide_holder:000029:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000029.png" + }, + { + "frame_id": 34, + "image_path": "/workspace/data/0008_/images/000034.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000034.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 0, + 0, + 502, + 346 + ], + "score": 0.07238359749317169, + "time": 0.0, + "segmentation": { + "counts": [ + 37, + 312, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 486, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 308, + 492, + 308, + 491, + 307, + 493, + 307, + 493, + 307, + 493, + 307, + 493, + 305, + 495, + 305, + 495, + 303, + 497, + 303, + 497, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 299, + 501, + 299, + 501, + 297, + 503, + 297, + 503, + 297, + 503, + 297, + 503, + 295, + 505, + 295, + 505, + 295, + 505, + 295, + 505, + 293, + 507, + 293, + 507, + 293, + 507, + 293, + 507, + 291, + 509, + 291, + 509, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 287, + 513, + 287, + 513, + 285, + 515, + 285, + 515, + 283, + 517, + 283, + 517, + 281, + 519, + 281, + 519, + 281, + 519, + 281, + 519, + 279, + 521, + 279, + 521, + 277, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 273, + 527, + 273, + 527, + 271, + 529, + 271, + 529, + 269, + 531, + 269, + 531, + 269, + 531, + 269, + 531, + 267, + 533, + 267, + 533, + 265, + 535, + 265, + 535, + 263, + 537, + 263, + 537, + 263, + 537, + 263, + 537, + 261, + 539, + 261, + 539, + 259, + 541, + 259, + 541, + 257, + 543, + 257, + 543, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 255, + 545, + 255, + 545, + 253, + 547, + 253, + 547, + 251, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 249, + 551, + 249, + 551, + 247, + 553, + 247, + 553, + 247, + 553, + 247, + 553, + 245, + 555, + 245, + 555, + 243, + 557, + 243, + 557, + 241, + 559, + 241, + 559, + 241, + 559, + 241, + 559, + 239, + 561, + 239, + 561, + 237, + 563, + 237, + 563, + 237, + 563, + 237, + 563, + 235, + 565, + 235, + 565, + 233, + 567, + 233, + 567, + 233, + 567, + 233, + 567, + 231, + 569, + 231, + 569, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 227, + 573, + 227, + 573, + 225, + 575, + 225, + 575, + 225, + 575, + 225, + 575, + 223, + 577, + 223, + 577, + 221, + 579, + 221, + 579, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 217, + 583, + 217, + 583, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 213, + 587, + 213, + 587, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 209, + 591, + 209, + 591, + 207, + 593, + 207, + 593, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 203, + 597, + 203, + 597, + 203, + 597, + 203, + 597, + 201, + 599, + 201, + 599, + 199, + 601, + 199, + 601, + 197, + 603, + 197, + 603, + 197, + 603, + 197, + 603, + 195, + 605, + 195, + 605, + 193, + 607, + 193, + 607, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 189, + 611, + 189, + 611, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 179, + 621, + 179, + 621, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 159, + 641, + 159, + 641, + 159, + 641, + 159, + 641, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 651, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 139, + 661, + 139, + 661, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 620795 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000034:0001", + "experimental_retained_index": 1, + "ism_score": 0.3925890028476715, + "R": [ + [ + 0.7130919694900513, + 0.44933271408081055, + 0.5378583669662476 + ], + [ + 0.12179695069789886, + -0.8353844285011292, + 0.536101222038269 + ], + [ + 0.6902000308036804, + -0.316752165555954, + -0.650417685508728 + ] + ], + "t": [ + -280.549560546875, + -161.67816162109375, + 406.5657958984375 + ] + }, + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 0, + 2, + 1278, + 794 + ], + "score": 0.02641458623111248, + "time": 0.0, + "segmentation": { + "counts": [ + 347, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 342, + 458, + 342, + 458, + 340, + 460, + 340, + 460, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 336, + 464, + 336, + 464, + 334, + 466, + 334, + 466, + 332, + 468, + 332, + 468, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 484, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 308, + 492, + 308, + 492, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 496, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 298, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 296, + 504, + 296, + 504, + 294, + 506, + 294, + 506, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 208, + 386, + 16, + 190, + 208, + 386, + 16, + 190, + 208, + 376, + 36, + 180, + 208, + 376, + 36, + 180, + 206, + 372, + 48, + 174, + 206, + 372, + 48, + 174, + 204, + 370, + 54, + 172, + 204, + 370, + 54, + 172, + 202, + 370, + 58, + 168, + 204, + 370, + 58, + 168, + 202, + 370, + 62, + 168, + 200, + 370, + 62, + 168, + 200, + 364, + 72, + 164, + 200, + 364, + 72, + 164, + 198, + 364, + 76, + 162, + 198, + 364, + 76, + 162, + 198, + 362, + 78, + 162, + 198, + 362, + 78, + 162, + 196, + 364, + 80, + 160, + 196, + 364, + 80, + 160, + 194, + 362, + 84, + 160, + 194, + 362, + 84, + 160, + 192, + 362, + 88, + 158, + 192, + 362, + 88, + 158, + 192, + 360, + 90, + 158, + 192, + 360, + 90, + 158, + 192, + 360, + 92, + 156, + 192, + 360, + 92, + 156, + 190, + 362, + 92, + 154, + 192, + 362, + 92, + 154, + 190, + 362, + 94, + 156, + 188, + 362, + 94, + 156, + 186, + 364, + 96, + 154, + 186, + 364, + 96, + 154, + 184, + 364, + 98, + 154, + 184, + 364, + 98, + 154, + 182, + 366, + 98, + 154, + 182, + 366, + 98, + 154, + 182, + 364, + 100, + 154, + 182, + 364, + 100, + 154, + 180, + 366, + 100, + 154, + 180, + 366, + 100, + 154, + 180, + 364, + 102, + 154, + 180, + 364, + 102, + 154, + 178, + 366, + 102, + 154, + 178, + 366, + 102, + 154, + 178, + 366, + 102, + 154, + 178, + 366, + 102, + 154, + 176, + 368, + 102, + 154, + 176, + 368, + 102, + 154, + 174, + 370, + 102, + 154, + 174, + 370, + 102, + 154, + 172, + 372, + 102, + 154, + 172, + 372, + 102, + 154, + 170, + 374, + 102, + 154, + 170, + 374, + 102, + 154, + 168, + 376, + 100, + 156, + 168, + 376, + 100, + 156, + 168, + 374, + 102, + 156, + 168, + 374, + 102, + 156, + 166, + 378, + 100, + 156, + 166, + 378, + 100, + 156, + 166, + 378, + 98, + 158, + 166, + 378, + 98, + 158, + 164, + 380, + 98, + 158, + 164, + 380, + 98, + 158, + 162, + 382, + 98, + 158, + 162, + 382, + 98, + 158, + 162, + 382, + 98, + 158, + 162, + 382, + 98, + 158, + 160, + 382, + 98, + 160, + 160, + 382, + 98, + 160, + 160, + 382, + 98, + 160, + 160, + 382, + 98, + 160, + 158, + 386, + 96, + 160, + 158, + 386, + 96, + 160, + 158, + 386, + 96, + 160, + 158, + 386, + 96, + 160, + 156, + 388, + 96, + 160, + 156, + 388, + 96, + 160, + 152, + 392, + 94, + 162, + 152, + 392, + 94, + 162, + 152, + 392, + 94, + 162, + 152, + 392, + 94, + 162, + 150, + 394, + 94, + 162, + 150, + 394, + 94, + 162, + 150, + 396, + 90, + 162, + 152, + 396, + 90, + 162, + 150, + 398, + 88, + 164, + 150, + 398, + 88, + 164, + 148, + 402, + 84, + 168, + 146, + 402, + 84, + 168, + 144, + 406, + 80, + 170, + 144, + 406, + 80, + 170, + 144, + 406, + 80, + 170, + 144, + 406, + 80, + 170, + 142, + 410, + 78, + 170, + 142, + 410, + 78, + 170, + 140, + 412, + 78, + 170, + 140, + 412, + 78, + 170, + 140, + 412, + 78, + 170, + 140, + 412, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 416, + 74, + 172, + 138, + 416, + 74, + 172, + 134, + 420, + 74, + 170, + 136, + 420, + 74, + 170, + 134, + 422, + 74, + 172, + 132, + 422, + 74, + 172, + 130, + 422, + 76, + 172, + 130, + 422, + 76, + 172, + 128, + 424, + 74, + 174, + 128, + 424, + 74, + 174, + 128, + 426, + 72, + 174, + 128, + 426, + 72, + 174, + 126, + 428, + 72, + 174, + 126, + 428, + 72, + 174, + 126, + 428, + 72, + 174, + 126, + 428, + 72, + 174, + 124, + 430, + 70, + 176, + 124, + 430, + 70, + 176, + 124, + 430, + 70, + 176, + 124, + 430, + 70, + 176, + 122, + 432, + 70, + 174, + 124, + 432, + 70, + 174, + 122, + 434, + 70, + 174, + 122, + 434, + 70, + 174, + 122, + 434, + 68, + 178, + 120, + 434, + 68, + 178, + 118, + 436, + 68, + 178, + 118, + 436, + 68, + 178, + 118, + 328, + 10, + 98, + 68, + 178, + 118, + 328, + 10, + 98, + 68, + 178, + 116, + 326, + 14, + 98, + 68, + 178, + 116, + 326, + 14, + 98, + 68, + 178, + 114, + 324, + 18, + 98, + 68, + 176, + 116, + 324, + 18, + 98, + 68, + 176, + 114, + 322, + 24, + 96, + 68, + 178, + 112, + 322, + 24, + 96, + 68, + 178, + 110, + 320, + 28, + 96, + 66, + 180, + 110, + 320, + 28, + 96, + 66, + 180, + 110, + 314, + 36, + 94, + 66, + 180, + 110, + 314, + 36, + 94, + 66, + 180, + 110, + 312, + 38, + 94, + 66, + 178, + 112, + 312, + 38, + 94, + 66, + 178, + 110, + 310, + 42, + 94, + 66, + 178, + 110, + 310, + 42, + 94, + 66, + 178, + 108, + 308, + 46, + 94, + 66, + 180, + 106, + 308, + 46, + 94, + 66, + 180, + 104, + 306, + 52, + 92, + 66, + 180, + 104, + 306, + 52, + 92, + 66, + 180, + 102, + 302, + 60, + 90, + 66, + 180, + 102, + 302, + 60, + 90, + 66, + 180, + 102, + 298, + 64, + 90, + 66, + 180, + 102, + 298, + 64, + 90, + 66, + 180, + 100, + 296, + 70, + 88, + 66, + 178, + 102, + 296, + 70, + 88, + 66, + 178, + 100, + 266, + 2, + 26, + 74, + 88, + 66, + 180, + 98, + 266, + 2, + 26, + 74, + 88, + 66, + 180, + 98, + 266, + 4, + 18, + 82, + 86, + 64, + 182, + 98, + 266, + 4, + 18, + 82, + 86, + 64, + 182, + 98, + 266, + 6, + 12, + 86, + 86, + 64, + 182, + 98, + 266, + 6, + 12, + 86, + 86, + 64, + 182, + 96, + 268, + 8, + 8, + 88, + 86, + 64, + 180, + 98, + 268, + 8, + 8, + 88, + 86, + 64, + 180, + 96, + 270, + 106, + 84, + 64, + 180, + 96, + 270, + 106, + 84, + 64, + 180, + 92, + 274, + 106, + 84, + 64, + 182, + 90, + 274, + 106, + 84, + 64, + 182, + 88, + 274, + 108, + 84, + 64, + 182, + 88, + 274, + 108, + 84, + 64, + 182, + 88, + 274, + 110, + 82, + 64, + 182, + 88, + 274, + 110, + 82, + 64, + 182, + 88, + 270, + 114, + 82, + 64, + 182, + 88, + 270, + 114, + 82, + 64, + 182, + 86, + 268, + 118, + 82, + 64, + 182, + 86, + 268, + 118, + 82, + 64, + 182, + 84, + 266, + 124, + 80, + 64, + 182, + 84, + 266, + 124, + 80, + 64, + 182, + 84, + 260, + 132, + 78, + 62, + 184, + 84, + 260, + 132, + 78, + 62, + 184, + 82, + 260, + 136, + 78, + 60, + 48, + 18, + 118, + 82, + 260, + 136, + 78, + 60, + 48, + 18, + 118, + 80, + 258, + 140, + 78, + 60, + 46, + 26, + 112, + 80, + 258, + 140, + 78, + 60, + 46, + 26, + 112, + 80, + 256, + 142, + 78, + 58, + 48, + 28, + 110, + 80, + 256, + 142, + 78, + 58, + 48, + 28, + 110, + 78, + 254, + 146, + 78, + 58, + 46, + 30, + 110, + 78, + 254, + 146, + 78, + 58, + 46, + 30, + 110, + 78, + 248, + 152, + 80, + 54, + 48, + 32, + 108, + 78, + 248, + 152, + 80, + 54, + 48, + 32, + 108, + 76, + 246, + 158, + 78, + 54, + 46, + 42, + 100, + 76, + 246, + 158, + 78, + 54, + 46, + 42, + 100, + 74, + 244, + 162, + 78, + 54, + 46, + 44, + 4, + 2, + 92, + 74, + 244, + 162, + 78, + 54, + 46, + 44, + 4, + 2, + 92, + 72, + 244, + 164, + 78, + 54, + 44, + 54, + 90, + 72, + 244, + 164, + 78, + 54, + 44, + 54, + 90, + 70, + 244, + 166, + 78, + 52, + 46, + 58, + 86, + 70, + 244, + 166, + 78, + 52, + 46, + 58, + 86, + 70, + 244, + 168, + 78, + 50, + 44, + 66, + 80, + 70, + 244, + 168, + 78, + 50, + 44, + 66, + 80, + 68, + 246, + 168, + 78, + 50, + 44, + 74, + 72, + 68, + 246, + 168, + 78, + 50, + 44, + 74, + 72, + 68, + 246, + 168, + 78, + 48, + 46, + 78, + 68, + 68, + 246, + 168, + 78, + 48, + 46, + 78, + 68, + 66, + 248, + 168, + 80, + 44, + 46, + 90, + 58, + 66, + 248, + 168, + 80, + 44, + 46, + 90, + 58, + 64, + 252, + 168, + 78, + 40, + 50, + 96, + 52, + 64, + 252, + 168, + 78, + 40, + 50, + 96, + 52, + 64, + 252, + 168, + 80, + 38, + 50, + 104, + 44, + 64, + 252, + 168, + 80, + 38, + 50, + 104, + 44, + 62, + 256, + 168, + 82, + 32, + 50, + 120, + 30, + 62, + 256, + 168, + 82, + 32, + 50, + 120, + 30, + 60, + 258, + 168, + 84, + 26, + 54, + 126, + 24, + 60, + 258, + 168, + 84, + 26, + 54, + 126, + 24, + 60, + 260, + 166, + 90, + 14, + 60, + 132, + 18, + 60, + 260, + 166, + 90, + 14, + 60, + 132, + 18, + 58, + 262, + 166, + 164, + 138, + 12, + 58, + 262, + 166, + 164, + 138, + 12, + 58, + 262, + 168, + 162, + 208, + 262, + 168, + 162, + 206, + 264, + 168, + 162, + 206, + 264, + 168, + 162, + 204, + 268, + 166, + 162, + 204, + 268, + 166, + 162, + 202, + 270, + 166, + 162, + 202, + 270, + 166, + 162, + 200, + 270, + 168, + 166, + 196, + 270, + 168, + 166, + 194, + 268, + 172, + 172, + 12, + 8, + 168, + 268, + 172, + 172, + 12, + 8, + 168, + 262, + 178, + 178, + 2, + 18, + 162, + 262, + 178, + 178, + 2, + 18, + 162, + 256, + 184, + 204, + 156, + 256, + 184, + 204, + 152, + 258, + 184, + 212, + 146, + 258, + 184, + 212, + 146, + 256, + 182, + 224, + 138, + 256, + 182, + 224, + 136, + 252, + 184, + 238, + 126, + 252, + 184, + 238, + 126, + 252, + 182, + 246, + 120, + 252, + 182, + 246, + 118, + 252, + 180, + 256, + 112, + 252, + 180, + 256, + 112, + 250, + 174, + 272, + 104, + 250, + 174, + 272, + 102, + 252, + 170, + 284, + 94, + 252, + 170, + 284, + 94, + 248, + 170, + 296, + 86, + 248, + 170, + 296, + 82, + 250, + 166, + 306, + 78, + 250, + 166, + 306, + 78, + 248, + 166, + 314, + 72, + 248, + 166, + 314, + 70, + 250, + 158, + 328, + 64, + 250, + 158, + 328, + 62, + 252, + 156, + 342, + 50, + 252, + 156, + 342, + 50, + 250, + 150, + 356, + 44, + 250, + 150, + 356, + 42, + 252, + 148, + 362, + 38, + 252, + 148, + 362, + 38, + 252, + 142, + 374, + 32, + 252, + 142, + 374, + 28, + 254, + 140, + 380, + 26, + 254, + 140, + 380, + 26, + 254, + 134, + 388, + 24, + 254, + 134, + 388, + 22, + 256, + 132, + 390, + 22, + 256, + 132, + 390, + 20, + 258, + 128, + 394, + 20, + 258, + 128, + 394, + 20, + 258, + 124, + 398, + 20, + 258, + 124, + 398, + 18, + 260, + 120, + 402, + 18, + 260, + 120, + 402, + 18, + 260, + 114, + 408, + 18, + 260, + 114, + 408, + 16, + 262, + 110, + 412, + 16, + 262, + 110, + 412, + 14, + 264, + 108, + 414, + 14, + 264, + 108, + 414, + 12, + 266, + 106, + 416, + 12, + 266, + 106, + 416, + 12, + 266, + 106, + 416, + 12, + 266, + 106, + 416, + 10, + 268, + 106, + 416, + 10, + 268, + 106, + 416, + 8, + 272, + 106, + 224, + 52, + 8, + 8, + 122, + 8, + 272, + 106, + 224, + 52, + 8, + 8, + 122, + 8, + 272, + 106, + 112, + 188, + 114, + 8, + 272, + 106, + 112, + 188, + 114, + 6, + 274, + 108, + 74, + 6, + 8, + 214, + 110, + 6, + 274, + 108, + 74, + 6, + 8, + 214, + 110, + 6, + 274, + 108, + 70, + 236, + 106, + 6, + 274, + 108, + 70, + 236, + 106, + 4, + 278, + 108, + 64, + 242, + 104, + 4, + 278, + 108, + 64, + 242, + 104, + 4, + 278, + 110, + 60, + 244, + 104, + 4, + 278, + 110, + 60, + 244, + 104, + 4, + 280, + 108, + 58, + 246, + 104, + 4, + 280, + 108, + 58, + 246, + 104, + 4, + 280, + 110, + 56, + 246, + 104, + 4, + 280, + 110, + 56, + 246, + 104, + 4, + 284, + 108, + 52, + 248, + 102, + 6, + 284, + 108, + 52, + 248, + 102, + 4, + 288, + 108, + 50, + 248, + 104, + 2, + 288, + 108, + 50, + 248, + 104, + 2, + 290, + 108, + 48, + 248, + 104, + 2, + 290, + 108, + 48, + 248, + 104, + 2, + 292, + 106, + 48, + 248, + 104, + 2, + 292, + 106, + 48, + 248, + 104, + 2, + 296, + 104, + 46, + 248, + 104, + 2, + 296, + 104, + 46, + 248, + 104, + 2, + 298, + 104, + 44, + 248, + 104, + 2, + 298, + 104, + 44, + 248, + 104, + 2, + 300, + 104, + 42, + 248, + 104, + 2, + 300, + 104, + 42, + 248, + 104, + 2, + 302, + 104, + 38, + 250, + 104, + 2, + 302, + 104, + 38, + 250, + 104, + 2, + 308, + 100, + 36, + 250, + 104, + 2, + 308, + 100, + 36, + 250, + 104, + 4, + 308, + 98, + 36, + 250, + 102, + 6, + 308, + 98, + 36, + 250, + 102, + 6, + 314, + 94, + 34, + 250, + 102, + 6, + 314, + 94, + 34, + 250, + 102, + 6, + 322, + 88, + 32, + 250, + 104, + 4, + 322, + 88, + 32, + 250, + 104, + 2, + 328, + 86, + 30, + 250, + 104, + 2, + 328, + 86, + 30, + 250, + 104, + 2, + 330, + 86, + 28, + 250, + 104, + 2, + 330, + 86, + 28, + 250, + 104, + 4, + 330, + 84, + 28, + 250, + 104, + 4, + 330, + 84, + 28, + 250, + 104, + 4, + 334, + 80, + 28, + 250, + 104, + 4, + 334, + 80, + 28, + 250, + 104, + 4, + 336, + 80, + 26, + 250, + 104, + 4, + 336, + 80, + 26, + 250, + 104, + 4, + 338, + 78, + 26, + 250, + 104, + 4, + 338, + 78, + 26, + 250, + 104, + 4, + 340, + 76, + 26, + 250, + 104, + 4, + 340, + 76, + 26, + 250, + 104, + 4, + 344, + 72, + 26, + 252, + 102, + 4, + 344, + 72, + 26, + 252, + 102, + 4, + 346, + 70, + 26, + 252, + 102, + 4, + 346, + 70, + 26, + 252, + 102, + 4, + 350, + 66, + 26, + 252, + 102, + 4, + 350, + 66, + 26, + 252, + 102, + 4, + 354, + 62, + 26, + 256, + 98, + 4, + 354, + 62, + 26, + 256, + 98, + 4, + 356, + 58, + 28, + 274, + 80, + 4, + 356, + 58, + 28, + 274, + 80, + 4, + 358, + 56, + 28, + 294, + 60, + 4, + 358, + 56, + 28, + 294, + 60, + 4, + 360, + 54, + 28, + 324, + 30, + 4, + 360, + 54, + 28, + 324, + 30, + 4, + 364, + 46, + 32, + 342, + 10, + 6, + 364, + 46, + 32, + 342, + 10, + 6, + 366, + 42, + 34, + 358, + 366, + 42, + 34, + 358, + 370, + 38, + 32, + 360, + 370, + 38, + 32, + 360, + 372, + 34, + 36, + 358, + 372, + 34, + 36, + 358, + 376, + 28, + 38, + 358, + 376, + 28, + 38, + 358, + 380, + 18, + 42, + 360, + 380, + 18, + 42, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 270, + 8, + 160, + 254, + 22, + 86, + 270, + 8, + 160, + 254, + 22, + 86, + 268, + 12, + 158, + 252, + 50, + 60, + 268, + 12, + 158, + 252, + 50, + 60, + 268, + 16, + 154, + 252, + 68, + 42, + 268, + 16, + 154, + 252, + 68, + 42, + 266, + 22, + 150, + 252, + 90, + 20, + 266, + 22, + 150, + 252, + 90, + 20, + 266, + 28, + 144, + 252, + 104, + 6, + 266, + 28, + 144, + 252, + 104, + 6, + 264, + 34, + 140, + 252, + 106, + 4, + 264, + 34, + 140, + 252, + 106, + 4, + 262, + 40, + 134, + 254, + 106, + 4, + 262, + 40, + 134, + 254, + 106, + 4, + 260, + 48, + 128, + 254, + 106, + 4, + 260, + 48, + 128, + 254, + 106, + 4, + 260, + 54, + 122, + 254, + 106, + 4, + 260, + 54, + 122, + 254, + 106, + 4, + 260, + 60, + 116, + 254, + 106, + 4, + 260, + 60, + 116, + 254, + 106, + 4, + 258, + 66, + 112, + 254, + 106, + 4, + 258, + 66, + 112, + 254, + 106, + 4, + 258, + 68, + 110, + 254, + 106, + 4, + 258, + 68, + 110, + 254, + 106, + 4, + 256, + 72, + 108, + 254, + 106, + 4, + 256, + 72, + 108, + 254, + 106, + 4, + 256, + 78, + 102, + 254, + 106, + 4, + 256, + 78, + 102, + 254, + 106, + 4, + 256, + 84, + 96, + 254, + 106, + 4, + 256, + 84, + 96, + 254, + 106, + 4, + 254, + 90, + 92, + 254, + 106, + 4, + 254, + 90, + 92, + 254, + 106, + 4, + 254, + 92, + 90, + 254, + 106, + 4, + 254, + 92, + 90, + 254, + 106, + 4, + 252, + 96, + 88, + 254, + 106, + 4, + 252, + 96, + 88, + 254, + 106, + 4, + 250, + 104, + 82, + 254, + 106, + 4, + 250, + 104, + 82, + 254, + 106, + 4, + 248, + 110, + 78, + 254, + 106, + 4, + 248, + 110, + 78, + 254, + 106, + 4, + 248, + 114, + 74, + 254, + 106, + 4, + 248, + 114, + 74, + 254, + 106, + 4, + 248, + 116, + 72, + 254, + 106, + 4, + 248, + 116, + 72, + 254, + 106, + 4, + 246, + 122, + 68, + 254, + 106, + 4, + 246, + 122, + 68, + 254, + 106, + 4, + 244, + 128, + 64, + 254, + 106, + 4, + 244, + 128, + 64, + 254, + 106, + 4, + 244, + 132, + 60, + 256, + 104, + 4, + 244, + 132, + 60, + 256, + 104, + 4, + 242, + 138, + 56, + 256, + 104, + 4, + 242, + 138, + 56, + 256, + 104, + 4, + 240, + 144, + 52, + 256, + 104, + 4, + 240, + 144, + 52, + 256, + 104, + 4, + 240, + 146, + 52, + 254, + 102, + 6, + 240, + 146, + 52, + 254, + 102, + 6, + 240, + 152, + 48, + 252, + 102, + 6, + 240, + 152, + 48, + 252, + 102, + 6, + 238, + 158, + 76, + 218, + 102, + 8, + 238, + 158, + 76, + 218, + 102, + 8, + 238, + 162, + 132, + 6, + 4, + 148, + 100, + 10, + 238, + 162, + 132, + 6, + 4, + 148, + 100, + 10, + 238, + 164, + 164, + 124, + 96, + 14, + 238, + 164, + 164, + 124, + 96, + 14, + 236, + 170, + 194, + 90, + 92, + 18, + 236, + 170, + 194, + 90, + 92, + 18, + 236, + 174, + 220, + 58, + 90, + 22, + 236, + 174, + 220, + 58, + 90, + 22, + 234, + 180, + 254, + 14, + 92, + 26, + 234, + 180, + 254, + 14, + 92, + 26, + 234, + 184, + 352, + 30, + 234, + 184, + 352, + 30, + 232, + 188, + 346, + 34, + 232, + 188, + 346, + 34, + 232, + 192, + 338, + 38, + 232, + 192, + 338, + 38, + 230, + 198, + 328, + 44, + 230, + 198, + 328, + 44, + 228, + 206, + 318, + 48, + 228, + 206, + 318, + 48, + 228, + 210, + 310, + 52, + 228, + 210, + 310, + 52, + 226, + 212, + 306, + 56, + 226, + 212, + 306, + 56, + 226, + 216, + 298, + 60, + 226, + 216, + 298, + 60, + 226, + 222, + 286, + 66, + 226, + 222, + 286, + 66, + 224, + 228, + 280, + 68, + 224, + 228, + 280, + 68, + 224, + 232, + 272, + 72, + 224, + 232, + 272, + 72, + 222, + 236, + 266, + 76, + 222, + 236, + 266, + 76, + 220, + 244, + 256, + 80, + 220, + 244, + 256, + 80, + 220, + 248, + 246, + 86, + 220, + 248, + 246, + 86, + 218, + 254, + 240, + 88, + 218, + 254, + 240, + 88, + 218, + 258, + 232, + 92, + 218, + 258, + 232, + 92, + 218, + 260, + 228, + 94, + 218, + 260, + 228, + 94, + 216, + 266, + 220, + 98, + 216, + 266, + 220, + 98, + 214, + 274, + 208, + 104, + 214, + 274, + 208, + 104, + 214, + 278, + 202, + 106, + 214, + 278, + 202, + 106, + 214, + 282, + 194, + 110, + 214, + 282, + 194, + 110, + 212, + 286, + 188, + 114, + 212, + 286, + 188, + 114, + 178, + 2, + 32, + 290, + 180, + 118, + 178, + 2, + 32, + 290, + 180, + 118, + 174, + 8, + 28, + 298, + 168, + 124, + 174, + 8, + 28, + 298, + 168, + 124, + 172, + 16, + 20, + 304, + 160, + 128, + 172, + 16, + 20, + 304, + 160, + 128, + 170, + 28, + 8, + 310, + 154, + 130, + 170, + 28, + 8, + 310, + 154, + 130, + 168, + 350, + 148, + 134, + 168, + 350, + 148, + 134, + 168, + 354, + 138, + 140, + 168, + 354, + 138, + 140, + 168, + 360, + 132, + 140, + 168, + 360, + 132, + 140, + 168, + 364, + 126, + 134, + 4, + 4, + 168, + 364, + 126, + 134, + 4, + 4, + 170, + 366, + 124, + 122, + 14, + 4, + 170, + 366, + 124, + 122, + 14, + 4, + 170, + 368, + 122, + 118, + 18, + 4, + 170, + 368, + 122, + 118, + 18, + 4, + 170, + 374, + 118, + 114, + 20, + 4, + 170, + 374, + 118, + 114, + 20, + 4, + 170, + 378, + 114, + 110, + 24, + 4, + 170, + 378, + 114, + 110, + 24, + 4, + 170, + 382, + 112, + 104, + 28, + 4, + 170, + 382, + 112, + 104, + 28, + 4, + 170, + 386, + 110, + 96, + 34, + 4, + 170, + 386, + 110, + 96, + 34, + 4, + 170, + 388, + 108, + 92, + 38, + 4, + 170, + 388, + 108, + 92, + 38, + 4, + 172, + 390, + 106, + 88, + 40, + 4, + 172, + 390, + 106, + 88, + 40, + 4, + 174, + 394, + 100, + 84, + 44, + 4, + 174, + 394, + 100, + 84, + 44, + 4, + 174, + 398, + 98, + 78, + 48, + 4, + 174, + 398, + 98, + 78, + 48, + 4, + 176, + 402, + 92, + 72, + 54, + 4, + 176, + 402, + 92, + 72, + 54, + 4, + 178, + 402, + 92, + 66, + 58, + 4, + 178, + 402, + 92, + 66, + 58, + 4, + 182, + 402, + 90, + 58, + 64, + 4, + 182, + 402, + 90, + 58, + 64, + 4, + 186, + 400, + 88, + 54, + 66, + 6, + 186, + 400, + 88, + 54, + 66, + 6, + 188, + 400, + 88, + 50, + 68, + 6, + 188, + 400, + 88, + 50, + 68, + 6, + 188, + 402, + 86, + 44, + 76, + 4, + 188, + 402, + 86, + 44, + 76, + 4, + 190, + 400, + 88, + 36, + 82, + 4, + 190, + 400, + 88, + 36, + 82, + 4, + 192, + 400, + 86, + 32, + 86, + 4, + 192, + 400, + 86, + 32, + 86, + 4, + 196, + 398, + 86, + 26, + 90, + 4, + 196, + 398, + 86, + 26, + 90, + 4, + 198, + 396, + 88, + 20, + 94, + 4, + 198, + 396, + 88, + 20, + 94, + 4, + 198, + 396, + 90, + 14, + 98, + 4, + 198, + 396, + 90, + 14, + 98, + 4, + 200, + 394, + 90, + 10, + 102, + 4, + 200, + 394, + 90, + 10, + 102, + 4, + 206, + 386, + 204, + 4, + 206, + 386, + 204, + 4, + 208, + 384, + 204, + 4, + 208, + 384, + 204, + 4, + 212, + 378, + 206, + 4, + 212, + 378, + 206, + 4, + 214, + 376, + 206, + 4, + 214, + 376, + 206, + 4, + 216, + 372, + 208, + 4, + 216, + 372, + 208, + 4, + 220, + 368, + 208, + 4, + 220, + 368, + 208, + 4, + 226, + 360, + 210, + 4, + 226, + 360, + 210, + 4, + 228, + 358, + 210, + 4, + 228, + 358, + 210, + 4, + 232, + 354, + 210, + 4, + 232, + 354, + 210, + 4, + 234, + 350, + 206, + 10, + 234, + 350, + 206, + 10, + 236, + 348, + 176, + 40, + 236, + 348, + 176, + 40, + 238, + 344, + 170, + 48, + 238, + 344, + 170, + 48, + 246, + 336, + 170, + 48, + 246, + 336, + 170, + 48, + 248, + 332, + 172, + 48, + 248, + 332, + 172, + 48, + 250, + 330, + 172, + 48, + 250, + 330, + 172, + 48, + 254, + 324, + 174, + 48, + 254, + 324, + 174, + 48, + 256, + 322, + 174, + 48, + 256, + 322, + 174, + 48, + 260, + 316, + 176, + 48, + 260, + 316, + 176, + 48, + 266, + 310, + 178, + 46, + 266, + 310, + 178, + 46, + 266, + 308, + 180, + 46, + 266, + 308, + 180, + 46, + 268, + 306, + 180, + 46, + 268, + 306, + 180, + 46, + 274, + 298, + 182, + 46, + 274, + 298, + 182, + 46, + 276, + 296, + 182, + 46, + 276, + 296, + 182, + 46, + 278, + 292, + 184, + 46, + 278, + 292, + 184, + 46, + 280, + 288, + 188, + 44, + 280, + 288, + 188, + 44, + 286, + 282, + 188, + 44, + 286, + 282, + 188, + 44, + 288, + 278, + 192, + 42, + 288, + 278, + 192, + 42, + 290, + 276, + 192, + 42, + 290, + 276, + 192, + 42, + 292, + 274, + 192, + 42, + 292, + 274, + 192, + 42, + 294, + 270, + 76, + 12, + 106, + 42, + 294, + 270, + 76, + 12, + 106, + 42, + 294, + 270, + 72, + 20, + 102, + 42, + 294, + 270, + 72, + 20, + 102, + 42, + 296, + 266, + 70, + 24, + 102, + 42, + 296, + 266, + 70, + 24, + 102, + 42, + 300, + 262, + 68, + 28, + 102, + 40, + 300, + 262, + 68, + 28, + 102, + 40, + 306, + 254, + 68, + 32, + 100, + 40, + 306, + 254, + 68, + 32, + 100, + 40, + 312, + 248, + 68, + 32, + 100, + 40, + 312, + 248, + 68, + 32, + 100, + 40, + 316, + 242, + 68, + 34, + 100, + 40, + 316, + 242, + 68, + 34, + 100, + 40, + 318, + 240, + 68, + 34, + 100, + 40, + 318, + 240, + 68, + 34, + 100, + 40, + 326, + 230, + 70, + 34, + 102, + 38, + 326, + 230, + 70, + 34, + 102, + 38, + 328, + 228, + 68, + 36, + 102, + 38, + 328, + 228, + 68, + 36, + 102, + 38, + 330, + 226, + 68, + 36, + 102, + 38, + 330, + 226, + 68, + 36, + 102, + 38, + 332, + 222, + 70, + 36, + 102, + 38, + 332, + 222, + 70, + 36, + 102, + 38, + 336, + 216, + 72, + 36, + 104, + 36, + 336, + 216, + 72, + 36, + 104, + 36, + 338, + 214, + 72, + 36, + 104, + 36, + 338, + 214, + 72, + 36, + 104, + 36, + 340, + 210, + 74, + 36, + 104, + 36, + 340, + 210, + 74, + 36, + 104, + 36, + 344, + 206, + 74, + 36, + 104, + 36, + 344, + 206, + 74, + 36, + 104, + 36, + 348, + 200, + 78, + 34, + 104, + 36, + 348, + 200, + 78, + 34, + 104, + 36, + 352, + 194, + 80, + 32, + 108, + 34, + 352, + 194, + 80, + 32, + 108, + 34, + 356, + 190, + 82, + 30, + 108, + 34, + 356, + 190, + 82, + 30, + 108, + 34, + 358, + 188, + 90, + 22, + 108, + 34, + 358, + 188, + 90, + 22, + 108, + 34, + 360, + 186, + 96, + 14, + 110, + 34, + 360, + 186, + 96, + 14, + 110, + 34, + 362, + 182, + 102, + 8, + 114, + 32, + 362, + 182, + 102, + 8, + 114, + 32, + 366, + 176, + 226, + 32, + 366, + 176, + 226, + 32, + 370, + 172, + 226, + 32, + 370, + 172, + 226, + 32, + 372, + 168, + 228, + 32, + 372, + 168, + 228, + 32, + 374, + 166, + 228, + 32, + 374, + 166, + 228, + 32, + 378, + 160, + 232, + 30, + 378, + 160, + 232, + 30, + 382, + 156, + 232, + 30, + 382, + 156, + 232, + 30, + 386, + 150, + 234, + 30, + 386, + 150, + 234, + 30, + 390, + 146, + 234, + 30, + 390, + 146, + 234, + 30, + 392, + 144, + 234, + 30, + 392, + 144, + 234, + 30, + 394, + 140, + 236, + 30, + 394, + 140, + 236, + 30, + 396, + 138, + 238, + 28, + 396, + 138, + 238, + 28, + 400, + 132, + 240, + 28, + 400, + 132, + 240, + 28, + 404, + 126, + 242, + 28, + 404, + 126, + 242, + 28, + 406, + 124, + 242, + 28, + 406, + 124, + 242, + 28, + 410, + 118, + 244, + 28, + 410, + 118, + 244, + 28, + 414, + 114, + 244, + 28, + 414, + 114, + 244, + 28, + 416, + 110, + 248, + 26, + 416, + 110, + 248, + 26, + 418, + 108, + 248, + 26, + 418, + 108, + 248, + 26, + 420, + 106, + 248, + 26, + 420, + 106, + 248, + 26, + 424, + 100, + 250, + 26, + 424, + 100, + 250, + 26, + 428, + 96, + 250, + 26, + 428, + 96, + 250, + 26, + 430, + 92, + 252, + 26, + 430, + 92, + 252, + 26, + 434, + 88, + 252, + 26, + 434, + 88, + 252, + 26, + 436, + 84, + 256, + 24, + 436, + 84, + 256, + 24, + 440, + 80, + 256, + 24, + 440, + 80, + 256, + 24, + 444, + 74, + 258, + 24, + 444, + 74, + 258, + 24, + 448, + 68, + 262, + 22, + 448, + 68, + 262, + 22, + 450, + 66, + 262, + 22, + 450, + 66, + 262, + 22, + 452, + 62, + 264, + 22, + 452, + 62, + 264, + 22, + 456, + 58, + 264, + 22, + 456, + 58, + 264, + 22, + 458, + 54, + 266, + 22, + 458, + 54, + 266, + 22, + 462, + 50, + 266, + 22, + 462, + 50, + 266, + 22, + 466, + 44, + 270, + 20, + 466, + 44, + 270, + 20, + 468, + 40, + 272, + 20, + 468, + 40, + 272, + 20, + 472, + 36, + 272, + 20, + 472, + 36, + 272, + 20, + 476, + 30, + 274, + 20, + 476, + 30, + 274, + 20, + 478, + 28, + 274, + 20, + 478, + 28, + 274, + 20, + 480, + 26, + 274, + 20, + 480, + 26, + 274, + 20, + 484, + 20, + 276, + 20, + 484, + 20, + 276, + 20, + 486, + 18, + 278, + 18, + 486, + 18, + 278, + 18, + 490, + 10, + 282, + 18, + 490, + 10, + 282, + 18, + 496, + 2, + 284, + 18, + 496, + 2, + 284, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 3 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000034:0000", + "experimental_retained_index": 2, + "ism_score": 0.3675072491168976, + "R": [ + [ + 0.7535504102706909, + -0.2801102101802826, + 0.5950438976287842 + ], + [ + -0.6504859328269958, + -0.18552342057228088, + 0.736430287361145 + ], + [ + -0.09587252885103226, + -0.9418851137161255, + -0.32188042998313904 + ] + ], + "t": [ + -33.940006256103516, + -18.072954177856445, + 326.6071472167969 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 0, + 0, + 502, + 346 + ], + "score": 0.07238359749317169, + "time": 0.0, + "segmentation": { + "counts": [ + 37, + 312, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 486, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 486, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 308, + 492, + 308, + 491, + 307, + 493, + 307, + 493, + 307, + 493, + 307, + 493, + 305, + 495, + 305, + 495, + 303, + 497, + 303, + 497, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 299, + 501, + 299, + 501, + 297, + 503, + 297, + 503, + 297, + 503, + 297, + 503, + 295, + 505, + 295, + 505, + 295, + 505, + 295, + 505, + 293, + 507, + 293, + 507, + 293, + 507, + 293, + 507, + 291, + 509, + 291, + 509, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 287, + 513, + 287, + 513, + 285, + 515, + 285, + 515, + 283, + 517, + 283, + 517, + 281, + 519, + 281, + 519, + 281, + 519, + 281, + 519, + 279, + 521, + 279, + 521, + 277, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 273, + 527, + 273, + 527, + 271, + 529, + 271, + 529, + 269, + 531, + 269, + 531, + 269, + 531, + 269, + 531, + 267, + 533, + 267, + 533, + 265, + 535, + 265, + 535, + 263, + 537, + 263, + 537, + 263, + 537, + 263, + 537, + 261, + 539, + 261, + 539, + 259, + 541, + 259, + 541, + 257, + 543, + 257, + 543, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 255, + 545, + 255, + 545, + 253, + 547, + 253, + 547, + 251, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 249, + 551, + 249, + 551, + 247, + 553, + 247, + 553, + 247, + 553, + 247, + 553, + 245, + 555, + 245, + 555, + 243, + 557, + 243, + 557, + 241, + 559, + 241, + 559, + 241, + 559, + 241, + 559, + 239, + 561, + 239, + 561, + 237, + 563, + 237, + 563, + 237, + 563, + 237, + 563, + 235, + 565, + 235, + 565, + 233, + 567, + 233, + 567, + 233, + 567, + 233, + 567, + 231, + 569, + 231, + 569, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 227, + 573, + 227, + 573, + 225, + 575, + 225, + 575, + 225, + 575, + 225, + 575, + 223, + 577, + 223, + 577, + 221, + 579, + 221, + 579, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 217, + 583, + 217, + 583, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 213, + 587, + 213, + 587, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 209, + 591, + 209, + 591, + 207, + 593, + 207, + 593, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 203, + 597, + 203, + 597, + 203, + 597, + 203, + 597, + 201, + 599, + 201, + 599, + 199, + 601, + 199, + 601, + 197, + 603, + 197, + 603, + 197, + 603, + 197, + 603, + 195, + 605, + 195, + 605, + 193, + 607, + 193, + 607, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 189, + 611, + 189, + 611, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 179, + 621, + 179, + 621, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 159, + 641, + 159, + 641, + 159, + 641, + 159, + 641, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 651, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 139, + 661, + 139, + 661, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 620795 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000034:0001", + "experimental_retained_index": 1, + "ism_score": 0.3925890028476715, + "R": [ + [ + 0.7130919694900513, + 0.44933271408081055, + 0.5378583669662476 + ], + [ + 0.12179695069789886, + -0.8353844285011292, + 0.536101222038269 + ], + [ + 0.6902000308036804, + -0.316752165555954, + -0.650417685508728 + ] + ], + "t": [ + -280.549560546875, + -161.67816162109375, + 406.5657958984375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000034/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000034/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000034:0001", + "Slide_holder:000034:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000034.png" + }, + { + "frame_id": 36, + "image_path": "/workspace/data/0008_/images/000036.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000036.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 0, + 0, + 526, + 188 + ], + "score": 0.15620343387126923, + "time": 0.0, + "segmentation": { + "counts": [ + 0, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 189, + 611, + 189, + 611, + 189, + 611, + 189, + 611, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 159, + 641, + 159, + 641, + 159, + 641, + 159, + 641, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 651, + 149, + 651, + 149, + 651, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 601597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000036:0001", + "experimental_retained_index": 0, + "ism_score": 0.45440998673439026, + "R": [ + [ + 0.3377718925476074, + -0.10420401394367218, + 0.9351908564567566 + ], + [ + -0.7994962930679321, + -0.5566814541816711, + 0.22665198147296906 + ], + [ + 0.4969775080680847, + -0.8241814374923706, + -0.27133098244667053 + ] + ], + "t": [ + -338.20751953125, + -226.6738739013672, + 432.2687683105469 + ] + }, + { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 0, + 4, + 1278, + 792 + ], + "score": 0.11017925292253494, + "time": 0.0, + "segmentation": { + "counts": [ + 193, + 604, + 196, + 604, + 196, + 604, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 268, + 22, + 364, + 146, + 268, + 22, + 364, + 146, + 262, + 32, + 360, + 146, + 262, + 32, + 360, + 144, + 260, + 38, + 358, + 144, + 260, + 38, + 358, + 144, + 256, + 44, + 356, + 144, + 256, + 44, + 356, + 142, + 254, + 52, + 352, + 142, + 254, + 52, + 352, + 142, + 252, + 56, + 350, + 142, + 252, + 56, + 350, + 142, + 250, + 60, + 348, + 142, + 250, + 60, + 348, + 142, + 248, + 62, + 348, + 142, + 248, + 62, + 348, + 142, + 246, + 66, + 346, + 142, + 246, + 66, + 346, + 140, + 246, + 68, + 346, + 140, + 246, + 68, + 346, + 140, + 244, + 72, + 344, + 140, + 244, + 72, + 344, + 138, + 244, + 74, + 344, + 138, + 244, + 74, + 344, + 138, + 242, + 78, + 342, + 138, + 242, + 78, + 342, + 136, + 244, + 78, + 342, + 136, + 244, + 78, + 342, + 136, + 242, + 82, + 340, + 136, + 242, + 82, + 340, + 134, + 242, + 84, + 340, + 134, + 242, + 84, + 340, + 134, + 242, + 84, + 340, + 134, + 242, + 84, + 340, + 134, + 242, + 86, + 338, + 134, + 242, + 86, + 338, + 134, + 240, + 88, + 338, + 134, + 240, + 88, + 338, + 132, + 242, + 88, + 338, + 132, + 242, + 88, + 338, + 132, + 242, + 88, + 338, + 132, + 242, + 88, + 338, + 130, + 242, + 90, + 338, + 130, + 242, + 90, + 338, + 130, + 242, + 90, + 338, + 130, + 242, + 90, + 338, + 130, + 242, + 92, + 336, + 130, + 242, + 92, + 336, + 128, + 244, + 92, + 336, + 128, + 244, + 92, + 336, + 128, + 244, + 92, + 336, + 128, + 244, + 92, + 336, + 128, + 244, + 92, + 336, + 128, + 244, + 92, + 336, + 126, + 246, + 92, + 336, + 126, + 246, + 92, + 336, + 126, + 246, + 92, + 336, + 126, + 246, + 92, + 336, + 124, + 248, + 92, + 336, + 124, + 248, + 92, + 336, + 124, + 248, + 92, + 336, + 124, + 248, + 92, + 336, + 124, + 250, + 90, + 336, + 124, + 250, + 90, + 336, + 124, + 250, + 90, + 336, + 124, + 250, + 90, + 336, + 122, + 252, + 90, + 336, + 122, + 252, + 90, + 336, + 122, + 252, + 90, + 336, + 122, + 252, + 90, + 336, + 122, + 254, + 86, + 338, + 122, + 254, + 86, + 338, + 120, + 256, + 86, + 338, + 120, + 256, + 86, + 338, + 120, + 258, + 84, + 338, + 120, + 258, + 84, + 338, + 120, + 258, + 86, + 336, + 120, + 258, + 86, + 336, + 120, + 260, + 84, + 336, + 120, + 260, + 84, + 336, + 118, + 262, + 84, + 336, + 118, + 262, + 84, + 336, + 118, + 262, + 84, + 336, + 118, + 262, + 84, + 336, + 116, + 266, + 84, + 334, + 116, + 266, + 84, + 334, + 116, + 266, + 84, + 334, + 116, + 266, + 84, + 334, + 114, + 270, + 84, + 332, + 114, + 270, + 84, + 332, + 114, + 272, + 82, + 332, + 114, + 272, + 82, + 332, + 112, + 276, + 82, + 330, + 112, + 276, + 82, + 330, + 112, + 278, + 80, + 330, + 112, + 278, + 80, + 330, + 112, + 280, + 78, + 330, + 112, + 280, + 78, + 330, + 110, + 284, + 76, + 330, + 110, + 284, + 76, + 330, + 110, + 286, + 76, + 328, + 110, + 286, + 76, + 328, + 110, + 290, + 72, + 328, + 110, + 290, + 72, + 328, + 110, + 290, + 72, + 328, + 110, + 290, + 72, + 328, + 108, + 294, + 70, + 328, + 108, + 294, + 70, + 328, + 106, + 296, + 70, + 328, + 106, + 296, + 70, + 328, + 106, + 298, + 70, + 326, + 106, + 298, + 70, + 326, + 106, + 298, + 70, + 326, + 106, + 298, + 70, + 326, + 106, + 298, + 70, + 326, + 106, + 298, + 70, + 326, + 104, + 300, + 70, + 326, + 104, + 300, + 70, + 326, + 104, + 302, + 70, + 324, + 104, + 302, + 70, + 324, + 102, + 304, + 70, + 324, + 102, + 304, + 70, + 324, + 102, + 306, + 68, + 324, + 102, + 306, + 68, + 324, + 102, + 308, + 68, + 322, + 102, + 308, + 68, + 322, + 102, + 308, + 68, + 322, + 102, + 308, + 68, + 322, + 100, + 312, + 66, + 322, + 100, + 312, + 66, + 322, + 100, + 312, + 68, + 320, + 100, + 312, + 68, + 320, + 100, + 312, + 68, + 320, + 100, + 312, + 68, + 320, + 98, + 316, + 66, + 320, + 98, + 316, + 66, + 320, + 98, + 316, + 66, + 320, + 98, + 316, + 66, + 320, + 98, + 316, + 68, + 318, + 98, + 316, + 68, + 318, + 96, + 318, + 68, + 318, + 96, + 318, + 68, + 318, + 96, + 320, + 66, + 318, + 96, + 320, + 66, + 318, + 96, + 322, + 64, + 318, + 96, + 322, + 64, + 318, + 94, + 326, + 62, + 318, + 94, + 326, + 62, + 318, + 92, + 328, + 62, + 318, + 92, + 328, + 62, + 318, + 92, + 330, + 62, + 316, + 92, + 330, + 62, + 316, + 92, + 330, + 62, + 316, + 92, + 330, + 62, + 316, + 92, + 330, + 64, + 234, + 24, + 56, + 92, + 330, + 64, + 234, + 24, + 56, + 90, + 332, + 64, + 184, + 90, + 40, + 90, + 332, + 64, + 184, + 90, + 40, + 90, + 334, + 62, + 52, + 18, + 82, + 132, + 30, + 90, + 334, + 62, + 52, + 18, + 82, + 132, + 30, + 88, + 336, + 62, + 48, + 24, + 56, + 168, + 18, + 88, + 336, + 62, + 48, + 24, + 56, + 168, + 18, + 88, + 338, + 62, + 44, + 28, + 22, + 202, + 16, + 88, + 338, + 62, + 44, + 28, + 22, + 202, + 16, + 88, + 338, + 62, + 44, + 254, + 14, + 88, + 338, + 62, + 44, + 254, + 14, + 86, + 342, + 60, + 44, + 254, + 14, + 86, + 342, + 60, + 44, + 254, + 14, + 86, + 344, + 60, + 42, + 254, + 14, + 86, + 344, + 60, + 42, + 254, + 14, + 84, + 346, + 60, + 42, + 254, + 14, + 84, + 346, + 60, + 42, + 254, + 14, + 84, + 242, + 4, + 100, + 62, + 40, + 254, + 14, + 84, + 242, + 4, + 100, + 62, + 40, + 254, + 14, + 84, + 240, + 8, + 98, + 62, + 38, + 256, + 14, + 84, + 240, + 8, + 98, + 62, + 38, + 256, + 14, + 84, + 236, + 16, + 96, + 60, + 38, + 256, + 14, + 84, + 236, + 16, + 96, + 60, + 38, + 256, + 14, + 82, + 236, + 20, + 94, + 60, + 38, + 250, + 20, + 82, + 236, + 20, + 94, + 60, + 38, + 250, + 20, + 82, + 234, + 24, + 94, + 58, + 38, + 246, + 24, + 82, + 234, + 24, + 94, + 58, + 38, + 246, + 24, + 82, + 232, + 28, + 92, + 60, + 36, + 236, + 34, + 82, + 232, + 28, + 92, + 60, + 36, + 236, + 34, + 82, + 230, + 30, + 94, + 58, + 36, + 224, + 46, + 82, + 230, + 30, + 94, + 58, + 36, + 224, + 46, + 80, + 230, + 34, + 92, + 58, + 36, + 220, + 50, + 80, + 230, + 34, + 92, + 58, + 36, + 220, + 50, + 80, + 228, + 38, + 90, + 58, + 36, + 212, + 58, + 80, + 228, + 38, + 90, + 58, + 36, + 212, + 58, + 78, + 228, + 42, + 90, + 56, + 36, + 208, + 62, + 78, + 228, + 42, + 90, + 56, + 36, + 208, + 62, + 78, + 226, + 46, + 90, + 54, + 36, + 178, + 92, + 78, + 226, + 46, + 90, + 54, + 36, + 178, + 92, + 76, + 226, + 48, + 90, + 54, + 36, + 142, + 128, + 76, + 226, + 48, + 90, + 54, + 36, + 142, + 128, + 76, + 224, + 52, + 88, + 54, + 36, + 106, + 164, + 76, + 224, + 52, + 88, + 54, + 36, + 106, + 164, + 76, + 222, + 56, + 88, + 52, + 36, + 78, + 192, + 76, + 222, + 56, + 88, + 52, + 36, + 78, + 192, + 74, + 220, + 62, + 86, + 52, + 38, + 36, + 232, + 74, + 220, + 62, + 86, + 52, + 38, + 36, + 232, + 74, + 220, + 64, + 86, + 48, + 40, + 24, + 244, + 74, + 220, + 64, + 86, + 48, + 40, + 24, + 244, + 74, + 218, + 68, + 84, + 48, + 40, + 22, + 246, + 74, + 218, + 68, + 84, + 48, + 40, + 22, + 246, + 72, + 216, + 72, + 86, + 44, + 48, + 4, + 258, + 72, + 216, + 72, + 86, + 44, + 48, + 4, + 258, + 72, + 214, + 76, + 84, + 44, + 310, + 72, + 214, + 76, + 84, + 44, + 310, + 72, + 212, + 80, + 84, + 40, + 312, + 72, + 212, + 80, + 84, + 40, + 312, + 70, + 184, + 4, + 24, + 84, + 84, + 36, + 314, + 70, + 184, + 4, + 24, + 84, + 84, + 36, + 314, + 70, + 184, + 4, + 22, + 86, + 84, + 34, + 316, + 70, + 184, + 4, + 22, + 86, + 84, + 34, + 316, + 70, + 184, + 10, + 14, + 90, + 84, + 28, + 320, + 70, + 184, + 10, + 14, + 90, + 84, + 28, + 320, + 68, + 186, + 12, + 10, + 92, + 86, + 22, + 324, + 68, + 186, + 12, + 10, + 92, + 86, + 22, + 324, + 68, + 186, + 116, + 86, + 18, + 326, + 68, + 186, + 116, + 86, + 18, + 326, + 66, + 190, + 116, + 428, + 66, + 190, + 116, + 428, + 66, + 192, + 114, + 428, + 66, + 192, + 114, + 428, + 66, + 192, + 116, + 426, + 66, + 192, + 116, + 426, + 64, + 196, + 114, + 426, + 64, + 196, + 114, + 426, + 64, + 196, + 116, + 424, + 64, + 196, + 116, + 424, + 64, + 196, + 118, + 422, + 64, + 196, + 118, + 422, + 62, + 198, + 120, + 420, + 62, + 198, + 120, + 420, + 62, + 196, + 122, + 420, + 62, + 196, + 122, + 420, + 62, + 194, + 126, + 418, + 62, + 194, + 126, + 418, + 62, + 190, + 132, + 416, + 62, + 190, + 132, + 416, + 62, + 190, + 132, + 416, + 62, + 190, + 132, + 416, + 60, + 190, + 136, + 414, + 60, + 190, + 136, + 414, + 60, + 188, + 138, + 414, + 60, + 188, + 138, + 414, + 58, + 186, + 144, + 412, + 58, + 186, + 144, + 412, + 56, + 186, + 148, + 410, + 56, + 186, + 148, + 410, + 56, + 184, + 152, + 178, + 16, + 214, + 56, + 184, + 152, + 178, + 16, + 214, + 56, + 182, + 154, + 174, + 26, + 208, + 56, + 182, + 154, + 174, + 26, + 208, + 54, + 182, + 156, + 166, + 36, + 206, + 54, + 182, + 156, + 166, + 36, + 206, + 54, + 180, + 160, + 160, + 40, + 208, + 52, + 180, + 160, + 160, + 40, + 208, + 50, + 180, + 162, + 152, + 50, + 206, + 50, + 180, + 162, + 152, + 50, + 206, + 50, + 178, + 166, + 146, + 54, + 206, + 50, + 178, + 166, + 146, + 54, + 206, + 50, + 176, + 166, + 142, + 60, + 206, + 50, + 176, + 166, + 142, + 60, + 206, + 50, + 174, + 166, + 138, + 68, + 204, + 50, + 174, + 166, + 138, + 68, + 204, + 48, + 174, + 166, + 134, + 74, + 138, + 46, + 18, + 50, + 174, + 166, + 134, + 74, + 138, + 46, + 18, + 50, + 174, + 164, + 132, + 80, + 122, + 70, + 8, + 50, + 174, + 164, + 132, + 80, + 122, + 70, + 8, + 50, + 174, + 162, + 130, + 84, + 114, + 136, + 174, + 162, + 130, + 84, + 114, + 134, + 176, + 160, + 126, + 90, + 106, + 142, + 176, + 160, + 126, + 90, + 106, + 140, + 178, + 156, + 124, + 96, + 96, + 150, + 178, + 156, + 124, + 96, + 96, + 150, + 176, + 156, + 120, + 102, + 88, + 158, + 176, + 156, + 120, + 102, + 88, + 158, + 172, + 160, + 114, + 110, + 72, + 172, + 172, + 160, + 114, + 110, + 72, + 172, + 170, + 158, + 110, + 118, + 64, + 180, + 170, + 158, + 110, + 118, + 64, + 180, + 168, + 158, + 108, + 122, + 54, + 190, + 168, + 158, + 108, + 122, + 54, + 188, + 168, + 158, + 106, + 128, + 44, + 146, + 6, + 44, + 168, + 158, + 106, + 128, + 44, + 146, + 6, + 42, + 170, + 154, + 104, + 134, + 32, + 148, + 18, + 40, + 170, + 154, + 104, + 134, + 32, + 148, + 18, + 40, + 166, + 156, + 98, + 142, + 22, + 154, + 22, + 40, + 166, + 156, + 98, + 142, + 22, + 154, + 22, + 40, + 166, + 154, + 96, + 150, + 10, + 154, + 30, + 40, + 166, + 154, + 96, + 150, + 10, + 154, + 30, + 40, + 164, + 154, + 92, + 316, + 34, + 40, + 164, + 154, + 92, + 316, + 34, + 40, + 164, + 150, + 90, + 316, + 40, + 40, + 164, + 150, + 90, + 316, + 40, + 38, + 164, + 150, + 86, + 318, + 44, + 38, + 164, + 150, + 86, + 318, + 44, + 38, + 164, + 148, + 82, + 320, + 46, + 40, + 164, + 148, + 82, + 320, + 46, + 40, + 162, + 148, + 76, + 326, + 48, + 40, + 162, + 148, + 76, + 326, + 48, + 38, + 164, + 148, + 70, + 324, + 56, + 38, + 164, + 148, + 70, + 324, + 56, + 36, + 164, + 146, + 72, + 314, + 68, + 36, + 164, + 146, + 72, + 314, + 68, + 36, + 164, + 142, + 72, + 310, + 76, + 36, + 164, + 142, + 72, + 310, + 76, + 34, + 166, + 140, + 66, + 308, + 86, + 34, + 166, + 140, + 66, + 308, + 86, + 34, + 166, + 138, + 64, + 302, + 96, + 34, + 166, + 138, + 64, + 302, + 96, + 34, + 166, + 134, + 62, + 296, + 108, + 34, + 166, + 134, + 62, + 296, + 108, + 32, + 168, + 134, + 60, + 288, + 118, + 32, + 168, + 134, + 60, + 288, + 118, + 32, + 168, + 132, + 58, + 286, + 124, + 32, + 168, + 132, + 58, + 286, + 124, + 32, + 168, + 132, + 52, + 284, + 132, + 32, + 168, + 132, + 52, + 284, + 132, + 30, + 170, + 130, + 52, + 278, + 140, + 30, + 170, + 130, + 52, + 278, + 140, + 30, + 170, + 126, + 56, + 268, + 150, + 30, + 170, + 126, + 56, + 268, + 150, + 30, + 170, + 124, + 56, + 258, + 162, + 30, + 170, + 124, + 56, + 258, + 162, + 28, + 172, + 122, + 58, + 250, + 170, + 28, + 172, + 122, + 58, + 250, + 170, + 28, + 172, + 120, + 60, + 244, + 176, + 28, + 172, + 120, + 60, + 244, + 176, + 26, + 174, + 120, + 60, + 242, + 178, + 26, + 174, + 120, + 60, + 242, + 178, + 26, + 176, + 118, + 60, + 234, + 186, + 26, + 176, + 118, + 60, + 234, + 186, + 26, + 176, + 118, + 58, + 236, + 186, + 26, + 176, + 118, + 58, + 236, + 186, + 24, + 180, + 118, + 56, + 242, + 180, + 24, + 180, + 118, + 56, + 242, + 180, + 24, + 180, + 120, + 54, + 244, + 178, + 24, + 180, + 120, + 54, + 244, + 178, + 24, + 180, + 122, + 52, + 244, + 178, + 24, + 180, + 122, + 52, + 244, + 178, + 24, + 182, + 122, + 50, + 244, + 178, + 24, + 182, + 122, + 50, + 244, + 178, + 22, + 186, + 122, + 50, + 242, + 178, + 22, + 186, + 122, + 50, + 242, + 178, + 22, + 190, + 120, + 48, + 244, + 176, + 22, + 190, + 120, + 48, + 244, + 176, + 22, + 192, + 122, + 44, + 244, + 176, + 22, + 192, + 122, + 44, + 244, + 176, + 20, + 196, + 122, + 44, + 242, + 110, + 8, + 58, + 20, + 196, + 122, + 44, + 242, + 110, + 8, + 58, + 20, + 200, + 120, + 42, + 242, + 108, + 12, + 56, + 20, + 200, + 120, + 42, + 242, + 108, + 12, + 56, + 20, + 202, + 120, + 40, + 244, + 104, + 18, + 52, + 20, + 202, + 120, + 40, + 244, + 104, + 18, + 52, + 18, + 210, + 116, + 38, + 244, + 102, + 22, + 50, + 18, + 210, + 116, + 38, + 244, + 102, + 22, + 50, + 18, + 214, + 118, + 32, + 244, + 100, + 26, + 48, + 18, + 214, + 118, + 32, + 244, + 100, + 26, + 48, + 18, + 218, + 116, + 30, + 246, + 96, + 32, + 44, + 18, + 218, + 116, + 30, + 246, + 96, + 32, + 44, + 16, + 224, + 114, + 28, + 246, + 94, + 36, + 42, + 16, + 224, + 114, + 28, + 246, + 94, + 36, + 42, + 14, + 232, + 110, + 26, + 248, + 90, + 40, + 40, + 14, + 232, + 110, + 26, + 248, + 90, + 40, + 40, + 14, + 244, + 102, + 24, + 246, + 88, + 44, + 38, + 14, + 244, + 102, + 24, + 246, + 88, + 44, + 38, + 12, + 250, + 100, + 22, + 246, + 86, + 50, + 34, + 12, + 250, + 100, + 22, + 246, + 86, + 50, + 34, + 12, + 252, + 98, + 22, + 246, + 84, + 56, + 30, + 12, + 252, + 98, + 22, + 246, + 84, + 56, + 30, + 12, + 254, + 96, + 24, + 244, + 82, + 60, + 28, + 12, + 254, + 96, + 24, + 244, + 82, + 60, + 28, + 12, + 260, + 90, + 24, + 246, + 78, + 64, + 26, + 12, + 260, + 90, + 24, + 246, + 78, + 64, + 26, + 10, + 266, + 88, + 22, + 246, + 76, + 68, + 24, + 10, + 266, + 88, + 22, + 246, + 76, + 68, + 24, + 10, + 270, + 84, + 22, + 246, + 74, + 72, + 22, + 10, + 270, + 84, + 22, + 246, + 74, + 72, + 22, + 10, + 272, + 82, + 22, + 248, + 70, + 76, + 20, + 10, + 272, + 82, + 22, + 248, + 70, + 76, + 20, + 10, + 274, + 80, + 24, + 246, + 68, + 78, + 20, + 10, + 274, + 80, + 24, + 246, + 68, + 78, + 20, + 8, + 280, + 76, + 24, + 248, + 64, + 80, + 20, + 8, + 280, + 76, + 24, + 248, + 64, + 80, + 20, + 8, + 286, + 70, + 24, + 248, + 62, + 78, + 24, + 8, + 286, + 70, + 24, + 248, + 62, + 78, + 24, + 8, + 288, + 68, + 26, + 246, + 60, + 78, + 26, + 8, + 288, + 68, + 26, + 246, + 60, + 78, + 26, + 6, + 294, + 64, + 26, + 246, + 56, + 80, + 28, + 6, + 294, + 64, + 26, + 246, + 56, + 80, + 28, + 6, + 296, + 60, + 28, + 246, + 56, + 78, + 30, + 6, + 296, + 60, + 28, + 246, + 56, + 78, + 30, + 6, + 298, + 58, + 28, + 246, + 54, + 78, + 32, + 6, + 298, + 58, + 28, + 246, + 54, + 78, + 32, + 6, + 306, + 50, + 28, + 246, + 52, + 78, + 34, + 6, + 306, + 50, + 28, + 246, + 52, + 78, + 34, + 6, + 308, + 46, + 30, + 244, + 52, + 78, + 36, + 6, + 308, + 46, + 30, + 244, + 52, + 78, + 36, + 6, + 312, + 40, + 32, + 238, + 54, + 80, + 38, + 6, + 312, + 40, + 32, + 238, + 54, + 80, + 38, + 6, + 316, + 34, + 36, + 222, + 4, + 4, + 58, + 80, + 40, + 6, + 316, + 34, + 36, + 222, + 4, + 4, + 58, + 80, + 40, + 6, + 318, + 28, + 40, + 216, + 70, + 82, + 40, + 6, + 318, + 28, + 40, + 216, + 70, + 82, + 40, + 6, + 324, + 20, + 42, + 212, + 74, + 80, + 42, + 6, + 324, + 20, + 42, + 212, + 74, + 80, + 42, + 6, + 328, + 12, + 46, + 206, + 76, + 80, + 46, + 6, + 328, + 12, + 46, + 206, + 76, + 80, + 46, + 6, + 386, + 196, + 84, + 80, + 48, + 6, + 386, + 196, + 84, + 80, + 48, + 6, + 388, + 186, + 90, + 80, + 52, + 4, + 388, + 186, + 90, + 80, + 52, + 4, + 388, + 180, + 96, + 78, + 54, + 4, + 388, + 180, + 96, + 78, + 54, + 4, + 388, + 178, + 96, + 78, + 56, + 4, + 388, + 178, + 96, + 78, + 56, + 4, + 388, + 174, + 100, + 76, + 56, + 6, + 388, + 174, + 100, + 76, + 56, + 6, + 390, + 166, + 104, + 76, + 60, + 4, + 390, + 166, + 104, + 76, + 60, + 4, + 390, + 154, + 112, + 80, + 60, + 4, + 390, + 154, + 112, + 80, + 60, + 4, + 390, + 146, + 118, + 80, + 62, + 4, + 390, + 146, + 118, + 80, + 62, + 4, + 390, + 140, + 122, + 82, + 62, + 4, + 390, + 140, + 122, + 82, + 62, + 4, + 392, + 132, + 124, + 82, + 64, + 6, + 392, + 132, + 124, + 82, + 64, + 6, + 392, + 116, + 138, + 80, + 70, + 4, + 392, + 116, + 138, + 80, + 70, + 4, + 394, + 110, + 142, + 80, + 70, + 4, + 394, + 110, + 142, + 80, + 70, + 4, + 394, + 104, + 146, + 78, + 74, + 4, + 394, + 104, + 146, + 78, + 74, + 4, + 394, + 102, + 146, + 78, + 76, + 4, + 394, + 102, + 146, + 78, + 76, + 4, + 394, + 98, + 148, + 78, + 78, + 4, + 394, + 98, + 148, + 78, + 78, + 4, + 394, + 90, + 154, + 78, + 80, + 4, + 394, + 90, + 154, + 78, + 80, + 4, + 394, + 82, + 158, + 82, + 80, + 4, + 394, + 82, + 158, + 82, + 80, + 4, + 396, + 70, + 166, + 82, + 82, + 4, + 396, + 70, + 166, + 82, + 82, + 4, + 396, + 66, + 168, + 82, + 84, + 4, + 396, + 66, + 168, + 82, + 84, + 4, + 236, + 18, + 142, + 60, + 172, + 80, + 88, + 4, + 236, + 18, + 142, + 60, + 172, + 80, + 88, + 4, + 232, + 26, + 140, + 48, + 180, + 80, + 88, + 6, + 232, + 26, + 140, + 48, + 180, + 80, + 88, + 6, + 230, + 36, + 132, + 38, + 190, + 78, + 90, + 6, + 230, + 36, + 132, + 38, + 190, + 78, + 90, + 6, + 230, + 46, + 122, + 34, + 192, + 76, + 92, + 8, + 230, + 46, + 122, + 34, + 192, + 76, + 92, + 8, + 228, + 64, + 108, + 26, + 196, + 76, + 92, + 10, + 228, + 64, + 108, + 26, + 196, + 76, + 92, + 10, + 228, + 88, + 84, + 22, + 200, + 74, + 90, + 14, + 228, + 88, + 84, + 22, + 200, + 74, + 90, + 14, + 228, + 100, + 76, + 8, + 212, + 70, + 88, + 18, + 228, + 100, + 76, + 8, + 212, + 70, + 88, + 18, + 226, + 110, + 290, + 66, + 84, + 24, + 226, + 110, + 290, + 66, + 84, + 24, + 226, + 116, + 286, + 62, + 82, + 28, + 226, + 116, + 286, + 62, + 82, + 28, + 226, + 136, + 268, + 58, + 80, + 32, + 226, + 136, + 268, + 58, + 80, + 32, + 226, + 150, + 256, + 54, + 76, + 38, + 226, + 150, + 256, + 54, + 76, + 38, + 226, + 162, + 248, + 48, + 72, + 44, + 226, + 162, + 248, + 48, + 72, + 44, + 226, + 174, + 238, + 42, + 72, + 48, + 226, + 174, + 238, + 42, + 72, + 48, + 226, + 184, + 228, + 40, + 72, + 50, + 226, + 184, + 228, + 40, + 72, + 50, + 224, + 200, + 218, + 34, + 70, + 54, + 224, + 200, + 218, + 34, + 70, + 54, + 222, + 222, + 200, + 32, + 64, + 60, + 222, + 222, + 200, + 32, + 64, + 60, + 222, + 236, + 188, + 28, + 62, + 64, + 222, + 236, + 188, + 28, + 62, + 64, + 220, + 248, + 180, + 24, + 62, + 66, + 220, + 248, + 180, + 24, + 62, + 66, + 220, + 258, + 172, + 18, + 62, + 70, + 220, + 258, + 172, + 18, + 62, + 70, + 220, + 278, + 156, + 12, + 62, + 72, + 220, + 278, + 156, + 12, + 62, + 72, + 220, + 296, + 140, + 8, + 64, + 72, + 220, + 296, + 140, + 8, + 64, + 72, + 220, + 308, + 198, + 74, + 220, + 308, + 198, + 74, + 220, + 320, + 186, + 74, + 220, + 320, + 186, + 74, + 218, + 332, + 178, + 72, + 218, + 332, + 178, + 72, + 218, + 340, + 170, + 72, + 218, + 340, + 170, + 72, + 218, + 346, + 164, + 72, + 218, + 346, + 164, + 72, + 218, + 348, + 164, + 70, + 218, + 348, + 164, + 70, + 218, + 348, + 164, + 70, + 218, + 348, + 164, + 70, + 218, + 348, + 164, + 70, + 218, + 348, + 164, + 70, + 218, + 348, + 166, + 68, + 218, + 348, + 166, + 68, + 218, + 348, + 168, + 66, + 218, + 348, + 168, + 66, + 218, + 348, + 168, + 66, + 218, + 348, + 168, + 66, + 218, + 348, + 170, + 64, + 218, + 348, + 170, + 64, + 218, + 348, + 172, + 62, + 218, + 348, + 172, + 62, + 216, + 352, + 170, + 62, + 216, + 352, + 170, + 62, + 216, + 352, + 172, + 60, + 216, + 352, + 172, + 60, + 216, + 352, + 172, + 60, + 216, + 352, + 172, + 60, + 216, + 350, + 176, + 58, + 216, + 350, + 176, + 58, + 214, + 352, + 176, + 58, + 214, + 352, + 176, + 58, + 214, + 352, + 178, + 56, + 214, + 352, + 178, + 56, + 214, + 352, + 180, + 54, + 214, + 352, + 180, + 54, + 214, + 352, + 180, + 54, + 214, + 352, + 180, + 54, + 214, + 350, + 184, + 52, + 214, + 350, + 184, + 52, + 214, + 350, + 184, + 52, + 214, + 350, + 184, + 52, + 214, + 350, + 186, + 50, + 214, + 350, + 186, + 50, + 214, + 352, + 184, + 50, + 214, + 352, + 184, + 50, + 212, + 352, + 188, + 48, + 212, + 352, + 188, + 48, + 212, + 352, + 188, + 48, + 212, + 352, + 188, + 48, + 212, + 352, + 190, + 46, + 212, + 352, + 190, + 46, + 210, + 354, + 192, + 44, + 210, + 354, + 192, + 44, + 210, + 354, + 192, + 44, + 210, + 354, + 192, + 44, + 208, + 356, + 194, + 42, + 208, + 356, + 194, + 42, + 208, + 354, + 196, + 42, + 208, + 354, + 196, + 42, + 208, + 354, + 198, + 40, + 208, + 354, + 198, + 40, + 208, + 354, + 198, + 40, + 208, + 354, + 198, + 40, + 208, + 354, + 76, + 14, + 110, + 38, + 208, + 354, + 76, + 14, + 110, + 38, + 208, + 354, + 72, + 20, + 110, + 36, + 208, + 354, + 72, + 20, + 110, + 36, + 206, + 356, + 70, + 24, + 108, + 36, + 206, + 356, + 70, + 24, + 108, + 36, + 206, + 356, + 68, + 26, + 110, + 34, + 206, + 356, + 68, + 26, + 110, + 34, + 206, + 354, + 68, + 28, + 110, + 34, + 206, + 354, + 68, + 28, + 110, + 34, + 180, + 4, + 20, + 356, + 68, + 28, + 112, + 32, + 180, + 4, + 20, + 356, + 68, + 28, + 112, + 32, + 170, + 24, + 8, + 358, + 68, + 28, + 114, + 30, + 170, + 24, + 8, + 358, + 68, + 28, + 114, + 30, + 168, + 392, + 66, + 32, + 112, + 30, + 168, + 392, + 66, + 32, + 112, + 30, + 168, + 392, + 66, + 32, + 112, + 30, + 168, + 392, + 66, + 32, + 112, + 30, + 166, + 394, + 66, + 32, + 114, + 28, + 166, + 394, + 66, + 32, + 114, + 28, + 166, + 394, + 66, + 30, + 116, + 28, + 166, + 394, + 66, + 30, + 116, + 28, + 164, + 394, + 68, + 30, + 118, + 26, + 164, + 394, + 68, + 30, + 118, + 26, + 164, + 394, + 68, + 30, + 118, + 26, + 164, + 394, + 68, + 30, + 118, + 26, + 166, + 392, + 68, + 30, + 120, + 24, + 166, + 392, + 68, + 30, + 120, + 24, + 166, + 392, + 68, + 28, + 124, + 22, + 166, + 392, + 68, + 28, + 124, + 22, + 166, + 390, + 72, + 24, + 128, + 20, + 166, + 390, + 72, + 24, + 128, + 20, + 168, + 388, + 72, + 20, + 132, + 20, + 168, + 388, + 72, + 20, + 132, + 20, + 168, + 388, + 74, + 16, + 134, + 20, + 168, + 388, + 74, + 16, + 134, + 20, + 168, + 388, + 76, + 10, + 140, + 18, + 168, + 388, + 76, + 10, + 140, + 18, + 170, + 386, + 228, + 16, + 170, + 386, + 228, + 16, + 172, + 384, + 228, + 16, + 172, + 384, + 228, + 16, + 174, + 382, + 230, + 14, + 174, + 382, + 230, + 14, + 174, + 382, + 230, + 14, + 174, + 382, + 230, + 14, + 178, + 378, + 232, + 12, + 178, + 378, + 232, + 12, + 192, + 362, + 234, + 12, + 192, + 362, + 234, + 12, + 196, + 358, + 234, + 12, + 196, + 358, + 234, + 12, + 196, + 358, + 236, + 10, + 196, + 358, + 236, + 10, + 198, + 356, + 236, + 10, + 198, + 356, + 236, + 10, + 198, + 354, + 240, + 8, + 198, + 354, + 240, + 8, + 198, + 354, + 240, + 8, + 198, + 354, + 240, + 8, + 198, + 354, + 242, + 6, + 198, + 354, + 242, + 6, + 198, + 354, + 242, + 6, + 198, + 354, + 242, + 6, + 198, + 354, + 242, + 6, + 198, + 354, + 242, + 6, + 200, + 350, + 244, + 6, + 200, + 350, + 244, + 6, + 210, + 340, + 246, + 4, + 210, + 340, + 246, + 4, + 218, + 332, + 246, + 4, + 218, + 332, + 246, + 4, + 230, + 320, + 246, + 4, + 230, + 320, + 246, + 4, + 236, + 312, + 248, + 4, + 236, + 312, + 248, + 4, + 248, + 300, + 248, + 4, + 248, + 300, + 248, + 4, + 256, + 292, + 248, + 4, + 256, + 292, + 248, + 4, + 260, + 288, + 248, + 4, + 260, + 288, + 248, + 4, + 268, + 280, + 248, + 4, + 268, + 280, + 248, + 4, + 274, + 274, + 248, + 4, + 274, + 274, + 248, + 4, + 284, + 264, + 248, + 4, + 284, + 264, + 248, + 4, + 296, + 250, + 250, + 4, + 296, + 250, + 250, + 4, + 298, + 248, + 250, + 4, + 298, + 248, + 250, + 4, + 312, + 234, + 250, + 4, + 312, + 234, + 250, + 4, + 316, + 230, + 250, + 4, + 316, + 230, + 250, + 4, + 326, + 220, + 250, + 4, + 326, + 220, + 250, + 4, + 336, + 210, + 250, + 4, + 336, + 210, + 250, + 4, + 340, + 2, + 4, + 200, + 250, + 4, + 340, + 2, + 4, + 200, + 250, + 4, + 350, + 194, + 252, + 4, + 350, + 194, + 252, + 4, + 354, + 190, + 252, + 4, + 354, + 190, + 252, + 4, + 366, + 178, + 252, + 4, + 366, + 178, + 252, + 4, + 376, + 168, + 252, + 4, + 376, + 168, + 252, + 4, + 380, + 164, + 250, + 6, + 380, + 164, + 250, + 6, + 392, + 152, + 252, + 4, + 392, + 152, + 252, + 4, + 400, + 144, + 252, + 4, + 400, + 144, + 252, + 4, + 408, + 134, + 254, + 4, + 408, + 134, + 254, + 4, + 414, + 128, + 254, + 4, + 414, + 128, + 254, + 4, + 420, + 122, + 252, + 6, + 420, + 122, + 252, + 6, + 428, + 114, + 252, + 6, + 428, + 114, + 252, + 6, + 434, + 106, + 256, + 4, + 434, + 106, + 256, + 4, + 446, + 94, + 256, + 4, + 446, + 94, + 256, + 4, + 454, + 84, + 256, + 6, + 454, + 84, + 256, + 6, + 460, + 78, + 256, + 6, + 460, + 78, + 256, + 6, + 470, + 68, + 256, + 6, + 470, + 68, + 256, + 6, + 478, + 58, + 260, + 4, + 478, + 58, + 260, + 4, + 486, + 50, + 260, + 4, + 486, + 50, + 260, + 4, + 490, + 46, + 260, + 4, + 490, + 46, + 260, + 4, + 498, + 38, + 258, + 6, + 498, + 38, + 258, + 6, + 506, + 28, + 260, + 6, + 506, + 28, + 260, + 6, + 514, + 20, + 262, + 4, + 514, + 20, + 262, + 4, + 522, + 4, + 270, + 4, + 522, + 4, + 270, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000036:0000", + "experimental_retained_index": 1, + "ism_score": 0.35257360339164734, + "R": [ + [ + -0.3265834152698517, + 0.9434692859649658, + -0.054952893406152725 + ], + [ + 0.9131215214729309, + 0.2999871075153351, + -0.27629855275154114 + ], + [ + -0.24405799806118011, + -0.14031213521957397, + -0.9597411751747131 + ] + ], + "t": [ + -34.73581314086914, + -47.53944778442383, + 315.56292724609375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 0, + 0, + 526, + 188 + ], + "score": 0.15620343387126923, + "time": 0.0, + "segmentation": { + "counts": [ + 0, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 189, + 611, + 189, + 611, + 189, + 611, + 189, + 611, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 159, + 641, + 159, + 641, + 159, + 641, + 159, + 641, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 651, + 149, + 651, + 149, + 651, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 601597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000036:0001", + "experimental_retained_index": 0, + "ism_score": 0.45440998673439026, + "R": [ + [ + 0.3377718925476074, + -0.10420401394367218, + 0.9351908564567566 + ], + [ + -0.7994962930679321, + -0.5566814541816711, + 0.22665198147296906 + ], + [ + 0.4969775080680847, + -0.8241814374923706, + -0.27133098244667053 + ] + ], + "t": [ + -338.20751953125, + -226.6738739013672, + 432.2687683105469 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000036/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000036/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000036:0001", + "Slide_holder:000036:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000036.png" + }, + { + "frame_id": 38, + "image_path": "/workspace/data/0008_/images/000038.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000038.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000038/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 40, + "image_path": "/workspace/data/0008_/images/000040.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000040.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000040/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 43, + "image_path": "/workspace/data/0008_/images/000043.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000043.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 276, + 228, + 252, + 390 + ], + "score": 0.23717401921749115, + "time": 0.0, + "segmentation": { + "counts": [ + 220373, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 26350, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 29560, + 4, + 96, + 4, + 696, + 4, + 96, + 4, + 696, + 4, + 96, + 4, + 696, + 4, + 96, + 4, + 4030, + 10, + 790, + 10, + 788, + 18, + 782, + 18, + 782, + 24, + 776, + 24, + 770, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 762, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 752, + 54, + 746, + 54, + 744, + 60, + 740, + 60, + 734, + 4, + 2, + 66, + 728, + 4, + 2, + 66, + 728, + 4, + 2, + 70, + 724, + 4, + 2, + 70, + 730, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 716, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 702, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 690, + 116, + 684, + 116, + 682, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 660, + 146, + 654, + 146, + 654, + 150, + 650, + 150, + 650, + 154, + 646, + 154, + 644, + 160, + 640, + 160, + 640, + 168, + 632, + 168, + 630, + 174, + 626, + 174, + 458, + 8, + 160, + 178, + 454, + 8, + 160, + 178, + 454, + 8, + 158, + 186, + 448, + 8, + 158, + 186, + 446, + 8, + 160, + 192, + 440, + 8, + 160, + 192, + 438, + 8, + 162, + 196, + 434, + 8, + 162, + 196, + 434, + 8, + 160, + 202, + 430, + 8, + 160, + 202, + 430, + 4, + 4, + 4, + 156, + 204, + 428, + 4, + 4, + 4, + 156, + 204, + 432, + 8, + 154, + 208, + 430, + 8, + 154, + 208, + 430, + 6, + 156, + 208, + 430, + 6, + 156, + 208, + 430, + 6, + 156, + 208, + 430, + 6, + 156, + 208, + 592, + 208, + 592, + 208, + 594, + 208, + 592, + 208, + 594, + 210, + 590, + 210, + 590, + 214, + 586, + 214, + 440, + 4, + 146, + 210, + 440, + 4, + 146, + 210, + 440, + 4, + 148, + 210, + 438, + 4, + 148, + 210, + 438, + 4, + 152, + 206, + 438, + 4, + 152, + 206, + 438, + 4, + 154, + 204, + 438, + 4, + 154, + 204, + 586, + 214, + 586, + 214, + 586, + 18, + 4, + 192, + 586, + 18, + 4, + 192, + 588, + 14, + 10, + 186, + 590, + 14, + 10, + 186, + 618, + 182, + 618, + 182, + 622, + 178, + 622, + 178, + 626, + 174, + 626, + 174, + 630, + 170, + 630, + 170, + 634, + 168, + 632, + 168, + 636, + 166, + 634, + 166, + 638, + 162, + 638, + 162, + 642, + 160, + 640, + 160, + 644, + 158, + 642, + 158, + 646, + 154, + 646, + 154, + 650, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 656, + 142, + 658, + 142, + 662, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 696, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 736, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 752, + 22, + 8, + 18, + 752, + 22, + 8, + 18, + 754, + 20, + 10, + 14, + 756, + 20, + 10, + 14, + 760, + 14, + 18, + 6, + 762, + 14, + 18, + 6, + 766, + 8, + 792, + 8, + 599431 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000043:0000", + "experimental_retained_index": 0, + "ism_score": 0.38722288608551025, + "R": [ + [ + -0.10488064587116241, + 0.9942886829376221, + -0.019731909036636353 + ], + [ + 0.9930285811424255, + 0.10577960312366486, + 0.051992326974868774 + ], + [ + 0.05378305912017822, + -0.01414143294095993, + -0.9984524250030518 + ] + ], + "t": [ + -65.48454284667969, + 12.01529598236084, + 245.39549255371094 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 276, + 228, + 252, + 390 + ], + "score": 0.23717401921749115, + "time": 0.0, + "segmentation": { + "counts": [ + 220373, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 26350, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 29560, + 4, + 96, + 4, + 696, + 4, + 96, + 4, + 696, + 4, + 96, + 4, + 696, + 4, + 96, + 4, + 4030, + 10, + 790, + 10, + 788, + 18, + 782, + 18, + 782, + 24, + 776, + 24, + 770, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 762, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 752, + 54, + 746, + 54, + 744, + 60, + 740, + 60, + 734, + 4, + 2, + 66, + 728, + 4, + 2, + 66, + 728, + 4, + 2, + 70, + 724, + 4, + 2, + 70, + 730, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 716, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 702, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 690, + 116, + 684, + 116, + 682, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 660, + 146, + 654, + 146, + 654, + 150, + 650, + 150, + 650, + 154, + 646, + 154, + 644, + 160, + 640, + 160, + 640, + 168, + 632, + 168, + 630, + 174, + 626, + 174, + 458, + 8, + 160, + 178, + 454, + 8, + 160, + 178, + 454, + 8, + 158, + 186, + 448, + 8, + 158, + 186, + 446, + 8, + 160, + 192, + 440, + 8, + 160, + 192, + 438, + 8, + 162, + 196, + 434, + 8, + 162, + 196, + 434, + 8, + 160, + 202, + 430, + 8, + 160, + 202, + 430, + 4, + 4, + 4, + 156, + 204, + 428, + 4, + 4, + 4, + 156, + 204, + 432, + 8, + 154, + 208, + 430, + 8, + 154, + 208, + 430, + 6, + 156, + 208, + 430, + 6, + 156, + 208, + 430, + 6, + 156, + 208, + 430, + 6, + 156, + 208, + 592, + 208, + 592, + 208, + 594, + 208, + 592, + 208, + 594, + 210, + 590, + 210, + 590, + 214, + 586, + 214, + 440, + 4, + 146, + 210, + 440, + 4, + 146, + 210, + 440, + 4, + 148, + 210, + 438, + 4, + 148, + 210, + 438, + 4, + 152, + 206, + 438, + 4, + 152, + 206, + 438, + 4, + 154, + 204, + 438, + 4, + 154, + 204, + 586, + 214, + 586, + 214, + 586, + 18, + 4, + 192, + 586, + 18, + 4, + 192, + 588, + 14, + 10, + 186, + 590, + 14, + 10, + 186, + 618, + 182, + 618, + 182, + 622, + 178, + 622, + 178, + 626, + 174, + 626, + 174, + 630, + 170, + 630, + 170, + 634, + 168, + 632, + 168, + 636, + 166, + 634, + 166, + 638, + 162, + 638, + 162, + 642, + 160, + 640, + 160, + 644, + 158, + 642, + 158, + 646, + 154, + 646, + 154, + 650, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 656, + 142, + 658, + 142, + 662, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 696, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 736, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 752, + 22, + 8, + 18, + 752, + 22, + 8, + 18, + 754, + 20, + 10, + 14, + 756, + 20, + 10, + 14, + 760, + 14, + 18, + 6, + 762, + 14, + 18, + 6, + 766, + 8, + 792, + 8, + 599431 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000043:0000", + "experimental_retained_index": 0, + "ism_score": 0.38722288608551025, + "R": [ + [ + -0.10488064587116241, + 0.9942886829376221, + -0.019731909036636353 + ], + [ + 0.9930285811424255, + 0.10577960312366486, + 0.051992326974868774 + ], + [ + 0.05378305912017822, + -0.01414143294095993, + -0.9984524250030518 + ] + ], + "t": [ + -65.48454284667969, + 12.01529598236084, + 245.39549255371094 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000043/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000043/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000043:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000043.png" + }, + { + "frame_id": 51, + "image_path": "/workspace/data/0008_/images/000051.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000051.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000051/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 55, + "image_path": "/workspace/data/0008_/images/000055.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000055.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 252, + 208, + 118, + 186 + ], + "score": 0.20452982187271118, + "time": 0.0, + "segmentation": { + "counts": [ + 201071, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 776, + 32, + 768, + 32, + 766, + 48, + 20, + 12, + 720, + 48, + 20, + 12, + 718, + 92, + 708, + 92, + 704, + 100, + 700, + 100, + 698, + 108, + 692, + 108, + 690, + 116, + 684, + 116, + 682, + 124, + 676, + 124, + 644, + 4, + 24, + 136, + 636, + 4, + 24, + 136, + 634, + 14, + 14, + 144, + 628, + 14, + 14, + 144, + 626, + 20, + 8, + 150, + 622, + 20, + 8, + 150, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 646, + 150, + 650, + 150, + 650, + 144, + 656, + 144, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 692, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 56, + 10, + 30, + 704, + 56, + 10, + 30, + 706, + 10, + 20, + 20, + 750, + 10, + 20, + 20, + 782, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 726137 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000055:0000", + "experimental_retained_index": 0, + "ism_score": 0.46749675273895264, + "R": [ + [ + 0.7438791394233704, + -0.46393629908561707, + 0.48078060150146484 + ], + [ + 0.14192339777946472, + 0.8125991225242615, + 0.5649257898330688 + ], + [ + -0.65309739112854, + -0.3520326614379883, + 0.6703274250030518 + ] + ], + "t": [ + -184.60720825195312, + -4.510329723358154, + 352.57037353515625 + ] + }, + { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 718, + 478, + 66, + 118 + ], + "score": 0.1429918110370636, + "time": 0.0, + "segmentation": { + "counts": [ + 574151, + 18, + 782, + 18, + 780, + 26, + 774, + 26, + 770, + 38, + 762, + 38, + 760, + 46, + 754, + 46, + 750, + 58, + 742, + 58, + 738, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 726, + 72, + 728, + 72, + 712, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 94, + 706, + 94, + 706, + 88, + 712, + 88, + 712, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 732, + 66, + 734, + 66, + 740, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 756, + 44, + 756, + 44, + 762, + 36, + 764, + 36, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 394655 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000055:0001", + "experimental_retained_index": 1, + "ism_score": 0.39789026975631714, + "R": [ + [ + 0.912090003490448, + 0.2244476079940796, + 0.3424556255340576 + ], + [ + -0.1490096151828766, + -0.5974680781364441, + 0.7881006598472595 + ], + [ + 0.38131505250930786, + -0.7698255777359009, + -0.5112767219543457 + ] + ], + "t": [ + 49.74289321899414, + 57.39173889160156, + 237.54183959960938 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 252, + 208, + 118, + 186 + ], + "score": 0.20452982187271118, + "time": 0.0, + "segmentation": { + "counts": [ + 201071, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 776, + 32, + 768, + 32, + 766, + 48, + 20, + 12, + 720, + 48, + 20, + 12, + 718, + 92, + 708, + 92, + 704, + 100, + 700, + 100, + 698, + 108, + 692, + 108, + 690, + 116, + 684, + 116, + 682, + 124, + 676, + 124, + 644, + 4, + 24, + 136, + 636, + 4, + 24, + 136, + 634, + 14, + 14, + 144, + 628, + 14, + 14, + 144, + 626, + 20, + 8, + 150, + 622, + 20, + 8, + 150, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 646, + 150, + 650, + 150, + 650, + 144, + 656, + 144, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 692, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 56, + 10, + 30, + 704, + 56, + 10, + 30, + 706, + 10, + 20, + 20, + 750, + 10, + 20, + 20, + 782, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 726137 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000055:0000", + "experimental_retained_index": 0, + "ism_score": 0.46749675273895264, + "R": [ + [ + 0.7438791394233704, + -0.46393629908561707, + 0.48078060150146484 + ], + [ + 0.14192339777946472, + 0.8125991225242615, + 0.5649257898330688 + ], + [ + -0.65309739112854, + -0.3520326614379883, + 0.6703274250030518 + ] + ], + "t": [ + -184.60720825195312, + -4.510329723358154, + 352.57037353515625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000055/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000055/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000055:0000", + "Slide_holder:000055:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000055.png" + }, + { + "frame_id": 60, + "image_path": "/workspace/data/0008_/images/000060.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000060.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 832, + 308, + 160, + 146 + ], + "score": 0.37880605459213257, + "time": 0.0, + "segmentation": { + "counts": [ + 665227, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 44, + 756, + 44, + 734, + 8, + 10, + 50, + 732, + 8, + 10, + 50, + 730, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 726, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 92, + 708, + 92, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 696, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 746, + 50, + 750, + 50, + 750, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 228453 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000060:0000", + "experimental_retained_index": 0, + "ism_score": 0.4013838768005371, + "R": [ + [ + 0.6207438707351685, + -0.7657086849212646, + -0.169685959815979 + ], + [ + 0.6484593749046326, + 0.3796561360359192, + 0.6599094271659851 + ], + [ + -0.4406651556491852, + -0.5194382667541504, + 0.731849730014801 + ] + ], + "t": [ + 119.05900573730469, + 22.387563705444336, + 370.91259765625 + ] + }, + { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 320, + 258, + 100, + 204 + ], + "score": 0.14142493903636932, + "time": 0.0, + "segmentation": { + "counts": [ + 255465, + 14, + 786, + 14, + 786, + 22, + 778, + 22, + 776, + 32, + 768, + 32, + 768, + 40, + 760, + 40, + 760, + 52, + 748, + 52, + 748, + 60, + 740, + 60, + 740, + 66, + 734, + 66, + 734, + 74, + 726, + 74, + 724, + 84, + 716, + 84, + 716, + 94, + 706, + 94, + 706, + 102, + 698, + 102, + 698, + 110, + 690, + 110, + 690, + 120, + 680, + 120, + 680, + 128, + 672, + 128, + 672, + 138, + 662, + 138, + 662, + 148, + 652, + 148, + 652, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 176, + 624, + 176, + 622, + 186, + 614, + 186, + 614, + 196, + 604, + 196, + 604, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 118, + 18, + 70, + 594, + 118, + 18, + 70, + 594, + 106, + 46, + 54, + 594, + 106, + 46, + 54, + 598, + 98, + 56, + 46, + 600, + 98, + 56, + 46, + 602, + 94, + 60, + 44, + 602, + 94, + 60, + 44, + 606, + 88, + 66, + 40, + 606, + 88, + 66, + 40, + 612, + 78, + 72, + 38, + 612, + 78, + 72, + 38, + 620, + 70, + 76, + 32, + 622, + 70, + 76, + 32, + 628, + 62, + 80, + 30, + 628, + 62, + 80, + 30, + 634, + 56, + 86, + 24, + 634, + 56, + 86, + 24, + 640, + 48, + 102, + 6, + 644, + 48, + 102, + 6, + 648, + 44, + 756, + 44, + 762, + 36, + 764, + 36, + 770, + 30, + 770, + 30, + 776, + 22, + 778, + 22, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 686061 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000060:0001", + "experimental_retained_index": 1, + "ism_score": 0.3803023397922516, + "R": [ + [ + -0.8448091149330139, + 0.49674513936042786, + 0.19794219732284546 + ], + [ + 0.49754226207733154, + 0.8659031987190247, + -0.049346864223480225 + ], + [ + -0.19596236944198608, + 0.05677575618028641, + -0.9787369966506958 + ] + ], + "t": [ + -77.71564483642578, + -24.5582332611084, + 214.4134521484375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 832, + 308, + 160, + 146 + ], + "score": 0.37880605459213257, + "time": 0.0, + "segmentation": { + "counts": [ + 665227, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 44, + 756, + 44, + 734, + 8, + 10, + 50, + 732, + 8, + 10, + 50, + 730, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 726, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 92, + 708, + 92, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 696, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 746, + 50, + 750, + 50, + 750, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 228453 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000060:0000", + "experimental_retained_index": 0, + "ism_score": 0.4013838768005371, + "R": [ + [ + 0.6207438707351685, + -0.7657086849212646, + -0.169685959815979 + ], + [ + 0.6484593749046326, + 0.3796561360359192, + 0.6599094271659851 + ], + [ + -0.4406651556491852, + -0.5194382667541504, + 0.731849730014801 + ] + ], + "t": [ + 119.05900573730469, + 22.387563705444336, + 370.91259765625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000060/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000060/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000060:0000", + "Slide_holder:000060:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000060.png" + }, + { + "frame_id": 64, + "image_path": "/workspace/data/0008_/images/000064.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000064.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 802, + 254, + 102, + 148 + ], + "score": 0.39633554220199585, + "time": 0.0, + "segmentation": { + "counts": [ + 641183, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 776, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 746, + 4, + 18, + 34, + 744, + 4, + 18, + 34, + 738, + 14, + 10, + 38, + 738, + 14, + 10, + 38, + 734, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 710, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 680, + 116, + 684, + 116, + 682, + 114, + 686, + 114, + 680, + 118, + 682, + 118, + 678, + 118, + 682, + 118, + 678, + 118, + 682, + 118, + 676, + 122, + 678, + 122, + 674, + 122, + 678, + 122, + 676, + 120, + 680, + 120, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 104, + 696, + 104, + 698, + 96, + 704, + 96, + 704, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 68, + 732, + 68, + 732, + 62, + 738, + 62, + 740, + 54, + 746, + 54, + 746, + 46, + 754, + 46, + 756, + 38, + 762, + 38, + 762, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 298917 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000064:0000", + "experimental_retained_index": 0, + "ism_score": 0.41446852684020996, + "R": [ + [ + 0.9072257280349731, + -0.39411085844039917, + -0.14702890813350677 + ], + [ + 0.37796661257743835, + 0.6103599071502686, + 0.696133553981781 + ], + [ + -0.18461336195468903, + -0.6871225833892822, + 0.7026952505111694 + ] + ], + "t": [ + 109.34784698486328, + -0.9625306725502014, + 398.0714416503906 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 802, + 254, + 102, + 148 + ], + "score": 0.39633554220199585, + "time": 0.0, + "segmentation": { + "counts": [ + 641183, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 776, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 746, + 4, + 18, + 34, + 744, + 4, + 18, + 34, + 738, + 14, + 10, + 38, + 738, + 14, + 10, + 38, + 734, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 710, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 680, + 116, + 684, + 116, + 682, + 114, + 686, + 114, + 680, + 118, + 682, + 118, + 678, + 118, + 682, + 118, + 678, + 118, + 682, + 118, + 676, + 122, + 678, + 122, + 674, + 122, + 678, + 122, + 676, + 120, + 680, + 120, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 104, + 696, + 104, + 698, + 96, + 704, + 96, + 704, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 68, + 732, + 68, + 732, + 62, + 738, + 62, + 740, + 54, + 746, + 54, + 746, + 46, + 754, + 46, + 756, + 38, + 762, + 38, + 762, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 298917 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000064:0000", + "experimental_retained_index": 0, + "ism_score": 0.41446852684020996, + "R": [ + [ + 0.9072257280349731, + -0.39411085844039917, + -0.14702890813350677 + ], + [ + 0.37796661257743835, + 0.6103599071502686, + 0.696133553981781 + ], + [ + -0.18461336195468903, + -0.6871225833892822, + 0.7026952505111694 + ] + ], + "t": [ + 109.34784698486328, + -0.9625306725502014, + 398.0714416503906 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000064/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000064/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000064:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000064.png" + }, + { + "frame_id": 70, + "image_path": "/workspace/data/0008_/images/000070.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000070.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 70, + "category_id": 1, + "bbox": [ + 932, + 294, + 154, + 152 + ], + "score": 0.42083245515823364, + "time": 0.0, + "segmentation": { + "counts": [ + 745219, + 12, + 788, + 12, + 784, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 754, + 48, + 752, + 48, + 748, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 688, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 722, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 736, + 60, + 740, + 60, + 742, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 14, + 2, + 16, + 768, + 14, + 2, + 16, + 770, + 6, + 10, + 14, + 770, + 6, + 10, + 14, + 786, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 153249 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000070:0000", + "experimental_retained_index": 0, + "ism_score": 0.43162301182746887, + "R": [ + [ + 0.7706670761108398, + -0.5870121121406555, + -0.2479701191186905 + ], + [ + 0.6314126253128052, + 0.6509373784065247, + 0.4214247465133667 + ], + [ + -0.08596832305192947, + -0.48134952783584595, + 0.8723027110099792 + ] + ], + "t": [ + 185.79824829101562, + 19.10816192626953, + 390.5173645019531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 70, + "category_id": 1, + "bbox": [ + 932, + 294, + 154, + 152 + ], + "score": 0.42083245515823364, + "time": 0.0, + "segmentation": { + "counts": [ + 745219, + 12, + 788, + 12, + 784, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 754, + 48, + 752, + 48, + 748, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 688, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 722, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 736, + 60, + 740, + 60, + 742, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 14, + 2, + 16, + 768, + 14, + 2, + 16, + 770, + 6, + 10, + 14, + 770, + 6, + 10, + 14, + 786, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 153249 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000070:0000", + "experimental_retained_index": 0, + "ism_score": 0.43162301182746887, + "R": [ + [ + 0.7706670761108398, + -0.5870121121406555, + -0.2479701191186905 + ], + [ + 0.6314126253128052, + 0.6509373784065247, + 0.4214247465133667 + ], + [ + -0.08596832305192947, + -0.48134952783584595, + 0.8723027110099792 + ] + ], + "t": [ + 185.79824829101562, + 19.10816192626953, + 390.5173645019531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000070/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000070/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000070:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000070.png" + }, + { + "frame_id": 73, + "image_path": "/workspace/data/0008_/images/000073.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000073.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 0, + 0, + 274, + 490 + ], + "score": 0.05779223144054413, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 8, + 4, + 4, + 26, + 4, + 4, + 440, + 310, + 8, + 4, + 4, + 26, + 448, + 310, + 8, + 4, + 4, + 26, + 448, + 307, + 21, + 20, + 450, + 309, + 21, + 20, + 450, + 309, + 25, + 16, + 446, + 313, + 25, + 16, + 446, + 313, + 27, + 12, + 444, + 317, + 27, + 12, + 444, + 317, + 29, + 8, + 444, + 319, + 29, + 8, + 444, + 319, + 31, + 2, + 444, + 323, + 31, + 2, + 444, + 323, + 473, + 327, + 473, + 327, + 471, + 329, + 471, + 329, + 467, + 333, + 467, + 333, + 463, + 337, + 463, + 337, + 459, + 341, + 459, + 341, + 455, + 345, + 455, + 345, + 451, + 349, + 451, + 349, + 447, + 353, + 447, + 353, + 445, + 355, + 445, + 355, + 441, + 359, + 441, + 359, + 439, + 361, + 439, + 361, + 435, + 365, + 435, + 365, + 431, + 369, + 431, + 369, + 427, + 373, + 427, + 373, + 425, + 375, + 425, + 375, + 421, + 379, + 421, + 379, + 417, + 383, + 417, + 383, + 413, + 387, + 413, + 387, + 409, + 391, + 409, + 391, + 405, + 395, + 405, + 395, + 403, + 397, + 403, + 397, + 399, + 401, + 399, + 401, + 395, + 405, + 395, + 405, + 393, + 407, + 393, + 407, + 389, + 411, + 389, + 411, + 385, + 415, + 385, + 415, + 381, + 419, + 381, + 419, + 377, + 423, + 377, + 423, + 375, + 425, + 375, + 425, + 371, + 429, + 371, + 429, + 367, + 433, + 367, + 433, + 365, + 435, + 365, + 435, + 359, + 441, + 359, + 441, + 357, + 443, + 357, + 443, + 353, + 447, + 353, + 447, + 349, + 451, + 349, + 451, + 345, + 455, + 345, + 455, + 343, + 457, + 343, + 457, + 339, + 461, + 339, + 461, + 335, + 465, + 335, + 465, + 331, + 469, + 331, + 469, + 329, + 471, + 329, + 471, + 325, + 475, + 325, + 475, + 321, + 479, + 321, + 479, + 317, + 483, + 317, + 483, + 313, + 487, + 313, + 487, + 311, + 489, + 311, + 489, + 307, + 493, + 307, + 493, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 297, + 503, + 297, + 503, + 293, + 507, + 293, + 507, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 283, + 517, + 283, + 517, + 279, + 521, + 279, + 521, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 269, + 531, + 269, + 531, + 265, + 535, + 265, + 535, + 261, + 539, + 261, + 539, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 251, + 549, + 251, + 549, + 247, + 553, + 247, + 553, + 243, + 557, + 243, + 557, + 239, + 561, + 239, + 561, + 235, + 565, + 235, + 565, + 233, + 567, + 233, + 567, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 223, + 577, + 223, + 577, + 219, + 581, + 219, + 581, + 215, + 585, + 215, + 585, + 211, + 589, + 211, + 589, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 201, + 599, + 201, + 599, + 197, + 603, + 197, + 603, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 187, + 613, + 187, + 613, + 183, + 617, + 183, + 617, + 179, + 621, + 179, + 621, + 175, + 625, + 175, + 625, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 159, + 641, + 159, + 641, + 155, + 645, + 155, + 645, + 151, + 649, + 151, + 649, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 141, + 659, + 141, + 659, + 137, + 663, + 137, + 663, + 133, + 667, + 133, + 667, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 109, + 691, + 109, + 691, + 105, + 695, + 105, + 695, + 101, + 699, + 101, + 699, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 85, + 715, + 85, + 715, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 41, + 759, + 41, + 759, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 31, + 769, + 31, + 769, + 27, + 773, + 27, + 773, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 17, + 783, + 17, + 783, + 13, + 787, + 13, + 787, + 9, + 791, + 9, + 803191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000073:0000", + "experimental_retained_index": 0, + "ism_score": 0.41096699237823486, + "R": [ + [ + 0.5726732611656189, + 0.5666032433509827, + 0.5924580097198486 + ], + [ + 0.06689375638961792, + -0.7525879144668579, + 0.6550851464271545 + ], + [ + 0.8170490264892578, + -0.3355178236961365, + -0.4688895642757416 + ] + ], + "t": [ + -218.06724548339844, + -139.17868041992188, + 292.50250244140625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 0, + 0, + 274, + 490 + ], + "score": 0.05779223144054413, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 8, + 4, + 4, + 26, + 4, + 4, + 440, + 310, + 8, + 4, + 4, + 26, + 448, + 310, + 8, + 4, + 4, + 26, + 448, + 307, + 21, + 20, + 450, + 309, + 21, + 20, + 450, + 309, + 25, + 16, + 446, + 313, + 25, + 16, + 446, + 313, + 27, + 12, + 444, + 317, + 27, + 12, + 444, + 317, + 29, + 8, + 444, + 319, + 29, + 8, + 444, + 319, + 31, + 2, + 444, + 323, + 31, + 2, + 444, + 323, + 473, + 327, + 473, + 327, + 471, + 329, + 471, + 329, + 467, + 333, + 467, + 333, + 463, + 337, + 463, + 337, + 459, + 341, + 459, + 341, + 455, + 345, + 455, + 345, + 451, + 349, + 451, + 349, + 447, + 353, + 447, + 353, + 445, + 355, + 445, + 355, + 441, + 359, + 441, + 359, + 439, + 361, + 439, + 361, + 435, + 365, + 435, + 365, + 431, + 369, + 431, + 369, + 427, + 373, + 427, + 373, + 425, + 375, + 425, + 375, + 421, + 379, + 421, + 379, + 417, + 383, + 417, + 383, + 413, + 387, + 413, + 387, + 409, + 391, + 409, + 391, + 405, + 395, + 405, + 395, + 403, + 397, + 403, + 397, + 399, + 401, + 399, + 401, + 395, + 405, + 395, + 405, + 393, + 407, + 393, + 407, + 389, + 411, + 389, + 411, + 385, + 415, + 385, + 415, + 381, + 419, + 381, + 419, + 377, + 423, + 377, + 423, + 375, + 425, + 375, + 425, + 371, + 429, + 371, + 429, + 367, + 433, + 367, + 433, + 365, + 435, + 365, + 435, + 359, + 441, + 359, + 441, + 357, + 443, + 357, + 443, + 353, + 447, + 353, + 447, + 349, + 451, + 349, + 451, + 345, + 455, + 345, + 455, + 343, + 457, + 343, + 457, + 339, + 461, + 339, + 461, + 335, + 465, + 335, + 465, + 331, + 469, + 331, + 469, + 329, + 471, + 329, + 471, + 325, + 475, + 325, + 475, + 321, + 479, + 321, + 479, + 317, + 483, + 317, + 483, + 313, + 487, + 313, + 487, + 311, + 489, + 311, + 489, + 307, + 493, + 307, + 493, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 297, + 503, + 297, + 503, + 293, + 507, + 293, + 507, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 283, + 517, + 283, + 517, + 279, + 521, + 279, + 521, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 269, + 531, + 269, + 531, + 265, + 535, + 265, + 535, + 261, + 539, + 261, + 539, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 251, + 549, + 251, + 549, + 247, + 553, + 247, + 553, + 243, + 557, + 243, + 557, + 239, + 561, + 239, + 561, + 235, + 565, + 235, + 565, + 233, + 567, + 233, + 567, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 223, + 577, + 223, + 577, + 219, + 581, + 219, + 581, + 215, + 585, + 215, + 585, + 211, + 589, + 211, + 589, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 201, + 599, + 201, + 599, + 197, + 603, + 197, + 603, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 187, + 613, + 187, + 613, + 183, + 617, + 183, + 617, + 179, + 621, + 179, + 621, + 175, + 625, + 175, + 625, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 159, + 641, + 159, + 641, + 155, + 645, + 155, + 645, + 151, + 649, + 151, + 649, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 141, + 659, + 141, + 659, + 137, + 663, + 137, + 663, + 133, + 667, + 133, + 667, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 109, + 691, + 109, + 691, + 105, + 695, + 105, + 695, + 101, + 699, + 101, + 699, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 85, + 715, + 85, + 715, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 41, + 759, + 41, + 759, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 31, + 769, + 31, + 769, + 27, + 773, + 27, + 773, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 17, + 783, + 17, + 783, + 13, + 787, + 13, + 787, + 9, + 791, + 9, + 803191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000073:0000", + "experimental_retained_index": 0, + "ism_score": 0.41096699237823486, + "R": [ + [ + 0.5726732611656189, + 0.5666032433509827, + 0.5924580097198486 + ], + [ + 0.06689375638961792, + -0.7525879144668579, + 0.6550851464271545 + ], + [ + 0.8170490264892578, + -0.3355178236961365, + -0.4688895642757416 + ] + ], + "t": [ + -218.06724548339844, + -139.17868041992188, + 292.50250244140625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000073/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000073/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000073:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000073.png" + }, + { + "frame_id": 77, + "image_path": "/workspace/data/0008_/images/000077.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000077.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 0, + 0, + 364, + 406 + ], + "score": 0.12021889537572861, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 406, + 392, + 408, + 392, + 408, + 391, + 407, + 393, + 407, + 393, + 405, + 395, + 405, + 395, + 403, + 397, + 403, + 397, + 401, + 399, + 401, + 399, + 399, + 401, + 399, + 401, + 397, + 403, + 397, + 403, + 395, + 405, + 395, + 405, + 393, + 407, + 393, + 407, + 391, + 409, + 391, + 409, + 387, + 413, + 387, + 413, + 385, + 415, + 385, + 415, + 383, + 417, + 383, + 417, + 381, + 419, + 381, + 419, + 379, + 421, + 379, + 421, + 377, + 423, + 377, + 423, + 375, + 425, + 375, + 425, + 371, + 429, + 371, + 429, + 369, + 431, + 369, + 431, + 367, + 433, + 367, + 433, + 365, + 435, + 365, + 435, + 363, + 437, + 363, + 437, + 361, + 439, + 361, + 439, + 357, + 443, + 357, + 443, + 355, + 445, + 355, + 445, + 353, + 447, + 353, + 447, + 351, + 449, + 351, + 449, + 349, + 451, + 349, + 451, + 347, + 453, + 347, + 453, + 345, + 455, + 345, + 455, + 343, + 457, + 343, + 457, + 341, + 459, + 341, + 459, + 337, + 463, + 337, + 463, + 335, + 465, + 335, + 465, + 333, + 467, + 333, + 467, + 331, + 469, + 331, + 469, + 329, + 471, + 329, + 471, + 327, + 473, + 327, + 473, + 325, + 475, + 325, + 475, + 323, + 477, + 323, + 477, + 321, + 479, + 321, + 479, + 319, + 481, + 319, + 481, + 315, + 485, + 315, + 485, + 313, + 487, + 313, + 487, + 313, + 487, + 313, + 487, + 309, + 491, + 309, + 491, + 307, + 493, + 307, + 493, + 305, + 495, + 305, + 495, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 299, + 501, + 299, + 501, + 297, + 503, + 297, + 503, + 295, + 505, + 295, + 505, + 293, + 507, + 293, + 507, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 285, + 515, + 285, + 515, + 283, + 517, + 283, + 517, + 281, + 519, + 281, + 519, + 279, + 521, + 279, + 521, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 271, + 529, + 271, + 529, + 269, + 531, + 269, + 531, + 267, + 533, + 267, + 533, + 265, + 535, + 265, + 535, + 263, + 537, + 263, + 537, + 261, + 539, + 261, + 539, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 253, + 547, + 253, + 547, + 251, + 549, + 251, + 549, + 249, + 551, + 249, + 551, + 247, + 553, + 247, + 553, + 245, + 555, + 245, + 555, + 243, + 557, + 243, + 557, + 241, + 559, + 241, + 559, + 237, + 563, + 237, + 563, + 235, + 565, + 235, + 565, + 235, + 565, + 235, + 565, + 231, + 569, + 231, + 569, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 225, + 575, + 225, + 575, + 223, + 577, + 223, + 577, + 221, + 579, + 221, + 579, + 219, + 581, + 219, + 581, + 217, + 583, + 217, + 583, + 215, + 585, + 215, + 585, + 213, + 587, + 213, + 587, + 209, + 591, + 209, + 591, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 203, + 597, + 203, + 597, + 201, + 599, + 201, + 599, + 199, + 601, + 199, + 601, + 197, + 603, + 197, + 603, + 195, + 605, + 195, + 605, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 652, + 146, + 654, + 146, + 653, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 7, + 793, + 7, + 793, + 3, + 797, + 3, + 731197 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000077:0000", + "experimental_retained_index": 0, + "ism_score": 0.44732609391212463, + "R": [ + [ + 0.25824397802352905, + 0.8001742959022522, + 0.541322648525238 + ], + [ + 0.587459146976471, + -0.5748962163925171, + 0.5695481300354004 + ], + [ + 0.7669426202774048, + 0.17092299461364746, + -0.618533730506897 + ] + ], + "t": [ + -211.12213134765625, + -107.54745483398438, + 311.9022521972656 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 0, + 0, + 364, + 406 + ], + "score": 0.12021889537572861, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 406, + 392, + 408, + 392, + 408, + 391, + 407, + 393, + 407, + 393, + 405, + 395, + 405, + 395, + 403, + 397, + 403, + 397, + 401, + 399, + 401, + 399, + 399, + 401, + 399, + 401, + 397, + 403, + 397, + 403, + 395, + 405, + 395, + 405, + 393, + 407, + 393, + 407, + 391, + 409, + 391, + 409, + 387, + 413, + 387, + 413, + 385, + 415, + 385, + 415, + 383, + 417, + 383, + 417, + 381, + 419, + 381, + 419, + 379, + 421, + 379, + 421, + 377, + 423, + 377, + 423, + 375, + 425, + 375, + 425, + 371, + 429, + 371, + 429, + 369, + 431, + 369, + 431, + 367, + 433, + 367, + 433, + 365, + 435, + 365, + 435, + 363, + 437, + 363, + 437, + 361, + 439, + 361, + 439, + 357, + 443, + 357, + 443, + 355, + 445, + 355, + 445, + 353, + 447, + 353, + 447, + 351, + 449, + 351, + 449, + 349, + 451, + 349, + 451, + 347, + 453, + 347, + 453, + 345, + 455, + 345, + 455, + 343, + 457, + 343, + 457, + 341, + 459, + 341, + 459, + 337, + 463, + 337, + 463, + 335, + 465, + 335, + 465, + 333, + 467, + 333, + 467, + 331, + 469, + 331, + 469, + 329, + 471, + 329, + 471, + 327, + 473, + 327, + 473, + 325, + 475, + 325, + 475, + 323, + 477, + 323, + 477, + 321, + 479, + 321, + 479, + 319, + 481, + 319, + 481, + 315, + 485, + 315, + 485, + 313, + 487, + 313, + 487, + 313, + 487, + 313, + 487, + 309, + 491, + 309, + 491, + 307, + 493, + 307, + 493, + 305, + 495, + 305, + 495, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 299, + 501, + 299, + 501, + 297, + 503, + 297, + 503, + 295, + 505, + 295, + 505, + 293, + 507, + 293, + 507, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 285, + 515, + 285, + 515, + 283, + 517, + 283, + 517, + 281, + 519, + 281, + 519, + 279, + 521, + 279, + 521, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 271, + 529, + 271, + 529, + 269, + 531, + 269, + 531, + 267, + 533, + 267, + 533, + 265, + 535, + 265, + 535, + 263, + 537, + 263, + 537, + 261, + 539, + 261, + 539, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 253, + 547, + 253, + 547, + 251, + 549, + 251, + 549, + 249, + 551, + 249, + 551, + 247, + 553, + 247, + 553, + 245, + 555, + 245, + 555, + 243, + 557, + 243, + 557, + 241, + 559, + 241, + 559, + 237, + 563, + 237, + 563, + 235, + 565, + 235, + 565, + 235, + 565, + 235, + 565, + 231, + 569, + 231, + 569, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 225, + 575, + 225, + 575, + 223, + 577, + 223, + 577, + 221, + 579, + 221, + 579, + 219, + 581, + 219, + 581, + 217, + 583, + 217, + 583, + 215, + 585, + 215, + 585, + 213, + 587, + 213, + 587, + 209, + 591, + 209, + 591, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 203, + 597, + 203, + 597, + 201, + 599, + 201, + 599, + 199, + 601, + 199, + 601, + 197, + 603, + 197, + 603, + 195, + 605, + 195, + 605, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 652, + 146, + 654, + 146, + 653, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 7, + 793, + 7, + 793, + 3, + 797, + 3, + 731197 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000077:0000", + "experimental_retained_index": 0, + "ism_score": 0.44732609391212463, + "R": [ + [ + 0.25824397802352905, + 0.8001742959022522, + 0.541322648525238 + ], + [ + 0.587459146976471, + -0.5748962163925171, + 0.5695481300354004 + ], + [ + 0.7669426202774048, + 0.17092299461364746, + -0.618533730506897 + ] + ], + "t": [ + -211.12213134765625, + -107.54745483398438, + 311.9022521972656 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000077/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000077/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000077:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000077.png" + }, + { + "frame_id": 80, + "image_path": "/workspace/data/0008_/images/000080.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000080.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 0, + 0, + 496, + 326 + ], + "score": 0.06498013436794281, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 326, + 472, + 328, + 472, + 328, + 471, + 327, + 473, + 327, + 473, + 327, + 473, + 327, + 473, + 325, + 475, + 325, + 475, + 325, + 475, + 325, + 475, + 323, + 477, + 323, + 477, + 323, + 477, + 323, + 477, + 321, + 479, + 321, + 479, + 319, + 481, + 319, + 481, + 317, + 483, + 317, + 483, + 317, + 483, + 317, + 483, + 315, + 485, + 315, + 485, + 315, + 485, + 315, + 485, + 313, + 487, + 313, + 487, + 313, + 487, + 313, + 487, + 311, + 489, + 311, + 489, + 309, + 491, + 309, + 491, + 307, + 493, + 307, + 493, + 307, + 493, + 307, + 493, + 305, + 495, + 305, + 495, + 303, + 497, + 303, + 497, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 299, + 501, + 299, + 501, + 299, + 501, + 299, + 501, + 297, + 503, + 297, + 503, + 297, + 503, + 297, + 503, + 295, + 505, + 295, + 505, + 293, + 507, + 293, + 507, + 293, + 507, + 293, + 507, + 291, + 509, + 291, + 509, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 287, + 513, + 287, + 513, + 285, + 515, + 285, + 515, + 283, + 517, + 283, + 517, + 283, + 517, + 283, + 517, + 281, + 519, + 281, + 519, + 281, + 519, + 281, + 519, + 279, + 521, + 279, + 521, + 277, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 273, + 527, + 273, + 527, + 271, + 529, + 271, + 529, + 269, + 531, + 269, + 531, + 269, + 531, + 269, + 531, + 267, + 533, + 267, + 533, + 265, + 535, + 265, + 535, + 265, + 535, + 265, + 535, + 263, + 537, + 263, + 537, + 261, + 539, + 261, + 539, + 261, + 539, + 261, + 539, + 259, + 541, + 259, + 541, + 259, + 541, + 259, + 541, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 255, + 545, + 255, + 545, + 253, + 547, + 253, + 547, + 251, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 249, + 551, + 249, + 551, + 247, + 553, + 247, + 553, + 245, + 555, + 245, + 555, + 245, + 555, + 245, + 555, + 243, + 557, + 243, + 557, + 243, + 557, + 243, + 557, + 241, + 559, + 241, + 559, + 239, + 561, + 239, + 561, + 239, + 561, + 239, + 561, + 237, + 563, + 237, + 563, + 235, + 565, + 235, + 565, + 235, + 565, + 235, + 565, + 233, + 567, + 233, + 567, + 231, + 569, + 231, + 569, + 231, + 569, + 231, + 569, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 227, + 573, + 227, + 573, + 225, + 575, + 225, + 575, + 223, + 577, + 223, + 577, + 223, + 577, + 223, + 577, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 219, + 581, + 219, + 581, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 215, + 585, + 215, + 585, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 211, + 589, + 211, + 589, + 209, + 591, + 209, + 591, + 207, + 593, + 207, + 593, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 205, + 595, + 205, + 595, + 203, + 597, + 203, + 597, + 201, + 599, + 201, + 599, + 201, + 599, + 201, + 599, + 199, + 601, + 199, + 601, + 197, + 603, + 197, + 603, + 197, + 603, + 197, + 603, + 195, + 605, + 195, + 605, + 193, + 607, + 193, + 607, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 189, + 611, + 189, + 611, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 179, + 621, + 179, + 621, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 159, + 641, + 159, + 641, + 159, + 641, + 159, + 641, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 651, + 149, + 651, + 149, + 651, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 139, + 661, + 139, + 661, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 625595 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000080:0000", + "experimental_retained_index": 0, + "ism_score": 0.4077184796333313, + "R": [ + [ + -0.22246704995632172, + 0.9168700575828552, + 0.33114320039749146 + ], + [ + 0.8705145716667175, + 0.0339873731136322, + 0.49069803953170776 + ], + [ + 0.43860816955566406, + 0.3973863422870636, + -0.805843710899353 + ] + ], + "t": [ + -242.84011840820312, + -141.8953094482422, + 362.2843017578125 + ] + }, + { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 226, + 472, + 180, + 178 + ], + "score": 0.3823155164718628, + "time": 0.0, + "segmentation": { + "counts": [ + 180615, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 50, + 750, + 50, + 746, + 54, + 746, + 54, + 742, + 60, + 740, + 60, + 736, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 688, + 10, + 6, + 96, + 688, + 10, + 6, + 96, + 684, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 668, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 648, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 640, + 100, + 4, + 56, + 640, + 100, + 4, + 56, + 636, + 100, + 10, + 54, + 636, + 100, + 10, + 54, + 632, + 100, + 14, + 52, + 634, + 100, + 14, + 52, + 630, + 100, + 16, + 52, + 632, + 100, + 16, + 52, + 628, + 102, + 18, + 50, + 630, + 102, + 18, + 50, + 626, + 102, + 20, + 48, + 630, + 102, + 20, + 48, + 628, + 100, + 20, + 52, + 628, + 100, + 20, + 52, + 628, + 98, + 20, + 52, + 630, + 98, + 20, + 52, + 630, + 94, + 22, + 54, + 630, + 94, + 22, + 54, + 630, + 80, + 36, + 54, + 630, + 80, + 36, + 54, + 630, + 78, + 38, + 52, + 632, + 78, + 38, + 52, + 634, + 74, + 40, + 52, + 634, + 74, + 40, + 52, + 634, + 74, + 42, + 50, + 634, + 74, + 42, + 50, + 634, + 70, + 50, + 46, + 634, + 70, + 50, + 46, + 634, + 66, + 58, + 42, + 634, + 66, + 58, + 42, + 634, + 64, + 62, + 40, + 634, + 64, + 62, + 40, + 634, + 60, + 68, + 38, + 634, + 60, + 68, + 38, + 634, + 58, + 72, + 32, + 638, + 58, + 72, + 32, + 638, + 56, + 76, + 28, + 640, + 56, + 76, + 28, + 638, + 56, + 80, + 24, + 640, + 56, + 80, + 24, + 640, + 46, + 90, + 20, + 644, + 46, + 90, + 20, + 644, + 40, + 96, + 18, + 646, + 40, + 96, + 18, + 646, + 36, + 102, + 16, + 646, + 36, + 102, + 16, + 646, + 34, + 106, + 12, + 648, + 34, + 106, + 12, + 648, + 36, + 104, + 10, + 650, + 36, + 104, + 10, + 650, + 36, + 104, + 8, + 652, + 36, + 104, + 8, + 652, + 36, + 6, + 8, + 750, + 36, + 6, + 8, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 778, + 18, + 782, + 18, + 784, + 10, + 790, + 10, + 697101 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000080:0001", + "experimental_retained_index": 1, + "ism_score": 0.39592546224594116, + "R": [ + [ + 0.8988854885101318, + -0.38877764344215393, + 0.2010623812675476 + ], + [ + 0.37735164165496826, + 0.921066403388977, + 0.09465894848108292 + ], + [ + -0.22217918932437897, + -0.00922127440571785, + 0.9749401807785034 + ] + ], + "t": [ + -171.76492309570312, + 110.64741516113281, + 355.4958190917969 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 226, + 472, + 180, + 178 + ], + "score": 0.3823155164718628, + "time": 0.0, + "segmentation": { + "counts": [ + 180615, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 50, + 750, + 50, + 746, + 54, + 746, + 54, + 742, + 60, + 740, + 60, + 736, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 688, + 10, + 6, + 96, + 688, + 10, + 6, + 96, + 684, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 668, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 648, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 640, + 100, + 4, + 56, + 640, + 100, + 4, + 56, + 636, + 100, + 10, + 54, + 636, + 100, + 10, + 54, + 632, + 100, + 14, + 52, + 634, + 100, + 14, + 52, + 630, + 100, + 16, + 52, + 632, + 100, + 16, + 52, + 628, + 102, + 18, + 50, + 630, + 102, + 18, + 50, + 626, + 102, + 20, + 48, + 630, + 102, + 20, + 48, + 628, + 100, + 20, + 52, + 628, + 100, + 20, + 52, + 628, + 98, + 20, + 52, + 630, + 98, + 20, + 52, + 630, + 94, + 22, + 54, + 630, + 94, + 22, + 54, + 630, + 80, + 36, + 54, + 630, + 80, + 36, + 54, + 630, + 78, + 38, + 52, + 632, + 78, + 38, + 52, + 634, + 74, + 40, + 52, + 634, + 74, + 40, + 52, + 634, + 74, + 42, + 50, + 634, + 74, + 42, + 50, + 634, + 70, + 50, + 46, + 634, + 70, + 50, + 46, + 634, + 66, + 58, + 42, + 634, + 66, + 58, + 42, + 634, + 64, + 62, + 40, + 634, + 64, + 62, + 40, + 634, + 60, + 68, + 38, + 634, + 60, + 68, + 38, + 634, + 58, + 72, + 32, + 638, + 58, + 72, + 32, + 638, + 56, + 76, + 28, + 640, + 56, + 76, + 28, + 638, + 56, + 80, + 24, + 640, + 56, + 80, + 24, + 640, + 46, + 90, + 20, + 644, + 46, + 90, + 20, + 644, + 40, + 96, + 18, + 646, + 40, + 96, + 18, + 646, + 36, + 102, + 16, + 646, + 36, + 102, + 16, + 646, + 34, + 106, + 12, + 648, + 34, + 106, + 12, + 648, + 36, + 104, + 10, + 650, + 36, + 104, + 10, + 650, + 36, + 104, + 8, + 652, + 36, + 104, + 8, + 652, + 36, + 6, + 8, + 750, + 36, + 6, + 8, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 778, + 18, + 782, + 18, + 784, + 10, + 790, + 10, + 697101 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000080:0001", + "experimental_retained_index": 1, + "ism_score": 0.39592546224594116, + "R": [ + [ + 0.8988854885101318, + -0.38877764344215393, + 0.2010623812675476 + ], + [ + 0.37735164165496826, + 0.921066403388977, + 0.09465894848108292 + ], + [ + -0.22217918932437897, + -0.00922127440571785, + 0.9749401807785034 + ] + ], + "t": [ + -171.76492309570312, + 110.64741516113281, + 355.4958190917969 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000080/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000080/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000080:0000", + "Slide_holder:000080:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000080.png" + }, + { + "frame_id": 82, + "image_path": "/workspace/data/0008_/images/000082.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000082.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 156, + 406, + 206, + 154 + ], + "score": 0.32385122776031494, + "time": 0.0, + "segmentation": { + "counts": [ + 124507, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 736, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 690, + 6, + 10, + 94, + 690, + 6, + 10, + 94, + 688, + 8, + 10, + 96, + 686, + 8, + 10, + 96, + 684, + 12, + 12, + 92, + 684, + 12, + 12, + 92, + 682, + 16, + 12, + 90, + 682, + 16, + 12, + 90, + 680, + 20, + 12, + 4, + 24, + 58, + 682, + 20, + 12, + 4, + 24, + 58, + 680, + 22, + 46, + 52, + 680, + 22, + 46, + 52, + 678, + 24, + 48, + 48, + 680, + 24, + 48, + 48, + 678, + 26, + 52, + 44, + 678, + 26, + 52, + 44, + 676, + 28, + 52, + 42, + 678, + 28, + 52, + 42, + 676, + 30, + 54, + 40, + 676, + 30, + 54, + 40, + 676, + 28, + 58, + 38, + 676, + 28, + 58, + 38, + 674, + 28, + 62, + 36, + 674, + 28, + 62, + 36, + 672, + 28, + 66, + 34, + 672, + 28, + 66, + 34, + 670, + 28, + 68, + 34, + 670, + 28, + 68, + 34, + 668, + 28, + 70, + 34, + 668, + 28, + 70, + 34, + 666, + 30, + 72, + 32, + 666, + 30, + 72, + 32, + 664, + 30, + 74, + 32, + 664, + 30, + 74, + 32, + 662, + 30, + 78, + 32, + 660, + 30, + 78, + 32, + 658, + 32, + 78, + 32, + 658, + 32, + 78, + 32, + 656, + 32, + 80, + 32, + 656, + 32, + 80, + 32, + 654, + 34, + 82, + 30, + 654, + 34, + 82, + 30, + 654, + 32, + 86, + 28, + 654, + 32, + 86, + 28, + 652, + 34, + 90, + 24, + 652, + 34, + 90, + 24, + 650, + 36, + 86, + 28, + 650, + 36, + 86, + 28, + 648, + 38, + 86, + 26, + 650, + 38, + 86, + 26, + 648, + 40, + 88, + 24, + 648, + 40, + 88, + 24, + 648, + 38, + 90, + 22, + 650, + 38, + 90, + 22, + 650, + 38, + 88, + 22, + 652, + 38, + 88, + 22, + 652, + 38, + 88, + 20, + 654, + 38, + 88, + 20, + 656, + 36, + 88, + 18, + 658, + 36, + 88, + 18, + 660, + 34, + 88, + 16, + 662, + 34, + 88, + 16, + 662, + 34, + 88, + 14, + 664, + 34, + 88, + 14, + 666, + 34, + 86, + 12, + 668, + 34, + 86, + 12, + 668, + 34, + 84, + 12, + 670, + 34, + 84, + 12, + 672, + 32, + 84, + 10, + 674, + 32, + 84, + 10, + 674, + 32, + 86, + 6, + 676, + 32, + 86, + 6, + 676, + 32, + 86, + 4, + 678, + 32, + 86, + 4, + 680, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 774, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 778, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 794, + 4, + 796, + 4, + 732331 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000082:0000", + "experimental_retained_index": 0, + "ism_score": 0.3838236927986145, + "R": [ + [ + 0.7074668407440186, + -0.6922681927680969, + 0.1423194855451584 + ], + [ + 0.633952260017395, + 0.7106111645698547, + 0.30518192052841187 + ], + [ + -0.3124014139175415, + -0.12568223476409912, + 0.9415992498397827 + ] + ], + "t": [ + -220.6759033203125, + 78.82168579101562, + 364.907958984375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 156, + 406, + 206, + 154 + ], + "score": 0.32385122776031494, + "time": 0.0, + "segmentation": { + "counts": [ + 124507, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 736, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 690, + 6, + 10, + 94, + 690, + 6, + 10, + 94, + 688, + 8, + 10, + 96, + 686, + 8, + 10, + 96, + 684, + 12, + 12, + 92, + 684, + 12, + 12, + 92, + 682, + 16, + 12, + 90, + 682, + 16, + 12, + 90, + 680, + 20, + 12, + 4, + 24, + 58, + 682, + 20, + 12, + 4, + 24, + 58, + 680, + 22, + 46, + 52, + 680, + 22, + 46, + 52, + 678, + 24, + 48, + 48, + 680, + 24, + 48, + 48, + 678, + 26, + 52, + 44, + 678, + 26, + 52, + 44, + 676, + 28, + 52, + 42, + 678, + 28, + 52, + 42, + 676, + 30, + 54, + 40, + 676, + 30, + 54, + 40, + 676, + 28, + 58, + 38, + 676, + 28, + 58, + 38, + 674, + 28, + 62, + 36, + 674, + 28, + 62, + 36, + 672, + 28, + 66, + 34, + 672, + 28, + 66, + 34, + 670, + 28, + 68, + 34, + 670, + 28, + 68, + 34, + 668, + 28, + 70, + 34, + 668, + 28, + 70, + 34, + 666, + 30, + 72, + 32, + 666, + 30, + 72, + 32, + 664, + 30, + 74, + 32, + 664, + 30, + 74, + 32, + 662, + 30, + 78, + 32, + 660, + 30, + 78, + 32, + 658, + 32, + 78, + 32, + 658, + 32, + 78, + 32, + 656, + 32, + 80, + 32, + 656, + 32, + 80, + 32, + 654, + 34, + 82, + 30, + 654, + 34, + 82, + 30, + 654, + 32, + 86, + 28, + 654, + 32, + 86, + 28, + 652, + 34, + 90, + 24, + 652, + 34, + 90, + 24, + 650, + 36, + 86, + 28, + 650, + 36, + 86, + 28, + 648, + 38, + 86, + 26, + 650, + 38, + 86, + 26, + 648, + 40, + 88, + 24, + 648, + 40, + 88, + 24, + 648, + 38, + 90, + 22, + 650, + 38, + 90, + 22, + 650, + 38, + 88, + 22, + 652, + 38, + 88, + 22, + 652, + 38, + 88, + 20, + 654, + 38, + 88, + 20, + 656, + 36, + 88, + 18, + 658, + 36, + 88, + 18, + 660, + 34, + 88, + 16, + 662, + 34, + 88, + 16, + 662, + 34, + 88, + 14, + 664, + 34, + 88, + 14, + 666, + 34, + 86, + 12, + 668, + 34, + 86, + 12, + 668, + 34, + 84, + 12, + 670, + 34, + 84, + 12, + 672, + 32, + 84, + 10, + 674, + 32, + 84, + 10, + 674, + 32, + 86, + 6, + 676, + 32, + 86, + 6, + 676, + 32, + 86, + 4, + 678, + 32, + 86, + 4, + 680, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 774, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 778, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 794, + 4, + 796, + 4, + 732331 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000082:0000", + "experimental_retained_index": 0, + "ism_score": 0.3838236927986145, + "R": [ + [ + 0.7074668407440186, + -0.6922681927680969, + 0.1423194855451584 + ], + [ + 0.633952260017395, + 0.7106111645698547, + 0.30518192052841187 + ], + [ + -0.3124014139175415, + -0.12568223476409912, + 0.9415992498397827 + ] + ], + "t": [ + -220.6759033203125, + 78.82168579101562, + 364.907958984375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000082/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000082/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000082:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000082.png" + }, + { + "frame_id": 84, + "image_path": "/workspace/data/0008_/images/000084.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000084.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 148, + 346, + 196, + 138 + ], + "score": 0.16751131415367126, + "time": 0.0, + "segmentation": { + "counts": [ + 118003, + 10, + 790, + 10, + 790, + 20, + 780, + 20, + 778, + 30, + 770, + 30, + 770, + 40, + 760, + 40, + 758, + 50, + 750, + 50, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 694, + 16, + 18, + 72, + 694, + 16, + 18, + 72, + 694, + 10, + 28, + 70, + 692, + 10, + 28, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 680, + 4, + 84, + 30, + 682, + 4, + 84, + 30, + 680, + 6, + 84, + 30, + 680, + 6, + 84, + 30, + 678, + 8, + 86, + 26, + 680, + 8, + 86, + 26, + 680, + 8, + 88, + 24, + 680, + 8, + 88, + 24, + 678, + 10, + 90, + 20, + 680, + 10, + 90, + 20, + 680, + 12, + 88, + 20, + 680, + 12, + 88, + 20, + 678, + 14, + 90, + 16, + 680, + 14, + 90, + 16, + 680, + 14, + 92, + 14, + 680, + 14, + 92, + 14, + 680, + 14, + 94, + 10, + 682, + 14, + 94, + 10, + 680, + 18, + 92, + 8, + 682, + 18, + 92, + 8, + 682, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 16, + 784, + 16, + 786, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 22, + 778, + 22, + 780, + 24, + 776, + 24, + 778, + 28, + 772, + 28, + 776, + 26, + 774, + 26, + 778, + 24, + 776, + 24, + 778, + 24, + 776, + 24, + 778, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 778, + 24, + 776, + 24, + 780, + 24, + 776, + 24, + 780, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 788, + 12, + 788, + 12, + 794, + 4, + 796, + 4, + 746771 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000084:0000", + "experimental_retained_index": 0, + "ism_score": 0.38843202590942383, + "R": [ + [ + 0.06740826368331909, + 0.9976263046264648, + -0.014060243964195251 + ], + [ + 0.9659146666526794, + -0.06878286600112915, + -0.2495545744895935 + ], + [ + -0.2499295175075531, + 0.0032408535480499268, + -0.968258798122406 + ] + ], + "t": [ + -182.41342163085938, + 3.1419663429260254, + 335.9453125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 148, + 346, + 196, + 138 + ], + "score": 0.16751131415367126, + "time": 0.0, + "segmentation": { + "counts": [ + 118003, + 10, + 790, + 10, + 790, + 20, + 780, + 20, + 778, + 30, + 770, + 30, + 770, + 40, + 760, + 40, + 758, + 50, + 750, + 50, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 694, + 16, + 18, + 72, + 694, + 16, + 18, + 72, + 694, + 10, + 28, + 70, + 692, + 10, + 28, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 680, + 4, + 84, + 30, + 682, + 4, + 84, + 30, + 680, + 6, + 84, + 30, + 680, + 6, + 84, + 30, + 678, + 8, + 86, + 26, + 680, + 8, + 86, + 26, + 680, + 8, + 88, + 24, + 680, + 8, + 88, + 24, + 678, + 10, + 90, + 20, + 680, + 10, + 90, + 20, + 680, + 12, + 88, + 20, + 680, + 12, + 88, + 20, + 678, + 14, + 90, + 16, + 680, + 14, + 90, + 16, + 680, + 14, + 92, + 14, + 680, + 14, + 92, + 14, + 680, + 14, + 94, + 10, + 682, + 14, + 94, + 10, + 680, + 18, + 92, + 8, + 682, + 18, + 92, + 8, + 682, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 16, + 784, + 16, + 786, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 22, + 778, + 22, + 780, + 24, + 776, + 24, + 778, + 28, + 772, + 28, + 776, + 26, + 774, + 26, + 778, + 24, + 776, + 24, + 778, + 24, + 776, + 24, + 778, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 778, + 24, + 776, + 24, + 780, + 24, + 776, + 24, + 780, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 788, + 12, + 788, + 12, + 794, + 4, + 796, + 4, + 746771 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000084:0000", + "experimental_retained_index": 0, + "ism_score": 0.38843202590942383, + "R": [ + [ + 0.06740826368331909, + 0.9976263046264648, + -0.014060243964195251 + ], + [ + 0.9659146666526794, + -0.06878286600112915, + -0.2495545744895935 + ], + [ + -0.2499295175075531, + 0.0032408535480499268, + -0.968258798122406 + ] + ], + "t": [ + -182.41342163085938, + 3.1419663429260254, + 335.9453125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000084/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000084/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000084:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000084.png" + }, + { + "frame_id": 86, + "image_path": "/workspace/data/0008_/images/000086.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000086.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 244, + 0, + 144, + 48 + ], + "score": 0.30749961733818054, + "time": 0.0, + "segmentation": { + "counts": [ + 194439, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 766, + 34, + 766, + 34, + 711953 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000086:0001", + "experimental_retained_index": 0, + "ism_score": 0.3843745291233063, + "R": [ + [ + 0.9668967127799988, + 0.008208103477954865, + 0.25536465644836426 + ], + [ + -0.23102664947509766, + -0.39850085973739624, + 0.8875558376312256 + ], + [ + 0.10908986628055573, + -0.9172537922859192, + -0.3832976222038269 + ] + ], + "t": [ + -339.4332275390625, + -328.34942626953125, + 648.8980712890625 + ] + }, + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 0, + 198, + 1278, + 598 + ], + "score": 0.08403129875659943, + "time": 0.0, + "segmentation": { + "counts": [ + 197, + 470, + 42, + 76, + 212, + 470, + 42, + 76, + 212, + 470, + 42, + 76, + 212, + 470, + 40, + 78, + 212, + 470, + 40, + 78, + 212, + 470, + 38, + 80, + 212, + 470, + 38, + 80, + 212, + 468, + 40, + 78, + 214, + 468, + 40, + 78, + 216, + 464, + 40, + 80, + 216, + 464, + 40, + 80, + 216, + 464, + 38, + 80, + 218, + 464, + 38, + 80, + 218, + 462, + 38, + 82, + 218, + 462, + 38, + 82, + 218, + 460, + 40, + 80, + 220, + 460, + 40, + 80, + 220, + 458, + 40, + 80, + 222, + 458, + 40, + 80, + 222, + 458, + 40, + 78, + 224, + 458, + 40, + 78, + 226, + 454, + 40, + 78, + 228, + 454, + 40, + 78, + 228, + 450, + 42, + 78, + 230, + 450, + 42, + 78, + 230, + 450, + 40, + 78, + 232, + 450, + 40, + 78, + 232, + 448, + 40, + 80, + 232, + 448, + 40, + 80, + 234, + 446, + 40, + 78, + 236, + 446, + 40, + 78, + 236, + 444, + 40, + 78, + 238, + 444, + 40, + 78, + 238, + 442, + 40, + 80, + 238, + 442, + 40, + 80, + 240, + 438, + 40, + 80, + 242, + 438, + 40, + 80, + 242, + 438, + 38, + 82, + 242, + 438, + 38, + 82, + 242, + 436, + 40, + 80, + 244, + 436, + 40, + 80, + 244, + 434, + 40, + 80, + 246, + 434, + 40, + 80, + 248, + 432, + 38, + 82, + 248, + 432, + 38, + 82, + 248, + 430, + 40, + 80, + 250, + 430, + 40, + 80, + 252, + 426, + 40, + 80, + 254, + 426, + 40, + 80, + 254, + 424, + 40, + 80, + 256, + 424, + 40, + 80, + 256, + 424, + 38, + 80, + 258, + 424, + 38, + 80, + 258, + 422, + 40, + 80, + 258, + 422, + 40, + 80, + 258, + 420, + 40, + 80, + 260, + 420, + 40, + 80, + 262, + 418, + 38, + 82, + 262, + 418, + 38, + 82, + 262, + 416, + 40, + 80, + 264, + 416, + 40, + 80, + 264, + 414, + 40, + 80, + 266, + 414, + 40, + 80, + 268, + 410, + 40, + 80, + 270, + 410, + 40, + 80, + 270, + 408, + 40, + 82, + 52, + 4, + 214, + 408, + 40, + 82, + 52, + 4, + 214, + 408, + 38, + 82, + 52, + 6, + 214, + 408, + 38, + 82, + 52, + 6, + 214, + 406, + 40, + 82, + 50, + 8, + 214, + 406, + 40, + 82, + 50, + 8, + 216, + 214, + 10, + 178, + 40, + 82, + 50, + 10, + 216, + 214, + 10, + 178, + 40, + 82, + 50, + 10, + 216, + 210, + 18, + 174, + 38, + 82, + 50, + 12, + 216, + 210, + 18, + 174, + 38, + 82, + 50, + 12, + 216, + 208, + 22, + 170, + 38, + 84, + 48, + 14, + 216, + 208, + 22, + 170, + 38, + 84, + 48, + 14, + 216, + 206, + 28, + 164, + 38, + 84, + 48, + 16, + 216, + 206, + 28, + 164, + 38, + 84, + 48, + 16, + 218, + 202, + 32, + 160, + 40, + 82, + 48, + 18, + 218, + 202, + 32, + 160, + 40, + 82, + 48, + 18, + 218, + 198, + 40, + 156, + 38, + 82, + 48, + 20, + 218, + 198, + 40, + 156, + 38, + 82, + 48, + 20, + 218, + 196, + 44, + 152, + 38, + 82, + 50, + 20, + 218, + 196, + 44, + 152, + 38, + 82, + 50, + 20, + 218, + 196, + 46, + 148, + 40, + 82, + 50, + 20, + 218, + 196, + 46, + 148, + 40, + 82, + 50, + 20, + 220, + 192, + 50, + 144, + 40, + 82, + 50, + 22, + 220, + 192, + 50, + 144, + 40, + 82, + 50, + 22, + 220, + 190, + 54, + 140, + 40, + 82, + 52, + 22, + 220, + 190, + 54, + 140, + 40, + 82, + 52, + 22, + 220, + 190, + 54, + 140, + 38, + 82, + 52, + 24, + 220, + 190, + 54, + 140, + 38, + 82, + 52, + 24, + 220, + 188, + 56, + 138, + 38, + 84, + 50, + 26, + 220, + 188, + 56, + 138, + 38, + 84, + 50, + 26, + 220, + 186, + 60, + 134, + 40, + 82, + 50, + 28, + 220, + 186, + 60, + 134, + 40, + 82, + 50, + 28, + 222, + 184, + 60, + 132, + 40, + 84, + 48, + 30, + 222, + 184, + 60, + 132, + 40, + 84, + 48, + 30, + 222, + 182, + 64, + 126, + 44, + 82, + 48, + 32, + 222, + 182, + 64, + 126, + 44, + 82, + 48, + 32, + 222, + 182, + 64, + 120, + 48, + 82, + 48, + 34, + 222, + 182, + 64, + 120, + 48, + 82, + 48, + 34, + 222, + 180, + 68, + 116, + 48, + 82, + 48, + 36, + 222, + 180, + 68, + 116, + 48, + 82, + 48, + 36, + 224, + 178, + 68, + 114, + 48, + 82, + 48, + 38, + 224, + 178, + 68, + 114, + 48, + 82, + 48, + 38, + 224, + 178, + 70, + 112, + 48, + 82, + 48, + 38, + 224, + 178, + 70, + 112, + 48, + 82, + 48, + 38, + 224, + 178, + 74, + 106, + 48, + 82, + 48, + 40, + 224, + 178, + 74, + 106, + 48, + 82, + 48, + 40, + 224, + 178, + 76, + 104, + 46, + 54, + 20, + 4, + 54, + 40, + 224, + 178, + 76, + 104, + 46, + 54, + 20, + 4, + 54, + 40, + 226, + 174, + 80, + 102, + 46, + 52, + 80, + 40, + 226, + 174, + 80, + 102, + 46, + 52, + 80, + 40, + 226, + 174, + 82, + 98, + 46, + 52, + 80, + 42, + 226, + 174, + 82, + 98, + 46, + 52, + 80, + 42, + 226, + 174, + 86, + 92, + 46, + 50, + 84, + 42, + 226, + 174, + 86, + 92, + 46, + 50, + 84, + 42, + 226, + 172, + 90, + 92, + 42, + 48, + 90, + 40, + 226, + 172, + 90, + 92, + 42, + 48, + 90, + 40, + 228, + 170, + 94, + 88, + 42, + 44, + 96, + 6, + 6, + 26, + 228, + 170, + 94, + 88, + 42, + 44, + 96, + 6, + 6, + 26, + 228, + 170, + 98, + 84, + 42, + 42, + 116, + 20, + 228, + 170, + 98, + 84, + 42, + 42, + 116, + 20, + 228, + 170, + 100, + 84, + 38, + 44, + 118, + 18, + 228, + 170, + 100, + 84, + 38, + 44, + 118, + 18, + 230, + 168, + 102, + 84, + 36, + 42, + 120, + 4, + 244, + 168, + 102, + 84, + 36, + 42, + 120, + 4, + 244, + 168, + 104, + 84, + 34, + 42, + 368, + 168, + 104, + 84, + 34, + 42, + 368, + 166, + 110, + 82, + 30, + 42, + 370, + 166, + 110, + 82, + 30, + 42, + 370, + 166, + 112, + 82, + 28, + 42, + 370, + 166, + 112, + 82, + 28, + 42, + 372, + 166, + 112, + 80, + 26, + 42, + 374, + 166, + 112, + 80, + 26, + 42, + 374, + 166, + 114, + 80, + 24, + 42, + 374, + 166, + 114, + 80, + 24, + 42, + 374, + 166, + 116, + 80, + 20, + 42, + 376, + 166, + 116, + 80, + 20, + 42, + 378, + 166, + 118, + 78, + 16, + 42, + 380, + 166, + 118, + 78, + 16, + 42, + 380, + 166, + 120, + 80, + 10, + 42, + 382, + 166, + 120, + 80, + 10, + 42, + 382, + 166, + 122, + 82, + 4, + 44, + 382, + 166, + 122, + 82, + 4, + 44, + 382, + 168, + 122, + 128, + 382, + 168, + 122, + 128, + 384, + 166, + 126, + 122, + 386, + 166, + 126, + 122, + 386, + 168, + 126, + 120, + 386, + 168, + 126, + 120, + 386, + 170, + 126, + 116, + 388, + 170, + 126, + 116, + 388, + 172, + 126, + 114, + 388, + 172, + 126, + 114, + 390, + 172, + 128, + 110, + 390, + 172, + 128, + 110, + 390, + 176, + 126, + 106, + 392, + 176, + 126, + 106, + 392, + 178, + 126, + 104, + 392, + 178, + 126, + 104, + 392, + 182, + 126, + 98, + 394, + 182, + 126, + 98, + 394, + 186, + 126, + 94, + 394, + 186, + 126, + 94, + 396, + 202, + 110, + 90, + 398, + 202, + 110, + 90, + 398, + 204, + 114, + 84, + 398, + 204, + 114, + 84, + 398, + 210, + 110, + 80, + 400, + 210, + 110, + 80, + 400, + 212, + 110, + 78, + 400, + 212, + 110, + 78, + 402, + 214, + 108, + 74, + 404, + 214, + 108, + 74, + 404, + 218, + 106, + 72, + 404, + 218, + 106, + 72, + 404, + 220, + 106, + 68, + 406, + 220, + 106, + 68, + 406, + 224, + 104, + 64, + 408, + 224, + 104, + 64, + 410, + 226, + 102, + 62, + 410, + 226, + 102, + 62, + 410, + 228, + 102, + 58, + 412, + 228, + 102, + 58, + 412, + 232, + 98, + 58, + 412, + 232, + 98, + 58, + 414, + 234, + 94, + 56, + 416, + 234, + 94, + 56, + 416, + 236, + 94, + 54, + 416, + 236, + 94, + 54, + 416, + 238, + 92, + 52, + 418, + 238, + 92, + 52, + 418, + 242, + 88, + 52, + 418, + 242, + 88, + 52, + 420, + 244, + 84, + 52, + 420, + 244, + 84, + 52, + 420, + 246, + 80, + 52, + 422, + 246, + 80, + 52, + 422, + 252, + 74, + 50, + 424, + 252, + 74, + 50, + 426, + 252, + 72, + 50, + 426, + 252, + 72, + 50, + 426, + 254, + 68, + 50, + 428, + 254, + 68, + 50, + 428, + 258, + 64, + 50, + 428, + 258, + 64, + 50, + 428, + 262, + 60, + 50, + 172, + 6, + 250, + 262, + 60, + 50, + 172, + 6, + 252, + 262, + 56, + 50, + 172, + 8, + 252, + 262, + 56, + 50, + 172, + 8, + 252, + 264, + 54, + 50, + 172, + 8, + 252, + 264, + 54, + 50, + 172, + 8, + 252, + 268, + 48, + 50, + 172, + 10, + 252, + 268, + 48, + 50, + 172, + 10, + 254, + 268, + 44, + 52, + 172, + 10, + 254, + 268, + 44, + 52, + 172, + 10, + 254, + 274, + 36, + 52, + 170, + 14, + 254, + 274, + 36, + 52, + 170, + 14, + 254, + 276, + 34, + 52, + 168, + 16, + 254, + 276, + 34, + 52, + 168, + 16, + 254, + 280, + 28, + 52, + 170, + 16, + 254, + 280, + 28, + 52, + 170, + 16, + 256, + 282, + 22, + 54, + 168, + 18, + 256, + 282, + 22, + 54, + 168, + 18, + 256, + 286, + 16, + 54, + 170, + 18, + 256, + 286, + 16, + 54, + 170, + 18, + 256, + 288, + 8, + 60, + 168, + 20, + 256, + 288, + 8, + 60, + 168, + 20, + 256, + 356, + 168, + 20, + 256, + 356, + 168, + 20, + 256, + 354, + 170, + 20, + 256, + 354, + 170, + 20, + 258, + 352, + 168, + 22, + 258, + 352, + 168, + 22, + 258, + 350, + 170, + 22, + 258, + 350, + 170, + 22, + 258, + 350, + 166, + 26, + 258, + 350, + 166, + 26, + 258, + 348, + 166, + 28, + 258, + 348, + 166, + 28, + 260, + 346, + 166, + 28, + 260, + 346, + 166, + 28, + 260, + 344, + 166, + 30, + 260, + 344, + 166, + 30, + 260, + 344, + 166, + 30, + 260, + 344, + 166, + 30, + 260, + 342, + 166, + 32, + 260, + 342, + 166, + 32, + 260, + 342, + 166, + 32, + 260, + 342, + 166, + 32, + 262, + 338, + 166, + 34, + 262, + 338, + 166, + 34, + 262, + 336, + 164, + 38, + 262, + 336, + 164, + 38, + 262, + 336, + 164, + 38, + 262, + 336, + 164, + 38, + 262, + 334, + 166, + 36, + 264, + 334, + 166, + 36, + 266, + 332, + 164, + 36, + 268, + 332, + 164, + 36, + 268, + 330, + 166, + 34, + 270, + 330, + 166, + 34, + 270, + 330, + 166, + 32, + 272, + 330, + 166, + 32, + 274, + 212, + 2, + 112, + 166, + 32, + 276, + 212, + 2, + 112, + 166, + 32, + 276, + 198, + 22, + 106, + 164, + 32, + 278, + 198, + 22, + 106, + 164, + 32, + 278, + 190, + 32, + 102, + 164, + 30, + 282, + 190, + 32, + 102, + 164, + 30, + 282, + 186, + 40, + 98, + 164, + 28, + 284, + 186, + 40, + 98, + 164, + 28, + 284, + 178, + 50, + 94, + 164, + 30, + 284, + 178, + 50, + 94, + 164, + 30, + 286, + 174, + 58, + 88, + 164, + 28, + 288, + 174, + 58, + 88, + 164, + 28, + 288, + 172, + 66, + 82, + 162, + 26, + 292, + 172, + 66, + 82, + 162, + 26, + 292, + 172, + 70, + 76, + 164, + 24, + 294, + 172, + 70, + 76, + 164, + 24, + 296, + 170, + 70, + 74, + 166, + 22, + 298, + 170, + 70, + 74, + 166, + 22, + 298, + 170, + 72, + 72, + 164, + 22, + 300, + 170, + 72, + 72, + 164, + 22, + 300, + 170, + 76, + 66, + 164, + 22, + 302, + 170, + 76, + 66, + 164, + 22, + 304, + 168, + 80, + 62, + 160, + 24, + 306, + 168, + 80, + 62, + 160, + 24, + 306, + 168, + 82, + 58, + 162, + 20, + 310, + 168, + 82, + 58, + 162, + 20, + 312, + 164, + 88, + 54, + 162, + 18, + 314, + 164, + 88, + 54, + 162, + 18, + 314, + 164, + 92, + 48, + 162, + 18, + 316, + 164, + 92, + 48, + 162, + 18, + 316, + 164, + 96, + 44, + 162, + 16, + 318, + 164, + 96, + 44, + 162, + 16, + 318, + 164, + 98, + 40, + 162, + 14, + 322, + 164, + 98, + 40, + 162, + 14, + 324, + 160, + 102, + 38, + 162, + 12, + 326, + 160, + 102, + 38, + 162, + 12, + 326, + 160, + 104, + 34, + 162, + 14, + 326, + 160, + 104, + 34, + 162, + 14, + 326, + 162, + 102, + 34, + 160, + 14, + 328, + 162, + 102, + 34, + 160, + 14, + 328, + 162, + 102, + 32, + 162, + 10, + 332, + 162, + 102, + 32, + 162, + 10, + 332, + 160, + 102, + 34, + 164, + 4, + 336, + 160, + 102, + 34, + 164, + 4, + 336, + 160, + 102, + 32, + 506, + 160, + 102, + 32, + 508, + 158, + 102, + 32, + 508, + 158, + 102, + 32, + 508, + 158, + 102, + 30, + 510, + 158, + 102, + 30, + 510, + 158, + 100, + 32, + 510, + 158, + 100, + 32, + 512, + 154, + 102, + 32, + 512, + 154, + 102, + 32, + 512, + 154, + 102, + 30, + 514, + 154, + 102, + 30, + 514, + 152, + 104, + 30, + 514, + 152, + 104, + 30, + 514, + 152, + 102, + 30, + 516, + 152, + 102, + 30, + 516, + 154, + 100, + 30, + 516, + 154, + 100, + 30, + 516, + 154, + 100, + 30, + 516, + 154, + 100, + 30, + 518, + 152, + 100, + 28, + 520, + 152, + 100, + 28, + 520, + 152, + 100, + 28, + 520, + 152, + 100, + 28, + 520, + 152, + 100, + 28, + 520, + 152, + 100, + 28, + 520, + 150, + 102, + 28, + 520, + 150, + 102, + 28, + 522, + 132, + 118, + 28, + 522, + 132, + 118, + 28, + 522, + 132, + 118, + 28, + 522, + 132, + 118, + 28, + 522, + 134, + 114, + 30, + 522, + 134, + 114, + 30, + 522, + 142, + 106, + 30, + 522, + 142, + 106, + 30, + 524, + 142, + 104, + 30, + 524, + 142, + 104, + 30, + 524, + 142, + 104, + 32, + 522, + 142, + 104, + 32, + 522, + 140, + 106, + 34, + 520, + 140, + 106, + 34, + 520, + 140, + 106, + 36, + 518, + 140, + 106, + 36, + 520, + 136, + 106, + 40, + 518, + 136, + 106, + 40, + 518, + 136, + 106, + 42, + 516, + 136, + 106, + 42, + 516, + 134, + 108, + 46, + 512, + 134, + 108, + 46, + 514, + 130, + 110, + 50, + 510, + 130, + 110, + 50, + 510, + 130, + 110, + 54, + 506, + 130, + 110, + 54, + 506, + 130, + 108, + 60, + 502, + 130, + 108, + 60, + 502, + 130, + 108, + 64, + 498, + 130, + 108, + 64, + 500, + 126, + 110, + 68, + 496, + 126, + 110, + 68, + 496, + 124, + 114, + 70, + 492, + 124, + 114, + 70, + 492, + 124, + 114, + 74, + 488, + 124, + 114, + 74, + 490, + 122, + 118, + 74, + 486, + 122, + 118, + 74, + 486, + 122, + 124, + 72, + 482, + 122, + 124, + 72, + 482, + 122, + 130, + 72, + 476, + 122, + 130, + 72, + 476, + 122, + 134, + 70, + 474, + 122, + 134, + 70, + 476, + 120, + 138, + 70, + 472, + 120, + 138, + 70, + 472, + 120, + 144, + 68, + 468, + 120, + 144, + 68, + 468, + 120, + 152, + 64, + 464, + 120, + 152, + 64, + 464, + 120, + 156, + 64, + 460, + 120, + 156, + 64, + 462, + 118, + 162, + 62, + 458, + 118, + 162, + 62, + 458, + 118, + 166, + 62, + 454, + 118, + 166, + 62, + 454, + 120, + 166, + 60, + 454, + 120, + 166, + 60, + 454, + 120, + 168, + 58, + 454, + 120, + 168, + 58, + 456, + 120, + 168, + 54, + 458, + 120, + 168, + 54, + 458, + 120, + 168, + 52, + 460, + 120, + 168, + 52, + 460, + 122, + 168, + 48, + 462, + 122, + 168, + 48, + 462, + 122, + 168, + 44, + 466, + 122, + 168, + 44, + 466, + 124, + 166, + 42, + 468, + 124, + 166, + 42, + 470, + 126, + 162, + 40, + 472, + 126, + 162, + 40, + 472, + 128, + 160, + 38, + 474, + 128, + 160, + 38, + 474, + 132, + 156, + 34, + 478, + 132, + 156, + 34, + 478, + 138, + 150, + 32, + 480, + 138, + 150, + 32, + 482, + 170, + 116, + 30, + 484, + 170, + 116, + 30, + 484, + 178, + 106, + 30, + 486, + 178, + 106, + 30, + 486, + 188, + 96, + 28, + 488, + 188, + 96, + 28, + 488, + 196, + 88, + 26, + 490, + 196, + 88, + 26, + 492, + 202, + 78, + 26, + 494, + 202, + 78, + 26, + 494, + 214, + 66, + 24, + 496, + 214, + 66, + 24, + 496, + 218, + 60, + 24, + 498, + 218, + 60, + 24, + 498, + 226, + 50, + 22, + 502, + 226, + 50, + 22, + 504, + 234, + 38, + 22, + 506, + 234, + 38, + 22, + 506, + 244, + 26, + 22, + 508, + 244, + 26, + 22, + 508, + 256, + 14, + 18, + 512, + 256, + 14, + 18, + 514, + 264, + 4, + 18, + 514, + 264, + 4, + 18, + 514, + 264, + 6, + 12, + 518, + 264, + 6, + 12, + 518, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 540, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 556, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 572, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 210, + 242, + 8, + 340, + 210, + 242, + 8, + 342, + 208, + 236, + 16, + 340, + 208, + 236, + 16, + 340, + 210, + 230, + 20, + 340, + 210, + 230, + 20, + 340, + 212, + 224, + 24, + 340, + 212, + 224, + 24, + 340, + 212, + 220, + 28, + 340, + 212, + 220, + 28, + 342, + 212, + 216, + 30, + 342, + 212, + 216, + 30, + 342, + 212, + 212, + 34, + 342, + 212, + 212, + 34, + 342, + 214, + 206, + 38, + 342, + 214, + 206, + 38, + 344, + 212, + 204, + 38, + 346, + 212, + 204, + 38, + 346, + 214, + 200, + 40, + 346, + 214, + 200, + 40, + 346, + 214, + 196, + 44, + 346, + 214, + 196, + 44, + 346, + 214, + 190, + 50, + 346, + 214, + 190, + 50, + 346, + 216, + 182, + 56, + 346, + 216, + 182, + 56, + 348, + 214, + 180, + 58, + 348, + 214, + 180, + 58, + 348, + 212, + 180, + 60, + 348, + 212, + 180, + 60, + 348, + 208, + 180, + 64, + 348, + 208, + 180, + 64, + 350, + 204, + 178, + 68, + 350, + 204, + 178, + 68, + 350, + 200, + 180, + 70, + 350, + 200, + 180, + 70, + 350, + 198, + 178, + 74, + 350, + 198, + 178, + 74, + 350, + 196, + 178, + 76, + 350, + 196, + 178, + 76, + 352, + 192, + 176, + 80, + 352, + 192, + 176, + 80, + 352, + 192, + 170, + 86, + 352, + 192, + 170, + 86, + 352, + 190, + 168, + 90, + 352, + 190, + 168, + 90, + 352, + 190, + 164, + 94, + 352, + 190, + 164, + 94, + 354, + 188, + 162, + 96, + 354, + 188, + 162, + 96, + 354, + 188, + 160, + 98, + 354, + 188, + 160, + 98, + 354, + 188, + 158, + 100, + 354, + 188, + 158, + 100, + 354, + 190, + 150, + 106, + 354, + 190, + 150, + 106, + 356, + 188, + 148, + 108, + 356, + 188, + 148, + 108, + 356, + 190, + 142, + 112, + 356, + 190, + 142, + 112, + 356, + 198, + 130, + 116, + 356, + 198, + 130, + 116, + 356, + 226, + 98, + 120, + 356, + 226, + 98, + 120, + 358, + 226, + 90, + 126, + 358, + 226, + 90, + 126, + 358, + 226, + 88, + 128, + 358, + 226, + 88, + 128, + 358, + 228, + 84, + 130, + 358, + 228, + 84, + 130, + 358, + 228, + 80, + 134, + 358, + 228, + 80, + 134, + 360, + 228, + 74, + 138, + 360, + 228, + 74, + 138, + 360, + 230, + 70, + 140, + 360, + 230, + 70, + 140, + 360, + 230, + 68, + 142, + 360, + 230, + 68, + 142, + 362, + 230, + 62, + 146, + 362, + 230, + 62, + 146, + 362, + 230, + 60, + 148, + 362, + 230, + 60, + 148, + 362, + 232, + 36, + 170, + 362, + 232, + 36, + 170, + 362, + 234, + 18, + 186, + 362, + 234, + 18, + 186, + 362, + 236, + 6, + 196, + 362, + 236, + 6, + 196, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 3 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000086:0000", + "experimental_retained_index": 1, + "ism_score": 0.3683563768863678, + "R": [ + [ + 0.010249949991703033, + -0.9943575859069824, + -0.10559357702732086 + ], + [ + -0.68746018409729, + -0.0836939662694931, + 0.7216482758522034 + ], + [ + -0.7261924743652344, + 0.06514561176300049, + -0.6844367980957031 + ] + ], + "t": [ + -22.360231399536133, + 82.05686950683594, + 448.0177307128906 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 244, + 0, + 144, + 48 + ], + "score": 0.30749961733818054, + "time": 0.0, + "segmentation": { + "counts": [ + 194439, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 766, + 34, + 766, + 34, + 711953 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000086:0001", + "experimental_retained_index": 0, + "ism_score": 0.3843745291233063, + "R": [ + [ + 0.9668967127799988, + 0.008208103477954865, + 0.25536465644836426 + ], + [ + -0.23102664947509766, + -0.39850085973739624, + 0.8875558376312256 + ], + [ + 0.10908986628055573, + -0.9172537922859192, + -0.3832976222038269 + ] + ], + "t": [ + -339.4332275390625, + -328.34942626953125, + 648.8980712890625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000086/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000086/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000086:0001", + "Slide_holder:000086:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000086.png" + }, + { + "frame_id": 87, + "image_path": "/workspace/data/0008_/images/000087.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000087.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 888, + 0, + 390, + 144 + ], + "score": 0.14312025904655457, + "time": 0.0, + "segmentation": { + "counts": [ + 709675, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 764, + 36, + 764, + 36, + 756, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 728, + 72, + 728, + 72, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000087:0000", + "experimental_retained_index": 0, + "ism_score": 0.42802318930625916, + "R": [ + [ + 0.6181946992874146, + 0.36812824010849, + -0.6944904327392578 + ], + [ + 0.7298330068588257, + 0.05923672020435333, + 0.6810548305511475 + ], + [ + 0.2918547987937927, + -0.9278864860534668, + -0.23205243051052094 + ] + ], + "t": [ + 480.5500793457031, + -363.6021423339844, + 691.412109375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 888, + 0, + 390, + 144 + ], + "score": 0.14312025904655457, + "time": 0.0, + "segmentation": { + "counts": [ + 709675, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 764, + 36, + 764, + 36, + 756, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 728, + 72, + 728, + 72, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000087:0000", + "experimental_retained_index": 0, + "ism_score": 0.42802318930625916, + "R": [ + [ + 0.6181946992874146, + 0.36812824010849, + -0.6944904327392578 + ], + [ + 0.7298330068588257, + 0.05923672020435333, + 0.6810548305511475 + ], + [ + 0.2918547987937927, + -0.9278864860534668, + -0.23205243051052094 + ] + ], + "t": [ + 480.5500793457031, + -363.6021423339844, + 691.412109375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000087/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000087/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000087:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000087.png" + }, + { + "frame_id": 92, + "image_path": "/workspace/data/0008_/images/000092.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000092.png", + "status": "no_depth_supported_pose", + "detection_count": 0, + "input_candidate_count": 1, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000092/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000092/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 95, + "image_path": "/workspace/data/0008_/images/000095.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000095.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 930, + 112, + 86, + 160 + ], + "score": 0.024942941963672638, + "time": 0.0, + "segmentation": { + "counts": [ + 743409, + 6, + 794, + 6, + 790, + 18, + 782, + 18, + 778, + 30, + 770, + 30, + 762, + 48, + 752, + 48, + 748, + 60, + 740, + 60, + 740, + 66, + 734, + 66, + 734, + 72, + 728, + 72, + 724, + 80, + 720, + 80, + 718, + 86, + 714, + 86, + 706, + 98, + 702, + 98, + 698, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 688, + 112, + 688, + 112, + 682, + 118, + 682, + 118, + 678, + 120, + 680, + 120, + 674, + 122, + 678, + 122, + 674, + 122, + 678, + 122, + 674, + 122, + 678, + 122, + 674, + 122, + 678, + 122, + 676, + 120, + 680, + 120, + 678, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 686, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 692, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 698, + 98, + 702, + 98, + 698, + 98, + 702, + 98, + 700, + 96, + 704, + 96, + 700, + 96, + 704, + 96, + 702, + 94, + 706, + 94, + 704, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 722, + 74, + 726, + 74, + 728, + 66, + 734, + 66, + 738, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 36, + 764, + 36, + 766, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 209459 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000095:0002", + "experimental_retained_index": 1, + "ism_score": 0.4200916588306427, + "R": [ + [ + 0.6496210098266602, + 0.4967307448387146, + -0.5753018260002136 + ], + [ + 0.6428813934326172, + 0.04486951231956482, + 0.7647150158882141 + ], + [ + 0.40543872117996216, + -0.8666051030158997, + -0.29065263271331787 + ] + ], + "t": [ + 326.1376037597656, + -179.6903839111328, + 558.90771484375 + ] + }, + { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 424, + 78, + 270, + 112 + ], + "score": 0.07454261183738708, + "time": 0.0, + "segmentation": { + "counts": [ + 338479, + 12, + 8, + 10, + 770, + 12, + 8, + 10, + 768, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 44, + 756, + 44, + 758, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 774, + 20, + 780, + 20, + 784, + 8, + 792, + 8, + 467055 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000095:0000", + "experimental_retained_index": 2, + "ism_score": 0.41848480701446533, + "R": [ + [ + 0.6794846057891846, + -0.047155339270830154, + 0.7320835590362549 + ], + [ + -0.5518673658370972, + -0.6903143525123596, + 0.4679102599620819 + ], + [ + 0.4834073781967163, + -0.7223058938980103, + -0.4950428009033203 + ] + ], + "t": [ + -83.75342559814453, + -274.9132385253906, + 612.4373779296875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 424, + 78, + 270, + 112 + ], + "score": 0.07454261183738708, + "time": 0.0, + "segmentation": { + "counts": [ + 338479, + 12, + 8, + 10, + 770, + 12, + 8, + 10, + 768, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 44, + 756, + 44, + 758, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 774, + 20, + 780, + 20, + 784, + 8, + 792, + 8, + 467055 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000095:0000", + "experimental_retained_index": 2, + "ism_score": 0.41848480701446533, + "R": [ + [ + 0.6794846057891846, + -0.047155339270830154, + 0.7320835590362549 + ], + [ + -0.5518673658370972, + -0.6903143525123596, + 0.4679102599620819 + ], + [ + 0.4834073781967163, + -0.7223058938980103, + -0.4950428009033203 + ] + ], + "t": [ + -83.75342559814453, + -274.9132385253906, + 612.4373779296875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000095/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000095/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000095:0002", + "Slide_holder:000095:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000095.png" + }, + { + "frame_id": 97, + "image_path": "/workspace/data/0008_/images/000097.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000097.png", + "status": "ok", + "detection_count": 4, + "input_candidate_count": 4, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 1160, + 0, + 118, + 140 + ], + "score": 0.011299590580165386, + "time": 0.0, + "segmentation": { + "counts": [ + 927279, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 677, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000097:0003", + "experimental_retained_index": 0, + "ism_score": 0.45198360085487366, + "R": [ + [ + -0.6457291841506958, + 0.20373502373695374, + 0.7357136011123657 + ], + [ + 0.47362157702445984, + 0.8627927303314209, + 0.17654640972614288 + ], + [ + -0.5989018678665161, + 0.4624025225639343, + -0.6536663770675659 + ] + ], + "t": [ + 701.8518676757812, + -388.8143310546875, + 728.3723754882812 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 398, + 58, + 270, + 116 + ], + "score": 0.12756064534187317, + "time": 0.0, + "segmentation": { + "counts": [ + 317659, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 54, + 746, + 54, + 746, + 46, + 754, + 46, + 754, + 36, + 764, + 36, + 764, + 30, + 770, + 30, + 772, + 16, + 784, + 16, + 784, + 8, + 792, + 8, + 487875 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000097:0001", + "experimental_retained_index": 1, + "ism_score": 0.42967790365219116, + "R": [ + [ + -0.988167405128479, + 0.045778997242450714, + 0.14557847380638123 + ], + [ + 0.08616635203361511, + 0.9550477266311646, + 0.28426310420036316 + ], + [ + -0.12601280212402344, + 0.29337000846862793, + -0.9477902054786682 + ] + ], + "t": [ + -121.53728485107422, + -258.8537292480469, + 622.1382446289062 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 392, + 12, + 290, + 104 + ], + "score": 0.1319521814584732, + "time": 0.0, + "segmentation": { + "counts": [ + 312825, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 754, + 46, + 754, + 46, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 40, + 760, + 40, + 760, + 26, + 774, + 26, + 780, + 8, + 792, + 8, + 476729 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000097:0002", + "experimental_retained_index": 2, + "ism_score": 0.41396763920783997, + "R": [ + [ + -0.7706100940704346, + 0.6266034245491028, + -0.11855965852737427 + ], + [ + 0.5175014734268188, + 0.7228363752365112, + 0.4576704800128937 + ], + [ + 0.37233594059944153, + 0.29126057028770447, + -0.8810458779335022 + ] + ], + "t": [ + -86.23902130126953, + -312.586669921875, + 646.6748046875 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 0, + 88, + 1278, + 708 + ], + "score": 0.01494096964597702, + "time": 0.0, + "segmentation": { + "counts": [ + 87, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 370, + 2, + 318, + 110, + 370, + 2, + 318, + 110, + 366, + 10, + 314, + 110, + 366, + 10, + 314, + 110, + 364, + 14, + 314, + 108, + 364, + 14, + 314, + 110, + 358, + 20, + 312, + 110, + 358, + 20, + 312, + 110, + 356, + 24, + 310, + 110, + 356, + 24, + 310, + 110, + 354, + 26, + 310, + 110, + 354, + 26, + 310, + 110, + 354, + 26, + 308, + 112, + 354, + 26, + 308, + 114, + 350, + 30, + 308, + 112, + 350, + 30, + 308, + 112, + 350, + 32, + 306, + 112, + 350, + 32, + 306, + 114, + 346, + 34, + 306, + 114, + 346, + 34, + 306, + 114, + 346, + 32, + 306, + 116, + 346, + 32, + 306, + 116, + 344, + 34, + 306, + 116, + 344, + 34, + 306, + 116, + 340, + 36, + 308, + 116, + 340, + 36, + 308, + 118, + 336, + 36, + 312, + 116, + 336, + 36, + 312, + 116, + 334, + 36, + 314, + 116, + 334, + 36, + 314, + 116, + 330, + 38, + 316, + 116, + 330, + 38, + 316, + 116, + 328, + 40, + 314, + 118, + 328, + 40, + 314, + 120, + 326, + 38, + 316, + 120, + 326, + 38, + 316, + 120, + 324, + 38, + 318, + 120, + 324, + 38, + 318, + 120, + 324, + 36, + 320, + 120, + 324, + 36, + 320, + 120, + 322, + 38, + 320, + 120, + 322, + 38, + 320, + 120, + 320, + 38, + 322, + 120, + 320, + 38, + 322, + 120, + 318, + 40, + 322, + 120, + 318, + 40, + 322, + 122, + 314, + 40, + 326, + 120, + 314, + 40, + 326, + 120, + 312, + 42, + 326, + 120, + 312, + 42, + 326, + 120, + 312, + 40, + 326, + 122, + 312, + 40, + 326, + 122, + 310, + 42, + 326, + 122, + 310, + 42, + 326, + 124, + 306, + 44, + 326, + 124, + 306, + 44, + 326, + 124, + 306, + 42, + 328, + 124, + 306, + 42, + 328, + 126, + 304, + 42, + 328, + 126, + 304, + 42, + 328, + 126, + 302, + 42, + 330, + 126, + 302, + 42, + 330, + 126, + 302, + 42, + 330, + 126, + 302, + 42, + 330, + 126, + 300, + 42, + 332, + 126, + 300, + 42, + 332, + 126, + 298, + 44, + 334, + 124, + 298, + 44, + 334, + 124, + 298, + 42, + 336, + 124, + 298, + 42, + 336, + 124, + 296, + 44, + 334, + 126, + 296, + 44, + 334, + 126, + 296, + 42, + 336, + 126, + 296, + 42, + 336, + 128, + 292, + 42, + 338, + 128, + 292, + 42, + 338, + 128, + 292, + 42, + 338, + 128, + 292, + 42, + 338, + 128, + 290, + 42, + 340, + 128, + 290, + 42, + 340, + 130, + 286, + 44, + 80, + 8, + 252, + 130, + 286, + 44, + 80, + 8, + 252, + 130, + 286, + 42, + 80, + 14, + 248, + 130, + 286, + 42, + 80, + 14, + 248, + 130, + 284, + 42, + 78, + 20, + 246, + 130, + 284, + 42, + 78, + 20, + 246, + 130, + 282, + 44, + 76, + 22, + 248, + 128, + 282, + 44, + 76, + 22, + 248, + 128, + 280, + 44, + 76, + 24, + 248, + 128, + 280, + 44, + 76, + 24, + 248, + 130, + 276, + 46, + 74, + 26, + 246, + 132, + 276, + 46, + 74, + 26, + 246, + 132, + 276, + 44, + 74, + 26, + 248, + 132, + 276, + 44, + 74, + 26, + 248, + 132, + 274, + 46, + 74, + 26, + 248, + 132, + 274, + 46, + 74, + 26, + 248, + 132, + 274, + 44, + 74, + 28, + 248, + 132, + 274, + 44, + 74, + 28, + 248, + 134, + 272, + 42, + 74, + 28, + 250, + 134, + 272, + 42, + 74, + 28, + 250, + 134, + 270, + 44, + 72, + 30, + 250, + 134, + 270, + 44, + 72, + 30, + 250, + 134, + 270, + 42, + 72, + 30, + 252, + 134, + 270, + 42, + 72, + 30, + 252, + 136, + 266, + 42, + 72, + 32, + 252, + 136, + 266, + 42, + 72, + 32, + 252, + 136, + 266, + 42, + 70, + 34, + 252, + 136, + 266, + 42, + 70, + 34, + 252, + 136, + 264, + 42, + 70, + 34, + 254, + 136, + 264, + 42, + 70, + 34, + 254, + 136, + 262, + 44, + 70, + 34, + 254, + 136, + 262, + 44, + 70, + 34, + 254, + 136, + 262, + 42, + 70, + 34, + 256, + 136, + 262, + 42, + 70, + 34, + 256, + 136, + 260, + 42, + 70, + 36, + 256, + 136, + 260, + 42, + 70, + 36, + 256, + 138, + 256, + 44, + 68, + 36, + 258, + 138, + 256, + 44, + 68, + 36, + 258, + 138, + 256, + 42, + 68, + 38, + 258, + 138, + 256, + 42, + 68, + 38, + 258, + 138, + 254, + 42, + 70, + 36, + 260, + 138, + 254, + 42, + 70, + 36, + 260, + 140, + 250, + 44, + 66, + 40, + 260, + 140, + 250, + 44, + 66, + 40, + 260, + 140, + 250, + 42, + 68, + 38, + 262, + 140, + 250, + 42, + 68, + 38, + 262, + 140, + 248, + 42, + 68, + 40, + 262, + 140, + 248, + 42, + 68, + 40, + 262, + 140, + 246, + 44, + 66, + 40, + 264, + 140, + 246, + 44, + 66, + 40, + 264, + 140, + 246, + 42, + 68, + 40, + 264, + 140, + 246, + 42, + 68, + 40, + 264, + 142, + 242, + 42, + 68, + 40, + 266, + 142, + 242, + 42, + 68, + 40, + 266, + 142, + 242, + 40, + 70, + 40, + 268, + 140, + 242, + 40, + 70, + 40, + 268, + 140, + 242, + 40, + 68, + 42, + 268, + 140, + 242, + 40, + 68, + 42, + 268, + 140, + 240, + 40, + 68, + 42, + 270, + 140, + 240, + 40, + 68, + 42, + 270, + 142, + 238, + 40, + 66, + 44, + 268, + 144, + 238, + 40, + 66, + 44, + 268, + 144, + 236, + 40, + 68, + 42, + 270, + 144, + 236, + 40, + 68, + 42, + 270, + 144, + 234, + 42, + 66, + 44, + 270, + 144, + 234, + 42, + 66, + 44, + 270, + 144, + 232, + 42, + 66, + 44, + 272, + 144, + 232, + 42, + 66, + 44, + 272, + 146, + 228, + 42, + 66, + 46, + 272, + 146, + 228, + 42, + 66, + 46, + 272, + 146, + 226, + 42, + 68, + 44, + 274, + 146, + 226, + 42, + 68, + 44, + 274, + 146, + 224, + 44, + 66, + 44, + 276, + 146, + 224, + 44, + 66, + 44, + 276, + 146, + 224, + 42, + 68, + 44, + 276, + 146, + 224, + 42, + 68, + 44, + 276, + 146, + 222, + 44, + 66, + 44, + 278, + 146, + 222, + 44, + 66, + 44, + 278, + 148, + 220, + 44, + 64, + 44, + 280, + 148, + 220, + 44, + 64, + 44, + 280, + 148, + 220, + 42, + 66, + 44, + 280, + 148, + 220, + 42, + 66, + 44, + 280, + 148, + 218, + 42, + 66, + 44, + 282, + 148, + 218, + 42, + 66, + 44, + 282, + 148, + 216, + 42, + 66, + 46, + 282, + 148, + 216, + 42, + 66, + 46, + 282, + 150, + 214, + 40, + 68, + 44, + 284, + 150, + 214, + 40, + 68, + 44, + 284, + 150, + 212, + 42, + 66, + 46, + 284, + 150, + 212, + 42, + 66, + 46, + 284, + 150, + 210, + 42, + 66, + 48, + 284, + 150, + 210, + 42, + 66, + 48, + 284, + 150, + 210, + 42, + 66, + 46, + 286, + 150, + 210, + 42, + 66, + 46, + 286, + 150, + 206, + 44, + 66, + 48, + 286, + 150, + 206, + 44, + 66, + 48, + 286, + 152, + 202, + 46, + 64, + 48, + 290, + 150, + 202, + 46, + 64, + 48, + 290, + 150, + 202, + 44, + 66, + 46, + 292, + 150, + 202, + 44, + 66, + 46, + 292, + 150, + 200, + 44, + 66, + 46, + 292, + 152, + 200, + 44, + 66, + 46, + 292, + 154, + 194, + 48, + 64, + 46, + 76, + 18, + 200, + 154, + 194, + 48, + 64, + 46, + 76, + 18, + 200, + 154, + 192, + 48, + 66, + 46, + 66, + 28, + 200, + 154, + 192, + 48, + 66, + 46, + 66, + 28, + 200, + 156, + 190, + 46, + 66, + 46, + 56, + 40, + 200, + 156, + 190, + 46, + 66, + 46, + 56, + 40, + 200, + 156, + 188, + 48, + 64, + 46, + 52, + 46, + 200, + 156, + 188, + 48, + 64, + 46, + 52, + 46, + 200, + 156, + 188, + 46, + 66, + 46, + 50, + 48, + 200, + 156, + 188, + 46, + 66, + 46, + 50, + 48, + 200, + 156, + 188, + 46, + 64, + 46, + 50, + 50, + 200, + 156, + 188, + 46, + 64, + 46, + 50, + 50, + 200, + 158, + 184, + 46, + 66, + 44, + 52, + 50, + 200, + 158, + 184, + 46, + 66, + 44, + 52, + 50, + 200, + 158, + 184, + 44, + 66, + 44, + 54, + 50, + 200, + 158, + 184, + 44, + 66, + 44, + 54, + 50, + 200, + 180, + 162, + 44, + 64, + 44, + 56, + 50, + 200, + 180, + 162, + 44, + 64, + 44, + 56, + 50, + 200, + 188, + 154, + 44, + 64, + 44, + 54, + 52, + 200, + 188, + 154, + 44, + 64, + 44, + 54, + 52, + 200, + 192, + 150, + 44, + 62, + 44, + 56, + 52, + 200, + 192, + 150, + 44, + 62, + 44, + 56, + 52, + 200, + 194, + 148, + 42, + 62, + 44, + 58, + 52, + 200, + 194, + 148, + 42, + 62, + 44, + 58, + 52, + 200, + 198, + 144, + 42, + 62, + 44, + 58, + 50, + 202, + 198, + 144, + 42, + 62, + 44, + 58, + 50, + 202, + 200, + 144, + 40, + 60, + 44, + 60, + 50, + 202, + 200, + 144, + 40, + 60, + 44, + 60, + 50, + 202, + 222, + 122, + 38, + 60, + 44, + 62, + 50, + 202, + 222, + 122, + 38, + 60, + 44, + 62, + 50, + 202, + 234, + 112, + 36, + 60, + 42, + 64, + 50, + 202, + 234, + 112, + 36, + 60, + 42, + 64, + 50, + 202, + 248, + 98, + 36, + 58, + 42, + 64, + 52, + 202, + 248, + 98, + 36, + 58, + 42, + 64, + 52, + 202, + 262, + 86, + 32, + 58, + 44, + 64, + 50, + 204, + 262, + 86, + 32, + 58, + 44, + 64, + 50, + 204, + 274, + 76, + 30, + 36, + 12, + 10, + 42, + 66, + 50, + 204, + 274, + 76, + 30, + 36, + 12, + 10, + 42, + 66, + 50, + 204, + 282, + 70, + 22, + 42, + 62, + 68, + 50, + 204, + 282, + 70, + 22, + 42, + 62, + 68, + 50, + 204, + 290, + 68, + 12, + 42, + 66, + 68, + 50, + 204, + 290, + 68, + 12, + 42, + 66, + 68, + 50, + 204, + 302, + 106, + 68, + 70, + 50, + 204, + 302, + 106, + 68, + 70, + 50, + 204, + 336, + 68, + 72, + 70, + 50, + 204, + 336, + 68, + 72, + 70, + 50, + 204, + 344, + 58, + 72, + 72, + 50, + 204, + 344, + 58, + 72, + 72, + 50, + 204, + 352, + 50, + 72, + 72, + 50, + 204, + 352, + 50, + 72, + 72, + 50, + 204, + 354, + 44, + 74, + 74, + 50, + 204, + 354, + 44, + 74, + 74, + 50, + 204, + 354, + 42, + 74, + 76, + 50, + 204, + 354, + 42, + 74, + 76, + 50, + 204, + 356, + 40, + 74, + 76, + 48, + 206, + 356, + 40, + 74, + 76, + 48, + 206, + 356, + 40, + 72, + 78, + 48, + 206, + 356, + 40, + 72, + 78, + 48, + 206, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 34, + 72, + 80, + 58, + 198, + 358, + 34, + 72, + 80, + 58, + 198, + 358, + 34, + 72, + 82, + 62, + 192, + 358, + 34, + 72, + 82, + 62, + 192, + 358, + 34, + 72, + 82, + 66, + 188, + 358, + 34, + 72, + 82, + 66, + 188, + 360, + 30, + 74, + 82, + 70, + 184, + 360, + 30, + 74, + 82, + 70, + 184, + 360, + 30, + 74, + 80, + 76, + 180, + 360, + 30, + 74, + 80, + 76, + 180, + 358, + 32, + 76, + 78, + 80, + 178, + 356, + 32, + 76, + 78, + 80, + 178, + 356, + 32, + 76, + 78, + 84, + 174, + 356, + 32, + 76, + 78, + 84, + 174, + 356, + 30, + 82, + 74, + 88, + 170, + 356, + 30, + 82, + 74, + 88, + 170, + 356, + 28, + 84, + 74, + 90, + 166, + 358, + 28, + 84, + 74, + 90, + 166, + 358, + 28, + 86, + 70, + 98, + 160, + 358, + 28, + 86, + 70, + 98, + 160, + 358, + 28, + 90, + 66, + 104, + 154, + 358, + 28, + 90, + 66, + 104, + 154, + 358, + 28, + 90, + 66, + 108, + 150, + 358, + 28, + 90, + 66, + 108, + 150, + 356, + 28, + 94, + 64, + 114, + 144, + 356, + 28, + 94, + 64, + 114, + 144, + 200, + 28, + 128, + 28, + 96, + 62, + 116, + 142, + 200, + 28, + 128, + 28, + 96, + 62, + 116, + 142, + 198, + 60, + 96, + 30, + 98, + 58, + 126, + 134, + 198, + 60, + 96, + 30, + 98, + 58, + 126, + 134, + 192, + 100, + 62, + 28, + 102, + 56, + 128, + 134, + 190, + 100, + 62, + 28, + 102, + 56, + 128, + 134, + 176, + 134, + 40, + 30, + 106, + 52, + 132, + 130, + 176, + 134, + 40, + 30, + 106, + 52, + 132, + 130, + 176, + 148, + 24, + 32, + 108, + 50, + 136, + 126, + 176, + 148, + 24, + 32, + 108, + 50, + 136, + 126, + 174, + 206, + 108, + 48, + 142, + 122, + 174, + 206, + 108, + 48, + 142, + 122, + 174, + 204, + 114, + 44, + 148, + 114, + 176, + 204, + 114, + 44, + 148, + 114, + 178, + 202, + 116, + 40, + 154, + 112, + 176, + 202, + 116, + 40, + 154, + 112, + 176, + 200, + 120, + 38, + 158, + 108, + 176, + 200, + 120, + 38, + 158, + 108, + 176, + 198, + 124, + 36, + 162, + 104, + 176, + 198, + 124, + 36, + 162, + 104, + 176, + 198, + 126, + 32, + 168, + 100, + 176, + 198, + 126, + 32, + 168, + 100, + 176, + 198, + 130, + 28, + 176, + 92, + 176, + 198, + 130, + 28, + 176, + 92, + 178, + 196, + 132, + 26, + 180, + 88, + 178, + 196, + 132, + 26, + 180, + 88, + 178, + 194, + 136, + 22, + 188, + 82, + 178, + 194, + 136, + 22, + 188, + 82, + 178, + 194, + 136, + 22, + 190, + 80, + 178, + 194, + 136, + 22, + 190, + 80, + 178, + 194, + 136, + 20, + 196, + 76, + 178, + 194, + 136, + 20, + 196, + 76, + 178, + 192, + 138, + 20, + 200, + 72, + 178, + 192, + 138, + 20, + 200, + 72, + 178, + 192, + 138, + 20, + 204, + 68, + 178, + 192, + 138, + 20, + 204, + 68, + 180, + 190, + 138, + 18, + 210, + 64, + 180, + 190, + 138, + 18, + 210, + 64, + 180, + 190, + 138, + 18, + 216, + 58, + 180, + 190, + 138, + 18, + 216, + 58, + 180, + 188, + 140, + 18, + 218, + 56, + 180, + 188, + 140, + 18, + 218, + 56, + 182, + 186, + 138, + 18, + 226, + 50, + 182, + 186, + 138, + 18, + 226, + 50, + 182, + 184, + 138, + 20, + 230, + 46, + 182, + 184, + 138, + 20, + 230, + 46, + 182, + 182, + 140, + 18, + 236, + 42, + 182, + 182, + 140, + 18, + 236, + 42, + 184, + 180, + 140, + 18, + 240, + 38, + 184, + 180, + 140, + 18, + 240, + 38, + 184, + 180, + 138, + 20, + 244, + 34, + 184, + 180, + 138, + 20, + 244, + 34, + 184, + 178, + 138, + 20, + 252, + 28, + 184, + 178, + 138, + 20, + 252, + 28, + 184, + 178, + 136, + 22, + 256, + 24, + 184, + 178, + 136, + 22, + 256, + 24, + 184, + 178, + 136, + 20, + 262, + 20, + 184, + 178, + 136, + 20, + 262, + 20, + 186, + 176, + 136, + 20, + 264, + 18, + 186, + 176, + 136, + 20, + 264, + 18, + 186, + 54, + 10, + 110, + 136, + 22, + 266, + 16, + 186, + 54, + 10, + 110, + 136, + 22, + 266, + 16, + 186, + 48, + 30, + 96, + 134, + 24, + 270, + 12, + 186, + 48, + 30, + 96, + 134, + 24, + 270, + 12, + 186, + 48, + 86, + 40, + 134, + 26, + 272, + 6, + 188, + 48, + 86, + 40, + 134, + 26, + 272, + 6, + 188, + 48, + 94, + 32, + 132, + 30, + 464, + 48, + 94, + 32, + 132, + 30, + 466, + 44, + 100, + 28, + 132, + 34, + 462, + 44, + 100, + 28, + 132, + 34, + 462, + 44, + 102, + 24, + 132, + 38, + 460, + 44, + 102, + 24, + 132, + 38, + 460, + 44, + 104, + 22, + 132, + 40, + 458, + 44, + 104, + 22, + 132, + 40, + 458, + 44, + 106, + 20, + 130, + 42, + 458, + 44, + 106, + 20, + 130, + 42, + 458, + 44, + 106, + 18, + 132, + 42, + 458, + 44, + 106, + 18, + 132, + 42, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 40, + 108, + 16, + 130, + 46, + 460, + 40, + 108, + 16, + 130, + 46, + 460, + 42, + 106, + 16, + 130, + 46, + 460, + 42, + 106, + 16, + 130, + 46, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 38, + 108, + 14, + 130, + 48, + 462, + 38, + 108, + 14, + 130, + 48, + 464, + 36, + 108, + 12, + 130, + 52, + 462, + 36, + 108, + 12, + 130, + 52, + 462, + 36, + 108, + 12, + 128, + 60, + 456, + 36, + 108, + 12, + 128, + 60, + 456, + 36, + 108, + 10, + 130, + 72, + 444, + 36, + 108, + 10, + 130, + 72, + 444, + 36, + 108, + 10, + 128, + 98, + 420, + 36, + 108, + 10, + 128, + 98, + 422, + 34, + 108, + 10, + 128, + 102, + 418, + 34, + 108, + 10, + 128, + 102, + 418, + 34, + 108, + 8, + 128, + 106, + 110, + 6, + 300, + 34, + 108, + 8, + 128, + 106, + 110, + 6, + 300, + 34, + 108, + 4, + 130, + 112, + 106, + 6, + 300, + 34, + 108, + 4, + 130, + 112, + 106, + 6, + 302, + 32, + 242, + 116, + 410, + 32, + 242, + 116, + 410, + 32, + 240, + 122, + 406, + 32, + 240, + 122, + 406, + 32, + 240, + 124, + 404, + 32, + 240, + 124, + 404, + 30, + 240, + 128, + 402, + 30, + 240, + 128, + 402, + 30, + 108, + 4, + 128, + 132, + 398, + 30, + 108, + 4, + 128, + 132, + 400, + 26, + 110, + 4, + 126, + 136, + 398, + 26, + 110, + 4, + 126, + 136, + 398, + 24, + 112, + 4, + 126, + 140, + 394, + 24, + 112, + 4, + 126, + 140, + 394, + 22, + 114, + 4, + 126, + 142, + 392, + 22, + 114, + 4, + 126, + 142, + 392, + 18, + 118, + 4, + 124, + 148, + 182, + 6, + 200, + 18, + 118, + 4, + 124, + 148, + 182, + 6, + 202, + 8, + 126, + 4, + 122, + 152, + 178, + 8, + 202, + 8, + 126, + 4, + 122, + 152, + 178, + 8, + 202, + 6, + 128, + 4, + 122, + 156, + 172, + 10, + 202, + 6, + 128, + 4, + 122, + 156, + 172, + 10, + 336, + 4, + 120, + 162, + 166, + 12, + 336, + 4, + 120, + 162, + 166, + 12, + 334, + 6, + 120, + 164, + 162, + 14, + 334, + 6, + 120, + 164, + 162, + 14, + 334, + 6, + 118, + 170, + 156, + 16, + 334, + 6, + 118, + 170, + 156, + 16, + 206, + 6, + 122, + 8, + 116, + 174, + 152, + 16, + 206, + 6, + 122, + 8, + 116, + 174, + 152, + 16, + 204, + 10, + 120, + 8, + 114, + 178, + 148, + 18, + 204, + 10, + 120, + 8, + 114, + 178, + 148, + 18, + 204, + 14, + 116, + 10, + 110, + 182, + 142, + 20, + 206, + 14, + 116, + 10, + 110, + 182, + 142, + 20, + 208, + 14, + 114, + 12, + 108, + 186, + 122, + 38, + 206, + 14, + 114, + 12, + 108, + 186, + 122, + 38, + 206, + 16, + 110, + 16, + 104, + 190, + 108, + 50, + 206, + 16, + 110, + 16, + 104, + 190, + 108, + 50, + 206, + 18, + 108, + 18, + 102, + 194, + 98, + 56, + 206, + 18, + 108, + 18, + 102, + 194, + 98, + 56, + 206, + 18, + 108, + 18, + 100, + 200, + 90, + 60, + 206, + 18, + 108, + 18, + 100, + 200, + 90, + 60, + 206, + 18, + 108, + 18, + 100, + 202, + 84, + 64, + 206, + 18, + 108, + 18, + 100, + 202, + 84, + 64, + 206, + 18, + 108, + 20, + 96, + 206, + 78, + 68, + 206, + 18, + 108, + 20, + 96, + 206, + 78, + 68, + 208, + 18, + 106, + 20, + 96, + 210, + 72, + 70, + 208, + 18, + 106, + 20, + 96, + 210, + 72, + 70, + 208, + 22, + 102, + 22, + 92, + 214, + 68, + 72, + 208, + 22, + 102, + 22, + 92, + 214, + 68, + 72, + 208, + 22, + 102, + 24, + 90, + 218, + 62, + 74, + 208, + 22, + 102, + 24, + 90, + 218, + 62, + 74, + 208, + 22, + 102, + 26, + 86, + 224, + 30, + 14, + 12, + 76, + 208, + 22, + 102, + 26, + 86, + 224, + 30, + 14, + 12, + 76, + 208, + 22, + 102, + 26, + 86, + 226, + 22, + 108, + 208, + 22, + 102, + 26, + 86, + 226, + 22, + 108, + 208, + 22, + 102, + 26, + 84, + 156, + 8, + 68, + 16, + 110, + 208, + 22, + 102, + 26, + 84, + 156, + 8, + 68, + 16, + 110, + 208, + 22, + 106, + 8, + 98, + 152, + 14, + 70, + 10, + 112, + 208, + 22, + 106, + 8, + 98, + 152, + 14, + 70, + 10, + 112, + 208, + 22, + 212, + 72, + 8, + 70, + 18, + 72, + 4, + 112, + 210, + 22, + 212, + 72, + 8, + 70, + 18, + 72, + 4, + 112, + 210, + 22, + 212, + 62, + 20, + 66, + 22, + 186, + 210, + 22, + 212, + 62, + 20, + 66, + 22, + 186, + 212, + 20, + 210, + 58, + 28, + 62, + 26, + 184, + 212, + 20, + 210, + 58, + 28, + 62, + 26, + 184, + 214, + 16, + 212, + 36, + 50, + 60, + 30, + 182, + 214, + 16, + 212, + 36, + 50, + 60, + 30, + 182, + 530, + 52, + 36, + 182, + 530, + 52, + 36, + 182, + 530, + 44, + 46, + 180, + 530, + 44, + 46, + 180, + 530, + 38, + 52, + 180, + 530, + 38, + 52, + 180, + 530, + 32, + 58, + 180, + 530, + 32, + 58, + 180, + 530, + 26, + 64, + 180, + 530, + 26, + 64, + 180, + 532, + 20, + 68, + 180, + 532, + 20, + 68, + 180, + 532, + 16, + 72, + 180, + 532, + 16, + 72, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 152, + 8, + 78, + 180, + 374, + 8, + 152, + 8, + 78, + 180, + 374, + 10, + 152, + 6, + 78, + 180, + 374, + 10, + 152, + 6, + 78, + 180, + 374, + 10, + 154, + 4, + 78, + 180, + 374, + 10, + 154, + 4, + 78, + 180, + 374, + 14, + 230, + 182, + 374, + 14, + 230, + 182, + 374, + 16, + 226, + 184, + 374, + 16, + 226, + 184, + 372, + 20, + 184, + 20, + 20, + 184, + 372, + 20, + 184, + 20, + 20, + 184, + 370, + 22, + 152, + 54, + 16, + 186, + 370, + 22, + 152, + 54, + 16, + 186, + 368, + 24, + 150, + 60, + 8, + 190, + 368, + 24, + 150, + 60, + 8, + 190, + 362, + 30, + 150, + 258, + 362, + 30, + 150, + 258, + 352, + 40, + 150, + 258, + 352, + 40, + 150, + 258, + 334, + 58, + 150, + 258, + 334, + 58, + 150, + 258, + 318, + 72, + 154, + 256, + 318, + 72, + 154, + 256, + 304, + 82, + 158, + 256, + 304, + 82, + 158, + 256, + 292, + 92, + 160, + 256, + 292, + 92, + 160, + 256, + 282, + 102, + 162, + 254, + 282, + 102, + 162, + 254, + 270, + 110, + 166, + 254, + 270, + 110, + 166, + 254, + 260, + 118, + 170, + 252, + 260, + 118, + 170, + 252, + 252, + 124, + 172, + 252, + 252, + 124, + 172, + 252, + 242, + 130, + 176, + 252, + 242, + 130, + 176, + 252, + 232, + 138, + 180, + 250, + 232, + 138, + 180, + 250, + 232, + 136, + 182, + 250, + 232, + 136, + 182, + 250, + 230, + 134, + 186, + 250, + 230, + 134, + 186, + 250, + 230, + 130, + 192, + 248, + 230, + 130, + 192, + 248, + 230, + 128, + 194, + 248, + 230, + 128, + 194, + 248, + 230, + 126, + 196, + 248, + 230, + 126, + 196, + 248, + 230, + 124, + 200, + 246, + 230, + 124, + 200, + 246, + 230, + 120, + 204, + 246, + 230, + 120, + 204, + 246, + 232, + 114, + 208, + 246, + 232, + 114, + 208, + 246, + 232, + 112, + 212, + 244, + 232, + 112, + 212, + 244, + 232, + 110, + 214, + 244, + 232, + 110, + 214, + 244, + 232, + 106, + 220, + 242, + 232, + 106, + 220, + 242, + 232, + 102, + 224, + 242, + 232, + 102, + 224, + 242, + 234, + 98, + 228, + 240, + 234, + 98, + 228, + 240, + 234, + 94, + 234, + 238, + 234, + 94, + 234, + 238, + 234, + 92, + 236, + 238, + 234, + 92, + 236, + 238, + 236, + 86, + 240, + 238, + 236, + 86, + 240, + 238, + 236, + 84, + 242, + 238, + 236, + 84, + 242, + 238, + 236, + 80, + 248, + 236, + 236, + 80, + 248, + 236, + 236, + 78, + 250, + 236, + 236, + 78, + 250, + 236, + 238, + 74, + 252, + 236, + 238, + 74, + 252, + 236, + 238, + 72, + 256, + 234, + 238, + 72, + 256, + 234, + 238, + 68, + 260, + 234, + 238, + 68, + 260, + 234, + 240, + 62, + 264, + 234, + 240, + 62, + 264, + 234, + 240, + 60, + 268, + 232, + 240, + 60, + 268, + 232, + 240, + 56, + 272, + 232, + 240, + 56, + 272, + 232, + 240, + 54, + 276, + 230, + 240, + 54, + 276, + 230, + 240, + 50, + 280, + 230, + 240, + 50, + 280, + 230, + 240, + 50, + 280, + 230, + 240, + 50, + 280, + 230, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 286, + 226, + 242, + 46, + 286, + 226, + 244, + 46, + 284, + 226, + 244, + 46, + 284, + 226, + 244, + 46, + 286, + 224, + 244, + 46, + 286, + 224, + 244, + 48, + 284, + 224, + 244, + 48, + 284, + 224, + 244, + 48, + 284, + 224, + 244, + 48, + 284, + 224, + 246, + 48, + 284, + 222, + 246, + 48, + 284, + 222, + 246, + 48, + 286, + 220, + 246, + 48, + 286, + 220, + 246, + 50, + 284, + 220, + 246, + 50, + 284, + 220, + 246, + 52, + 282, + 220, + 246, + 52, + 282, + 220, + 248, + 52, + 280, + 220, + 248, + 52, + 280, + 220, + 248, + 54, + 280, + 218, + 248, + 54, + 280, + 218, + 248, + 56, + 278, + 218, + 248, + 56, + 278, + 218, + 248, + 58, + 278, + 216, + 248, + 58, + 278, + 216, + 248, + 58, + 278, + 216, + 248, + 58, + 278, + 216, + 250, + 58, + 278, + 214, + 250, + 58, + 278, + 214, + 250, + 58, + 278, + 214, + 250, + 58, + 278, + 214, + 250, + 60, + 276, + 214, + 250, + 60, + 276, + 214, + 250, + 60, + 278, + 212, + 250, + 60, + 278, + 212, + 250, + 60, + 278, + 212, + 250, + 60, + 278, + 212, + 250, + 62, + 276, + 212, + 250, + 62, + 276, + 212, + 252, + 62, + 274, + 212, + 252, + 62, + 274, + 212, + 252, + 62, + 272, + 214, + 252, + 62, + 272, + 214, + 252, + 64, + 268, + 216, + 252, + 64, + 268, + 216, + 254, + 62, + 266, + 218, + 254, + 62, + 266, + 218, + 254, + 64, + 254, + 228, + 254, + 64, + 254, + 228, + 254, + 64, + 252, + 230, + 254, + 64, + 252, + 230, + 254, + 66, + 246, + 234, + 254, + 66, + 246, + 234, + 256, + 64, + 240, + 240, + 256, + 64, + 240, + 240, + 256, + 64, + 232, + 248, + 256, + 64, + 232, + 248, + 256, + 64, + 226, + 254, + 256, + 64, + 226, + 254, + 256, + 64, + 222, + 258, + 256, + 64, + 222, + 258, + 258, + 62, + 218, + 262, + 258, + 62, + 218, + 262, + 258, + 62, + 214, + 266, + 258, + 62, + 214, + 266, + 258, + 64, + 208, + 270, + 258, + 64, + 208, + 270, + 258, + 64, + 200, + 278, + 258, + 64, + 200, + 278, + 260, + 64, + 194, + 282, + 260, + 64, + 194, + 282, + 260, + 64, + 188, + 288, + 260, + 64, + 188, + 288, + 260, + 64, + 182, + 294, + 260, + 64, + 182, + 294, + 260, + 64, + 170, + 306, + 260, + 64, + 170, + 306, + 260, + 64, + 164, + 312, + 260, + 64, + 164, + 312, + 262, + 62, + 158, + 318, + 262, + 62, + 158, + 318, + 262, + 56, + 158, + 324, + 262, + 56, + 158, + 324, + 262, + 38, + 166, + 334, + 262, + 38, + 166, + 334, + 262, + 32, + 168, + 338, + 262, + 32, + 168, + 338, + 264, + 26, + 158, + 352, + 264, + 26, + 158, + 352, + 264, + 24, + 156, + 356, + 264, + 24, + 156, + 356, + 264, + 22, + 148, + 366, + 264, + 22, + 148, + 366, + 264, + 22, + 142, + 372, + 264, + 22, + 142, + 372, + 266, + 20, + 134, + 380, + 266, + 20, + 134, + 380, + 266, + 20, + 126, + 388, + 266, + 20, + 126, + 388, + 266, + 20, + 120, + 394, + 266, + 20, + 120, + 394, + 266, + 22, + 110, + 402, + 266, + 22, + 110, + 402, + 268, + 20, + 36, + 8, + 58, + 410, + 268, + 20, + 36, + 8, + 58, + 410, + 268, + 22, + 24, + 22, + 48, + 416, + 268, + 22, + 24, + 22, + 48, + 416, + 268, + 24, + 18, + 26, + 44, + 420, + 268, + 24, + 18, + 26, + 44, + 420, + 268, + 26, + 8, + 36, + 32, + 430, + 268, + 26, + 8, + 36, + 32, + 430, + 270, + 68, + 28, + 434, + 270, + 68, + 28, + 434, + 270, + 70, + 16, + 444, + 270, + 70, + 16, + 444, + 270, + 72, + 8, + 450, + 270, + 72, + 8, + 450, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 334, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 440, + 360, + 440, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000097:0000", + "experimental_retained_index": 3, + "ism_score": 0.3677777051925659, + "R": [ + [ + -0.0502316951751709, + 0.9677704572677612, + 0.2459704428911209 + ], + [ + 0.9919556975364685, + 0.019569754600524902, + 0.12550055980682373 + ], + [ + 0.11664193868637085, + 0.2500738501548767, + -0.9609447121620178 + ] + ], + "t": [ + 24.50653648376465, + 50.83385467529297, + 331.48150634765625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 392, + 12, + 290, + 104 + ], + "score": 0.1319521814584732, + "time": 0.0, + "segmentation": { + "counts": [ + 312825, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 754, + 46, + 754, + 46, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 40, + 760, + 40, + 760, + 26, + 774, + 26, + 780, + 8, + 792, + 8, + 476729 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000097:0002", + "experimental_retained_index": 2, + "ism_score": 0.41396763920783997, + "R": [ + [ + -0.7706100940704346, + 0.6266034245491028, + -0.11855965852737427 + ], + [ + 0.5175014734268188, + 0.7228363752365112, + 0.4576704800128937 + ], + [ + 0.37233594059944153, + 0.29126057028770447, + -0.8810458779335022 + ] + ], + "t": [ + -86.23902130126953, + -312.586669921875, + 646.6748046875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000097/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000097/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000097:0003", + "Slide_holder:000097:0001", + "Slide_holder:000097:0002", + "Slide_holder:000097:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000097.png" + }, + { + "frame_id": 100, + "image_path": "/workspace/data/0008_/images/000100.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000100.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 1122, + 224, + 156, + 64 + ], + "score": 0.3417251706123352, + "time": 0.0, + "segmentation": { + "counts": [ + 897047, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000100:0001", + "experimental_retained_index": 0, + "ism_score": 0.4157872796058655, + "R": [ + [ + 0.21543291211128235, + -0.9633009433746338, + -0.15923336148262024 + ], + [ + -0.6627647876739502, + -0.26417967677116394, + 0.7008822560310364 + ], + [ + -0.7173953652381897, + -0.04537923261523247, + -0.6954408884048462 + ] + ], + "t": [ + 616.7069091796875, + -161.14276123046875, + 748.8814086914062 + ] + }, + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 354, + 0, + 296, + 118 + ], + "score": 0.06944870948791504, + "time": 0.0, + "segmentation": { + "counts": [ + 282400, + 47, + 753, + 47, + 753, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 108, + 692, + 108, + 692, + 96, + 704, + 96, + 706, + 82, + 718, + 82, + 720, + 72, + 728, + 72, + 728, + 62, + 738, + 62, + 740, + 52, + 748, + 52, + 754, + 42, + 758, + 42, + 766, + 30, + 770, + 30, + 774, + 16, + 784, + 16, + 502357 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000100:0000", + "experimental_retained_index": 1, + "ism_score": 0.38316529989242554, + "R": [ + [ + -0.9942975640296936, + -0.06625513732433319, + 0.08198156952857971 + ], + [ + -0.04111388698220253, + 0.9599254727363586, + 0.2764686644077301 + ], + [ + -0.0969778373837471, + 0.2717769742012024, + -0.9574606418609619 + ] + ], + "t": [ + -115.19153594970703, + -298.94342041015625, + 599.6112670898438 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 1122, + 224, + 156, + 64 + ], + "score": 0.3417251706123352, + "time": 0.0, + "segmentation": { + "counts": [ + 897047, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000100:0001", + "experimental_retained_index": 0, + "ism_score": 0.4157872796058655, + "R": [ + [ + 0.21543291211128235, + -0.9633009433746338, + -0.15923336148262024 + ], + [ + -0.6627647876739502, + -0.26417967677116394, + 0.7008822560310364 + ], + [ + -0.7173953652381897, + -0.04537923261523247, + -0.6954408884048462 + ] + ], + "t": [ + 616.7069091796875, + -161.14276123046875, + 748.8814086914062 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000100/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000100/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000100:0001", + "Slide_holder:000100:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000100.png" + }, + { + "frame_id": 110, + "image_path": "/workspace/data/0008_/images/000110.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000110.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 456, + 206, + 86, + 148 + ], + "score": 0.004077987279742956, + "time": 0.0, + "segmentation": { + "counts": [ + 364333, + 16, + 784, + 16, + 740, + 64, + 736, + 64, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 682, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 654, + 146, + 654, + 146, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 706, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 84, + 716, + 84, + 718, + 74, + 726, + 74, + 726, + 58, + 742, + 58, + 742, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 18, + 16, + 8, + 758, + 18, + 16, + 8, + 760, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 588561 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000110:0000", + "experimental_retained_index": 0, + "ism_score": 0.43498528003692627, + "R": [ + [ + 0.6523992419242859, + 0.2818271517753601, + -0.7035260796546936 + ], + [ + 0.699781596660614, + -0.5804404616355896, + 0.416406512260437 + ], + [ + -0.2910005748271942, + -0.763977587223053, + -0.5758965611457825 + ] + ], + "t": [ + -80.55810546875, + -66.11417388916016, + 387.381103515625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 456, + 206, + 86, + 148 + ], + "score": 0.004077987279742956, + "time": 0.0, + "segmentation": { + "counts": [ + 364333, + 16, + 784, + 16, + 740, + 64, + 736, + 64, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 682, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 654, + 146, + 654, + 146, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 706, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 84, + 716, + 84, + 718, + 74, + 726, + 74, + 726, + 58, + 742, + 58, + 742, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 18, + 16, + 8, + 758, + 18, + 16, + 8, + 760, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 588561 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000110:0000", + "experimental_retained_index": 0, + "ism_score": 0.43498528003692627, + "R": [ + [ + 0.6523992419242859, + 0.2818271517753601, + -0.7035260796546936 + ], + [ + 0.699781596660614, + -0.5804404616355896, + 0.416406512260437 + ], + [ + -0.2910005748271942, + -0.763977587223053, + -0.5758965611457825 + ] + ], + "t": [ + -80.55810546875, + -66.11417388916016, + 387.381103515625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000110/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000110/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000110:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000110.png" + }, + { + "frame_id": 119, + "image_path": "/workspace/data/0008_/images/000119.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000119.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 119, + "category_id": 1, + "bbox": [ + 838, + 0, + 440, + 92 + ], + "score": 0.11718461662530899, + "time": 0.0, + "segmentation": { + "counts": [ + 669600, + 3, + 797, + 3, + 797, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 71, + 2, + 12, + 715, + 71, + 2, + 12, + 715, + 67, + 6, + 14, + 713, + 67, + 6, + 14, + 713, + 67, + 6, + 14, + 713, + 67, + 6, + 14, + 713, + 65, + 8, + 14, + 713, + 65, + 8, + 14, + 713, + 65, + 6, + 18, + 711, + 65, + 6, + 18, + 711, + 63, + 4, + 22, + 711, + 63, + 4, + 22, + 711, + 61, + 4, + 24, + 711, + 61, + 4, + 24, + 711, + 59, + 4, + 26, + 711, + 59, + 4, + 26, + 711, + 57, + 6, + 26, + 711, + 57, + 6, + 26, + 711, + 55, + 8, + 26, + 711, + 55, + 8, + 26, + 711, + 53, + 12, + 24, + 711, + 53, + 12, + 24, + 711, + 51, + 22, + 16, + 711, + 51, + 22, + 16, + 711, + 51, + 22, + 16, + 711 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000119:0000", + "experimental_retained_index": 0, + "ism_score": 0.3947271406650543, + "R": [ + [ + -0.04512353986501694, + -0.9878803491592407, + -0.14851024746894836 + ], + [ + -0.9987661838531494, + 0.041528888046741486, + 0.027220815420150757 + ], + [ + -0.020723432302474976, + 0.1495552659034729, + -0.9885360598564148 + ] + ], + "t": [ + 419.3568420410156, + -296.7802734375, + 560.813232421875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 119, + "category_id": 1, + "bbox": [ + 838, + 0, + 440, + 92 + ], + "score": 0.11718461662530899, + "time": 0.0, + "segmentation": { + "counts": [ + 669600, + 3, + 797, + 3, + 797, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 71, + 2, + 12, + 715, + 71, + 2, + 12, + 715, + 67, + 6, + 14, + 713, + 67, + 6, + 14, + 713, + 67, + 6, + 14, + 713, + 67, + 6, + 14, + 713, + 65, + 8, + 14, + 713, + 65, + 8, + 14, + 713, + 65, + 6, + 18, + 711, + 65, + 6, + 18, + 711, + 63, + 4, + 22, + 711, + 63, + 4, + 22, + 711, + 61, + 4, + 24, + 711, + 61, + 4, + 24, + 711, + 59, + 4, + 26, + 711, + 59, + 4, + 26, + 711, + 57, + 6, + 26, + 711, + 57, + 6, + 26, + 711, + 55, + 8, + 26, + 711, + 55, + 8, + 26, + 711, + 53, + 12, + 24, + 711, + 53, + 12, + 24, + 711, + 51, + 22, + 16, + 711, + 51, + 22, + 16, + 711, + 51, + 22, + 16, + 711 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000119:0000", + "experimental_retained_index": 0, + "ism_score": 0.3947271406650543, + "R": [ + [ + -0.04512353986501694, + -0.9878803491592407, + -0.14851024746894836 + ], + [ + -0.9987661838531494, + 0.041528888046741486, + 0.027220815420150757 + ], + [ + -0.020723432302474976, + 0.1495552659034729, + -0.9885360598564148 + ] + ], + "t": [ + 419.3568420410156, + -296.7802734375, + 560.813232421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000119/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000119/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000119:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000119.png" + }, + { + "frame_id": 122, + "image_path": "/workspace/data/0008_/images/000122.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000122.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 472, + 600, + 70, + 118 + ], + "score": 0.05859557166695595, + "time": 0.0, + "segmentation": { + "counts": [ + 377413, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 780, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 760, + 44, + 756, + 44, + 756, + 50, + 750, + 50, + 748, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 736, + 64, + 736, + 64, + 740, + 60, + 12, + 4, + 724, + 60, + 12, + 4, + 728, + 56, + 10, + 14, + 720, + 56, + 10, + 14, + 726, + 48, + 10, + 20, + 722, + 48, + 10, + 20, + 726, + 44, + 10, + 24, + 722, + 44, + 10, + 24, + 726, + 38, + 10, + 30, + 722, + 38, + 10, + 30, + 728, + 30, + 10, + 38, + 722, + 30, + 10, + 38, + 726, + 24, + 12, + 42, + 722, + 24, + 12, + 42, + 728, + 6, + 6, + 6, + 10, + 48, + 724, + 6, + 6, + 6, + 10, + 48, + 736, + 4, + 12, + 50, + 734, + 4, + 12, + 50, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 762, + 36, + 764, + 36, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 20, + 780, + 20, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 588091 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000122:0000", + "experimental_retained_index": 0, + "ism_score": 0.4360600411891937, + "R": [ + [ + -0.910783588886261, + -0.4124584496021271, + -0.018729832023382187 + ], + [ + -0.3317682147026062, + 0.7580996751785278, + -0.5614405870437622 + ], + [ + 0.2457699328660965, + -0.5051369667053223, + -0.8273051977157593 + ] + ], + "t": [ + -78.52699279785156, + 163.86618041992188, + 265.2708435058594 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 472, + 600, + 70, + 118 + ], + "score": 0.05859557166695595, + "time": 0.0, + "segmentation": { + "counts": [ + 377413, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 780, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 760, + 44, + 756, + 44, + 756, + 50, + 750, + 50, + 748, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 736, + 64, + 736, + 64, + 740, + 60, + 12, + 4, + 724, + 60, + 12, + 4, + 728, + 56, + 10, + 14, + 720, + 56, + 10, + 14, + 726, + 48, + 10, + 20, + 722, + 48, + 10, + 20, + 726, + 44, + 10, + 24, + 722, + 44, + 10, + 24, + 726, + 38, + 10, + 30, + 722, + 38, + 10, + 30, + 728, + 30, + 10, + 38, + 722, + 30, + 10, + 38, + 726, + 24, + 12, + 42, + 722, + 24, + 12, + 42, + 728, + 6, + 6, + 6, + 10, + 48, + 724, + 6, + 6, + 6, + 10, + 48, + 736, + 4, + 12, + 50, + 734, + 4, + 12, + 50, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 762, + 36, + 764, + 36, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 20, + 780, + 20, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 588091 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000122:0000", + "experimental_retained_index": 0, + "ism_score": 0.4360600411891937, + "R": [ + [ + -0.910783588886261, + -0.4124584496021271, + -0.018729832023382187 + ], + [ + -0.3317682147026062, + 0.7580996751785278, + -0.5614405870437622 + ], + [ + 0.2457699328660965, + -0.5051369667053223, + -0.8273051977157593 + ] + ], + "t": [ + -78.52699279785156, + 163.86618041992188, + 265.2708435058594 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000122/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000122/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000122:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000122.png" + }, + { + "frame_id": 125, + "image_path": "/workspace/data/0008_/images/000125.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000125.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 774, + 0, + 234, + 100 + ], + "score": 0.4189930856227875, + "time": 0.0, + "segmentation": { + "counts": [ + 618400, + 3, + 797, + 3, + 797, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 7, + 793, + 7, + 215993 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000125:0001", + "experimental_retained_index": 0, + "ism_score": 0.4353174865245819, + "R": [ + [ + -0.5880597233772278, + -0.7295585870742798, + -0.34928780794143677 + ], + [ + 0.5972235202789307, + -0.6827462911605835, + 0.4204062819480896 + ], + [ + -0.5451804995536804, + 0.03872540593147278, + 0.837243378162384 + ] + ], + "t": [ + 210.26283264160156, + -318.5072326660156, + 572.4274291992188 + ] + }, + { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 0, + 2, + 1278, + 794 + ], + "score": 0.03659125789999962, + "time": 0.0, + "segmentation": { + "counts": [ + 33, + 766, + 32, + 768, + 32, + 768, + 20, + 780, + 20, + 780, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 368, + 2, + 426, + 4, + 368, + 2, + 426, + 4, + 364, + 8, + 424, + 4, + 364, + 8, + 424, + 4, + 362, + 12, + 422, + 4, + 362, + 12, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 358, + 16, + 422, + 4, + 358, + 16, + 422, + 4, + 356, + 18, + 422, + 4, + 356, + 18, + 422, + 4, + 352, + 22, + 422, + 4, + 352, + 22, + 422, + 4, + 350, + 24, + 422, + 4, + 350, + 24, + 422, + 4, + 350, + 22, + 424, + 4, + 350, + 22, + 424, + 4, + 348, + 24, + 424, + 4, + 348, + 24, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 344, + 28, + 424, + 4, + 344, + 28, + 424, + 4, + 342, + 28, + 426, + 4, + 342, + 28, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 28, + 428, + 4, + 340, + 28, + 428, + 4, + 338, + 30, + 428, + 4, + 338, + 30, + 428, + 4, + 336, + 32, + 76, + 10, + 342, + 4, + 336, + 32, + 76, + 10, + 342, + 4, + 336, + 32, + 74, + 12, + 342, + 4, + 336, + 32, + 74, + 12, + 342, + 4, + 334, + 32, + 74, + 16, + 340, + 4, + 334, + 32, + 74, + 16, + 340, + 4, + 334, + 32, + 72, + 18, + 340, + 4, + 334, + 32, + 72, + 18, + 340, + 4, + 332, + 34, + 72, + 18, + 340, + 4, + 332, + 34, + 72, + 18, + 340, + 4, + 332, + 32, + 72, + 20, + 340, + 4, + 332, + 32, + 72, + 20, + 340, + 4, + 330, + 34, + 70, + 22, + 340, + 4, + 330, + 34, + 70, + 22, + 340, + 4, + 330, + 32, + 70, + 22, + 342, + 4, + 330, + 32, + 70, + 22, + 342, + 4, + 328, + 34, + 70, + 22, + 342, + 4, + 328, + 34, + 70, + 22, + 342, + 4, + 328, + 32, + 70, + 24, + 342, + 4, + 328, + 32, + 70, + 24, + 342, + 4, + 326, + 34, + 68, + 26, + 342, + 4, + 326, + 34, + 68, + 26, + 342, + 4, + 324, + 34, + 70, + 26, + 342, + 4, + 324, + 34, + 70, + 26, + 342, + 4, + 324, + 34, + 68, + 28, + 342, + 4, + 324, + 34, + 68, + 28, + 342, + 4, + 324, + 32, + 70, + 28, + 342, + 4, + 324, + 32, + 70, + 28, + 342, + 4, + 324, + 30, + 72, + 28, + 342, + 4, + 324, + 30, + 72, + 28, + 342, + 4, + 322, + 32, + 70, + 30, + 342, + 4, + 322, + 32, + 70, + 30, + 342, + 4, + 320, + 34, + 68, + 30, + 344, + 4, + 320, + 34, + 68, + 30, + 344, + 4, + 320, + 32, + 70, + 30, + 344, + 4, + 320, + 32, + 70, + 30, + 344, + 4, + 320, + 32, + 68, + 32, + 344, + 4, + 320, + 32, + 68, + 32, + 344, + 4, + 318, + 34, + 68, + 32, + 344, + 4, + 318, + 34, + 68, + 32, + 344, + 4, + 316, + 34, + 70, + 32, + 344, + 4, + 316, + 34, + 70, + 32, + 344, + 4, + 314, + 36, + 68, + 32, + 346, + 4, + 314, + 36, + 68, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 312, + 34, + 72, + 32, + 346, + 4, + 312, + 34, + 72, + 32, + 346, + 4, + 310, + 36, + 70, + 34, + 346, + 4, + 310, + 36, + 70, + 34, + 346, + 4, + 310, + 34, + 72, + 32, + 66, + 10, + 272, + 4, + 310, + 34, + 72, + 32, + 66, + 10, + 272, + 4, + 310, + 34, + 70, + 34, + 62, + 14, + 272, + 4, + 310, + 34, + 70, + 34, + 62, + 14, + 272, + 4, + 308, + 34, + 72, + 34, + 58, + 18, + 178, + 58, + 36, + 4, + 308, + 34, + 72, + 34, + 58, + 18, + 178, + 58, + 36, + 4, + 308, + 34, + 70, + 34, + 56, + 24, + 60, + 176, + 34, + 4, + 308, + 34, + 70, + 34, + 56, + 24, + 60, + 176, + 34, + 4, + 306, + 34, + 72, + 34, + 52, + 28, + 50, + 186, + 34, + 4, + 306, + 34, + 72, + 34, + 52, + 28, + 50, + 186, + 34, + 4, + 306, + 32, + 72, + 34, + 46, + 38, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 46, + 38, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 44, + 40, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 44, + 40, + 46, + 188, + 34, + 4, + 306, + 30, + 74, + 34, + 40, + 44, + 46, + 188, + 34, + 4, + 306, + 30, + 74, + 34, + 40, + 44, + 46, + 188, + 34, + 4, + 304, + 32, + 72, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 304, + 32, + 72, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 302, + 32, + 74, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 302, + 32, + 74, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 300, + 34, + 74, + 34, + 40, + 48, + 42, + 188, + 36, + 4, + 300, + 34, + 74, + 34, + 40, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 76, + 32, + 42, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 76, + 32, + 42, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 74, + 34, + 42, + 50, + 40, + 188, + 36, + 4, + 300, + 32, + 74, + 34, + 42, + 50, + 40, + 188, + 36, + 4, + 298, + 32, + 76, + 32, + 44, + 50, + 40, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 50, + 40, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 52, + 38, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 52, + 38, + 186, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 32, + 78, + 32, + 48, + 50, + 36, + 188, + 38, + 4, + 294, + 32, + 78, + 32, + 48, + 50, + 36, + 188, + 38, + 4, + 292, + 34, + 76, + 34, + 48, + 50, + 36, + 188, + 38, + 4, + 292, + 34, + 76, + 34, + 48, + 50, + 36, + 188, + 38, + 4, + 290, + 34, + 78, + 32, + 52, + 48, + 36, + 186, + 40, + 4, + 290, + 34, + 78, + 32, + 52, + 48, + 36, + 186, + 40, + 4, + 290, + 34, + 76, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 34, + 76, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 32, + 78, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 32, + 78, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 288, + 34, + 78, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 34, + 78, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 32, + 80, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 32, + 80, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 286, + 32, + 80, + 34, + 56, + 48, + 32, + 188, + 40, + 4, + 286, + 32, + 80, + 34, + 56, + 48, + 32, + 188, + 40, + 4, + 284, + 34, + 80, + 34, + 56, + 50, + 30, + 186, + 42, + 4, + 284, + 34, + 80, + 34, + 56, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 82, + 32, + 58, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 82, + 32, + 58, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 284, + 32, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 34, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 34, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 32, + 82, + 32, + 62, + 50, + 28, + 186, + 42, + 4, + 282, + 32, + 82, + 32, + 62, + 50, + 28, + 186, + 42, + 4, + 280, + 34, + 80, + 34, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 34, + 80, + 34, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 32, + 80, + 36, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 32, + 80, + 36, + 62, + 52, + 24, + 188, + 42, + 4, + 278, + 34, + 80, + 34, + 66, + 50, + 24, + 188, + 42, + 4, + 278, + 34, + 80, + 34, + 66, + 50, + 24, + 188, + 42, + 4, + 278, + 32, + 82, + 34, + 66, + 52, + 22, + 188, + 42, + 4, + 278, + 32, + 82, + 34, + 66, + 52, + 22, + 188, + 42, + 4, + 274, + 34, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 274, + 34, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 72, + 48, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 72, + 48, + 22, + 186, + 44, + 4, + 268, + 40, + 80, + 36, + 72, + 50, + 20, + 186, + 44, + 4, + 268, + 40, + 80, + 36, + 72, + 50, + 20, + 186, + 44, + 4, + 266, + 40, + 82, + 36, + 72, + 50, + 20, + 184, + 46, + 4, + 266, + 40, + 82, + 36, + 72, + 50, + 20, + 184, + 46, + 4, + 266, + 40, + 48, + 4, + 30, + 36, + 74, + 48, + 18, + 186, + 46, + 4, + 266, + 40, + 48, + 4, + 30, + 36, + 74, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 44, + 22, + 14, + 36, + 76, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 44, + 22, + 14, + 36, + 76, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 42, + 72, + 78, + 50, + 18, + 184, + 46, + 4, + 264, + 42, + 42, + 72, + 78, + 50, + 18, + 184, + 46, + 4, + 264, + 40, + 44, + 72, + 78, + 50, + 18, + 182, + 48, + 4, + 264, + 40, + 44, + 72, + 78, + 50, + 18, + 182, + 48, + 4, + 266, + 38, + 42, + 74, + 78, + 52, + 20, + 176, + 50, + 4, + 266, + 38, + 42, + 74, + 78, + 52, + 20, + 176, + 50, + 4, + 266, + 38, + 40, + 76, + 80, + 50, + 26, + 170, + 50, + 4, + 266, + 38, + 40, + 76, + 80, + 50, + 26, + 170, + 50, + 4, + 268, + 34, + 40, + 80, + 78, + 52, + 56, + 134, + 54, + 4, + 268, + 34, + 40, + 80, + 78, + 52, + 56, + 134, + 54, + 4, + 270, + 32, + 40, + 80, + 78, + 52, + 130, + 58, + 56, + 4, + 270, + 32, + 40, + 80, + 78, + 52, + 130, + 58, + 56, + 4, + 272, + 28, + 40, + 90, + 70, + 52, + 170, + 8, + 66, + 4, + 272, + 28, + 40, + 90, + 70, + 52, + 170, + 8, + 66, + 4, + 276, + 24, + 40, + 96, + 64, + 52, + 244, + 4, + 276, + 24, + 40, + 96, + 64, + 52, + 244, + 4, + 280, + 16, + 44, + 106, + 54, + 54, + 242, + 4, + 280, + 16, + 44, + 106, + 54, + 54, + 242, + 4, + 286, + 8, + 44, + 118, + 44, + 54, + 242, + 4, + 286, + 8, + 44, + 118, + 44, + 54, + 242, + 4, + 338, + 124, + 38, + 54, + 242, + 4, + 338, + 124, + 38, + 54, + 242, + 4, + 338, + 130, + 34, + 52, + 242, + 4, + 338, + 130, + 34, + 52, + 242, + 4, + 336, + 136, + 30, + 52, + 242, + 4, + 336, + 136, + 30, + 52, + 242, + 4, + 130, + 24, + 182, + 138, + 30, + 50, + 242, + 4, + 130, + 24, + 182, + 138, + 30, + 50, + 242, + 4, + 126, + 38, + 172, + 138, + 30, + 50, + 242, + 4, + 126, + 38, + 172, + 138, + 30, + 50, + 242, + 4, + 124, + 44, + 168, + 138, + 32, + 48, + 242, + 4, + 124, + 44, + 168, + 138, + 32, + 48, + 242, + 4, + 122, + 48, + 166, + 138, + 32, + 48, + 242, + 4, + 122, + 48, + 166, + 138, + 32, + 48, + 242, + 4, + 120, + 94, + 122, + 138, + 32, + 50, + 240, + 4, + 120, + 94, + 122, + 138, + 32, + 50, + 240, + 4, + 118, + 136, + 80, + 140, + 32, + 50, + 240, + 4, + 118, + 136, + 80, + 140, + 32, + 50, + 240, + 4, + 118, + 152, + 64, + 140, + 32, + 50, + 240, + 4, + 118, + 152, + 64, + 140, + 32, + 50, + 240, + 4, + 116, + 156, + 62, + 138, + 36, + 48, + 240, + 4, + 116, + 156, + 62, + 138, + 36, + 48, + 240, + 4, + 114, + 160, + 60, + 138, + 36, + 48, + 240, + 4, + 114, + 160, + 60, + 138, + 36, + 48, + 240, + 4, + 114, + 162, + 58, + 136, + 38, + 48, + 240, + 4, + 114, + 162, + 58, + 136, + 38, + 48, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 46, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 46, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 42, + 244, + 4, + 112, + 166, + 54, + 138, + 40, + 42, + 244, + 4, + 112, + 168, + 52, + 138, + 40, + 38, + 248, + 4, + 112, + 168, + 52, + 138, + 40, + 38, + 248, + 4, + 112, + 168, + 52, + 136, + 42, + 32, + 254, + 4, + 112, + 168, + 52, + 136, + 42, + 32, + 254, + 4, + 112, + 168, + 52, + 136, + 42, + 26, + 260, + 4, + 112, + 168, + 52, + 136, + 42, + 26, + 260, + 4, + 112, + 170, + 48, + 138, + 44, + 16, + 268, + 4, + 112, + 170, + 48, + 138, + 44, + 16, + 268, + 4, + 112, + 170, + 48, + 138, + 46, + 8, + 274, + 4, + 112, + 170, + 48, + 138, + 46, + 8, + 274, + 4, + 110, + 172, + 48, + 138, + 328, + 4, + 110, + 172, + 48, + 138, + 328, + 4, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 168, + 50, + 136, + 328, + 6, + 112, + 168, + 50, + 136, + 328, + 6, + 112, + 168, + 48, + 136, + 330, + 6, + 112, + 168, + 48, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 116, + 160, + 52, + 136, + 330, + 6, + 116, + 160, + 52, + 136, + 330, + 6, + 116, + 158, + 54, + 136, + 330, + 6, + 116, + 158, + 54, + 136, + 330, + 6, + 118, + 152, + 58, + 136, + 330, + 6, + 118, + 152, + 58, + 136, + 330, + 6, + 118, + 138, + 72, + 134, + 144, + 8, + 180, + 6, + 118, + 138, + 72, + 134, + 144, + 8, + 180, + 6, + 120, + 102, + 106, + 134, + 140, + 14, + 178, + 6, + 120, + 102, + 106, + 134, + 140, + 14, + 178, + 6, + 120, + 64, + 142, + 136, + 138, + 20, + 174, + 6, + 120, + 64, + 142, + 136, + 138, + 20, + 174, + 6, + 124, + 50, + 152, + 134, + 138, + 26, + 170, + 6, + 124, + 50, + 152, + 134, + 138, + 26, + 170, + 6, + 126, + 46, + 154, + 134, + 136, + 30, + 168, + 6, + 126, + 46, + 154, + 134, + 136, + 30, + 168, + 6, + 128, + 42, + 156, + 134, + 136, + 32, + 166, + 6, + 128, + 42, + 156, + 134, + 136, + 32, + 166, + 6, + 130, + 36, + 160, + 134, + 136, + 32, + 166, + 6, + 130, + 36, + 160, + 134, + 136, + 32, + 166, + 6, + 138, + 24, + 164, + 132, + 138, + 34, + 164, + 6, + 138, + 24, + 164, + 132, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 322, + 134, + 142, + 30, + 166, + 6, + 322, + 134, + 142, + 30, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 132, + 150, + 24, + 166, + 6, + 322, + 132, + 150, + 24, + 166, + 6, + 322, + 132, + 154, + 16, + 170, + 6, + 322, + 132, + 154, + 16, + 170, + 6, + 320, + 134, + 164, + 2, + 174, + 6, + 320, + 134, + 164, + 2, + 174, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 72, + 10, + 258, + 6, + 320, + 134, + 72, + 10, + 258, + 6, + 320, + 132, + 70, + 16, + 256, + 6, + 320, + 132, + 70, + 16, + 256, + 6, + 318, + 134, + 68, + 20, + 254, + 6, + 318, + 134, + 68, + 20, + 254, + 6, + 318, + 134, + 62, + 28, + 252, + 6, + 318, + 134, + 62, + 28, + 252, + 6, + 318, + 132, + 60, + 34, + 250, + 6, + 318, + 132, + 60, + 34, + 250, + 6, + 318, + 132, + 56, + 40, + 248, + 6, + 318, + 132, + 56, + 40, + 248, + 6, + 318, + 132, + 54, + 44, + 246, + 6, + 318, + 132, + 54, + 44, + 246, + 6, + 318, + 132, + 52, + 48, + 244, + 6, + 318, + 132, + 52, + 48, + 244, + 6, + 268, + 6, + 44, + 130, + 52, + 54, + 240, + 6, + 268, + 6, + 44, + 130, + 52, + 54, + 240, + 6, + 258, + 22, + 36, + 132, + 50, + 58, + 238, + 6, + 258, + 22, + 36, + 132, + 50, + 58, + 238, + 6, + 252, + 28, + 36, + 132, + 50, + 60, + 236, + 6, + 252, + 28, + 36, + 132, + 50, + 60, + 236, + 6, + 246, + 34, + 36, + 130, + 50, + 64, + 234, + 6, + 246, + 34, + 36, + 130, + 50, + 64, + 234, + 6, + 238, + 42, + 36, + 130, + 48, + 70, + 230, + 6, + 238, + 42, + 36, + 130, + 48, + 70, + 230, + 6, + 228, + 54, + 34, + 130, + 46, + 74, + 228, + 6, + 228, + 54, + 34, + 130, + 46, + 74, + 228, + 6, + 208, + 74, + 34, + 128, + 46, + 80, + 224, + 6, + 208, + 74, + 34, + 128, + 46, + 80, + 224, + 4, + 204, + 80, + 32, + 130, + 46, + 82, + 222, + 4, + 204, + 80, + 32, + 130, + 46, + 82, + 222, + 4, + 194, + 90, + 32, + 130, + 44, + 86, + 220, + 4, + 194, + 90, + 32, + 130, + 44, + 86, + 220, + 6, + 190, + 92, + 32, + 130, + 42, + 90, + 218, + 6, + 190, + 92, + 32, + 130, + 42, + 90, + 218, + 6, + 188, + 94, + 32, + 130, + 40, + 94, + 216, + 6, + 188, + 94, + 32, + 130, + 40, + 94, + 216, + 4, + 190, + 96, + 30, + 128, + 40, + 98, + 214, + 4, + 190, + 96, + 30, + 128, + 40, + 98, + 214, + 4, + 190, + 96, + 28, + 130, + 40, + 100, + 212, + 4, + 190, + 96, + 28, + 130, + 40, + 100, + 212, + 4, + 190, + 96, + 28, + 130, + 38, + 104, + 210, + 4, + 190, + 96, + 28, + 130, + 38, + 104, + 210, + 4, + 190, + 96, + 28, + 130, + 36, + 108, + 208, + 4, + 190, + 96, + 28, + 130, + 36, + 108, + 208, + 4, + 192, + 94, + 28, + 128, + 36, + 114, + 204, + 4, + 192, + 94, + 28, + 128, + 36, + 114, + 204, + 4, + 192, + 96, + 26, + 128, + 36, + 118, + 200, + 4, + 192, + 96, + 26, + 128, + 36, + 118, + 200, + 4, + 192, + 96, + 26, + 128, + 34, + 120, + 200, + 4, + 192, + 96, + 26, + 128, + 34, + 120, + 200, + 4, + 192, + 96, + 26, + 128, + 32, + 124, + 198, + 4, + 192, + 96, + 26, + 128, + 32, + 124, + 198, + 4, + 194, + 94, + 28, + 124, + 32, + 128, + 196, + 4, + 194, + 94, + 28, + 124, + 32, + 128, + 196, + 6, + 192, + 94, + 28, + 124, + 30, + 132, + 194, + 6, + 192, + 94, + 28, + 124, + 30, + 132, + 194, + 6, + 192, + 96, + 28, + 122, + 28, + 138, + 190, + 6, + 192, + 96, + 28, + 122, + 28, + 138, + 190, + 6, + 192, + 96, + 30, + 118, + 30, + 140, + 188, + 6, + 192, + 96, + 30, + 118, + 30, + 140, + 188, + 6, + 194, + 94, + 32, + 116, + 28, + 144, + 186, + 6, + 194, + 94, + 32, + 116, + 28, + 144, + 186, + 8, + 192, + 94, + 34, + 114, + 26, + 148, + 184, + 8, + 192, + 94, + 34, + 114, + 26, + 148, + 184, + 8, + 192, + 94, + 38, + 110, + 24, + 154, + 180, + 8, + 192, + 94, + 38, + 110, + 24, + 154, + 180, + 10, + 192, + 92, + 40, + 108, + 22, + 158, + 178, + 10, + 192, + 92, + 40, + 108, + 22, + 158, + 178, + 12, + 190, + 94, + 44, + 100, + 24, + 158, + 178, + 12, + 190, + 94, + 44, + 100, + 24, + 158, + 178, + 12, + 190, + 94, + 50, + 94, + 22, + 164, + 174, + 12, + 190, + 94, + 50, + 94, + 22, + 164, + 174, + 14, + 188, + 94, + 56, + 88, + 20, + 168, + 172, + 14, + 188, + 94, + 56, + 88, + 20, + 168, + 172, + 16, + 186, + 94, + 60, + 84, + 18, + 172, + 172, + 14, + 186, + 94, + 60, + 84, + 18, + 172, + 172, + 14, + 188, + 94, + 64, + 78, + 16, + 178, + 168, + 14, + 188, + 94, + 64, + 78, + 16, + 178, + 168, + 16, + 186, + 94, + 70, + 70, + 18, + 180, + 164, + 18, + 186, + 94, + 70, + 70, + 18, + 180, + 164, + 20, + 184, + 94, + 74, + 66, + 16, + 184, + 162, + 20, + 184, + 94, + 74, + 66, + 16, + 184, + 162, + 22, + 182, + 94, + 84, + 56, + 14, + 188, + 160, + 22, + 182, + 94, + 84, + 56, + 14, + 188, + 160, + 22, + 182, + 94, + 88, + 52, + 12, + 192, + 158, + 22, + 182, + 94, + 88, + 52, + 12, + 192, + 158, + 24, + 182, + 92, + 94, + 44, + 12, + 196, + 156, + 24, + 182, + 92, + 94, + 44, + 12, + 196, + 156, + 26, + 180, + 94, + 44, + 4, + 48, + 40, + 10, + 202, + 152, + 26, + 180, + 94, + 44, + 4, + 48, + 40, + 10, + 202, + 152, + 28, + 178, + 94, + 38, + 16, + 50, + 32, + 8, + 206, + 150, + 28, + 178, + 94, + 38, + 16, + 50, + 32, + 8, + 206, + 150, + 30, + 176, + 94, + 34, + 24, + 52, + 28, + 4, + 210, + 148, + 30, + 176, + 94, + 34, + 24, + 52, + 28, + 4, + 210, + 148, + 30, + 174, + 96, + 28, + 34, + 54, + 240, + 144, + 30, + 174, + 96, + 28, + 34, + 54, + 240, + 144, + 32, + 168, + 102, + 24, + 38, + 60, + 2, + 6, + 226, + 142, + 32, + 168, + 102, + 24, + 38, + 60, + 2, + 6, + 226, + 142, + 34, + 160, + 108, + 20, + 44, + 70, + 222, + 142, + 34, + 160, + 108, + 20, + 44, + 70, + 222, + 142, + 34, + 160, + 108, + 14, + 50, + 70, + 222, + 142, + 34, + 160, + 108, + 14, + 50, + 70, + 222, + 142, + 36, + 158, + 110, + 8, + 54, + 68, + 224, + 142, + 36, + 158, + 110, + 8, + 54, + 68, + 224, + 142, + 38, + 162, + 166, + 68, + 224, + 142, + 38, + 162, + 166, + 68, + 224, + 142, + 40, + 168, + 160, + 64, + 224, + 144, + 40, + 168, + 160, + 64, + 224, + 144, + 40, + 170, + 158, + 62, + 226, + 144, + 40, + 170, + 158, + 62, + 226, + 144, + 42, + 168, + 158, + 62, + 226, + 144, + 42, + 168, + 158, + 62, + 226, + 144, + 44, + 166, + 158, + 60, + 228, + 144, + 44, + 166, + 158, + 60, + 228, + 144, + 44, + 168, + 156, + 58, + 230, + 144, + 44, + 168, + 156, + 58, + 230, + 144, + 46, + 166, + 156, + 56, + 232, + 144, + 46, + 166, + 156, + 56, + 232, + 144, + 48, + 164, + 154, + 56, + 234, + 144, + 48, + 164, + 154, + 56, + 234, + 144, + 50, + 162, + 154, + 54, + 236, + 144, + 50, + 162, + 154, + 54, + 236, + 144, + 50, + 162, + 152, + 54, + 238, + 144, + 50, + 162, + 152, + 54, + 238, + 144, + 52, + 160, + 150, + 54, + 240, + 144, + 52, + 160, + 150, + 54, + 240, + 144, + 54, + 160, + 144, + 58, + 238, + 146, + 54, + 160, + 144, + 58, + 238, + 146, + 56, + 158, + 142, + 58, + 238, + 148, + 56, + 158, + 142, + 58, + 238, + 148, + 58, + 156, + 140, + 58, + 238, + 150, + 58, + 156, + 140, + 58, + 238, + 150, + 60, + 154, + 138, + 60, + 236, + 152, + 60, + 154, + 138, + 60, + 236, + 152, + 60, + 154, + 134, + 60, + 238, + 154, + 60, + 154, + 134, + 60, + 238, + 154, + 60, + 156, + 128, + 62, + 238, + 156, + 60, + 156, + 128, + 62, + 238, + 156, + 62, + 154, + 124, + 66, + 236, + 158, + 62, + 154, + 124, + 66, + 236, + 158, + 64, + 152, + 120, + 68, + 236, + 160, + 64, + 152, + 120, + 68, + 236, + 160, + 64, + 154, + 116, + 68, + 236, + 162, + 64, + 154, + 116, + 68, + 236, + 162, + 66, + 156, + 108, + 70, + 236, + 164, + 66, + 156, + 108, + 70, + 236, + 164, + 68, + 154, + 106, + 72, + 234, + 166, + 68, + 154, + 106, + 72, + 234, + 166, + 70, + 152, + 102, + 74, + 234, + 168, + 70, + 152, + 102, + 74, + 234, + 168, + 72, + 150, + 100, + 74, + 234, + 170, + 72, + 150, + 100, + 74, + 234, + 170, + 74, + 148, + 96, + 76, + 232, + 174, + 74, + 148, + 96, + 76, + 232, + 174, + 74, + 148, + 92, + 78, + 232, + 176, + 74, + 148, + 92, + 78, + 232, + 176, + 76, + 146, + 88, + 80, + 234, + 176, + 76, + 146, + 88, + 80, + 234, + 176, + 78, + 144, + 84, + 82, + 234, + 178, + 78, + 144, + 84, + 82, + 234, + 178, + 80, + 142, + 82, + 84, + 232, + 180, + 80, + 142, + 82, + 84, + 232, + 180, + 80, + 142, + 80, + 84, + 230, + 184, + 80, + 142, + 80, + 84, + 230, + 184, + 82, + 140, + 78, + 84, + 230, + 186, + 82, + 140, + 78, + 84, + 230, + 186, + 84, + 140, + 72, + 86, + 230, + 188, + 84, + 140, + 72, + 86, + 230, + 188, + 84, + 140, + 68, + 88, + 230, + 190, + 84, + 140, + 68, + 88, + 230, + 190, + 86, + 138, + 66, + 90, + 228, + 192, + 86, + 138, + 66, + 90, + 228, + 192, + 88, + 136, + 64, + 90, + 228, + 194, + 88, + 136, + 64, + 90, + 228, + 194, + 88, + 138, + 62, + 88, + 228, + 196, + 88, + 138, + 62, + 88, + 228, + 196, + 90, + 136, + 58, + 90, + 228, + 198, + 90, + 136, + 58, + 90, + 228, + 198, + 92, + 136, + 56, + 88, + 228, + 200, + 92, + 136, + 56, + 88, + 228, + 200, + 94, + 136, + 52, + 88, + 228, + 202, + 94, + 136, + 52, + 88, + 228, + 202, + 94, + 138, + 48, + 88, + 226, + 206, + 94, + 138, + 48, + 88, + 226, + 206, + 96, + 138, + 42, + 92, + 224, + 208, + 96, + 138, + 42, + 92, + 224, + 208, + 98, + 138, + 38, + 92, + 226, + 208, + 98, + 138, + 38, + 92, + 226, + 208, + 100, + 138, + 32, + 94, + 226, + 210, + 100, + 138, + 32, + 94, + 226, + 210, + 100, + 142, + 24, + 96, + 224, + 214, + 100, + 142, + 24, + 96, + 224, + 214, + 102, + 148, + 12, + 98, + 224, + 216, + 102, + 148, + 12, + 98, + 224, + 216, + 104, + 254, + 224, + 220, + 102, + 254, + 224, + 220, + 104, + 250, + 226, + 220, + 104, + 250, + 226, + 220, + 104, + 250, + 224, + 220, + 106, + 250, + 224, + 220, + 108, + 246, + 222, + 224, + 108, + 246, + 222, + 224, + 110, + 242, + 222, + 226, + 110, + 242, + 222, + 226, + 110, + 242, + 220, + 228, + 110, + 242, + 220, + 228, + 112, + 238, + 220, + 230, + 112, + 238, + 220, + 230, + 114, + 234, + 220, + 232, + 114, + 234, + 220, + 232, + 116, + 232, + 216, + 236, + 116, + 232, + 216, + 236, + 116, + 230, + 218, + 238, + 114, + 230, + 218, + 238, + 116, + 228, + 216, + 240, + 116, + 228, + 216, + 240, + 118, + 228, + 212, + 242, + 118, + 228, + 212, + 242, + 118, + 228, + 210, + 242, + 120, + 228, + 210, + 242, + 122, + 228, + 204, + 246, + 122, + 228, + 204, + 246, + 124, + 228, + 200, + 248, + 124, + 228, + 200, + 248, + 124, + 230, + 196, + 250, + 124, + 230, + 196, + 250, + 126, + 230, + 192, + 252, + 126, + 230, + 192, + 252, + 128, + 228, + 190, + 254, + 128, + 228, + 190, + 254, + 130, + 230, + 184, + 256, + 130, + 230, + 184, + 256, + 132, + 230, + 180, + 260, + 130, + 230, + 180, + 260, + 130, + 232, + 178, + 260, + 130, + 232, + 178, + 260, + 132, + 230, + 176, + 262, + 132, + 230, + 176, + 262, + 134, + 230, + 172, + 262, + 136, + 230, + 172, + 262, + 136, + 232, + 166, + 266, + 136, + 232, + 166, + 266, + 138, + 234, + 160, + 268, + 138, + 234, + 160, + 268, + 140, + 234, + 156, + 270, + 140, + 234, + 156, + 270, + 142, + 232, + 154, + 272, + 142, + 232, + 154, + 272, + 142, + 234, + 150, + 274, + 142, + 234, + 150, + 274, + 144, + 236, + 144, + 276, + 144, + 236, + 144, + 276, + 146, + 236, + 140, + 278, + 146, + 236, + 140, + 278, + 146, + 238, + 138, + 278, + 146, + 238, + 138, + 278, + 148, + 238, + 134, + 280, + 148, + 238, + 134, + 280, + 150, + 236, + 132, + 282, + 150, + 236, + 132, + 282, + 152, + 236, + 126, + 286, + 152, + 236, + 126, + 286, + 152, + 240, + 120, + 288, + 152, + 240, + 120, + 288, + 154, + 240, + 116, + 290, + 154, + 240, + 116, + 290, + 156, + 240, + 112, + 292, + 156, + 240, + 112, + 292, + 158, + 240, + 108, + 294, + 158, + 240, + 108, + 294, + 160, + 242, + 102, + 296, + 160, + 242, + 102, + 296, + 160, + 244, + 98, + 298, + 160, + 244, + 98, + 298, + 162, + 242, + 96, + 300, + 162, + 242, + 96, + 300, + 164, + 242, + 94, + 300, + 164, + 242, + 94, + 300, + 166, + 240, + 90, + 304, + 166, + 240, + 90, + 304, + 166, + 244, + 84, + 306, + 166, + 244, + 84, + 306, + 168, + 246, + 78, + 308, + 168, + 246, + 78, + 308, + 170, + 246, + 74, + 310, + 170, + 246, + 74, + 310, + 172, + 244, + 72, + 312, + 172, + 244, + 72, + 312, + 174, + 244, + 68, + 314, + 174, + 244, + 68, + 314, + 174, + 244, + 66, + 316, + 174, + 244, + 66, + 316, + 176, + 242, + 64, + 318, + 176, + 242, + 64, + 318, + 178, + 238, + 64, + 320, + 178, + 238, + 64, + 320, + 178, + 236, + 64, + 322, + 178, + 236, + 64, + 322, + 180, + 232, + 64, + 324, + 180, + 232, + 64, + 324, + 182, + 228, + 64, + 326, + 182, + 228, + 64, + 326, + 182, + 226, + 64, + 328, + 182, + 226, + 64, + 328, + 184, + 222, + 64, + 330, + 184, + 222, + 64, + 330, + 186, + 220, + 62, + 332, + 186, + 220, + 62, + 332, + 188, + 216, + 62, + 334, + 188, + 216, + 62, + 334, + 188, + 216, + 60, + 336, + 188, + 216, + 60, + 336, + 190, + 212, + 36, + 6, + 18, + 338, + 190, + 212, + 36, + 6, + 18, + 338, + 192, + 210, + 32, + 14, + 12, + 340, + 192, + 210, + 32, + 14, + 12, + 340, + 194, + 208, + 32, + 16, + 6, + 344, + 194, + 208, + 32, + 16, + 6, + 344, + 196, + 208, + 28, + 368, + 196, + 208, + 28, + 368, + 196, + 210, + 24, + 370, + 196, + 210, + 24, + 370, + 198, + 214, + 16, + 372, + 198, + 214, + 16, + 372, + 200, + 216, + 8, + 376, + 200, + 216, + 8, + 376, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 222, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 318, + 482, + 318, + 482, + 320, + 480, + 320, + 480, + 322, + 478, + 322, + 478, + 324, + 476, + 324, + 476, + 326, + 474, + 326, + 474, + 328, + 472, + 328, + 472, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 340, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 358, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 306, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000125:0000", + "experimental_retained_index": 1, + "ism_score": 0.34438830614089966, + "R": [ + [ + 0.5966510772705078, + 0.8025533556938171, + 0.010681688785552979 + ], + [ + 0.7117134928703308, + -0.5349979400634766, + 0.45510563254356384 + ], + [ + 0.370825856924057, + -0.26397162675857544, + -0.8902908563613892 + ] + ], + "t": [ + -2.7510910034179688, + 0.5014438629150391, + 378.9746398925781 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 774, + 0, + 234, + 100 + ], + "score": 0.4189930856227875, + "time": 0.0, + "segmentation": { + "counts": [ + 618400, + 3, + 797, + 3, + 797, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 7, + 793, + 7, + 215993 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000125:0001", + "experimental_retained_index": 0, + "ism_score": 0.4353174865245819, + "R": [ + [ + -0.5880597233772278, + -0.7295585870742798, + -0.34928780794143677 + ], + [ + 0.5972235202789307, + -0.6827462911605835, + 0.4204062819480896 + ], + [ + -0.5451804995536804, + 0.03872540593147278, + 0.837243378162384 + ] + ], + "t": [ + 210.26283264160156, + -318.5072326660156, + 572.4274291992188 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000125/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000125/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000125:0001", + "Slide_holder:000125:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000125.png" + }, + { + "frame_id": 127, + "image_path": "/workspace/data/0008_/images/000127.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000127.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 604, + 0, + 158, + 110 + ], + "score": 0.0301863681524992, + "time": 0.0, + "segmentation": { + "counts": [ + 482463, + 16, + 784, + 16, + 772, + 30, + 770, + 30, + 752, + 50, + 750, + 50, + 732, + 68, + 732, + 68, + 720, + 82, + 718, + 82, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 109, + 691, + 109, + 691, + 101, + 699, + 101, + 699, + 91, + 709, + 91, + 709, + 71, + 729, + 71, + 729, + 65, + 735, + 65, + 735, + 55, + 745, + 55, + 745, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 9, + 791, + 9, + 412791 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000127:0001", + "experimental_retained_index": 0, + "ism_score": 0.41998425126075745, + "R": [ + [ + -0.2542884945869446, + 0.12989658117294312, + -0.9582501649856567 + ], + [ + 0.6809754967689514, + 0.7276551723480225, + -0.0822153389453888 + ], + [ + 0.6864724159240723, + -0.6737467050552368, + -0.27363210916519165 + ] + ], + "t": [ + -17.39142608642578, + -349.3213195800781, + 671.2891235351562 + ] + }, + { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 0, + 4, + 1278, + 792 + ], + "score": 0.049050018191337585, + "time": 0.0, + "segmentation": { + "counts": [ + 15, + 784, + 14, + 786, + 14, + 786, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 450, + 10, + 322, + 18, + 450, + 10, + 322, + 18, + 448, + 14, + 320, + 18, + 448, + 14, + 320, + 18, + 446, + 16, + 320, + 18, + 446, + 16, + 320, + 18, + 444, + 18, + 320, + 18, + 444, + 18, + 320, + 16, + 446, + 18, + 320, + 16, + 446, + 18, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 444, + 22, + 320, + 14, + 444, + 22, + 320, + 14, + 442, + 24, + 68, + 6, + 244, + 16, + 442, + 24, + 68, + 6, + 244, + 16, + 440, + 24, + 66, + 12, + 236, + 22, + 440, + 24, + 66, + 12, + 236, + 20, + 440, + 26, + 64, + 14, + 228, + 28, + 440, + 26, + 64, + 14, + 228, + 28, + 438, + 28, + 64, + 14, + 222, + 34, + 438, + 28, + 64, + 14, + 222, + 34, + 436, + 30, + 62, + 16, + 216, + 40, + 436, + 30, + 62, + 16, + 216, + 40, + 432, + 34, + 60, + 18, + 202, + 54, + 432, + 34, + 60, + 18, + 202, + 52, + 434, + 32, + 62, + 18, + 188, + 66, + 434, + 32, + 62, + 18, + 188, + 66, + 434, + 32, + 60, + 20, + 182, + 72, + 434, + 32, + 60, + 20, + 182, + 72, + 434, + 32, + 60, + 20, + 172, + 82, + 434, + 32, + 60, + 20, + 172, + 82, + 434, + 30, + 60, + 22, + 164, + 90, + 434, + 30, + 60, + 22, + 164, + 90, + 432, + 32, + 60, + 22, + 152, + 102, + 432, + 32, + 60, + 22, + 152, + 102, + 432, + 32, + 58, + 24, + 142, + 112, + 432, + 32, + 58, + 24, + 142, + 112, + 432, + 32, + 58, + 24, + 134, + 120, + 432, + 32, + 58, + 24, + 134, + 120, + 432, + 30, + 58, + 26, + 124, + 130, + 432, + 30, + 58, + 26, + 124, + 128, + 432, + 32, + 58, + 24, + 120, + 134, + 432, + 32, + 58, + 24, + 120, + 134, + 432, + 32, + 56, + 26, + 114, + 140, + 432, + 32, + 56, + 26, + 114, + 138, + 434, + 32, + 54, + 28, + 112, + 140, + 434, + 32, + 54, + 28, + 112, + 140, + 434, + 30, + 56, + 28, + 112, + 140, + 434, + 30, + 56, + 28, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 138, + 434, + 32, + 52, + 32, + 68, + 6, + 38, + 138, + 434, + 32, + 52, + 32, + 68, + 6, + 38, + 138, + 432, + 32, + 54, + 32, + 64, + 12, + 36, + 138, + 432, + 32, + 54, + 32, + 64, + 12, + 36, + 138, + 430, + 34, + 54, + 32, + 62, + 14, + 34, + 140, + 430, + 34, + 54, + 32, + 62, + 14, + 34, + 140, + 428, + 34, + 54, + 32, + 62, + 18, + 32, + 140, + 428, + 34, + 54, + 32, + 62, + 18, + 32, + 140, + 428, + 34, + 54, + 32, + 60, + 20, + 32, + 140, + 428, + 34, + 54, + 32, + 60, + 20, + 32, + 140, + 426, + 36, + 54, + 32, + 56, + 26, + 30, + 140, + 426, + 36, + 54, + 32, + 56, + 26, + 30, + 140, + 426, + 34, + 56, + 32, + 52, + 30, + 30, + 140, + 426, + 34, + 56, + 32, + 52, + 30, + 30, + 140, + 426, + 32, + 58, + 30, + 50, + 34, + 30, + 140, + 426, + 32, + 58, + 30, + 50, + 34, + 30, + 140, + 424, + 34, + 56, + 32, + 48, + 36, + 30, + 140, + 424, + 34, + 56, + 32, + 48, + 36, + 30, + 140, + 422, + 36, + 56, + 32, + 44, + 42, + 28, + 140, + 422, + 36, + 56, + 32, + 44, + 42, + 28, + 140, + 422, + 34, + 58, + 32, + 42, + 44, + 28, + 140, + 422, + 34, + 58, + 32, + 42, + 44, + 28, + 140, + 422, + 34, + 56, + 34, + 38, + 48, + 28, + 140, + 422, + 34, + 56, + 34, + 38, + 48, + 28, + 140, + 422, + 34, + 56, + 34, + 36, + 52, + 26, + 140, + 422, + 34, + 56, + 34, + 36, + 52, + 26, + 140, + 422, + 34, + 54, + 36, + 36, + 52, + 26, + 140, + 422, + 34, + 54, + 36, + 36, + 52, + 26, + 140, + 420, + 34, + 56, + 34, + 40, + 52, + 24, + 140, + 420, + 34, + 56, + 34, + 40, + 52, + 24, + 142, + 418, + 34, + 56, + 34, + 40, + 52, + 24, + 142, + 418, + 34, + 56, + 34, + 40, + 52, + 24, + 144, + 414, + 34, + 56, + 36, + 42, + 52, + 22, + 144, + 414, + 34, + 56, + 36, + 42, + 52, + 22, + 144, + 414, + 32, + 58, + 34, + 44, + 52, + 22, + 144, + 414, + 32, + 58, + 34, + 44, + 52, + 22, + 146, + 412, + 32, + 58, + 34, + 44, + 52, + 20, + 148, + 412, + 32, + 58, + 34, + 44, + 52, + 20, + 148, + 412, + 32, + 58, + 32, + 46, + 54, + 18, + 148, + 412, + 32, + 58, + 32, + 46, + 54, + 18, + 150, + 408, + 32, + 58, + 34, + 48, + 54, + 16, + 150, + 408, + 32, + 58, + 34, + 48, + 54, + 16, + 152, + 406, + 32, + 58, + 34, + 48, + 54, + 16, + 152, + 406, + 32, + 58, + 34, + 48, + 54, + 16, + 154, + 402, + 34, + 58, + 32, + 52, + 50, + 18, + 154, + 402, + 34, + 58, + 32, + 52, + 50, + 18, + 154, + 402, + 32, + 60, + 32, + 52, + 50, + 18, + 154, + 402, + 32, + 60, + 32, + 52, + 50, + 18, + 156, + 400, + 32, + 58, + 34, + 52, + 50, + 18, + 156, + 400, + 32, + 58, + 34, + 52, + 50, + 18, + 158, + 398, + 32, + 58, + 32, + 54, + 50, + 18, + 158, + 398, + 32, + 58, + 32, + 54, + 50, + 18, + 158, + 396, + 34, + 58, + 32, + 56, + 50, + 16, + 158, + 396, + 34, + 58, + 32, + 56, + 50, + 16, + 160, + 394, + 34, + 58, + 32, + 56, + 52, + 14, + 160, + 394, + 34, + 58, + 32, + 56, + 52, + 14, + 160, + 392, + 34, + 60, + 32, + 56, + 52, + 14, + 160, + 392, + 34, + 60, + 32, + 56, + 52, + 14, + 162, + 390, + 32, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 162, + 390, + 32, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 164, + 386, + 34, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 164, + 386, + 34, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 166, + 384, + 32, + 60, + 34, + 62, + 52, + 10, + 126, + 6, + 34, + 384, + 32, + 60, + 34, + 62, + 52, + 10, + 126, + 6, + 36, + 380, + 32, + 62, + 34, + 62, + 32, + 4, + 16, + 10, + 116, + 22, + 30, + 380, + 32, + 62, + 34, + 62, + 32, + 4, + 16, + 10, + 116, + 22, + 30, + 380, + 32, + 60, + 34, + 66, + 30, + 4, + 16, + 10, + 106, + 32, + 30, + 380, + 32, + 60, + 34, + 66, + 30, + 4, + 16, + 10, + 106, + 32, + 32, + 376, + 34, + 60, + 34, + 66, + 38, + 6, + 6, + 10, + 80, + 58, + 32, + 376, + 34, + 60, + 34, + 66, + 38, + 6, + 6, + 10, + 80, + 58, + 32, + 374, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 8, + 66, + 72, + 32, + 374, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 8, + 66, + 72, + 34, + 372, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 10, + 2, + 4, + 44, + 86, + 34, + 372, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 10, + 2, + 4, + 44, + 86, + 36, + 370, + 34, + 62, + 32, + 70, + 36, + 8, + 6, + 22, + 28, + 96, + 36, + 370, + 34, + 62, + 32, + 70, + 36, + 8, + 6, + 22, + 28, + 96, + 36, + 370, + 32, + 64, + 30, + 72, + 36, + 8, + 6, + 146, + 36, + 370, + 32, + 64, + 30, + 72, + 36, + 8, + 6, + 146, + 38, + 368, + 32, + 62, + 32, + 72, + 34, + 10, + 6, + 146, + 38, + 368, + 32, + 62, + 32, + 72, + 34, + 10, + 6, + 146, + 40, + 364, + 32, + 64, + 32, + 74, + 32, + 10, + 6, + 146, + 40, + 364, + 32, + 64, + 32, + 74, + 32, + 10, + 6, + 146, + 40, + 364, + 32, + 62, + 34, + 74, + 34, + 8, + 8, + 144, + 40, + 364, + 32, + 62, + 34, + 74, + 34, + 8, + 8, + 144, + 42, + 360, + 34, + 62, + 34, + 76, + 32, + 8, + 12, + 140, + 42, + 360, + 34, + 62, + 34, + 76, + 32, + 8, + 12, + 140, + 44, + 358, + 32, + 64, + 32, + 78, + 34, + 4, + 16, + 138, + 44, + 358, + 32, + 64, + 32, + 78, + 34, + 4, + 16, + 138, + 44, + 358, + 32, + 64, + 32, + 78, + 54, + 138, + 44, + 358, + 32, + 64, + 32, + 78, + 54, + 138, + 46, + 354, + 32, + 64, + 34, + 80, + 54, + 136, + 46, + 354, + 32, + 64, + 34, + 80, + 54, + 136, + 50, + 350, + 32, + 64, + 34, + 82, + 52, + 136, + 50, + 350, + 32, + 64, + 34, + 82, + 52, + 136, + 50, + 350, + 32, + 62, + 36, + 84, + 50, + 136, + 50, + 350, + 32, + 62, + 36, + 84, + 50, + 136, + 50, + 350, + 30, + 64, + 36, + 84, + 50, + 136, + 50, + 350, + 30, + 64, + 36, + 84, + 50, + 136, + 52, + 346, + 32, + 64, + 34, + 86, + 52, + 134, + 52, + 346, + 32, + 64, + 34, + 86, + 52, + 134, + 52, + 346, + 32, + 62, + 36, + 86, + 52, + 134, + 52, + 346, + 32, + 62, + 36, + 86, + 52, + 134, + 54, + 342, + 34, + 62, + 34, + 88, + 52, + 134, + 54, + 342, + 34, + 62, + 34, + 88, + 52, + 134, + 56, + 336, + 38, + 60, + 36, + 88, + 52, + 134, + 56, + 336, + 38, + 60, + 36, + 88, + 52, + 134, + 56, + 334, + 38, + 36, + 62, + 88, + 52, + 134, + 56, + 334, + 38, + 36, + 62, + 88, + 52, + 134, + 58, + 330, + 40, + 34, + 66, + 88, + 52, + 132, + 58, + 330, + 40, + 34, + 66, + 88, + 52, + 132, + 60, + 326, + 42, + 32, + 70, + 86, + 52, + 132, + 60, + 326, + 42, + 32, + 70, + 86, + 52, + 132, + 62, + 324, + 40, + 34, + 82, + 74, + 54, + 130, + 62, + 324, + 40, + 34, + 82, + 74, + 54, + 130, + 62, + 324, + 40, + 34, + 120, + 36, + 54, + 130, + 62, + 324, + 40, + 34, + 120, + 36, + 54, + 130, + 62, + 324, + 40, + 32, + 126, + 34, + 52, + 130, + 62, + 324, + 40, + 32, + 126, + 34, + 52, + 130, + 64, + 320, + 42, + 30, + 128, + 34, + 54, + 128, + 64, + 320, + 42, + 30, + 128, + 34, + 54, + 128, + 66, + 318, + 42, + 30, + 128, + 34, + 54, + 128, + 66, + 318, + 42, + 30, + 128, + 34, + 54, + 128, + 68, + 316, + 40, + 30, + 130, + 36, + 54, + 126, + 68, + 316, + 40, + 30, + 130, + 36, + 54, + 126, + 70, + 316, + 38, + 30, + 130, + 36, + 54, + 126, + 70, + 316, + 38, + 30, + 130, + 36, + 54, + 126, + 70, + 316, + 38, + 28, + 132, + 36, + 52, + 128, + 70, + 316, + 38, + 28, + 132, + 36, + 52, + 128, + 72, + 316, + 34, + 30, + 132, + 36, + 48, + 132, + 72, + 316, + 34, + 30, + 132, + 36, + 48, + 132, + 72, + 318, + 32, + 28, + 134, + 38, + 40, + 138, + 72, + 318, + 32, + 28, + 134, + 38, + 40, + 138, + 74, + 322, + 22, + 32, + 132, + 42, + 34, + 142, + 74, + 322, + 22, + 32, + 132, + 42, + 34, + 142, + 74, + 328, + 12, + 36, + 132, + 42, + 30, + 146, + 74, + 328, + 12, + 36, + 132, + 42, + 30, + 146, + 76, + 330, + 4, + 40, + 132, + 42, + 26, + 150, + 76, + 330, + 4, + 40, + 132, + 42, + 26, + 150, + 76, + 374, + 132, + 42, + 20, + 156, + 76, + 374, + 132, + 42, + 20, + 156, + 78, + 372, + 132, + 42, + 14, + 162, + 78, + 372, + 132, + 42, + 14, + 162, + 80, + 370, + 132, + 44, + 8, + 166, + 80, + 370, + 132, + 44, + 8, + 166, + 80, + 370, + 130, + 220, + 80, + 370, + 130, + 220, + 82, + 192, + 8, + 168, + 130, + 220, + 82, + 192, + 8, + 168, + 130, + 220, + 84, + 184, + 22, + 160, + 130, + 220, + 84, + 184, + 22, + 160, + 130, + 220, + 86, + 176, + 30, + 156, + 132, + 220, + 86, + 176, + 30, + 156, + 132, + 220, + 88, + 172, + 48, + 14, + 8, + 52, + 6, + 60, + 132, + 220, + 88, + 172, + 48, + 14, + 8, + 52, + 6, + 60, + 132, + 220, + 88, + 170, + 140, + 50, + 132, + 154, + 6, + 60, + 88, + 170, + 140, + 50, + 132, + 154, + 6, + 60, + 90, + 166, + 144, + 48, + 130, + 150, + 20, + 52, + 90, + 166, + 144, + 48, + 130, + 150, + 20, + 52, + 90, + 166, + 146, + 46, + 130, + 148, + 24, + 50, + 90, + 166, + 146, + 46, + 130, + 148, + 24, + 50, + 92, + 162, + 150, + 44, + 130, + 146, + 28, + 48, + 92, + 162, + 150, + 44, + 130, + 146, + 28, + 48, + 94, + 158, + 152, + 46, + 128, + 144, + 30, + 48, + 94, + 158, + 152, + 46, + 128, + 144, + 30, + 48, + 94, + 158, + 154, + 44, + 128, + 142, + 34, + 46, + 94, + 158, + 154, + 44, + 128, + 142, + 34, + 46, + 96, + 156, + 156, + 42, + 128, + 142, + 36, + 44, + 96, + 156, + 156, + 42, + 128, + 142, + 36, + 44, + 98, + 152, + 158, + 42, + 128, + 140, + 38, + 44, + 98, + 152, + 158, + 42, + 128, + 140, + 38, + 44, + 100, + 150, + 158, + 40, + 128, + 140, + 42, + 42, + 100, + 150, + 158, + 40, + 128, + 140, + 42, + 42, + 100, + 150, + 160, + 38, + 128, + 138, + 44, + 42, + 100, + 150, + 160, + 38, + 128, + 138, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 104, + 144, + 162, + 38, + 126, + 140, + 44, + 42, + 104, + 144, + 162, + 38, + 126, + 140, + 44, + 42, + 106, + 144, + 158, + 40, + 126, + 142, + 42, + 42, + 106, + 144, + 158, + 40, + 126, + 142, + 42, + 42, + 108, + 142, + 158, + 40, + 126, + 146, + 38, + 42, + 108, + 142, + 158, + 40, + 126, + 146, + 38, + 42, + 110, + 140, + 158, + 38, + 128, + 150, + 32, + 44, + 110, + 140, + 158, + 38, + 128, + 150, + 32, + 44, + 110, + 140, + 156, + 40, + 126, + 158, + 22, + 48, + 110, + 140, + 156, + 40, + 126, + 158, + 22, + 48, + 112, + 138, + 156, + 40, + 126, + 170, + 6, + 52, + 112, + 138, + 156, + 40, + 126, + 170, + 6, + 52, + 112, + 138, + 154, + 42, + 126, + 228, + 112, + 138, + 154, + 42, + 126, + 228, + 114, + 138, + 150, + 42, + 128, + 228, + 114, + 138, + 150, + 42, + 128, + 228, + 116, + 136, + 148, + 44, + 126, + 230, + 116, + 136, + 148, + 44, + 126, + 230, + 116, + 136, + 144, + 48, + 126, + 230, + 116, + 136, + 144, + 48, + 126, + 230, + 118, + 136, + 134, + 56, + 126, + 230, + 118, + 136, + 134, + 56, + 126, + 230, + 118, + 138, + 94, + 8, + 6, + 80, + 126, + 230, + 118, + 138, + 94, + 8, + 6, + 80, + 126, + 230, + 120, + 138, + 46, + 140, + 126, + 230, + 120, + 138, + 46, + 140, + 126, + 230, + 122, + 138, + 40, + 144, + 126, + 230, + 122, + 138, + 40, + 144, + 126, + 230, + 122, + 140, + 36, + 146, + 126, + 72, + 12, + 146, + 122, + 140, + 36, + 146, + 126, + 72, + 12, + 146, + 124, + 140, + 32, + 146, + 128, + 64, + 24, + 142, + 124, + 140, + 32, + 146, + 128, + 64, + 24, + 142, + 126, + 142, + 20, + 154, + 128, + 52, + 38, + 140, + 126, + 142, + 20, + 154, + 128, + 52, + 38, + 140, + 128, + 314, + 128, + 44, + 48, + 138, + 128, + 314, + 128, + 44, + 48, + 138, + 128, + 314, + 126, + 44, + 56, + 132, + 128, + 314, + 126, + 44, + 56, + 132, + 130, + 312, + 126, + 42, + 60, + 130, + 130, + 312, + 126, + 42, + 60, + 130, + 130, + 312, + 126, + 40, + 62, + 130, + 130, + 312, + 126, + 40, + 62, + 130, + 130, + 310, + 128, + 40, + 64, + 128, + 130, + 310, + 128, + 40, + 64, + 128, + 132, + 308, + 128, + 38, + 70, + 124, + 132, + 308, + 128, + 38, + 70, + 124, + 134, + 306, + 128, + 36, + 76, + 120, + 134, + 306, + 128, + 36, + 76, + 120, + 136, + 304, + 128, + 36, + 78, + 118, + 136, + 304, + 128, + 36, + 78, + 118, + 136, + 304, + 128, + 34, + 82, + 116, + 136, + 304, + 128, + 34, + 82, + 116, + 140, + 300, + 126, + 34, + 88, + 112, + 140, + 300, + 126, + 34, + 88, + 112, + 140, + 300, + 126, + 34, + 92, + 108, + 140, + 300, + 126, + 34, + 92, + 108, + 140, + 300, + 126, + 32, + 98, + 104, + 140, + 300, + 126, + 32, + 98, + 104, + 142, + 298, + 124, + 32, + 104, + 100, + 142, + 298, + 124, + 32, + 104, + 100, + 142, + 298, + 124, + 32, + 104, + 100, + 142, + 298, + 124, + 32, + 104, + 100, + 144, + 296, + 124, + 30, + 110, + 96, + 144, + 296, + 124, + 30, + 110, + 96, + 146, + 294, + 124, + 30, + 114, + 92, + 146, + 294, + 124, + 30, + 114, + 92, + 148, + 292, + 122, + 30, + 118, + 90, + 148, + 292, + 122, + 30, + 118, + 90, + 150, + 290, + 122, + 28, + 122, + 88, + 150, + 290, + 122, + 28, + 122, + 88, + 150, + 242, + 18, + 28, + 124, + 28, + 124, + 86, + 150, + 242, + 18, + 28, + 124, + 28, + 124, + 86, + 150, + 230, + 30, + 30, + 122, + 26, + 130, + 80, + 152, + 230, + 30, + 30, + 122, + 26, + 130, + 80, + 154, + 214, + 44, + 30, + 122, + 24, + 136, + 76, + 154, + 214, + 44, + 30, + 122, + 24, + 136, + 76, + 156, + 198, + 60, + 28, + 122, + 22, + 142, + 72, + 156, + 198, + 60, + 28, + 122, + 22, + 142, + 72, + 156, + 190, + 68, + 28, + 122, + 22, + 144, + 72, + 154, + 190, + 68, + 28, + 122, + 22, + 144, + 72, + 156, + 186, + 70, + 28, + 122, + 20, + 148, + 70, + 156, + 186, + 70, + 28, + 122, + 20, + 148, + 70, + 158, + 176, + 78, + 26, + 122, + 22, + 150, + 68, + 158, + 176, + 78, + 26, + 122, + 22, + 150, + 68, + 160, + 168, + 86, + 24, + 122, + 20, + 156, + 64, + 160, + 168, + 86, + 24, + 122, + 20, + 156, + 64, + 160, + 164, + 90, + 22, + 124, + 18, + 162, + 60, + 160, + 164, + 90, + 22, + 124, + 18, + 162, + 60, + 162, + 160, + 92, + 22, + 124, + 16, + 166, + 58, + 162, + 160, + 92, + 22, + 124, + 16, + 166, + 58, + 162, + 160, + 94, + 20, + 124, + 16, + 168, + 56, + 162, + 160, + 94, + 20, + 124, + 16, + 168, + 56, + 164, + 158, + 94, + 20, + 124, + 14, + 174, + 52, + 164, + 158, + 94, + 20, + 124, + 14, + 174, + 52, + 166, + 156, + 94, + 20, + 124, + 14, + 176, + 50, + 166, + 156, + 94, + 20, + 124, + 14, + 176, + 50, + 168, + 154, + 94, + 20, + 124, + 12, + 184, + 44, + 168, + 154, + 94, + 20, + 124, + 12, + 184, + 44, + 168, + 154, + 96, + 18, + 124, + 10, + 188, + 42, + 168, + 154, + 96, + 18, + 124, + 10, + 188, + 42, + 170, + 152, + 96, + 20, + 122, + 8, + 192, + 40, + 170, + 152, + 96, + 20, + 122, + 8, + 192, + 40, + 170, + 154, + 94, + 20, + 122, + 8, + 194, + 38, + 170, + 154, + 94, + 20, + 122, + 8, + 194, + 38, + 172, + 152, + 94, + 22, + 120, + 6, + 200, + 34, + 172, + 152, + 94, + 22, + 120, + 6, + 200, + 34, + 174, + 150, + 96, + 20, + 330, + 30, + 174, + 150, + 96, + 20, + 330, + 30, + 176, + 150, + 94, + 22, + 330, + 28, + 176, + 150, + 94, + 22, + 330, + 28, + 178, + 148, + 94, + 26, + 328, + 26, + 178, + 148, + 94, + 26, + 328, + 26, + 180, + 146, + 94, + 30, + 328, + 22, + 180, + 146, + 94, + 30, + 328, + 22, + 180, + 146, + 94, + 34, + 326, + 20, + 180, + 146, + 94, + 34, + 326, + 20, + 182, + 144, + 94, + 42, + 322, + 16, + 182, + 144, + 94, + 42, + 322, + 16, + 182, + 144, + 96, + 44, + 322, + 10, + 184, + 144, + 96, + 44, + 322, + 10, + 186, + 142, + 96, + 52, + 316, + 6, + 188, + 142, + 96, + 52, + 316, + 6, + 188, + 142, + 96, + 58, + 504, + 142, + 96, + 58, + 506, + 142, + 94, + 66, + 498, + 142, + 94, + 66, + 500, + 140, + 94, + 72, + 494, + 140, + 94, + 72, + 496, + 138, + 94, + 80, + 488, + 138, + 94, + 80, + 488, + 136, + 98, + 84, + 482, + 136, + 98, + 84, + 484, + 134, + 98, + 92, + 476, + 134, + 98, + 92, + 476, + 138, + 96, + 96, + 470, + 138, + 96, + 96, + 472, + 136, + 96, + 30, + 22, + 56, + 258, + 4, + 198, + 136, + 96, + 30, + 22, + 56, + 258, + 4, + 198, + 136, + 96, + 28, + 26, + 58, + 254, + 6, + 196, + 136, + 96, + 28, + 26, + 58, + 254, + 6, + 198, + 130, + 102, + 24, + 28, + 58, + 252, + 10, + 196, + 130, + 102, + 24, + 28, + 58, + 252, + 10, + 198, + 126, + 104, + 22, + 32, + 56, + 248, + 14, + 198, + 126, + 104, + 22, + 32, + 56, + 248, + 14, + 200, + 124, + 106, + 12, + 42, + 54, + 244, + 18, + 200, + 124, + 106, + 12, + 42, + 54, + 244, + 18, + 200, + 122, + 164, + 50, + 246, + 18, + 200, + 122, + 164, + 50, + 246, + 18, + 202, + 120, + 166, + 46, + 246, + 20, + 202, + 120, + 166, + 46, + 246, + 20, + 202, + 120, + 166, + 46, + 246, + 20, + 202, + 120, + 166, + 46, + 246, + 20, + 204, + 120, + 164, + 46, + 244, + 22, + 204, + 120, + 164, + 46, + 244, + 22, + 206, + 124, + 160, + 42, + 242, + 26, + 206, + 124, + 160, + 42, + 242, + 26, + 208, + 128, + 154, + 40, + 242, + 28, + 208, + 128, + 154, + 40, + 242, + 28, + 208, + 128, + 154, + 38, + 242, + 30, + 208, + 128, + 154, + 38, + 242, + 30, + 210, + 128, + 152, + 38, + 242, + 30, + 210, + 128, + 152, + 38, + 242, + 30, + 210, + 128, + 152, + 36, + 240, + 34, + 210, + 128, + 152, + 36, + 240, + 34, + 212, + 126, + 152, + 36, + 238, + 36, + 212, + 126, + 152, + 36, + 238, + 36, + 214, + 124, + 150, + 36, + 238, + 38, + 214, + 124, + 150, + 36, + 238, + 38, + 216, + 122, + 150, + 34, + 240, + 36, + 218, + 122, + 150, + 34, + 240, + 36, + 218, + 122, + 148, + 36, + 238, + 38, + 218, + 122, + 148, + 36, + 238, + 38, + 220, + 122, + 142, + 38, + 238, + 40, + 220, + 122, + 142, + 38, + 238, + 40, + 222, + 120, + 140, + 38, + 236, + 44, + 222, + 120, + 140, + 38, + 236, + 44, + 222, + 120, + 138, + 38, + 236, + 46, + 222, + 120, + 138, + 38, + 236, + 46, + 224, + 118, + 136, + 38, + 238, + 48, + 222, + 118, + 136, + 38, + 238, + 48, + 222, + 118, + 130, + 44, + 236, + 50, + 222, + 118, + 130, + 44, + 236, + 50, + 224, + 116, + 124, + 50, + 232, + 54, + 224, + 116, + 124, + 50, + 232, + 54, + 226, + 112, + 120, + 54, + 232, + 54, + 228, + 112, + 120, + 54, + 232, + 54, + 230, + 110, + 116, + 56, + 234, + 54, + 230, + 110, + 116, + 56, + 234, + 54, + 232, + 108, + 112, + 58, + 234, + 56, + 232, + 108, + 112, + 58, + 234, + 56, + 232, + 108, + 110, + 60, + 232, + 58, + 232, + 108, + 110, + 60, + 232, + 58, + 232, + 108, + 104, + 64, + 232, + 60, + 232, + 108, + 104, + 64, + 232, + 60, + 234, + 106, + 100, + 66, + 232, + 62, + 234, + 106, + 100, + 66, + 232, + 62, + 236, + 104, + 94, + 70, + 232, + 64, + 236, + 104, + 94, + 70, + 232, + 64, + 236, + 104, + 92, + 72, + 230, + 66, + 236, + 104, + 92, + 72, + 230, + 66, + 238, + 102, + 88, + 74, + 230, + 68, + 238, + 102, + 88, + 74, + 230, + 68, + 238, + 104, + 80, + 78, + 230, + 70, + 238, + 104, + 80, + 78, + 230, + 70, + 240, + 102, + 74, + 84, + 228, + 72, + 240, + 102, + 74, + 84, + 228, + 72, + 242, + 100, + 70, + 84, + 230, + 74, + 242, + 100, + 70, + 84, + 230, + 74, + 242, + 102, + 66, + 84, + 232, + 74, + 242, + 102, + 66, + 84, + 232, + 74, + 244, + 100, + 62, + 88, + 230, + 76, + 244, + 100, + 62, + 88, + 230, + 76, + 244, + 100, + 60, + 90, + 228, + 78, + 244, + 100, + 60, + 90, + 228, + 78, + 246, + 100, + 56, + 90, + 226, + 82, + 246, + 100, + 56, + 90, + 226, + 82, + 248, + 98, + 52, + 92, + 226, + 84, + 248, + 98, + 52, + 92, + 226, + 84, + 250, + 96, + 50, + 94, + 226, + 84, + 250, + 96, + 50, + 94, + 226, + 84, + 250, + 96, + 48, + 94, + 226, + 86, + 250, + 96, + 48, + 94, + 226, + 86, + 250, + 102, + 38, + 96, + 226, + 88, + 250, + 102, + 38, + 96, + 226, + 88, + 252, + 104, + 28, + 100, + 226, + 90, + 252, + 104, + 28, + 100, + 226, + 90, + 256, + 106, + 18, + 104, + 224, + 92, + 256, + 106, + 18, + 104, + 224, + 92, + 256, + 108, + 10, + 108, + 224, + 94, + 256, + 108, + 10, + 108, + 224, + 94, + 258, + 222, + 224, + 96, + 258, + 222, + 224, + 96, + 258, + 222, + 222, + 98, + 258, + 222, + 222, + 98, + 260, + 218, + 222, + 100, + 260, + 218, + 222, + 100, + 262, + 214, + 222, + 102, + 262, + 214, + 222, + 102, + 262, + 212, + 222, + 104, + 262, + 212, + 222, + 104, + 262, + 212, + 220, + 106, + 262, + 212, + 220, + 106, + 264, + 210, + 218, + 108, + 264, + 210, + 218, + 108, + 266, + 206, + 218, + 110, + 266, + 206, + 218, + 110, + 268, + 202, + 220, + 110, + 268, + 202, + 220, + 110, + 270, + 198, + 220, + 112, + 270, + 198, + 220, + 112, + 270, + 198, + 216, + 116, + 270, + 198, + 216, + 116, + 272, + 194, + 216, + 118, + 272, + 194, + 216, + 118, + 272, + 194, + 214, + 120, + 272, + 194, + 214, + 120, + 274, + 192, + 214, + 120, + 274, + 192, + 214, + 120, + 276, + 190, + 210, + 124, + 276, + 190, + 210, + 124, + 276, + 192, + 206, + 126, + 276, + 192, + 206, + 126, + 278, + 192, + 202, + 128, + 278, + 192, + 202, + 128, + 280, + 192, + 200, + 128, + 280, + 192, + 200, + 128, + 282, + 192, + 196, + 130, + 282, + 192, + 196, + 130, + 282, + 194, + 192, + 132, + 282, + 194, + 192, + 132, + 284, + 194, + 188, + 134, + 284, + 194, + 188, + 134, + 284, + 196, + 184, + 136, + 284, + 196, + 184, + 136, + 286, + 196, + 180, + 138, + 286, + 196, + 180, + 138, + 288, + 196, + 176, + 140, + 288, + 196, + 176, + 140, + 290, + 196, + 172, + 142, + 290, + 196, + 172, + 142, + 290, + 196, + 168, + 146, + 290, + 196, + 168, + 146, + 290, + 202, + 162, + 146, + 290, + 202, + 162, + 146, + 292, + 200, + 160, + 148, + 292, + 200, + 160, + 148, + 294, + 200, + 158, + 148, + 294, + 200, + 158, + 148, + 296, + 200, + 154, + 150, + 296, + 200, + 154, + 150, + 296, + 202, + 150, + 152, + 296, + 202, + 150, + 152, + 298, + 202, + 144, + 156, + 298, + 202, + 144, + 156, + 300, + 202, + 140, + 158, + 300, + 202, + 140, + 158, + 302, + 202, + 136, + 160, + 302, + 202, + 136, + 160, + 302, + 202, + 136, + 160, + 302, + 202, + 136, + 160, + 302, + 204, + 130, + 164, + 302, + 204, + 130, + 164, + 304, + 206, + 124, + 166, + 304, + 206, + 124, + 166, + 306, + 206, + 120, + 168, + 306, + 206, + 120, + 168, + 308, + 206, + 118, + 168, + 308, + 206, + 118, + 168, + 308, + 208, + 116, + 168, + 308, + 208, + 116, + 168, + 310, + 208, + 112, + 170, + 310, + 208, + 112, + 170, + 310, + 210, + 106, + 174, + 310, + 210, + 106, + 174, + 312, + 210, + 102, + 176, + 312, + 210, + 102, + 176, + 312, + 212, + 98, + 178, + 312, + 212, + 98, + 178, + 314, + 210, + 96, + 180, + 314, + 210, + 96, + 180, + 314, + 212, + 92, + 182, + 314, + 212, + 92, + 182, + 316, + 212, + 88, + 184, + 316, + 212, + 88, + 184, + 320, + 212, + 82, + 186, + 320, + 212, + 82, + 186, + 322, + 212, + 80, + 186, + 322, + 212, + 80, + 186, + 322, + 212, + 78, + 188, + 322, + 212, + 78, + 188, + 324, + 210, + 76, + 190, + 324, + 210, + 76, + 190, + 324, + 210, + 74, + 192, + 324, + 210, + 74, + 192, + 326, + 204, + 76, + 194, + 326, + 204, + 76, + 194, + 328, + 198, + 78, + 196, + 328, + 198, + 78, + 196, + 328, + 196, + 78, + 198, + 328, + 196, + 78, + 198, + 330, + 192, + 78, + 200, + 330, + 192, + 78, + 200, + 330, + 192, + 76, + 202, + 330, + 192, + 76, + 202, + 332, + 188, + 76, + 204, + 332, + 188, + 76, + 204, + 334, + 186, + 74, + 206, + 334, + 186, + 74, + 206, + 336, + 182, + 74, + 208, + 336, + 182, + 74, + 208, + 336, + 180, + 76, + 208, + 336, + 180, + 76, + 208, + 338, + 178, + 74, + 210, + 338, + 178, + 74, + 210, + 340, + 176, + 38, + 4, + 28, + 214, + 340, + 176, + 38, + 4, + 28, + 214, + 342, + 174, + 36, + 12, + 20, + 216, + 342, + 174, + 36, + 12, + 20, + 216, + 342, + 178, + 28, + 18, + 16, + 218, + 342, + 178, + 28, + 18, + 16, + 218, + 342, + 180, + 22, + 28, + 6, + 222, + 342, + 180, + 22, + 28, + 6, + 222, + 344, + 182, + 14, + 260, + 344, + 182, + 14, + 260, + 346, + 186, + 4, + 264, + 346, + 186, + 4, + 264, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 462, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 462, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 476, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 490, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 504, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 524, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 546, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 626, + 174, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000127:0000", + "experimental_retained_index": 1, + "ism_score": 0.3412175178527832, + "R": [ + [ + -0.4759874939918518, + 0.7642651796340942, + -0.43560791015625 + ], + [ + 0.7973915934562683, + 0.5838468670845032, + 0.1530972421169281 + ], + [ + 0.37119701504707336, + -0.2744669020175934, + -0.8871822953224182 + ] + ], + "t": [ + -78.81494903564453, + -15.52035140991211, + 466.3781433105469 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 0, + 4, + 1278, + 792 + ], + "score": 0.049050018191337585, + "time": 0.0, + "segmentation": { + "counts": [ + 15, + 784, + 14, + 786, + 14, + 786, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 450, + 10, + 322, + 18, + 450, + 10, + 322, + 18, + 448, + 14, + 320, + 18, + 448, + 14, + 320, + 18, + 446, + 16, + 320, + 18, + 446, + 16, + 320, + 18, + 444, + 18, + 320, + 18, + 444, + 18, + 320, + 16, + 446, + 18, + 320, + 16, + 446, + 18, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 446, + 20, + 320, + 14, + 444, + 22, + 320, + 14, + 444, + 22, + 320, + 14, + 442, + 24, + 68, + 6, + 244, + 16, + 442, + 24, + 68, + 6, + 244, + 16, + 440, + 24, + 66, + 12, + 236, + 22, + 440, + 24, + 66, + 12, + 236, + 20, + 440, + 26, + 64, + 14, + 228, + 28, + 440, + 26, + 64, + 14, + 228, + 28, + 438, + 28, + 64, + 14, + 222, + 34, + 438, + 28, + 64, + 14, + 222, + 34, + 436, + 30, + 62, + 16, + 216, + 40, + 436, + 30, + 62, + 16, + 216, + 40, + 432, + 34, + 60, + 18, + 202, + 54, + 432, + 34, + 60, + 18, + 202, + 52, + 434, + 32, + 62, + 18, + 188, + 66, + 434, + 32, + 62, + 18, + 188, + 66, + 434, + 32, + 60, + 20, + 182, + 72, + 434, + 32, + 60, + 20, + 182, + 72, + 434, + 32, + 60, + 20, + 172, + 82, + 434, + 32, + 60, + 20, + 172, + 82, + 434, + 30, + 60, + 22, + 164, + 90, + 434, + 30, + 60, + 22, + 164, + 90, + 432, + 32, + 60, + 22, + 152, + 102, + 432, + 32, + 60, + 22, + 152, + 102, + 432, + 32, + 58, + 24, + 142, + 112, + 432, + 32, + 58, + 24, + 142, + 112, + 432, + 32, + 58, + 24, + 134, + 120, + 432, + 32, + 58, + 24, + 134, + 120, + 432, + 30, + 58, + 26, + 124, + 130, + 432, + 30, + 58, + 26, + 124, + 128, + 432, + 32, + 58, + 24, + 120, + 134, + 432, + 32, + 58, + 24, + 120, + 134, + 432, + 32, + 56, + 26, + 114, + 140, + 432, + 32, + 56, + 26, + 114, + 138, + 434, + 32, + 54, + 28, + 112, + 140, + 434, + 32, + 54, + 28, + 112, + 140, + 434, + 30, + 56, + 28, + 112, + 140, + 434, + 30, + 56, + 28, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 140, + 432, + 32, + 54, + 30, + 112, + 138, + 434, + 32, + 52, + 32, + 68, + 6, + 38, + 138, + 434, + 32, + 52, + 32, + 68, + 6, + 38, + 138, + 432, + 32, + 54, + 32, + 64, + 12, + 36, + 138, + 432, + 32, + 54, + 32, + 64, + 12, + 36, + 138, + 430, + 34, + 54, + 32, + 62, + 14, + 34, + 140, + 430, + 34, + 54, + 32, + 62, + 14, + 34, + 140, + 428, + 34, + 54, + 32, + 62, + 18, + 32, + 140, + 428, + 34, + 54, + 32, + 62, + 18, + 32, + 140, + 428, + 34, + 54, + 32, + 60, + 20, + 32, + 140, + 428, + 34, + 54, + 32, + 60, + 20, + 32, + 140, + 426, + 36, + 54, + 32, + 56, + 26, + 30, + 140, + 426, + 36, + 54, + 32, + 56, + 26, + 30, + 140, + 426, + 34, + 56, + 32, + 52, + 30, + 30, + 140, + 426, + 34, + 56, + 32, + 52, + 30, + 30, + 140, + 426, + 32, + 58, + 30, + 50, + 34, + 30, + 140, + 426, + 32, + 58, + 30, + 50, + 34, + 30, + 140, + 424, + 34, + 56, + 32, + 48, + 36, + 30, + 140, + 424, + 34, + 56, + 32, + 48, + 36, + 30, + 140, + 422, + 36, + 56, + 32, + 44, + 42, + 28, + 140, + 422, + 36, + 56, + 32, + 44, + 42, + 28, + 140, + 422, + 34, + 58, + 32, + 42, + 44, + 28, + 140, + 422, + 34, + 58, + 32, + 42, + 44, + 28, + 140, + 422, + 34, + 56, + 34, + 38, + 48, + 28, + 140, + 422, + 34, + 56, + 34, + 38, + 48, + 28, + 140, + 422, + 34, + 56, + 34, + 36, + 52, + 26, + 140, + 422, + 34, + 56, + 34, + 36, + 52, + 26, + 140, + 422, + 34, + 54, + 36, + 36, + 52, + 26, + 140, + 422, + 34, + 54, + 36, + 36, + 52, + 26, + 140, + 420, + 34, + 56, + 34, + 40, + 52, + 24, + 140, + 420, + 34, + 56, + 34, + 40, + 52, + 24, + 142, + 418, + 34, + 56, + 34, + 40, + 52, + 24, + 142, + 418, + 34, + 56, + 34, + 40, + 52, + 24, + 144, + 414, + 34, + 56, + 36, + 42, + 52, + 22, + 144, + 414, + 34, + 56, + 36, + 42, + 52, + 22, + 144, + 414, + 32, + 58, + 34, + 44, + 52, + 22, + 144, + 414, + 32, + 58, + 34, + 44, + 52, + 22, + 146, + 412, + 32, + 58, + 34, + 44, + 52, + 20, + 148, + 412, + 32, + 58, + 34, + 44, + 52, + 20, + 148, + 412, + 32, + 58, + 32, + 46, + 54, + 18, + 148, + 412, + 32, + 58, + 32, + 46, + 54, + 18, + 150, + 408, + 32, + 58, + 34, + 48, + 54, + 16, + 150, + 408, + 32, + 58, + 34, + 48, + 54, + 16, + 152, + 406, + 32, + 58, + 34, + 48, + 54, + 16, + 152, + 406, + 32, + 58, + 34, + 48, + 54, + 16, + 154, + 402, + 34, + 58, + 32, + 52, + 50, + 18, + 154, + 402, + 34, + 58, + 32, + 52, + 50, + 18, + 154, + 402, + 32, + 60, + 32, + 52, + 50, + 18, + 154, + 402, + 32, + 60, + 32, + 52, + 50, + 18, + 156, + 400, + 32, + 58, + 34, + 52, + 50, + 18, + 156, + 400, + 32, + 58, + 34, + 52, + 50, + 18, + 158, + 398, + 32, + 58, + 32, + 54, + 50, + 18, + 158, + 398, + 32, + 58, + 32, + 54, + 50, + 18, + 158, + 396, + 34, + 58, + 32, + 56, + 50, + 16, + 158, + 396, + 34, + 58, + 32, + 56, + 50, + 16, + 160, + 394, + 34, + 58, + 32, + 56, + 52, + 14, + 160, + 394, + 34, + 58, + 32, + 56, + 52, + 14, + 160, + 392, + 34, + 60, + 32, + 56, + 52, + 14, + 160, + 392, + 34, + 60, + 32, + 56, + 52, + 14, + 162, + 390, + 32, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 162, + 390, + 32, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 164, + 386, + 34, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 164, + 386, + 34, + 60, + 32, + 60, + 12, + 10, + 30, + 12, + 166, + 384, + 32, + 60, + 34, + 62, + 52, + 10, + 126, + 6, + 34, + 384, + 32, + 60, + 34, + 62, + 52, + 10, + 126, + 6, + 36, + 380, + 32, + 62, + 34, + 62, + 32, + 4, + 16, + 10, + 116, + 22, + 30, + 380, + 32, + 62, + 34, + 62, + 32, + 4, + 16, + 10, + 116, + 22, + 30, + 380, + 32, + 60, + 34, + 66, + 30, + 4, + 16, + 10, + 106, + 32, + 30, + 380, + 32, + 60, + 34, + 66, + 30, + 4, + 16, + 10, + 106, + 32, + 32, + 376, + 34, + 60, + 34, + 66, + 38, + 6, + 6, + 10, + 80, + 58, + 32, + 376, + 34, + 60, + 34, + 66, + 38, + 6, + 6, + 10, + 80, + 58, + 32, + 374, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 8, + 66, + 72, + 32, + 374, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 8, + 66, + 72, + 34, + 372, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 10, + 2, + 4, + 44, + 86, + 34, + 372, + 34, + 62, + 32, + 70, + 36, + 6, + 8, + 10, + 2, + 4, + 44, + 86, + 36, + 370, + 34, + 62, + 32, + 70, + 36, + 8, + 6, + 22, + 28, + 96, + 36, + 370, + 34, + 62, + 32, + 70, + 36, + 8, + 6, + 22, + 28, + 96, + 36, + 370, + 32, + 64, + 30, + 72, + 36, + 8, + 6, + 146, + 36, + 370, + 32, + 64, + 30, + 72, + 36, + 8, + 6, + 146, + 38, + 368, + 32, + 62, + 32, + 72, + 34, + 10, + 6, + 146, + 38, + 368, + 32, + 62, + 32, + 72, + 34, + 10, + 6, + 146, + 40, + 364, + 32, + 64, + 32, + 74, + 32, + 10, + 6, + 146, + 40, + 364, + 32, + 64, + 32, + 74, + 32, + 10, + 6, + 146, + 40, + 364, + 32, + 62, + 34, + 74, + 34, + 8, + 8, + 144, + 40, + 364, + 32, + 62, + 34, + 74, + 34, + 8, + 8, + 144, + 42, + 360, + 34, + 62, + 34, + 76, + 32, + 8, + 12, + 140, + 42, + 360, + 34, + 62, + 34, + 76, + 32, + 8, + 12, + 140, + 44, + 358, + 32, + 64, + 32, + 78, + 34, + 4, + 16, + 138, + 44, + 358, + 32, + 64, + 32, + 78, + 34, + 4, + 16, + 138, + 44, + 358, + 32, + 64, + 32, + 78, + 54, + 138, + 44, + 358, + 32, + 64, + 32, + 78, + 54, + 138, + 46, + 354, + 32, + 64, + 34, + 80, + 54, + 136, + 46, + 354, + 32, + 64, + 34, + 80, + 54, + 136, + 50, + 350, + 32, + 64, + 34, + 82, + 52, + 136, + 50, + 350, + 32, + 64, + 34, + 82, + 52, + 136, + 50, + 350, + 32, + 62, + 36, + 84, + 50, + 136, + 50, + 350, + 32, + 62, + 36, + 84, + 50, + 136, + 50, + 350, + 30, + 64, + 36, + 84, + 50, + 136, + 50, + 350, + 30, + 64, + 36, + 84, + 50, + 136, + 52, + 346, + 32, + 64, + 34, + 86, + 52, + 134, + 52, + 346, + 32, + 64, + 34, + 86, + 52, + 134, + 52, + 346, + 32, + 62, + 36, + 86, + 52, + 134, + 52, + 346, + 32, + 62, + 36, + 86, + 52, + 134, + 54, + 342, + 34, + 62, + 34, + 88, + 52, + 134, + 54, + 342, + 34, + 62, + 34, + 88, + 52, + 134, + 56, + 336, + 38, + 60, + 36, + 88, + 52, + 134, + 56, + 336, + 38, + 60, + 36, + 88, + 52, + 134, + 56, + 334, + 38, + 36, + 62, + 88, + 52, + 134, + 56, + 334, + 38, + 36, + 62, + 88, + 52, + 134, + 58, + 330, + 40, + 34, + 66, + 88, + 52, + 132, + 58, + 330, + 40, + 34, + 66, + 88, + 52, + 132, + 60, + 326, + 42, + 32, + 70, + 86, + 52, + 132, + 60, + 326, + 42, + 32, + 70, + 86, + 52, + 132, + 62, + 324, + 40, + 34, + 82, + 74, + 54, + 130, + 62, + 324, + 40, + 34, + 82, + 74, + 54, + 130, + 62, + 324, + 40, + 34, + 120, + 36, + 54, + 130, + 62, + 324, + 40, + 34, + 120, + 36, + 54, + 130, + 62, + 324, + 40, + 32, + 126, + 34, + 52, + 130, + 62, + 324, + 40, + 32, + 126, + 34, + 52, + 130, + 64, + 320, + 42, + 30, + 128, + 34, + 54, + 128, + 64, + 320, + 42, + 30, + 128, + 34, + 54, + 128, + 66, + 318, + 42, + 30, + 128, + 34, + 54, + 128, + 66, + 318, + 42, + 30, + 128, + 34, + 54, + 128, + 68, + 316, + 40, + 30, + 130, + 36, + 54, + 126, + 68, + 316, + 40, + 30, + 130, + 36, + 54, + 126, + 70, + 316, + 38, + 30, + 130, + 36, + 54, + 126, + 70, + 316, + 38, + 30, + 130, + 36, + 54, + 126, + 70, + 316, + 38, + 28, + 132, + 36, + 52, + 128, + 70, + 316, + 38, + 28, + 132, + 36, + 52, + 128, + 72, + 316, + 34, + 30, + 132, + 36, + 48, + 132, + 72, + 316, + 34, + 30, + 132, + 36, + 48, + 132, + 72, + 318, + 32, + 28, + 134, + 38, + 40, + 138, + 72, + 318, + 32, + 28, + 134, + 38, + 40, + 138, + 74, + 322, + 22, + 32, + 132, + 42, + 34, + 142, + 74, + 322, + 22, + 32, + 132, + 42, + 34, + 142, + 74, + 328, + 12, + 36, + 132, + 42, + 30, + 146, + 74, + 328, + 12, + 36, + 132, + 42, + 30, + 146, + 76, + 330, + 4, + 40, + 132, + 42, + 26, + 150, + 76, + 330, + 4, + 40, + 132, + 42, + 26, + 150, + 76, + 374, + 132, + 42, + 20, + 156, + 76, + 374, + 132, + 42, + 20, + 156, + 78, + 372, + 132, + 42, + 14, + 162, + 78, + 372, + 132, + 42, + 14, + 162, + 80, + 370, + 132, + 44, + 8, + 166, + 80, + 370, + 132, + 44, + 8, + 166, + 80, + 370, + 130, + 220, + 80, + 370, + 130, + 220, + 82, + 192, + 8, + 168, + 130, + 220, + 82, + 192, + 8, + 168, + 130, + 220, + 84, + 184, + 22, + 160, + 130, + 220, + 84, + 184, + 22, + 160, + 130, + 220, + 86, + 176, + 30, + 156, + 132, + 220, + 86, + 176, + 30, + 156, + 132, + 220, + 88, + 172, + 48, + 14, + 8, + 52, + 6, + 60, + 132, + 220, + 88, + 172, + 48, + 14, + 8, + 52, + 6, + 60, + 132, + 220, + 88, + 170, + 140, + 50, + 132, + 154, + 6, + 60, + 88, + 170, + 140, + 50, + 132, + 154, + 6, + 60, + 90, + 166, + 144, + 48, + 130, + 150, + 20, + 52, + 90, + 166, + 144, + 48, + 130, + 150, + 20, + 52, + 90, + 166, + 146, + 46, + 130, + 148, + 24, + 50, + 90, + 166, + 146, + 46, + 130, + 148, + 24, + 50, + 92, + 162, + 150, + 44, + 130, + 146, + 28, + 48, + 92, + 162, + 150, + 44, + 130, + 146, + 28, + 48, + 94, + 158, + 152, + 46, + 128, + 144, + 30, + 48, + 94, + 158, + 152, + 46, + 128, + 144, + 30, + 48, + 94, + 158, + 154, + 44, + 128, + 142, + 34, + 46, + 94, + 158, + 154, + 44, + 128, + 142, + 34, + 46, + 96, + 156, + 156, + 42, + 128, + 142, + 36, + 44, + 96, + 156, + 156, + 42, + 128, + 142, + 36, + 44, + 98, + 152, + 158, + 42, + 128, + 140, + 38, + 44, + 98, + 152, + 158, + 42, + 128, + 140, + 38, + 44, + 100, + 150, + 158, + 40, + 128, + 140, + 42, + 42, + 100, + 150, + 158, + 40, + 128, + 140, + 42, + 42, + 100, + 150, + 160, + 38, + 128, + 138, + 44, + 42, + 100, + 150, + 160, + 38, + 128, + 138, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 102, + 146, + 162, + 38, + 126, + 140, + 44, + 42, + 104, + 144, + 162, + 38, + 126, + 140, + 44, + 42, + 104, + 144, + 162, + 38, + 126, + 140, + 44, + 42, + 106, + 144, + 158, + 40, + 126, + 142, + 42, + 42, + 106, + 144, + 158, + 40, + 126, + 142, + 42, + 42, + 108, + 142, + 158, + 40, + 126, + 146, + 38, + 42, + 108, + 142, + 158, + 40, + 126, + 146, + 38, + 42, + 110, + 140, + 158, + 38, + 128, + 150, + 32, + 44, + 110, + 140, + 158, + 38, + 128, + 150, + 32, + 44, + 110, + 140, + 156, + 40, + 126, + 158, + 22, + 48, + 110, + 140, + 156, + 40, + 126, + 158, + 22, + 48, + 112, + 138, + 156, + 40, + 126, + 170, + 6, + 52, + 112, + 138, + 156, + 40, + 126, + 170, + 6, + 52, + 112, + 138, + 154, + 42, + 126, + 228, + 112, + 138, + 154, + 42, + 126, + 228, + 114, + 138, + 150, + 42, + 128, + 228, + 114, + 138, + 150, + 42, + 128, + 228, + 116, + 136, + 148, + 44, + 126, + 230, + 116, + 136, + 148, + 44, + 126, + 230, + 116, + 136, + 144, + 48, + 126, + 230, + 116, + 136, + 144, + 48, + 126, + 230, + 118, + 136, + 134, + 56, + 126, + 230, + 118, + 136, + 134, + 56, + 126, + 230, + 118, + 138, + 94, + 8, + 6, + 80, + 126, + 230, + 118, + 138, + 94, + 8, + 6, + 80, + 126, + 230, + 120, + 138, + 46, + 140, + 126, + 230, + 120, + 138, + 46, + 140, + 126, + 230, + 122, + 138, + 40, + 144, + 126, + 230, + 122, + 138, + 40, + 144, + 126, + 230, + 122, + 140, + 36, + 146, + 126, + 72, + 12, + 146, + 122, + 140, + 36, + 146, + 126, + 72, + 12, + 146, + 124, + 140, + 32, + 146, + 128, + 64, + 24, + 142, + 124, + 140, + 32, + 146, + 128, + 64, + 24, + 142, + 126, + 142, + 20, + 154, + 128, + 52, + 38, + 140, + 126, + 142, + 20, + 154, + 128, + 52, + 38, + 140, + 128, + 314, + 128, + 44, + 48, + 138, + 128, + 314, + 128, + 44, + 48, + 138, + 128, + 314, + 126, + 44, + 56, + 132, + 128, + 314, + 126, + 44, + 56, + 132, + 130, + 312, + 126, + 42, + 60, + 130, + 130, + 312, + 126, + 42, + 60, + 130, + 130, + 312, + 126, + 40, + 62, + 130, + 130, + 312, + 126, + 40, + 62, + 130, + 130, + 310, + 128, + 40, + 64, + 128, + 130, + 310, + 128, + 40, + 64, + 128, + 132, + 308, + 128, + 38, + 70, + 124, + 132, + 308, + 128, + 38, + 70, + 124, + 134, + 306, + 128, + 36, + 76, + 120, + 134, + 306, + 128, + 36, + 76, + 120, + 136, + 304, + 128, + 36, + 78, + 118, + 136, + 304, + 128, + 36, + 78, + 118, + 136, + 304, + 128, + 34, + 82, + 116, + 136, + 304, + 128, + 34, + 82, + 116, + 140, + 300, + 126, + 34, + 88, + 112, + 140, + 300, + 126, + 34, + 88, + 112, + 140, + 300, + 126, + 34, + 92, + 108, + 140, + 300, + 126, + 34, + 92, + 108, + 140, + 300, + 126, + 32, + 98, + 104, + 140, + 300, + 126, + 32, + 98, + 104, + 142, + 298, + 124, + 32, + 104, + 100, + 142, + 298, + 124, + 32, + 104, + 100, + 142, + 298, + 124, + 32, + 104, + 100, + 142, + 298, + 124, + 32, + 104, + 100, + 144, + 296, + 124, + 30, + 110, + 96, + 144, + 296, + 124, + 30, + 110, + 96, + 146, + 294, + 124, + 30, + 114, + 92, + 146, + 294, + 124, + 30, + 114, + 92, + 148, + 292, + 122, + 30, + 118, + 90, + 148, + 292, + 122, + 30, + 118, + 90, + 150, + 290, + 122, + 28, + 122, + 88, + 150, + 290, + 122, + 28, + 122, + 88, + 150, + 242, + 18, + 28, + 124, + 28, + 124, + 86, + 150, + 242, + 18, + 28, + 124, + 28, + 124, + 86, + 150, + 230, + 30, + 30, + 122, + 26, + 130, + 80, + 152, + 230, + 30, + 30, + 122, + 26, + 130, + 80, + 154, + 214, + 44, + 30, + 122, + 24, + 136, + 76, + 154, + 214, + 44, + 30, + 122, + 24, + 136, + 76, + 156, + 198, + 60, + 28, + 122, + 22, + 142, + 72, + 156, + 198, + 60, + 28, + 122, + 22, + 142, + 72, + 156, + 190, + 68, + 28, + 122, + 22, + 144, + 72, + 154, + 190, + 68, + 28, + 122, + 22, + 144, + 72, + 156, + 186, + 70, + 28, + 122, + 20, + 148, + 70, + 156, + 186, + 70, + 28, + 122, + 20, + 148, + 70, + 158, + 176, + 78, + 26, + 122, + 22, + 150, + 68, + 158, + 176, + 78, + 26, + 122, + 22, + 150, + 68, + 160, + 168, + 86, + 24, + 122, + 20, + 156, + 64, + 160, + 168, + 86, + 24, + 122, + 20, + 156, + 64, + 160, + 164, + 90, + 22, + 124, + 18, + 162, + 60, + 160, + 164, + 90, + 22, + 124, + 18, + 162, + 60, + 162, + 160, + 92, + 22, + 124, + 16, + 166, + 58, + 162, + 160, + 92, + 22, + 124, + 16, + 166, + 58, + 162, + 160, + 94, + 20, + 124, + 16, + 168, + 56, + 162, + 160, + 94, + 20, + 124, + 16, + 168, + 56, + 164, + 158, + 94, + 20, + 124, + 14, + 174, + 52, + 164, + 158, + 94, + 20, + 124, + 14, + 174, + 52, + 166, + 156, + 94, + 20, + 124, + 14, + 176, + 50, + 166, + 156, + 94, + 20, + 124, + 14, + 176, + 50, + 168, + 154, + 94, + 20, + 124, + 12, + 184, + 44, + 168, + 154, + 94, + 20, + 124, + 12, + 184, + 44, + 168, + 154, + 96, + 18, + 124, + 10, + 188, + 42, + 168, + 154, + 96, + 18, + 124, + 10, + 188, + 42, + 170, + 152, + 96, + 20, + 122, + 8, + 192, + 40, + 170, + 152, + 96, + 20, + 122, + 8, + 192, + 40, + 170, + 154, + 94, + 20, + 122, + 8, + 194, + 38, + 170, + 154, + 94, + 20, + 122, + 8, + 194, + 38, + 172, + 152, + 94, + 22, + 120, + 6, + 200, + 34, + 172, + 152, + 94, + 22, + 120, + 6, + 200, + 34, + 174, + 150, + 96, + 20, + 330, + 30, + 174, + 150, + 96, + 20, + 330, + 30, + 176, + 150, + 94, + 22, + 330, + 28, + 176, + 150, + 94, + 22, + 330, + 28, + 178, + 148, + 94, + 26, + 328, + 26, + 178, + 148, + 94, + 26, + 328, + 26, + 180, + 146, + 94, + 30, + 328, + 22, + 180, + 146, + 94, + 30, + 328, + 22, + 180, + 146, + 94, + 34, + 326, + 20, + 180, + 146, + 94, + 34, + 326, + 20, + 182, + 144, + 94, + 42, + 322, + 16, + 182, + 144, + 94, + 42, + 322, + 16, + 182, + 144, + 96, + 44, + 322, + 10, + 184, + 144, + 96, + 44, + 322, + 10, + 186, + 142, + 96, + 52, + 316, + 6, + 188, + 142, + 96, + 52, + 316, + 6, + 188, + 142, + 96, + 58, + 504, + 142, + 96, + 58, + 506, + 142, + 94, + 66, + 498, + 142, + 94, + 66, + 500, + 140, + 94, + 72, + 494, + 140, + 94, + 72, + 496, + 138, + 94, + 80, + 488, + 138, + 94, + 80, + 488, + 136, + 98, + 84, + 482, + 136, + 98, + 84, + 484, + 134, + 98, + 92, + 476, + 134, + 98, + 92, + 476, + 138, + 96, + 96, + 470, + 138, + 96, + 96, + 472, + 136, + 96, + 30, + 22, + 56, + 258, + 4, + 198, + 136, + 96, + 30, + 22, + 56, + 258, + 4, + 198, + 136, + 96, + 28, + 26, + 58, + 254, + 6, + 196, + 136, + 96, + 28, + 26, + 58, + 254, + 6, + 198, + 130, + 102, + 24, + 28, + 58, + 252, + 10, + 196, + 130, + 102, + 24, + 28, + 58, + 252, + 10, + 198, + 126, + 104, + 22, + 32, + 56, + 248, + 14, + 198, + 126, + 104, + 22, + 32, + 56, + 248, + 14, + 200, + 124, + 106, + 12, + 42, + 54, + 244, + 18, + 200, + 124, + 106, + 12, + 42, + 54, + 244, + 18, + 200, + 122, + 164, + 50, + 246, + 18, + 200, + 122, + 164, + 50, + 246, + 18, + 202, + 120, + 166, + 46, + 246, + 20, + 202, + 120, + 166, + 46, + 246, + 20, + 202, + 120, + 166, + 46, + 246, + 20, + 202, + 120, + 166, + 46, + 246, + 20, + 204, + 120, + 164, + 46, + 244, + 22, + 204, + 120, + 164, + 46, + 244, + 22, + 206, + 124, + 160, + 42, + 242, + 26, + 206, + 124, + 160, + 42, + 242, + 26, + 208, + 128, + 154, + 40, + 242, + 28, + 208, + 128, + 154, + 40, + 242, + 28, + 208, + 128, + 154, + 38, + 242, + 30, + 208, + 128, + 154, + 38, + 242, + 30, + 210, + 128, + 152, + 38, + 242, + 30, + 210, + 128, + 152, + 38, + 242, + 30, + 210, + 128, + 152, + 36, + 240, + 34, + 210, + 128, + 152, + 36, + 240, + 34, + 212, + 126, + 152, + 36, + 238, + 36, + 212, + 126, + 152, + 36, + 238, + 36, + 214, + 124, + 150, + 36, + 238, + 38, + 214, + 124, + 150, + 36, + 238, + 38, + 216, + 122, + 150, + 34, + 240, + 36, + 218, + 122, + 150, + 34, + 240, + 36, + 218, + 122, + 148, + 36, + 238, + 38, + 218, + 122, + 148, + 36, + 238, + 38, + 220, + 122, + 142, + 38, + 238, + 40, + 220, + 122, + 142, + 38, + 238, + 40, + 222, + 120, + 140, + 38, + 236, + 44, + 222, + 120, + 140, + 38, + 236, + 44, + 222, + 120, + 138, + 38, + 236, + 46, + 222, + 120, + 138, + 38, + 236, + 46, + 224, + 118, + 136, + 38, + 238, + 48, + 222, + 118, + 136, + 38, + 238, + 48, + 222, + 118, + 130, + 44, + 236, + 50, + 222, + 118, + 130, + 44, + 236, + 50, + 224, + 116, + 124, + 50, + 232, + 54, + 224, + 116, + 124, + 50, + 232, + 54, + 226, + 112, + 120, + 54, + 232, + 54, + 228, + 112, + 120, + 54, + 232, + 54, + 230, + 110, + 116, + 56, + 234, + 54, + 230, + 110, + 116, + 56, + 234, + 54, + 232, + 108, + 112, + 58, + 234, + 56, + 232, + 108, + 112, + 58, + 234, + 56, + 232, + 108, + 110, + 60, + 232, + 58, + 232, + 108, + 110, + 60, + 232, + 58, + 232, + 108, + 104, + 64, + 232, + 60, + 232, + 108, + 104, + 64, + 232, + 60, + 234, + 106, + 100, + 66, + 232, + 62, + 234, + 106, + 100, + 66, + 232, + 62, + 236, + 104, + 94, + 70, + 232, + 64, + 236, + 104, + 94, + 70, + 232, + 64, + 236, + 104, + 92, + 72, + 230, + 66, + 236, + 104, + 92, + 72, + 230, + 66, + 238, + 102, + 88, + 74, + 230, + 68, + 238, + 102, + 88, + 74, + 230, + 68, + 238, + 104, + 80, + 78, + 230, + 70, + 238, + 104, + 80, + 78, + 230, + 70, + 240, + 102, + 74, + 84, + 228, + 72, + 240, + 102, + 74, + 84, + 228, + 72, + 242, + 100, + 70, + 84, + 230, + 74, + 242, + 100, + 70, + 84, + 230, + 74, + 242, + 102, + 66, + 84, + 232, + 74, + 242, + 102, + 66, + 84, + 232, + 74, + 244, + 100, + 62, + 88, + 230, + 76, + 244, + 100, + 62, + 88, + 230, + 76, + 244, + 100, + 60, + 90, + 228, + 78, + 244, + 100, + 60, + 90, + 228, + 78, + 246, + 100, + 56, + 90, + 226, + 82, + 246, + 100, + 56, + 90, + 226, + 82, + 248, + 98, + 52, + 92, + 226, + 84, + 248, + 98, + 52, + 92, + 226, + 84, + 250, + 96, + 50, + 94, + 226, + 84, + 250, + 96, + 50, + 94, + 226, + 84, + 250, + 96, + 48, + 94, + 226, + 86, + 250, + 96, + 48, + 94, + 226, + 86, + 250, + 102, + 38, + 96, + 226, + 88, + 250, + 102, + 38, + 96, + 226, + 88, + 252, + 104, + 28, + 100, + 226, + 90, + 252, + 104, + 28, + 100, + 226, + 90, + 256, + 106, + 18, + 104, + 224, + 92, + 256, + 106, + 18, + 104, + 224, + 92, + 256, + 108, + 10, + 108, + 224, + 94, + 256, + 108, + 10, + 108, + 224, + 94, + 258, + 222, + 224, + 96, + 258, + 222, + 224, + 96, + 258, + 222, + 222, + 98, + 258, + 222, + 222, + 98, + 260, + 218, + 222, + 100, + 260, + 218, + 222, + 100, + 262, + 214, + 222, + 102, + 262, + 214, + 222, + 102, + 262, + 212, + 222, + 104, + 262, + 212, + 222, + 104, + 262, + 212, + 220, + 106, + 262, + 212, + 220, + 106, + 264, + 210, + 218, + 108, + 264, + 210, + 218, + 108, + 266, + 206, + 218, + 110, + 266, + 206, + 218, + 110, + 268, + 202, + 220, + 110, + 268, + 202, + 220, + 110, + 270, + 198, + 220, + 112, + 270, + 198, + 220, + 112, + 270, + 198, + 216, + 116, + 270, + 198, + 216, + 116, + 272, + 194, + 216, + 118, + 272, + 194, + 216, + 118, + 272, + 194, + 214, + 120, + 272, + 194, + 214, + 120, + 274, + 192, + 214, + 120, + 274, + 192, + 214, + 120, + 276, + 190, + 210, + 124, + 276, + 190, + 210, + 124, + 276, + 192, + 206, + 126, + 276, + 192, + 206, + 126, + 278, + 192, + 202, + 128, + 278, + 192, + 202, + 128, + 280, + 192, + 200, + 128, + 280, + 192, + 200, + 128, + 282, + 192, + 196, + 130, + 282, + 192, + 196, + 130, + 282, + 194, + 192, + 132, + 282, + 194, + 192, + 132, + 284, + 194, + 188, + 134, + 284, + 194, + 188, + 134, + 284, + 196, + 184, + 136, + 284, + 196, + 184, + 136, + 286, + 196, + 180, + 138, + 286, + 196, + 180, + 138, + 288, + 196, + 176, + 140, + 288, + 196, + 176, + 140, + 290, + 196, + 172, + 142, + 290, + 196, + 172, + 142, + 290, + 196, + 168, + 146, + 290, + 196, + 168, + 146, + 290, + 202, + 162, + 146, + 290, + 202, + 162, + 146, + 292, + 200, + 160, + 148, + 292, + 200, + 160, + 148, + 294, + 200, + 158, + 148, + 294, + 200, + 158, + 148, + 296, + 200, + 154, + 150, + 296, + 200, + 154, + 150, + 296, + 202, + 150, + 152, + 296, + 202, + 150, + 152, + 298, + 202, + 144, + 156, + 298, + 202, + 144, + 156, + 300, + 202, + 140, + 158, + 300, + 202, + 140, + 158, + 302, + 202, + 136, + 160, + 302, + 202, + 136, + 160, + 302, + 202, + 136, + 160, + 302, + 202, + 136, + 160, + 302, + 204, + 130, + 164, + 302, + 204, + 130, + 164, + 304, + 206, + 124, + 166, + 304, + 206, + 124, + 166, + 306, + 206, + 120, + 168, + 306, + 206, + 120, + 168, + 308, + 206, + 118, + 168, + 308, + 206, + 118, + 168, + 308, + 208, + 116, + 168, + 308, + 208, + 116, + 168, + 310, + 208, + 112, + 170, + 310, + 208, + 112, + 170, + 310, + 210, + 106, + 174, + 310, + 210, + 106, + 174, + 312, + 210, + 102, + 176, + 312, + 210, + 102, + 176, + 312, + 212, + 98, + 178, + 312, + 212, + 98, + 178, + 314, + 210, + 96, + 180, + 314, + 210, + 96, + 180, + 314, + 212, + 92, + 182, + 314, + 212, + 92, + 182, + 316, + 212, + 88, + 184, + 316, + 212, + 88, + 184, + 320, + 212, + 82, + 186, + 320, + 212, + 82, + 186, + 322, + 212, + 80, + 186, + 322, + 212, + 80, + 186, + 322, + 212, + 78, + 188, + 322, + 212, + 78, + 188, + 324, + 210, + 76, + 190, + 324, + 210, + 76, + 190, + 324, + 210, + 74, + 192, + 324, + 210, + 74, + 192, + 326, + 204, + 76, + 194, + 326, + 204, + 76, + 194, + 328, + 198, + 78, + 196, + 328, + 198, + 78, + 196, + 328, + 196, + 78, + 198, + 328, + 196, + 78, + 198, + 330, + 192, + 78, + 200, + 330, + 192, + 78, + 200, + 330, + 192, + 76, + 202, + 330, + 192, + 76, + 202, + 332, + 188, + 76, + 204, + 332, + 188, + 76, + 204, + 334, + 186, + 74, + 206, + 334, + 186, + 74, + 206, + 336, + 182, + 74, + 208, + 336, + 182, + 74, + 208, + 336, + 180, + 76, + 208, + 336, + 180, + 76, + 208, + 338, + 178, + 74, + 210, + 338, + 178, + 74, + 210, + 340, + 176, + 38, + 4, + 28, + 214, + 340, + 176, + 38, + 4, + 28, + 214, + 342, + 174, + 36, + 12, + 20, + 216, + 342, + 174, + 36, + 12, + 20, + 216, + 342, + 178, + 28, + 18, + 16, + 218, + 342, + 178, + 28, + 18, + 16, + 218, + 342, + 180, + 22, + 28, + 6, + 222, + 342, + 180, + 22, + 28, + 6, + 222, + 344, + 182, + 14, + 260, + 344, + 182, + 14, + 260, + 346, + 186, + 4, + 264, + 346, + 186, + 4, + 264, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 462, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 462, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 476, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 490, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 504, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 524, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 546, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 626, + 174, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000127:0000", + "experimental_retained_index": 1, + "ism_score": 0.3412175178527832, + "R": [ + [ + -0.4759874939918518, + 0.7642651796340942, + -0.43560791015625 + ], + [ + 0.7973915934562683, + 0.5838468670845032, + 0.1530972421169281 + ], + [ + 0.37119701504707336, + -0.2744669020175934, + -0.8871822953224182 + ] + ], + "t": [ + -78.81494903564453, + -15.52035140991211, + 466.3781433105469 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000127/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000127/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000127:0001", + "Slide_holder:000127:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000127.png" + }, + { + "frame_id": 139, + "image_path": "/workspace/data/0008_/images/000139.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000139.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 364, + 0, + 432, + 82 + ], + "score": 0.15255947411060333, + "time": 0.0, + "segmentation": { + "counts": [ + 290400, + 17, + 783, + 17, + 783, + 31, + 769, + 31, + 769, + 61, + 739, + 61, + 739, + 69, + 731, + 69, + 731, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 75, + 725, + 75, + 725, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 30, + 4, + 731, + 35, + 30, + 4, + 731, + 35, + 30, + 4, + 731, + 35, + 30, + 4, + 731, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 8, + 4, + 751, + 37, + 8, + 4, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 385597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000139:0000", + "experimental_retained_index": 0, + "ism_score": 0.4398110806941986, + "R": [ + [ + -0.3322940468788147, + -0.9300937056541443, + 0.1567014753818512 + ], + [ + -0.6849449276924133, + 0.35208040475845337, + 0.6380037069320679 + ], + [ + -0.6484452486038208, + 0.1048530638217926, + -0.7539421319961548 + ] + ], + "t": [ + -499.2035827636719, + -698.0823974609375, + 1301.2264404296875 + ] + }, + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 1040, + 0, + 158, + 58 + ], + "score": 0.18949873745441437, + "time": 0.0, + "segmentation": { + "counts": [ + 831249, + 10, + 790, + 10, + 752, + 4, + 30, + 14, + 752, + 4, + 30, + 14, + 752, + 4, + 24, + 20, + 752, + 4, + 24, + 20, + 750, + 6, + 18, + 26, + 750, + 6, + 18, + 26, + 748, + 10, + 10, + 32, + 748, + 10, + 10, + 32, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 33, + 767, + 33, + 767, + 27, + 24, + 4, + 745, + 27, + 24, + 4, + 745, + 23, + 28, + 4, + 745, + 23, + 28, + 4, + 745, + 15, + 36, + 4, + 745, + 15, + 36, + 4, + 745, + 9, + 791, + 9, + 63991 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000139:0001", + "experimental_retained_index": 1, + "ism_score": 0.383794903755188, + "R": [ + [ + -0.12455517053604126, + -0.8886829018592834, + -0.44086483120918274 + ], + [ + -0.9854979515075684, + 0.05990390479564667, + 0.1577659249305725 + ], + [ + -0.11363452672958374, + 0.45413148403167725, + -0.8834799528121948 + ] + ], + "t": [ + 454.9626770019531, + -329.8673400878906, + 599.9657592773438 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 1040, + 0, + 158, + 58 + ], + "score": 0.18949873745441437, + "time": 0.0, + "segmentation": { + "counts": [ + 831249, + 10, + 790, + 10, + 752, + 4, + 30, + 14, + 752, + 4, + 30, + 14, + 752, + 4, + 24, + 20, + 752, + 4, + 24, + 20, + 750, + 6, + 18, + 26, + 750, + 6, + 18, + 26, + 748, + 10, + 10, + 32, + 748, + 10, + 10, + 32, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 33, + 767, + 33, + 767, + 27, + 24, + 4, + 745, + 27, + 24, + 4, + 745, + 23, + 28, + 4, + 745, + 23, + 28, + 4, + 745, + 15, + 36, + 4, + 745, + 15, + 36, + 4, + 745, + 9, + 791, + 9, + 63991 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000139:0001", + "experimental_retained_index": 1, + "ism_score": 0.383794903755188, + "R": [ + [ + -0.12455517053604126, + -0.8886829018592834, + -0.44086483120918274 + ], + [ + -0.9854979515075684, + 0.05990390479564667, + 0.1577659249305725 + ], + [ + -0.11363452672958374, + 0.45413148403167725, + -0.8834799528121948 + ] + ], + "t": [ + 454.9626770019531, + -329.8673400878906, + 599.9657592773438 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000139/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000139/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000139:0000", + "Slide_holder:000139:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000139.png" + }, + { + "frame_id": 142, + "image_path": "/workspace/data/0008_/images/000142.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000142.png", + "status": "no_depth_supported_pose", + "detection_count": 0, + "input_candidate_count": 1, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000142/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000142/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 145, + "image_path": "/workspace/data/0008_/images/000145.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000145.png", + "status": "ok", + "detection_count": 4, + "input_candidate_count": 4, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 832, + 180, + 396, + 118 + ], + "score": 0.16278350353240967, + "time": 0.0, + "segmentation": { + "counts": [ + 665059, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 728, + 18, + 782, + 18, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 4, + 6, + 42, + 748, + 4, + 6, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 774, + 22, + 778, + 22, + 778, + 18, + 782, + 18, + 784, + 12, + 788, + 12, + 788, + 8, + 792, + 8, + 39749 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000145:0001", + "experimental_retained_index": 0, + "ism_score": 0.42350178956985474, + "R": [ + [ + 0.17254061996936798, + -0.568055272102356, + -0.8048235177993774 + ], + [ + -0.9020920991897583, + -0.418965220451355, + 0.10233475267887115 + ], + [ + -0.39522284269332886, + 0.7082668542861938, + -0.5848515629768372 + ] + ], + "t": [ + 311.4850769042969, + -121.15193176269531, + 544.5406494140625 + ] + }, + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 832, + 210, + 370, + 158 + ], + "score": 0.14263898134231567, + "time": 0.0, + "segmentation": { + "counts": [ + 665047, + 18, + 782, + 18, + 772, + 28, + 772, + 28, + 762, + 40, + 760, + 40, + 748, + 54, + 746, + 54, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 752, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 768, + 24, + 776, + 24, + 774, + 22, + 778, + 22, + 778, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 60501 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000145:0002", + "experimental_retained_index": 1, + "ism_score": 0.4149497449398041, + "R": [ + [ + 0.6334710121154785, + -0.741949737071991, + -0.21874690055847168 + ], + [ + -0.7699127793312073, + -0.5777915716171265, + -0.270050048828125 + ], + [ + 0.07403519749641418, + 0.33958005905151367, + -0.9374157190322876 + ] + ], + "t": [ + 302.9480895996094, + -91.79664611816406, + 524.473388671875 + ] + }, + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 802, + 80, + 124, + 68 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 640929, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 30, + 2, + 38, + 730, + 30, + 2, + 38, + 728, + 26, + 10, + 34, + 730, + 26, + 10, + 34, + 730, + 20, + 18, + 20, + 742, + 20, + 18, + 20, + 742, + 14, + 24, + 12, + 750, + 14, + 24, + 12, + 752, + 8, + 792, + 8, + 281511 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000145:0003", + "experimental_retained_index": 2, + "ism_score": 0.4034990668296814, + "R": [ + [ + 0.9018279314041138, + 0.4182128608226776, + 0.10697917640209198 + ], + [ + 0.2940259575843811, + -0.77685546875, + 0.5569151639938354 + ], + [ + 0.316173255443573, + -0.47094717621803284, + -0.8235797882080078 + ] + ], + "t": [ + 225.23611450195312, + -322.3819580078125, + 731.70458984375 + ] + }, + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 0, + 144, + 1278, + 652 + ], + "score": 0.002218895358964801, + "time": 0.0, + "segmentation": { + "counts": [ + 295, + 504, + 296, + 504, + 296, + 504, + 294, + 506, + 294, + 506, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 534, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 552, + 246, + 552, + 248, + 552, + 244, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 230, + 568, + 232, + 568, + 230, + 572, + 228, + 572, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 582, + 218, + 582, + 214, + 586, + 214, + 586, + 210, + 592, + 208, + 592, + 206, + 330, + 6, + 258, + 206, + 330, + 6, + 258, + 204, + 328, + 12, + 256, + 204, + 328, + 12, + 256, + 202, + 330, + 16, + 252, + 202, + 330, + 16, + 252, + 202, + 328, + 20, + 248, + 204, + 328, + 20, + 248, + 202, + 330, + 24, + 246, + 200, + 330, + 24, + 246, + 200, + 328, + 30, + 242, + 200, + 328, + 30, + 242, + 198, + 328, + 36, + 238, + 198, + 328, + 36, + 238, + 198, + 326, + 42, + 232, + 200, + 326, + 42, + 232, + 198, + 328, + 46, + 228, + 198, + 328, + 46, + 228, + 194, + 332, + 50, + 226, + 192, + 332, + 50, + 226, + 190, + 332, + 58, + 220, + 190, + 332, + 58, + 220, + 188, + 332, + 66, + 214, + 188, + 332, + 66, + 214, + 188, + 332, + 68, + 212, + 188, + 332, + 68, + 212, + 186, + 332, + 72, + 210, + 186, + 332, + 72, + 210, + 184, + 332, + 78, + 206, + 184, + 332, + 78, + 206, + 182, + 334, + 80, + 204, + 182, + 334, + 80, + 204, + 182, + 332, + 86, + 200, + 182, + 332, + 86, + 200, + 182, + 332, + 90, + 194, + 184, + 332, + 90, + 194, + 182, + 332, + 96, + 190, + 182, + 332, + 96, + 190, + 180, + 334, + 100, + 188, + 178, + 334, + 100, + 188, + 174, + 336, + 106, + 184, + 174, + 336, + 106, + 184, + 172, + 336, + 114, + 178, + 172, + 336, + 114, + 178, + 172, + 336, + 118, + 174, + 172, + 336, + 118, + 174, + 170, + 336, + 124, + 168, + 172, + 336, + 124, + 168, + 170, + 336, + 134, + 162, + 168, + 336, + 134, + 162, + 166, + 338, + 138, + 158, + 166, + 338, + 138, + 158, + 166, + 336, + 142, + 156, + 166, + 336, + 142, + 156, + 166, + 336, + 144, + 152, + 168, + 336, + 144, + 152, + 168, + 334, + 148, + 150, + 168, + 334, + 148, + 150, + 172, + 330, + 148, + 152, + 170, + 330, + 148, + 152, + 156, + 4, + 16, + 322, + 152, + 150, + 156, + 4, + 16, + 322, + 152, + 150, + 154, + 6, + 18, + 318, + 154, + 150, + 154, + 6, + 18, + 318, + 154, + 150, + 154, + 6, + 18, + 316, + 158, + 148, + 154, + 6, + 18, + 316, + 158, + 148, + 152, + 8, + 18, + 316, + 158, + 146, + 154, + 8, + 18, + 316, + 158, + 146, + 150, + 12, + 18, + 314, + 160, + 148, + 148, + 12, + 18, + 314, + 160, + 148, + 146, + 14, + 18, + 314, + 162, + 146, + 146, + 14, + 18, + 314, + 162, + 146, + 144, + 16, + 18, + 312, + 166, + 144, + 144, + 16, + 18, + 312, + 166, + 144, + 144, + 16, + 18, + 312, + 166, + 142, + 146, + 16, + 18, + 312, + 166, + 142, + 146, + 16, + 18, + 310, + 170, + 140, + 146, + 16, + 18, + 310, + 170, + 140, + 146, + 16, + 18, + 308, + 172, + 142, + 144, + 16, + 18, + 308, + 172, + 142, + 146, + 14, + 18, + 306, + 174, + 142, + 146, + 14, + 18, + 306, + 174, + 142, + 148, + 12, + 18, + 272, + 10, + 22, + 176, + 142, + 148, + 12, + 18, + 272, + 10, + 22, + 176, + 142, + 152, + 8, + 18, + 270, + 18, + 16, + 178, + 140, + 152, + 8, + 18, + 270, + 18, + 16, + 178, + 140, + 180, + 268, + 26, + 6, + 180, + 138, + 182, + 268, + 26, + 6, + 180, + 138, + 182, + 268, + 214, + 138, + 180, + 268, + 214, + 138, + 180, + 268, + 214, + 138, + 180, + 268, + 214, + 138, + 180, + 270, + 212, + 138, + 180, + 270, + 212, + 138, + 178, + 272, + 212, + 136, + 180, + 272, + 212, + 136, + 180, + 272, + 210, + 138, + 180, + 272, + 210, + 138, + 180, + 272, + 210, + 140, + 178, + 272, + 210, + 140, + 178, + 274, + 206, + 142, + 178, + 274, + 206, + 142, + 178, + 274, + 204, + 144, + 178, + 274, + 204, + 144, + 176, + 276, + 202, + 146, + 176, + 276, + 202, + 146, + 176, + 276, + 200, + 146, + 178, + 276, + 200, + 146, + 176, + 280, + 196, + 150, + 174, + 280, + 196, + 150, + 152, + 302, + 194, + 152, + 152, + 302, + 194, + 152, + 150, + 304, + 194, + 152, + 150, + 304, + 194, + 152, + 150, + 306, + 190, + 152, + 152, + 306, + 190, + 152, + 150, + 308, + 188, + 154, + 150, + 308, + 188, + 154, + 148, + 310, + 186, + 158, + 146, + 310, + 186, + 158, + 144, + 312, + 184, + 160, + 144, + 312, + 184, + 160, + 144, + 312, + 182, + 162, + 144, + 312, + 182, + 162, + 144, + 312, + 180, + 164, + 144, + 312, + 180, + 164, + 144, + 312, + 178, + 164, + 146, + 312, + 178, + 164, + 146, + 312, + 176, + 168, + 144, + 312, + 176, + 168, + 144, + 310, + 176, + 170, + 144, + 310, + 176, + 170, + 144, + 308, + 178, + 170, + 144, + 308, + 178, + 170, + 144, + 308, + 176, + 170, + 146, + 308, + 176, + 170, + 146, + 306, + 176, + 172, + 146, + 306, + 176, + 172, + 148, + 304, + 174, + 176, + 146, + 304, + 174, + 176, + 146, + 302, + 174, + 178, + 146, + 302, + 174, + 178, + 146, + 300, + 174, + 180, + 146, + 300, + 174, + 180, + 148, + 296, + 176, + 178, + 150, + 296, + 176, + 178, + 150, + 296, + 174, + 180, + 150, + 296, + 174, + 180, + 150, + 296, + 170, + 184, + 150, + 296, + 170, + 184, + 150, + 294, + 170, + 188, + 148, + 294, + 170, + 188, + 148, + 294, + 168, + 190, + 148, + 294, + 168, + 190, + 148, + 294, + 168, + 188, + 150, + 294, + 168, + 188, + 150, + 294, + 166, + 190, + 150, + 294, + 166, + 190, + 152, + 292, + 164, + 192, + 152, + 292, + 164, + 192, + 152, + 294, + 160, + 194, + 152, + 294, + 160, + 194, + 166, + 280, + 158, + 196, + 166, + 280, + 158, + 196, + 168, + 278, + 156, + 198, + 168, + 278, + 156, + 198, + 170, + 278, + 152, + 200, + 170, + 278, + 152, + 200, + 170, + 278, + 152, + 200, + 170, + 278, + 152, + 200, + 170, + 278, + 150, + 202, + 170, + 278, + 150, + 202, + 172, + 278, + 146, + 204, + 172, + 278, + 146, + 204, + 180, + 270, + 144, + 206, + 180, + 270, + 144, + 206, + 182, + 268, + 142, + 208, + 182, + 268, + 142, + 208, + 188, + 264, + 140, + 208, + 188, + 264, + 140, + 208, + 192, + 260, + 138, + 212, + 190, + 260, + 138, + 212, + 192, + 258, + 136, + 214, + 192, + 258, + 136, + 214, + 192, + 258, + 134, + 214, + 194, + 258, + 134, + 214, + 194, + 260, + 130, + 216, + 194, + 260, + 130, + 216, + 194, + 260, + 128, + 218, + 194, + 260, + 128, + 218, + 194, + 260, + 126, + 220, + 194, + 260, + 126, + 220, + 194, + 260, + 126, + 220, + 194, + 260, + 126, + 220, + 194, + 262, + 122, + 222, + 194, + 262, + 122, + 222, + 194, + 262, + 120, + 224, + 194, + 262, + 120, + 224, + 194, + 262, + 118, + 226, + 194, + 262, + 118, + 226, + 194, + 262, + 116, + 228, + 194, + 262, + 116, + 228, + 194, + 264, + 112, + 230, + 194, + 264, + 112, + 230, + 194, + 266, + 110, + 230, + 194, + 266, + 110, + 230, + 194, + 266, + 106, + 234, + 194, + 266, + 106, + 234, + 194, + 288, + 82, + 236, + 194, + 288, + 82, + 236, + 194, + 296, + 74, + 236, + 194, + 296, + 74, + 236, + 194, + 296, + 72, + 238, + 194, + 296, + 72, + 238, + 192, + 296, + 18, + 18, + 36, + 240, + 192, + 296, + 18, + 18, + 36, + 240, + 192, + 296, + 16, + 30, + 24, + 242, + 192, + 296, + 16, + 30, + 24, + 242, + 192, + 296, + 16, + 38, + 14, + 244, + 192, + 296, + 16, + 38, + 14, + 244, + 192, + 294, + 18, + 296, + 192, + 294, + 18, + 296, + 192, + 294, + 18, + 296, + 192, + 294, + 18, + 296, + 192, + 292, + 22, + 294, + 192, + 292, + 22, + 294, + 192, + 246, + 8, + 38, + 24, + 292, + 192, + 246, + 8, + 38, + 24, + 292, + 192, + 244, + 10, + 36, + 26, + 292, + 192, + 244, + 10, + 36, + 26, + 292, + 164, + 4, + 24, + 244, + 12, + 34, + 28, + 290, + 164, + 4, + 24, + 244, + 12, + 34, + 28, + 290, + 164, + 4, + 26, + 240, + 14, + 32, + 32, + 288, + 164, + 4, + 26, + 240, + 14, + 32, + 32, + 288, + 194, + 240, + 14, + 32, + 34, + 286, + 194, + 240, + 14, + 32, + 34, + 286, + 194, + 238, + 16, + 30, + 38, + 284, + 194, + 238, + 16, + 30, + 38, + 284, + 194, + 238, + 18, + 28, + 40, + 282, + 194, + 238, + 18, + 28, + 40, + 282, + 194, + 236, + 20, + 28, + 42, + 280, + 194, + 236, + 20, + 28, + 42, + 280, + 196, + 234, + 20, + 26, + 46, + 278, + 196, + 234, + 20, + 26, + 46, + 278, + 196, + 232, + 22, + 26, + 48, + 276, + 196, + 232, + 22, + 26, + 48, + 276, + 196, + 232, + 22, + 24, + 52, + 274, + 196, + 232, + 22, + 24, + 52, + 274, + 198, + 228, + 24, + 24, + 52, + 274, + 198, + 228, + 24, + 24, + 52, + 274, + 198, + 196, + 6, + 26, + 24, + 24, + 56, + 270, + 198, + 196, + 6, + 26, + 24, + 24, + 56, + 270, + 198, + 194, + 10, + 24, + 26, + 24, + 56, + 268, + 198, + 194, + 10, + 24, + 26, + 24, + 56, + 268, + 198, + 192, + 12, + 22, + 28, + 24, + 56, + 268, + 198, + 192, + 12, + 22, + 28, + 24, + 56, + 268, + 200, + 190, + 12, + 22, + 28, + 26, + 56, + 266, + 200, + 190, + 12, + 22, + 28, + 26, + 56, + 266, + 200, + 188, + 14, + 22, + 28, + 26, + 58, + 264, + 200, + 188, + 14, + 22, + 28, + 26, + 58, + 264, + 200, + 188, + 16, + 20, + 28, + 28, + 58, + 20, + 28, + 214, + 200, + 188, + 16, + 20, + 28, + 28, + 58, + 20, + 28, + 214, + 200, + 186, + 18, + 20, + 28, + 30, + 58, + 12, + 66, + 182, + 200, + 186, + 18, + 20, + 28, + 30, + 58, + 12, + 66, + 182, + 200, + 186, + 18, + 20, + 28, + 32, + 60, + 4, + 74, + 178, + 200, + 186, + 18, + 20, + 28, + 32, + 60, + 4, + 74, + 178, + 200, + 186, + 20, + 18, + 28, + 32, + 140, + 176, + 200, + 186, + 20, + 18, + 28, + 32, + 140, + 176, + 200, + 186, + 20, + 18, + 28, + 34, + 140, + 174, + 200, + 186, + 20, + 18, + 28, + 34, + 140, + 174, + 200, + 184, + 22, + 18, + 28, + 38, + 138, + 172, + 200, + 184, + 22, + 18, + 28, + 38, + 138, + 172, + 200, + 184, + 22, + 16, + 30, + 38, + 138, + 172, + 200, + 184, + 22, + 16, + 30, + 38, + 138, + 172, + 200, + 184, + 22, + 16, + 30, + 40, + 136, + 172, + 200, + 184, + 22, + 16, + 30, + 40, + 136, + 172, + 200, + 184, + 22, + 16, + 30, + 42, + 134, + 172, + 200, + 184, + 22, + 16, + 30, + 42, + 134, + 172, + 200, + 184, + 22, + 16, + 30, + 44, + 56, + 8, + 68, + 172, + 200, + 184, + 22, + 16, + 30, + 44, + 56, + 8, + 68, + 172, + 200, + 184, + 22, + 16, + 30, + 44, + 56, + 14, + 62, + 172, + 200, + 184, + 22, + 16, + 30, + 44, + 56, + 14, + 62, + 172, + 200, + 184, + 24, + 14, + 30, + 46, + 52, + 22, + 56, + 172, + 200, + 184, + 24, + 14, + 30, + 46, + 52, + 22, + 56, + 172, + 200, + 182, + 26, + 14, + 30, + 48, + 50, + 28, + 48, + 174, + 200, + 182, + 26, + 14, + 30, + 48, + 50, + 28, + 48, + 174, + 200, + 182, + 26, + 14, + 30, + 50, + 46, + 38, + 38, + 176, + 200, + 182, + 26, + 14, + 30, + 50, + 46, + 38, + 38, + 176, + 200, + 182, + 26, + 14, + 30, + 52, + 44, + 46, + 28, + 178, + 200, + 182, + 26, + 14, + 30, + 52, + 44, + 46, + 28, + 178, + 200, + 182, + 26, + 12, + 30, + 56, + 40, + 54, + 20, + 180, + 200, + 182, + 26, + 12, + 30, + 56, + 40, + 54, + 20, + 180, + 200, + 182, + 26, + 12, + 30, + 56, + 40, + 62, + 6, + 186, + 200, + 182, + 26, + 12, + 30, + 56, + 40, + 62, + 6, + 186, + 188, + 194, + 26, + 12, + 30, + 58, + 36, + 256, + 188, + 194, + 26, + 12, + 30, + 58, + 36, + 256, + 188, + 194, + 26, + 12, + 30, + 60, + 32, + 258, + 188, + 194, + 26, + 12, + 30, + 60, + 32, + 258, + 188, + 194, + 26, + 12, + 30, + 62, + 28, + 260, + 188, + 194, + 26, + 12, + 30, + 62, + 28, + 260, + 190, + 192, + 26, + 12, + 30, + 64, + 26, + 260, + 190, + 192, + 26, + 12, + 30, + 64, + 26, + 260, + 192, + 190, + 26, + 12, + 30, + 64, + 24, + 262, + 192, + 190, + 26, + 12, + 30, + 64, + 24, + 262, + 194, + 188, + 26, + 12, + 28, + 68, + 22, + 262, + 194, + 188, + 26, + 12, + 28, + 68, + 22, + 262, + 198, + 184, + 26, + 12, + 28, + 70, + 18, + 264, + 198, + 184, + 26, + 12, + 28, + 70, + 18, + 264, + 200, + 182, + 24, + 12, + 30, + 72, + 16, + 264, + 200, + 182, + 24, + 12, + 30, + 72, + 16, + 264, + 202, + 178, + 26, + 12, + 30, + 74, + 12, + 266, + 202, + 178, + 26, + 12, + 30, + 74, + 12, + 266, + 202, + 178, + 26, + 10, + 32, + 76, + 8, + 268, + 202, + 178, + 26, + 10, + 32, + 76, + 8, + 268, + 204, + 176, + 28, + 8, + 32, + 76, + 8, + 268, + 204, + 176, + 28, + 8, + 32, + 76, + 8, + 268, + 208, + 172, + 28, + 8, + 32, + 80, + 2, + 270, + 208, + 172, + 28, + 8, + 32, + 80, + 2, + 270, + 210, + 170, + 26, + 10, + 32, + 352, + 210, + 170, + 26, + 10, + 32, + 352, + 212, + 168, + 26, + 8, + 34, + 352, + 212, + 168, + 26, + 8, + 34, + 352, + 212, + 168, + 26, + 8, + 34, + 24, + 22, + 306, + 212, + 168, + 26, + 8, + 34, + 24, + 22, + 306, + 212, + 168, + 28, + 6, + 34, + 22, + 26, + 304, + 212, + 168, + 28, + 6, + 34, + 22, + 26, + 304, + 212, + 168, + 26, + 8, + 34, + 20, + 28, + 304, + 212, + 168, + 26, + 8, + 34, + 20, + 28, + 304, + 212, + 168, + 26, + 8, + 34, + 16, + 32, + 304, + 212, + 168, + 26, + 8, + 34, + 16, + 32, + 304, + 212, + 168, + 26, + 8, + 34, + 14, + 34, + 304, + 212, + 168, + 26, + 8, + 34, + 14, + 34, + 304, + 212, + 168, + 26, + 8, + 34, + 10, + 40, + 302, + 212, + 168, + 26, + 8, + 34, + 10, + 40, + 302, + 212, + 168, + 26, + 8, + 34, + 8, + 42, + 302, + 212, + 168, + 26, + 8, + 34, + 8, + 42, + 302, + 212, + 168, + 26, + 6, + 86, + 302, + 212, + 168, + 26, + 6, + 86, + 302, + 212, + 168, + 24, + 10, + 84, + 302, + 212, + 168, + 24, + 10, + 84, + 302, + 212, + 166, + 26, + 10, + 82, + 304, + 212, + 166, + 26, + 10, + 82, + 304, + 212, + 166, + 26, + 10, + 82, + 304, + 212, + 166, + 26, + 10, + 82, + 304, + 212, + 166, + 26, + 8, + 84, + 304, + 212, + 166, + 26, + 8, + 84, + 304, + 212, + 166, + 26, + 8, + 84, + 304, + 212, + 166, + 26, + 8, + 84, + 304, + 212, + 166, + 26, + 8, + 88, + 300, + 212, + 166, + 26, + 8, + 88, + 300, + 212, + 166, + 26, + 8, + 94, + 294, + 212, + 166, + 26, + 8, + 94, + 294, + 212, + 164, + 28, + 8, + 192, + 196, + 212, + 164, + 28, + 8, + 192, + 196, + 212, + 164, + 28, + 8, + 226, + 162, + 212, + 164, + 28, + 8, + 226, + 162, + 212, + 164, + 28, + 8, + 258, + 130, + 212, + 164, + 28, + 8, + 258, + 130, + 212, + 164, + 28, + 8, + 272, + 116, + 212, + 164, + 28, + 8, + 272, + 116, + 212, + 162, + 30, + 8, + 284, + 104, + 212, + 162, + 30, + 8, + 284, + 104, + 212, + 162, + 30, + 8, + 296, + 92, + 212, + 162, + 30, + 8, + 296, + 92, + 212, + 162, + 30, + 8, + 300, + 88, + 212, + 162, + 30, + 8, + 300, + 88, + 212, + 160, + 32, + 6, + 304, + 86, + 212, + 160, + 32, + 6, + 304, + 86, + 212, + 162, + 30, + 6, + 304, + 86, + 212, + 162, + 30, + 6, + 304, + 86, + 212, + 162, + 28, + 8, + 304, + 86, + 212, + 162, + 28, + 8, + 304, + 86, + 212, + 162, + 28, + 8, + 304, + 86, + 212, + 162, + 28, + 8, + 304, + 86, + 212, + 160, + 32, + 4, + 306, + 86, + 212, + 160, + 32, + 4, + 306, + 86, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 160, + 340, + 88, + 212, + 158, + 342, + 88, + 212, + 158, + 342, + 88, + 212, + 160, + 338, + 90, + 212, + 160, + 338, + 90, + 212, + 160, + 338, + 90, + 212, + 160, + 338, + 90, + 212, + 160, + 338, + 90, + 212, + 160, + 338, + 90, + 212, + 158, + 340, + 90, + 212, + 158, + 340, + 90, + 212, + 156, + 342, + 90, + 212, + 156, + 342, + 90, + 212, + 156, + 342, + 90, + 212, + 156, + 342, + 90, + 212, + 156, + 340, + 92, + 212, + 156, + 340, + 92, + 212, + 156, + 340, + 92, + 212, + 156, + 340, + 92, + 212, + 156, + 40, + 4, + 296, + 92, + 212, + 156, + 40, + 4, + 296, + 92, + 212, + 156, + 40, + 4, + 296, + 92, + 212, + 156, + 40, + 4, + 296, + 92, + 212, + 156, + 40, + 4, + 294, + 94, + 212, + 156, + 40, + 4, + 294, + 94, + 212, + 158, + 38, + 4, + 294, + 94, + 212, + 158, + 38, + 4, + 294, + 94, + 210, + 160, + 38, + 4, + 294, + 94, + 210, + 160, + 38, + 4, + 294, + 94, + 210, + 160, + 38, + 4, + 294, + 94, + 210, + 160, + 38, + 4, + 294, + 94, + 210, + 162, + 32, + 10, + 292, + 94, + 210, + 162, + 32, + 10, + 292, + 94, + 210, + 170, + 20, + 14, + 292, + 94, + 210, + 170, + 20, + 14, + 292, + 94, + 210, + 204, + 292, + 94, + 210, + 204, + 292, + 94, + 210, + 204, + 290, + 96, + 210, + 204, + 290, + 96, + 210, + 204, + 290, + 96, + 210, + 204, + 290, + 96, + 210, + 204, + 290, + 96, + 210, + 204, + 290, + 96, + 210, + 206, + 288, + 96, + 210, + 206, + 288, + 96, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 206, + 286, + 98, + 210, + 46, + 10, + 150, + 286, + 98, + 210, + 46, + 10, + 150, + 286, + 98, + 210, + 38, + 26, + 144, + 284, + 98, + 210, + 38, + 26, + 144, + 284, + 98, + 210, + 36, + 42, + 130, + 284, + 98, + 210, + 36, + 42, + 130, + 284, + 98, + 210, + 36, + 90, + 28, + 28, + 28, + 280, + 100, + 210, + 36, + 90, + 28, + 28, + 28, + 280, + 100, + 210, + 36, + 154, + 20, + 280, + 100, + 210, + 36, + 154, + 20, + 280, + 100, + 210, + 34, + 158, + 18, + 280, + 100, + 210, + 34, + 158, + 18, + 280, + 100, + 208, + 36, + 160, + 16, + 280, + 100, + 208, + 36, + 160, + 16, + 280, + 100, + 208, + 36, + 162, + 16, + 278, + 100, + 208, + 36, + 162, + 16, + 278, + 100, + 208, + 36, + 162, + 16, + 276, + 102, + 208, + 36, + 162, + 16, + 276, + 102, + 208, + 34, + 164, + 16, + 274, + 104, + 208, + 34, + 164, + 16, + 274, + 104, + 168, + 4, + 36, + 34, + 164, + 16, + 274, + 104, + 168, + 4, + 36, + 34, + 164, + 16, + 274, + 104, + 168, + 4, + 36, + 34, + 164, + 16, + 274, + 104, + 168, + 4, + 36, + 34, + 164, + 16, + 274, + 104, + 168, + 4, + 36, + 34, + 164, + 16, + 274, + 104, + 168, + 4, + 36, + 34, + 164, + 16, + 274, + 104, + 208, + 34, + 164, + 16, + 274, + 104, + 208, + 34, + 164, + 16, + 274, + 104, + 208, + 34, + 164, + 16, + 274, + 104, + 208, + 34, + 164, + 16, + 274, + 104, + 208, + 34, + 166, + 14, + 272, + 106, + 208, + 34, + 166, + 14, + 272, + 106, + 208, + 34, + 164, + 16, + 272, + 106, + 208, + 34, + 164, + 16, + 272, + 106, + 208, + 34, + 164, + 16, + 272, + 106, + 208, + 34, + 164, + 16, + 272, + 106, + 206, + 38, + 162, + 16, + 272, + 106, + 206, + 38, + 162, + 16, + 272, + 106, + 206, + 38, + 160, + 18, + 272, + 106, + 206, + 38, + 160, + 18, + 272, + 106, + 184, + 4, + 18, + 38, + 158, + 20, + 272, + 106, + 184, + 4, + 18, + 38, + 158, + 20, + 272, + 106, + 184, + 4, + 18, + 38, + 158, + 20, + 270, + 108, + 184, + 4, + 18, + 38, + 158, + 20, + 270, + 108, + 206, + 40, + 154, + 24, + 268, + 108, + 206, + 40, + 154, + 24, + 268, + 108, + 206, + 40, + 134, + 44, + 268, + 108, + 206, + 40, + 134, + 44, + 268, + 108, + 206, + 42, + 54, + 122, + 268, + 108, + 206, + 42, + 54, + 122, + 268, + 108, + 204, + 46, + 28, + 146, + 266, + 110, + 204, + 46, + 28, + 146, + 266, + 110, + 204, + 46, + 24, + 150, + 266, + 110, + 204, + 46, + 24, + 150, + 266, + 110, + 204, + 50, + 18, + 154, + 264, + 110, + 204, + 50, + 18, + 154, + 264, + 110, + 204, + 222, + 264, + 110, + 204, + 222, + 264, + 110, + 202, + 224, + 264, + 110, + 202, + 224, + 264, + 110, + 200, + 226, + 264, + 110, + 200, + 226, + 264, + 110, + 200, + 226, + 264, + 110, + 200, + 226, + 264, + 110, + 202, + 224, + 264, + 110, + 202, + 224, + 264, + 110, + 202, + 224, + 262, + 112, + 202, + 224, + 262, + 112, + 202, + 224, + 262, + 112, + 202, + 224, + 262, + 112, + 204, + 222, + 262, + 112, + 204, + 222, + 262, + 112, + 206, + 220, + 260, + 114, + 206, + 220, + 260, + 114, + 206, + 220, + 260, + 114, + 206, + 220, + 260, + 114, + 206, + 220, + 260, + 114, + 206, + 220, + 260, + 114, + 208, + 218, + 260, + 114, + 208, + 218, + 260, + 114, + 210, + 216, + 260, + 114, + 210, + 216, + 260, + 114, + 212, + 218, + 256, + 114, + 212, + 218, + 256, + 114, + 214, + 158, + 8, + 4, + 4, + 4, + 30, + 10, + 254, + 114, + 214, + 158, + 8, + 4, + 4, + 4, + 30, + 10, + 254, + 114, + 214, + 132, + 78, + 8, + 252, + 116, + 214, + 132, + 78, + 8, + 252, + 116, + 216, + 126, + 82, + 6, + 254, + 116, + 216, + 126, + 82, + 6, + 254, + 116, + 218, + 122, + 84, + 6, + 254, + 116, + 218, + 122, + 84, + 6, + 254, + 116, + 218, + 122, + 88, + 4, + 250, + 118, + 218, + 122, + 88, + 4, + 250, + 118, + 220, + 118, + 90, + 4, + 250, + 118, + 220, + 118, + 90, + 4, + 250, + 118, + 220, + 118, + 90, + 6, + 248, + 118, + 220, + 118, + 90, + 6, + 248, + 118, + 222, + 114, + 92, + 8, + 246, + 118, + 222, + 114, + 92, + 8, + 246, + 118, + 222, + 112, + 94, + 14, + 240, + 118, + 222, + 112, + 94, + 14, + 240, + 118, + 224, + 110, + 94, + 16, + 238, + 118, + 224, + 110, + 94, + 16, + 238, + 118, + 226, + 106, + 96, + 18, + 234, + 120, + 226, + 106, + 96, + 18, + 234, + 120, + 226, + 106, + 96, + 32, + 220, + 120, + 226, + 106, + 96, + 32, + 220, + 120, + 226, + 104, + 100, + 30, + 220, + 120, + 226, + 104, + 100, + 30, + 220, + 120, + 228, + 102, + 100, + 32, + 218, + 120, + 228, + 102, + 100, + 32, + 218, + 120, + 230, + 100, + 100, + 32, + 218, + 120, + 230, + 100, + 100, + 32, + 218, + 120, + 230, + 100, + 102, + 28, + 220, + 120, + 230, + 100, + 102, + 28, + 220, + 120, + 232, + 98, + 102, + 28, + 220, + 120, + 232, + 98, + 102, + 28, + 220, + 120, + 234, + 98, + 102, + 26, + 220, + 120, + 234, + 98, + 102, + 26, + 220, + 120, + 236, + 96, + 102, + 26, + 220, + 120, + 236, + 96, + 102, + 26, + 220, + 120, + 236, + 96, + 104, + 24, + 218, + 122, + 236, + 96, + 104, + 24, + 218, + 122, + 238, + 94, + 346, + 122, + 238, + 94, + 346, + 122, + 240, + 92, + 346, + 122, + 240, + 92, + 346, + 122, + 240, + 90, + 348, + 122, + 240, + 90, + 348, + 122, + 242, + 78, + 356, + 124, + 242, + 78, + 356, + 124, + 242, + 68, + 366, + 124, + 242, + 68, + 366, + 124, + 244, + 62, + 370, + 124, + 244, + 62, + 370, + 124, + 244, + 60, + 372, + 124, + 244, + 60, + 372, + 124, + 246, + 58, + 370, + 126, + 246, + 58, + 370, + 126, + 246, + 56, + 372, + 126, + 246, + 56, + 372, + 126, + 248, + 52, + 374, + 126, + 248, + 52, + 374, + 126, + 248, + 52, + 374, + 126, + 248, + 52, + 374, + 126, + 250, + 50, + 372, + 128, + 250, + 50, + 372, + 128, + 250, + 50, + 372, + 128, + 250, + 50, + 372, + 128, + 252, + 46, + 374, + 128, + 252, + 46, + 374, + 128, + 254, + 44, + 374, + 128, + 254, + 44, + 374, + 128, + 256, + 42, + 372, + 130, + 256, + 42, + 372, + 130, + 256, + 42, + 372, + 130, + 256, + 42, + 372, + 130, + 258, + 40, + 372, + 130, + 258, + 40, + 372, + 130, + 258, + 40, + 372, + 130, + 258, + 40, + 372, + 130, + 260, + 38, + 372, + 130, + 260, + 38, + 372, + 130, + 260, + 38, + 372, + 130, + 260, + 38, + 372, + 130, + 262, + 36, + 372, + 130, + 262, + 36, + 372, + 130, + 262, + 36, + 370, + 132, + 262, + 36, + 370, + 132, + 264, + 34, + 370, + 132, + 264, + 34, + 370, + 132, + 266, + 34, + 368, + 132, + 266, + 34, + 368, + 132, + 266, + 34, + 368, + 132, + 266, + 34, + 368, + 132, + 268, + 32, + 368, + 132, + 268, + 32, + 368, + 132, + 268, + 34, + 366, + 132, + 268, + 34, + 366, + 132, + 270, + 32, + 366, + 132, + 270, + 32, + 366, + 132, + 272, + 30, + 364, + 134, + 272, + 30, + 364, + 134, + 272, + 32, + 142, + 6, + 214, + 134, + 272, + 32, + 142, + 6, + 214, + 134, + 274, + 30, + 138, + 10, + 214, + 134, + 274, + 30, + 138, + 10, + 214, + 134, + 276, + 28, + 136, + 12, + 214, + 134, + 276, + 28, + 136, + 12, + 214, + 134, + 276, + 30, + 38, + 4, + 84, + 20, + 214, + 134, + 276, + 30, + 38, + 4, + 84, + 20, + 214, + 134, + 278, + 28, + 36, + 6, + 74, + 30, + 214, + 134, + 278, + 28, + 36, + 6, + 74, + 30, + 214, + 134, + 278, + 32, + 26, + 14, + 64, + 38, + 214, + 134, + 278, + 32, + 26, + 14, + 64, + 38, + 214, + 134, + 280, + 72, + 46, + 54, + 212, + 136, + 280, + 72, + 46, + 54, + 212, + 136, + 280, + 74, + 34, + 64, + 212, + 136, + 280, + 74, + 34, + 64, + 212, + 136, + 282, + 74, + 24, + 72, + 210, + 138, + 282, + 74, + 24, + 72, + 210, + 138, + 284, + 74, + 10, + 84, + 210, + 138, + 284, + 74, + 10, + 84, + 210, + 138, + 284, + 166, + 212, + 138, + 284, + 166, + 212, + 138, + 286, + 164, + 212, + 138, + 286, + 164, + 212, + 138, + 286, + 164, + 212, + 138, + 286, + 164, + 212, + 138, + 288, + 162, + 210, + 140, + 288, + 162, + 210, + 140, + 288, + 162, + 210, + 140, + 288, + 162, + 210, + 140, + 290, + 160, + 210, + 140, + 290, + 160, + 210, + 140, + 292, + 158, + 210, + 140, + 292, + 158, + 210, + 140, + 292, + 158, + 210, + 140, + 292, + 158, + 210, + 140, + 294, + 156, + 210, + 140, + 294, + 156, + 210, + 140, + 296, + 154, + 210, + 140, + 296, + 154, + 210, + 140, + 296, + 154, + 210, + 140, + 296, + 154, + 210, + 140, + 298, + 152, + 208, + 142, + 298, + 152, + 208, + 142, + 300, + 150, + 208, + 142, + 300, + 150, + 208, + 142, + 300, + 152, + 206, + 142, + 300, + 152, + 206, + 142, + 302, + 150, + 206, + 142, + 302, + 150, + 206, + 142, + 302, + 152, + 204, + 142, + 302, + 152, + 204, + 142, + 304, + 154, + 200, + 142, + 304, + 154, + 200, + 142, + 306, + 156, + 196, + 142, + 306, + 156, + 196, + 142, + 306, + 158, + 194, + 142, + 306, + 158, + 194, + 142, + 308, + 156, + 194, + 142, + 308, + 156, + 194, + 142, + 308, + 158, + 190, + 144, + 308, + 158, + 190, + 144, + 310, + 158, + 188, + 144, + 310, + 158, + 188, + 144, + 310, + 162, + 184, + 144, + 310, + 162, + 184, + 144, + 312, + 162, + 182, + 144, + 312, + 162, + 182, + 144, + 314, + 162, + 178, + 146, + 314, + 162, + 178, + 146, + 314, + 166, + 174, + 146, + 314, + 166, + 174, + 146, + 316, + 166, + 172, + 146, + 316, + 166, + 172, + 146, + 318, + 166, + 168, + 148, + 318, + 166, + 168, + 148, + 318, + 168, + 166, + 148, + 318, + 168, + 166, + 148, + 320, + 168, + 164, + 148, + 320, + 168, + 164, + 148, + 320, + 170, + 162, + 148, + 320, + 170, + 162, + 148, + 322, + 168, + 160, + 150, + 322, + 168, + 160, + 150, + 322, + 168, + 160, + 150, + 322, + 168, + 160, + 150, + 324, + 160, + 166, + 150, + 324, + 160, + 166, + 150, + 326, + 154, + 170, + 150, + 326, + 154, + 170, + 150, + 326, + 150, + 174, + 150, + 326, + 150, + 174, + 150, + 328, + 146, + 176, + 150, + 328, + 146, + 176, + 150, + 328, + 146, + 176, + 150, + 328, + 146, + 176, + 150, + 330, + 142, + 178, + 150, + 330, + 142, + 178, + 150, + 330, + 142, + 176, + 152, + 330, + 142, + 176, + 152, + 332, + 140, + 176, + 152, + 332, + 140, + 176, + 152, + 332, + 140, + 176, + 152, + 332, + 140, + 176, + 152, + 334, + 138, + 176, + 152, + 334, + 138, + 176, + 152, + 336, + 136, + 176, + 152, + 336, + 136, + 176, + 152, + 336, + 136, + 174, + 154, + 336, + 136, + 174, + 154, + 338, + 134, + 172, + 156, + 338, + 134, + 172, + 156, + 340, + 132, + 168, + 160, + 340, + 132, + 168, + 160, + 340, + 132, + 162, + 166, + 340, + 132, + 162, + 166, + 342, + 130, + 48, + 16, + 92, + 172, + 342, + 130, + 48, + 16, + 92, + 172, + 342, + 132, + 36, + 30, + 82, + 178, + 342, + 132, + 36, + 30, + 82, + 178, + 344, + 130, + 30, + 38, + 74, + 184, + 344, + 130, + 30, + 38, + 74, + 184, + 344, + 130, + 22, + 50, + 62, + 192, + 344, + 130, + 22, + 50, + 62, + 192, + 346, + 130, + 16, + 56, + 54, + 198, + 346, + 130, + 16, + 56, + 54, + 198, + 346, + 130, + 8, + 68, + 48, + 200, + 346, + 130, + 8, + 68, + 48, + 200, + 348, + 206, + 38, + 208, + 348, + 206, + 38, + 208, + 350, + 206, + 30, + 214, + 350, + 206, + 30, + 214, + 350, + 210, + 18, + 222, + 350, + 210, + 18, + 222, + 352, + 210, + 8, + 230, + 352, + 210, + 8, + 230, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 474, + 326, + 474, + 326, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 3 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000145:0000", + "experimental_retained_index": 3, + "ism_score": 0.35502323508262634, + "R": [ + [ + -0.16070520877838135, + -0.01740860939025879, + -0.9867179989814758 + ], + [ + 0.387546569108963, + 0.918405294418335, + -0.07932914793491364 + ], + [ + 0.9077573418617249, + -0.3952185809612274, + -0.14085827767848969 + ] + ], + "t": [ + -113.77136993408203, + 3.2888283729553223, + 455.4082946777344 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 832, + 180, + 396, + 118 + ], + "score": 0.16278350353240967, + "time": 0.0, + "segmentation": { + "counts": [ + 665059, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 728, + 18, + 782, + 18, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 4, + 6, + 42, + 748, + 4, + 6, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 774, + 22, + 778, + 22, + 778, + 18, + 782, + 18, + 784, + 12, + 788, + 12, + 788, + 8, + 792, + 8, + 39749 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000145:0001", + "experimental_retained_index": 0, + "ism_score": 0.42350178956985474, + "R": [ + [ + 0.17254061996936798, + -0.568055272102356, + -0.8048235177993774 + ], + [ + -0.9020920991897583, + -0.418965220451355, + 0.10233475267887115 + ], + [ + -0.39522284269332886, + 0.7082668542861938, + -0.5848515629768372 + ] + ], + "t": [ + 311.4850769042969, + -121.15193176269531, + 544.5406494140625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000145/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000145/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000145:0001", + "Slide_holder:000145:0002", + "Slide_holder:000145:0003", + "Slide_holder:000145:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000145.png" + }, + { + "frame_id": 150, + "image_path": "/workspace/data/0008_/images/000150.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000150.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 150, + "category_id": 1, + "bbox": [ + 600, + 350, + 112, + 120 + ], + "score": 0.08718282729387283, + "time": 0.0, + "segmentation": { + "counts": [ + 479575, + 4, + 796, + 4, + 770, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 768, + 26, + 774, + 26, + 36062, + 18, + 782, + 18, + 760, + 42, + 758, + 42, + 738, + 64, + 736, + 64, + 718, + 82, + 718, + 82, + 708, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 86, + 714, + 86, + 714, + 68, + 732, + 68, + 734, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 44, + 756, + 44, + 756, + 26, + 774, + 26, + 776, + 14, + 786, + 14, + 452411 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000150:0001", + "experimental_retained_index": 0, + "ism_score": 0.41027212142944336, + "R": [ + [ + -0.8862598538398743, + 0.16756367683410645, + -0.4318162202835083 + ], + [ + 0.17902323603630066, + 0.9837404489517212, + 0.014307253062725067 + ], + [ + 0.4271925687789917, + -0.06462523341178894, + -0.9018478989601135 + ] + ], + "t": [ + 24.18949317932129, + 38.118221282958984, + 340.5179138183594 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 150, + "category_id": 1, + "bbox": [ + 600, + 350, + 112, + 120 + ], + "score": 0.08718282729387283, + "time": 0.0, + "segmentation": { + "counts": [ + 479575, + 4, + 796, + 4, + 770, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 768, + 26, + 774, + 26, + 36062, + 18, + 782, + 18, + 760, + 42, + 758, + 42, + 738, + 64, + 736, + 64, + 718, + 82, + 718, + 82, + 708, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 86, + 714, + 86, + 714, + 68, + 732, + 68, + 734, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 44, + 756, + 44, + 756, + 26, + 774, + 26, + 776, + 14, + 786, + 14, + 452411 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000150:0001", + "experimental_retained_index": 0, + "ism_score": 0.41027212142944336, + "R": [ + [ + -0.8862598538398743, + 0.16756367683410645, + -0.4318162202835083 + ], + [ + 0.17902323603630066, + 0.9837404489517212, + 0.014307253062725067 + ], + [ + 0.4271925687789917, + -0.06462523341178894, + -0.9018478989601135 + ] + ], + "t": [ + 24.18949317932129, + 38.118221282958984, + 340.5179138183594 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000150/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000150/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000150:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000150.png" + }, + { + "frame_id": 155, + "image_path": "/workspace/data/0008_/images/000155.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000155.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 1070, + 188, + 208, + 228 + ], + "score": 0.009442302398383617, + "time": 0.0, + "segmentation": { + "counts": [ + 855417, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 762, + 42, + 758, + 42, + 754, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 28, + 4, + 112, + 656, + 28, + 4, + 112, + 658, + 22, + 10, + 112, + 656, + 22, + 10, + 112, + 656, + 18, + 16, + 112, + 654, + 18, + 16, + 112, + 654, + 14, + 22, + 114, + 650, + 14, + 22, + 114, + 654, + 8, + 24, + 114, + 654, + 8, + 24, + 114, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 381 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000155:0003", + "experimental_retained_index": 0, + "ism_score": 0.4316481053829193, + "R": [ + [ + -0.5490884780883789, + -0.6913607120513916, + -0.46967846155166626 + ], + [ + -0.8171926140785217, + 0.5613846778869629, + 0.1289311945438385 + ], + [ + 0.1745368093252182, + 0.4546811282634735, + -0.8732793927192688 + ] + ], + "t": [ + 309.5953369140625, + -63.55263900756836, + 371.5072937011719 + ] + }, + { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 850, + 110, + 428, + 686 + ], + "score": 0.07141924649477005, + "time": 0.0, + "segmentation": { + "counts": [ + 679311, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 780, + 26, + 774, + 26, + 774, + 32, + 768, + 32, + 768, + 40, + 760, + 40, + 760, + 46, + 754, + 46, + 754, + 50, + 750, + 50, + 750, + 54, + 746, + 54, + 746, + 60, + 740, + 60, + 740, + 66, + 734, + 66, + 734, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 726, + 78, + 722, + 78, + 722, + 84, + 716, + 84, + 716, + 90, + 710, + 90, + 710, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 702, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 692, + 114, + 686, + 114, + 686, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 126, + 674, + 126, + 672, + 132, + 668, + 132, + 668, + 138, + 662, + 138, + 664, + 144, + 656, + 144, + 656, + 148, + 652, + 148, + 652, + 152, + 648, + 152, + 650, + 156, + 644, + 156, + 644, + 162, + 638, + 162, + 640, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 634, + 172, + 628, + 172, + 630, + 174, + 626, + 174, + 628, + 176, + 624, + 176, + 626, + 182, + 618, + 182, + 622, + 182, + 618, + 182, + 620, + 184, + 616, + 184, + 618, + 188, + 612, + 188, + 614, + 192, + 608, + 192, + 610, + 194, + 606, + 194, + 608, + 196, + 604, + 196, + 606, + 198, + 602, + 198, + 604, + 202, + 598, + 202, + 600, + 206, + 594, + 206, + 596, + 210, + 590, + 210, + 594, + 210, + 590, + 210, + 594, + 210, + 590, + 210, + 592, + 216, + 584, + 216, + 584, + 220, + 580, + 220, + 582, + 224, + 576, + 224, + 578, + 226, + 574, + 226, + 578, + 226, + 574, + 226, + 576, + 228, + 572, + 228, + 574, + 232, + 568, + 232, + 568, + 238, + 562, + 238, + 564, + 240, + 560, + 240, + 562, + 244, + 556, + 244, + 558, + 248, + 552, + 248, + 552, + 252, + 548, + 252, + 548, + 258, + 542, + 258, + 544, + 260, + 540, + 260, + 540, + 264, + 536, + 264, + 536, + 270, + 530, + 270, + 530, + 276, + 524, + 276, + 524, + 282, + 518, + 282, + 520, + 284, + 516, + 284, + 536, + 268, + 532, + 268, + 534, + 272, + 528, + 272, + 530, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 524, + 280, + 520, + 280, + 522, + 282, + 518, + 282, + 520, + 286, + 514, + 286, + 516, + 290, + 510, + 290, + 512, + 294, + 506, + 294, + 508, + 296, + 504, + 296, + 506, + 300, + 500, + 300, + 502, + 304, + 496, + 304, + 498, + 306, + 494, + 306, + 494, + 312, + 488, + 312, + 492, + 312, + 488, + 312, + 490, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 320, + 480, + 320, + 482, + 324, + 476, + 324, + 478, + 328, + 472, + 328, + 476, + 330, + 470, + 330, + 472, + 332, + 468, + 332, + 470, + 336, + 464, + 336, + 466, + 340, + 460, + 340, + 462, + 342, + 458, + 342, + 460, + 344, + 456, + 344, + 458, + 346, + 454, + 346, + 454, + 40, + 14, + 298, + 448, + 40, + 14, + 298, + 450, + 34, + 20, + 302, + 444, + 34, + 20, + 302, + 446, + 26, + 30, + 302, + 442, + 26, + 30, + 302, + 446, + 16, + 40, + 304, + 440, + 16, + 40, + 304, + 442, + 10, + 46, + 308, + 436, + 10, + 46, + 308, + 494, + 312, + 488, + 312, + 490, + 314, + 486, + 314, + 490, + 314, + 486, + 314, + 488, + 318, + 482, + 318, + 484, + 322, + 478, + 322, + 480, + 324, + 476, + 324, + 480, + 326, + 474, + 326, + 476, + 328, + 472, + 328, + 474, + 332, + 468, + 332, + 470, + 334, + 466, + 334, + 470, + 336, + 464, + 336, + 466, + 340, + 460, + 340, + 462, + 342, + 458, + 342, + 460, + 344, + 456, + 344, + 460, + 346, + 454, + 346, + 456, + 350, + 450, + 350, + 452, + 354, + 446, + 354, + 448, + 354, + 446, + 354, + 450, + 356, + 444, + 356, + 446, + 360, + 440, + 360, + 442, + 364, + 436, + 364, + 438, + 366, + 434, + 366, + 438, + 368, + 432, + 368, + 434, + 370, + 430, + 370, + 432, + 374, + 426, + 374, + 428, + 376, + 424, + 376, + 428, + 378, + 422, + 378, + 424, + 380, + 420, + 380, + 424, + 382, + 418, + 382, + 422, + 384, + 416, + 384, + 418, + 386, + 414, + 386, + 416, + 388, + 412, + 388, + 414, + 390, + 410, + 390, + 414, + 388, + 412, + 388, + 414, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 430, + 368, + 432, + 368, + 434, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 502, + 298, + 502, + 298, + 504, + 296, + 504, + 296, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 548, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000155:0001", + "experimental_retained_index": 1, + "ism_score": 0.43121054768562317, + "R": [ + [ + 0.3728347718715668, + -0.854447603225708, + -0.36219558119773865 + ], + [ + -0.8730425834655762, + -0.45491981506347656, + 0.17449304461479187 + ], + [ + -0.31372928619384766, + 0.251289427280426, + -0.9157567024230957 + ] + ], + "t": [ + 282.36279296875, + -50.94705581665039, + 486.5941162109375 + ] + }, + { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 580, + 308, + 90, + 156 + ], + "score": 0.39839279651641846, + "time": 0.0, + "segmentation": { + "counts": [ + 463571, + 34, + 766, + 34, + 726, + 78, + 722, + 78, + 718, + 86, + 714, + 86, + 714, + 90, + 710, + 90, + 700, + 104, + 696, + 104, + 690, + 112, + 688, + 112, + 686, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 142, + 658, + 142, + 658, + 146, + 654, + 146, + 654, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 16, + 6, + 126, + 652, + 16, + 6, + 126, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 104, + 696, + 104, + 698, + 88, + 712, + 88, + 716, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 748, + 30, + 8, + 10, + 752, + 30, + 8, + 10, + 754, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 486021 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000155:0002", + "experimental_retained_index": 2, + "ism_score": 0.4099218547344208, + "R": [ + [ + 0.953894853591919, + 0.28818339109420776, + -0.08190038800239563 + ], + [ + -0.11088649928569794, + 0.5933618545532227, + 0.7974433898925781 + ], + [ + 0.27852731943130493, + -0.7517475485801697, + 0.5979629755020142 + ] + ], + "t": [ + -8.150152206420898, + 42.83600616455078, + 367.0408020019531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 580, + 308, + 90, + 156 + ], + "score": 0.39839279651641846, + "time": 0.0, + "segmentation": { + "counts": [ + 463571, + 34, + 766, + 34, + 726, + 78, + 722, + 78, + 718, + 86, + 714, + 86, + 714, + 90, + 710, + 90, + 700, + 104, + 696, + 104, + 690, + 112, + 688, + 112, + 686, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 142, + 658, + 142, + 658, + 146, + 654, + 146, + 654, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 16, + 6, + 126, + 652, + 16, + 6, + 126, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 104, + 696, + 104, + 698, + 88, + 712, + 88, + 716, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 748, + 30, + 8, + 10, + 752, + 30, + 8, + 10, + 754, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 486021 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000155:0002", + "experimental_retained_index": 2, + "ism_score": 0.4099218547344208, + "R": [ + [ + 0.953894853591919, + 0.28818339109420776, + -0.08190038800239563 + ], + [ + -0.11088649928569794, + 0.5933618545532227, + 0.7974433898925781 + ], + [ + 0.27852731943130493, + -0.7517475485801697, + 0.5979629755020142 + ] + ], + "t": [ + -8.150152206420898, + 42.83600616455078, + 367.0408020019531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000155/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000155/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000155:0003", + "Slide_holder:000155:0001", + "Slide_holder:000155:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000155.png" + }, + { + "frame_id": 170, + "image_path": "/workspace/data/0008_/images/000170.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000170.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 558, + 0, + 720, + 564 + ], + "score": 0.14250853657722473, + "time": 0.0, + "segmentation": { + "counts": [ + 445611, + 4, + 796, + 4, + 792, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 756, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 72, + 728, + 72, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 700, + 100, + 700, + 100, + 708, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 702, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 18, + 4, + 100, + 678, + 18, + 4, + 100, + 702, + 100, + 700, + 100, + 702, + 100, + 700, + 100, + 702, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 702, + 100, + 700, + 100, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 698, + 104, + 696, + 104, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 233 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000170:0001", + "experimental_retained_index": 0, + "ism_score": 0.418373703956604, + "R": [ + [ + 0.6565250754356384, + 0.3308175206184387, + -0.677859902381897 + ], + [ + -0.278563529253006, + -0.7286109924316406, + -0.6254222393035889 + ], + [ + -0.7009700536727905, + 0.599567174911499, + -0.38642024993896484 + ] + ], + "t": [ + 260.3649597167969, + -191.55458068847656, + 625.0765991210938 + ] + }, + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 0, + 0, + 1278, + 796 + ], + "score": 0.06485389173030853, + "time": 0.0, + "segmentation": { + "counts": [ + 137, + 662, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 94, + 706, + 94, + 706, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 718, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 790, + 6, + 794, + 6, + 794, + 2, + 798, + 2, + 798, + 1, + 799, + 1, + 799, + 1, + 23, + 4, + 772, + 1, + 23, + 4, + 772, + 1, + 21, + 8, + 770, + 1, + 21, + 8, + 770, + 1, + 19, + 12, + 768, + 1, + 19, + 12, + 768, + 1, + 17, + 14, + 768, + 1, + 17, + 14, + 768, + 1, + 17, + 18, + 764, + 1, + 17, + 18, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 13, + 24, + 762, + 1, + 13, + 24, + 762, + 1, + 11, + 26, + 762, + 1, + 11, + 26, + 762, + 4, + 8, + 26, + 762, + 4, + 8, + 26, + 762, + 6, + 4, + 28, + 762, + 6, + 4, + 28, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 724, + 12, + 26, + 38, + 724, + 12, + 26, + 36, + 724, + 16, + 24, + 36, + 724, + 16, + 24, + 34, + 722, + 20, + 24, + 34, + 722, + 20, + 24, + 32, + 722, + 24, + 22, + 32, + 722, + 24, + 22, + 10, + 12, + 8, + 722, + 28, + 20, + 10, + 12, + 8, + 722, + 28, + 20, + 4, + 746, + 30, + 20, + 4, + 746, + 30, + 20, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 2, + 740, + 40, + 18, + 2, + 740, + 40, + 18, + 2, + 740, + 44, + 14, + 2, + 740, + 44, + 14, + 2, + 736, + 50, + 12, + 2, + 736, + 50, + 12, + 2, + 730, + 58, + 10, + 2, + 730, + 58, + 10, + 2, + 730, + 60, + 8, + 2, + 730, + 60, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 722, + 72, + 4, + 2, + 722, + 72, + 4, + 2, + 720, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 96, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 112, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 117, + 683, + 117, + 683, + 117, + 15, + 2, + 664, + 119, + 15, + 2, + 664, + 120, + 10, + 10, + 652, + 128, + 10, + 10, + 652, + 128, + 10, + 12, + 648, + 130, + 10, + 12, + 648, + 132, + 8, + 14, + 610, + 2, + 34, + 132, + 8, + 14, + 610, + 2, + 34, + 132, + 8, + 14, + 608, + 8, + 28, + 134, + 8, + 14, + 608, + 8, + 28, + 136, + 4, + 18, + 604, + 14, + 22, + 138, + 4, + 18, + 604, + 14, + 22, + 136, + 6, + 18, + 604, + 18, + 14, + 140, + 6, + 18, + 604, + 18, + 14, + 140, + 6, + 20, + 602, + 22, + 6, + 144, + 6, + 20, + 602, + 22, + 6, + 146, + 4, + 26, + 598, + 172, + 4, + 26, + 598, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 212, + 588, + 212, + 588, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 218, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 236, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 238, + 558, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 260, + 538, + 262, + 538, + 260, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 213, + 3, + 48, + 534, + 215, + 3, + 48, + 534, + 215, + 3, + 12, + 8, + 26, + 534, + 217, + 3, + 12, + 8, + 26, + 534, + 222, + 6, + 2, + 12, + 24, + 530, + 226, + 6, + 2, + 12, + 24, + 530, + 224, + 22, + 26, + 526, + 226, + 22, + 26, + 526, + 226, + 22, + 26, + 524, + 228, + 22, + 26, + 524, + 226, + 24, + 26, + 524, + 226, + 24, + 26, + 524, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 228, + 22, + 30, + 520, + 228, + 22, + 30, + 520, + 228, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 32, + 522, + 212, + 6, + 6, + 22, + 32, + 522, + 212, + 6, + 6, + 22, + 32, + 522, + 208, + 12, + 4, + 22, + 32, + 522, + 208, + 12, + 4, + 26, + 28, + 522, + 204, + 16, + 4, + 26, + 28, + 522, + 204, + 16, + 4, + 26, + 28, + 524, + 200, + 18, + 4, + 26, + 28, + 524, + 200, + 18, + 4, + 18, + 2, + 6, + 30, + 522, + 198, + 20, + 4, + 18, + 2, + 6, + 30, + 522, + 198, + 20, + 4, + 12, + 44, + 522, + 192, + 26, + 4, + 12, + 44, + 522, + 192, + 26, + 6, + 6, + 48, + 524, + 186, + 30, + 6, + 6, + 48, + 524, + 186, + 30, + 60, + 524, + 182, + 34, + 60, + 524, + 182, + 34, + 60, + 524, + 178, + 38, + 60, + 524, + 178, + 38, + 60, + 526, + 174, + 40, + 60, + 526, + 174, + 40, + 60, + 526, + 172, + 42, + 60, + 526, + 172, + 42, + 62, + 526, + 164, + 48, + 62, + 526, + 164, + 48, + 62, + 526, + 162, + 50, + 62, + 526, + 162, + 50, + 62, + 528, + 158, + 52, + 62, + 528, + 158, + 52, + 62, + 528, + 156, + 54, + 62, + 528, + 156, + 54, + 62, + 528, + 152, + 58, + 62, + 528, + 152, + 58, + 62, + 528, + 148, + 62, + 62, + 528, + 148, + 62, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 140, + 68, + 62, + 530, + 140, + 68, + 64, + 528, + 138, + 70, + 64, + 528, + 138, + 70, + 64, + 530, + 130, + 76, + 64, + 530, + 130, + 76, + 66, + 528, + 126, + 80, + 66, + 528, + 126, + 80, + 66, + 530, + 122, + 82, + 66, + 530, + 122, + 82, + 66, + 530, + 120, + 84, + 66, + 530, + 120, + 84, + 66, + 532, + 114, + 88, + 66, + 532, + 114, + 88, + 68, + 498, + 2, + 32, + 108, + 92, + 68, + 498, + 2, + 32, + 108, + 92, + 68, + 416, + 6, + 72, + 8, + 30, + 104, + 96, + 68, + 416, + 6, + 72, + 8, + 30, + 104, + 96, + 68, + 412, + 12, + 68, + 14, + 28, + 100, + 98, + 68, + 412, + 12, + 68, + 14, + 28, + 100, + 98, + 68, + 410, + 16, + 62, + 22, + 24, + 98, + 100, + 68, + 410, + 16, + 62, + 22, + 24, + 98, + 100, + 68, + 410, + 16, + 60, + 24, + 26, + 94, + 102, + 68, + 410, + 16, + 60, + 24, + 26, + 94, + 102, + 68, + 408, + 20, + 58, + 26, + 32, + 80, + 108, + 68, + 408, + 20, + 58, + 26, + 32, + 80, + 108, + 54, + 6, + 8, + 408, + 18, + 58, + 30, + 38, + 70, + 110, + 54, + 6, + 8, + 408, + 18, + 58, + 30, + 38, + 70, + 110, + 52, + 10, + 6, + 408, + 18, + 56, + 36, + 36, + 66, + 112, + 52, + 10, + 6, + 408, + 18, + 56, + 36, + 36, + 66, + 112, + 46, + 16, + 6, + 406, + 20, + 56, + 38, + 38, + 58, + 116, + 46, + 16, + 6, + 406, + 20, + 56, + 38, + 38, + 58, + 116, + 46, + 428, + 22, + 52, + 42, + 38, + 52, + 120, + 46, + 428, + 22, + 52, + 42, + 38, + 52, + 120, + 46, + 428, + 22, + 50, + 44, + 42, + 4, + 12, + 28, + 124, + 46, + 428, + 22, + 50, + 44, + 42, + 4, + 12, + 28, + 124, + 48, + 424, + 24, + 50, + 48, + 58, + 20, + 128, + 48, + 424, + 24, + 50, + 48, + 58, + 20, + 128, + 48, + 362, + 8, + 54, + 24, + 48, + 52, + 60, + 14, + 130, + 48, + 362, + 8, + 54, + 24, + 48, + 52, + 60, + 14, + 130, + 48, + 360, + 10, + 54, + 26, + 44, + 56, + 202, + 48, + 360, + 10, + 54, + 26, + 44, + 56, + 202, + 50, + 358, + 12, + 52, + 26, + 44, + 58, + 200, + 50, + 358, + 12, + 52, + 26, + 44, + 58, + 200, + 58, + 348, + 14, + 50, + 28, + 42, + 60, + 200, + 58, + 348, + 14, + 50, + 28, + 42, + 60, + 200, + 60, + 346, + 14, + 50, + 30, + 38, + 66, + 196, + 60, + 346, + 14, + 50, + 30, + 38, + 66, + 196, + 60, + 344, + 16, + 50, + 30, + 36, + 72, + 192, + 60, + 344, + 16, + 50, + 30, + 36, + 72, + 192, + 62, + 342, + 16, + 48, + 32, + 34, + 76, + 190, + 62, + 342, + 16, + 48, + 32, + 34, + 76, + 190, + 66, + 338, + 16, + 48, + 32, + 34, + 76, + 190, + 66, + 338, + 16, + 48, + 32, + 34, + 76, + 190, + 70, + 332, + 18, + 48, + 32, + 34, + 78, + 188, + 70, + 332, + 18, + 48, + 32, + 34, + 78, + 188, + 74, + 328, + 18, + 48, + 32, + 34, + 82, + 184, + 74, + 328, + 18, + 48, + 32, + 34, + 82, + 184, + 78, + 322, + 22, + 46, + 32, + 36, + 82, + 182, + 78, + 322, + 22, + 46, + 32, + 36, + 82, + 182, + 82, + 318, + 22, + 46, + 32, + 38, + 82, + 180, + 82, + 318, + 22, + 46, + 32, + 38, + 82, + 180, + 84, + 316, + 22, + 46, + 32, + 40, + 80, + 180, + 84, + 316, + 22, + 46, + 32, + 40, + 80, + 180, + 86, + 312, + 24, + 46, + 32, + 40, + 82, + 178, + 86, + 312, + 24, + 46, + 32, + 40, + 82, + 178, + 88, + 310, + 24, + 46, + 32, + 42, + 82, + 176, + 88, + 310, + 24, + 46, + 32, + 42, + 82, + 176, + 90, + 308, + 24, + 46, + 32, + 44, + 84, + 172, + 90, + 308, + 24, + 46, + 32, + 44, + 84, + 172, + 90, + 308, + 24, + 46, + 32, + 46, + 84, + 170, + 90, + 308, + 24, + 46, + 32, + 46, + 84, + 170, + 90, + 308, + 24, + 46, + 32, + 48, + 82, + 170, + 90, + 308, + 24, + 46, + 32, + 48, + 82, + 170, + 90, + 306, + 28, + 42, + 34, + 50, + 82, + 168, + 90, + 306, + 28, + 42, + 34, + 50, + 82, + 168, + 90, + 306, + 26, + 44, + 34, + 52, + 82, + 166, + 90, + 306, + 26, + 44, + 34, + 52, + 82, + 166, + 90, + 306, + 26, + 44, + 34, + 52, + 84, + 164, + 90, + 306, + 26, + 44, + 34, + 52, + 84, + 164, + 90, + 306, + 26, + 44, + 34, + 54, + 84, + 162, + 90, + 306, + 26, + 44, + 34, + 54, + 84, + 162, + 90, + 306, + 26, + 44, + 34, + 58, + 82, + 160, + 90, + 306, + 26, + 44, + 34, + 58, + 82, + 160, + 90, + 306, + 26, + 44, + 34, + 60, + 82, + 158, + 90, + 306, + 26, + 44, + 34, + 60, + 82, + 158, + 90, + 306, + 26, + 44, + 34, + 62, + 82, + 156, + 90, + 306, + 26, + 44, + 34, + 62, + 82, + 156, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 66, + 84, + 150, + 90, + 306, + 24, + 46, + 34, + 66, + 84, + 150, + 90, + 306, + 24, + 46, + 34, + 68, + 84, + 148, + 90, + 306, + 24, + 46, + 34, + 68, + 84, + 148, + 88, + 308, + 24, + 46, + 34, + 70, + 84, + 146, + 88, + 308, + 24, + 46, + 34, + 70, + 84, + 146, + 88, + 308, + 24, + 46, + 34, + 72, + 84, + 72, + 32, + 40, + 88, + 308, + 24, + 46, + 34, + 72, + 84, + 72, + 32, + 40, + 88, + 306, + 26, + 46, + 34, + 72, + 86, + 62, + 44, + 36, + 88, + 306, + 26, + 46, + 34, + 72, + 86, + 62, + 44, + 36, + 88, + 306, + 26, + 46, + 34, + 74, + 84, + 58, + 54, + 30, + 88, + 306, + 26, + 46, + 34, + 74, + 84, + 58, + 54, + 30, + 88, + 306, + 26, + 46, + 34, + 76, + 84, + 54, + 58, + 28, + 88, + 306, + 26, + 46, + 34, + 76, + 84, + 54, + 58, + 28, + 88, + 306, + 26, + 46, + 34, + 80, + 80, + 52, + 64, + 24, + 88, + 306, + 26, + 46, + 34, + 80, + 80, + 52, + 64, + 24, + 88, + 306, + 26, + 46, + 34, + 82, + 78, + 52, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 82, + 78, + 52, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 84, + 74, + 54, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 84, + 74, + 54, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 86, + 70, + 56, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 86, + 70, + 56, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 88, + 64, + 60, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 88, + 64, + 60, + 68, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 62, + 62, + 66, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 62, + 62, + 66, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 60, + 64, + 68, + 18, + 86, + 306, + 26, + 48, + 34, + 90, + 60, + 64, + 68, + 18, + 86, + 306, + 26, + 46, + 36, + 92, + 56, + 70, + 64, + 18, + 86, + 306, + 26, + 46, + 36, + 92, + 56, + 70, + 64, + 18, + 86, + 306, + 26, + 46, + 36, + 94, + 52, + 74, + 60, + 20, + 86, + 306, + 26, + 46, + 36, + 94, + 52, + 74, + 60, + 20, + 86, + 306, + 26, + 46, + 36, + 96, + 46, + 80, + 58, + 20, + 86, + 306, + 26, + 46, + 36, + 96, + 46, + 80, + 58, + 20, + 86, + 304, + 28, + 46, + 36, + 98, + 44, + 82, + 56, + 20, + 86, + 304, + 28, + 46, + 36, + 98, + 44, + 82, + 56, + 20, + 84, + 306, + 28, + 46, + 36, + 100, + 40, + 88, + 52, + 20, + 84, + 306, + 28, + 46, + 36, + 100, + 40, + 88, + 52, + 20, + 84, + 306, + 28, + 46, + 36, + 102, + 36, + 92, + 50, + 20, + 84, + 306, + 28, + 46, + 36, + 102, + 36, + 92, + 50, + 20, + 84, + 306, + 28, + 46, + 36, + 104, + 32, + 98, + 42, + 24, + 84, + 306, + 28, + 46, + 36, + 104, + 32, + 98, + 42, + 24, + 84, + 306, + 28, + 46, + 36, + 106, + 26, + 108, + 32, + 28, + 84, + 306, + 28, + 46, + 36, + 106, + 26, + 108, + 32, + 28, + 84, + 306, + 26, + 48, + 36, + 108, + 24, + 112, + 20, + 36, + 84, + 306, + 26, + 48, + 36, + 108, + 24, + 112, + 20, + 36, + 84, + 304, + 28, + 48, + 36, + 50, + 14, + 46, + 20, + 170, + 84, + 304, + 28, + 48, + 36, + 50, + 14, + 46, + 20, + 170, + 84, + 304, + 28, + 48, + 36, + 44, + 22, + 44, + 18, + 172, + 84, + 304, + 28, + 48, + 36, + 44, + 22, + 44, + 18, + 172, + 84, + 304, + 28, + 48, + 36, + 38, + 30, + 44, + 14, + 174, + 84, + 304, + 28, + 48, + 36, + 38, + 30, + 44, + 14, + 174, + 84, + 304, + 28, + 48, + 36, + 34, + 36, + 46, + 6, + 178, + 84, + 304, + 28, + 48, + 36, + 34, + 36, + 46, + 6, + 178, + 84, + 304, + 26, + 50, + 36, + 28, + 42, + 230, + 84, + 304, + 26, + 50, + 36, + 28, + 42, + 230, + 84, + 304, + 26, + 50, + 36, + 20, + 50, + 230, + 84, + 304, + 26, + 50, + 36, + 20, + 50, + 230, + 84, + 304, + 26, + 50, + 36, + 14, + 56, + 230, + 84, + 304, + 26, + 50, + 36, + 14, + 56, + 230, + 84, + 304, + 26, + 50, + 38, + 10, + 58, + 230, + 84, + 304, + 26, + 50, + 38, + 10, + 58, + 230, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 82, + 306, + 26, + 50, + 108, + 228, + 82, + 306, + 26, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 46, + 114, + 226, + 82, + 304, + 28, + 46, + 114, + 226, + 82, + 304, + 28, + 42, + 118, + 226, + 82, + 304, + 28, + 42, + 118, + 226, + 82, + 304, + 26, + 38, + 124, + 226, + 82, + 304, + 26, + 38, + 124, + 226, + 82, + 302, + 28, + 34, + 128, + 226, + 82, + 302, + 28, + 34, + 128, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 30, + 132, + 226, + 82, + 302, + 28, + 30, + 132, + 226, + 80, + 304, + 28, + 30, + 134, + 224, + 80, + 304, + 28, + 30, + 134, + 224, + 80, + 304, + 28, + 28, + 136, + 224, + 80, + 304, + 28, + 28, + 136, + 224, + 80, + 304, + 26, + 30, + 136, + 224, + 80, + 304, + 26, + 30, + 136, + 224, + 80, + 304, + 26, + 28, + 140, + 222, + 80, + 304, + 26, + 28, + 140, + 222, + 80, + 302, + 28, + 28, + 140, + 42, + 14, + 10, + 2, + 154, + 80, + 302, + 28, + 28, + 140, + 42, + 14, + 10, + 2, + 154, + 80, + 304, + 26, + 28, + 140, + 36, + 50, + 136, + 80, + 304, + 26, + 28, + 140, + 36, + 50, + 136, + 80, + 304, + 26, + 28, + 140, + 34, + 72, + 116, + 80, + 304, + 26, + 28, + 140, + 34, + 72, + 116, + 80, + 304, + 26, + 28, + 140, + 34, + 80, + 108, + 80, + 304, + 26, + 28, + 140, + 34, + 80, + 108, + 80, + 304, + 26, + 28, + 140, + 34, + 86, + 102, + 80, + 304, + 26, + 28, + 140, + 34, + 86, + 102, + 80, + 302, + 28, + 28, + 142, + 32, + 102, + 86, + 80, + 302, + 28, + 28, + 142, + 32, + 102, + 86, + 80, + 302, + 26, + 30, + 142, + 30, + 122, + 68, + 80, + 302, + 26, + 30, + 142, + 30, + 122, + 68, + 80, + 298, + 30, + 30, + 142, + 30, + 142, + 48, + 80, + 298, + 30, + 30, + 142, + 30, + 142, + 48, + 80, + 296, + 32, + 30, + 142, + 30, + 148, + 42, + 80, + 296, + 32, + 30, + 142, + 30, + 148, + 42, + 80, + 296, + 34, + 28, + 142, + 30, + 154, + 36, + 80, + 296, + 34, + 28, + 142, + 30, + 154, + 36, + 80, + 296, + 36, + 28, + 140, + 30, + 166, + 24, + 80, + 296, + 36, + 28, + 140, + 30, + 166, + 24, + 80, + 296, + 36, + 28, + 140, + 28, + 272, + 296, + 36, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 272, + 294, + 38, + 28, + 140, + 28, + 272, + 294, + 38, + 28, + 140, + 28, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 268, + 306, + 26, + 34, + 140, + 24, + 270, + 306, + 26, + 34, + 140, + 24, + 270, + 320, + 8, + 38, + 140, + 24, + 270, + 320, + 8, + 38, + 140, + 24, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 202, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 372, + 140, + 16, + 204, + 6, + 62, + 372, + 140, + 16, + 204, + 6, + 62, + 372, + 142, + 14, + 204, + 6, + 62, + 372, + 142, + 14, + 272, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 374, + 140, + 12, + 274, + 374, + 140, + 12, + 274, + 174, + 22, + 178, + 140, + 12, + 274, + 174, + 22, + 178, + 140, + 12, + 274, + 168, + 30, + 106, + 24, + 46, + 140, + 12, + 274, + 168, + 30, + 106, + 24, + 46, + 140, + 12, + 272, + 168, + 36, + 80, + 50, + 42, + 142, + 8, + 274, + 168, + 36, + 80, + 50, + 42, + 142, + 8, + 272, + 168, + 170, + 40, + 142, + 8, + 272, + 168, + 170, + 40, + 142, + 8, + 272, + 166, + 174, + 38, + 142, + 6, + 274, + 166, + 174, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 144, + 4, + 274, + 164, + 176, + 38, + 144, + 4, + 272, + 164, + 180, + 36, + 420, + 164, + 180, + 36, + 420, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 162, + 182, + 38, + 418, + 162, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 424, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 424, + 154, + 182, + 40, + 424, + 154, + 182, + 40, + 426, + 152, + 180, + 42, + 426, + 152, + 180, + 42, + 426, + 152, + 178, + 44, + 426, + 152, + 178, + 44, + 428, + 150, + 176, + 46, + 428, + 150, + 176, + 46, + 370, + 4, + 56, + 148, + 168, + 54, + 370, + 4, + 56, + 148, + 168, + 54, + 370, + 4, + 58, + 146, + 158, + 66, + 368, + 4, + 58, + 146, + 158, + 66, + 372, + 6, + 54, + 146, + 144, + 78, + 372, + 6, + 54, + 146, + 144, + 78, + 372, + 6, + 56, + 144, + 132, + 90, + 372, + 6, + 56, + 144, + 132, + 90, + 372, + 6, + 56, + 144, + 110, + 112, + 372, + 6, + 56, + 144, + 110, + 112, + 372, + 6, + 58, + 144, + 88, + 132, + 372, + 6, + 58, + 144, + 88, + 132, + 436, + 146, + 60, + 158, + 436, + 146, + 60, + 158, + 440, + 144, + 44, + 174, + 438, + 144, + 44, + 174, + 440, + 142, + 42, + 176, + 440, + 142, + 42, + 176, + 440, + 144, + 38, + 178, + 440, + 144, + 38, + 178, + 442, + 144, + 34, + 180, + 442, + 144, + 34, + 180, + 444, + 144, + 28, + 184, + 444, + 144, + 28, + 184, + 446, + 146, + 16, + 192, + 446, + 146, + 16, + 192, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 450, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 464, + 302, + 6, + 30, + 462, + 302, + 6, + 30, + 462, + 286, + 24, + 28, + 462, + 286, + 24, + 28, + 464, + 262, + 48, + 26, + 464, + 262, + 48, + 26, + 466, + 252, + 56, + 26, + 466, + 252, + 56, + 26, + 468, + 244, + 64, + 24, + 468, + 244, + 64, + 24, + 468, + 236, + 72, + 24, + 468, + 236, + 72, + 24, + 470, + 228, + 78, + 24, + 470, + 228, + 78, + 24, + 472, + 222, + 84, + 24, + 470, + 222, + 84, + 24, + 472, + 218, + 86, + 24, + 472, + 218, + 86, + 24, + 472, + 216, + 90, + 24, + 470, + 216, + 90, + 24, + 472, + 212, + 94, + 24, + 470, + 212, + 94, + 24, + 470, + 210, + 96, + 26, + 468, + 210, + 96, + 26, + 470, + 204, + 102, + 26, + 76, + 22, + 370, + 204, + 102, + 26, + 76, + 22, + 372, + 200, + 104, + 28, + 58, + 40, + 370, + 200, + 104, + 28, + 58, + 40, + 372, + 196, + 108, + 40, + 2, + 82, + 372, + 196, + 108, + 40, + 2, + 82, + 374, + 192, + 110, + 124, + 374, + 192, + 110, + 124, + 374, + 190, + 114, + 122, + 374, + 190, + 114, + 122, + 376, + 186, + 116, + 122, + 376, + 186, + 116, + 122, + 378, + 184, + 116, + 122, + 378, + 184, + 116, + 122, + 380, + 182, + 116, + 122, + 380, + 182, + 116, + 122, + 382, + 182, + 116, + 120, + 382, + 182, + 116, + 120, + 384, + 182, + 114, + 118, + 386, + 182, + 114, + 118, + 386, + 182, + 116, + 116, + 386, + 182, + 116, + 116, + 388, + 180, + 116, + 116, + 388, + 180, + 116, + 116, + 390, + 178, + 118, + 114, + 390, + 178, + 118, + 114, + 392, + 178, + 118, + 112, + 392, + 178, + 118, + 112, + 394, + 178, + 116, + 110, + 396, + 178, + 116, + 110, + 396, + 178, + 118, + 48, + 22, + 38, + 396, + 178, + 118, + 48, + 22, + 38, + 398, + 176, + 118, + 44, + 28, + 36, + 398, + 176, + 118, + 44, + 28, + 36, + 304, + 4, + 90, + 178, + 116, + 40, + 34, + 34, + 304, + 4, + 90, + 178, + 116, + 40, + 34, + 34, + 304, + 4, + 92, + 176, + 118, + 34, + 40, + 32, + 304, + 4, + 92, + 176, + 118, + 34, + 40, + 32, + 400, + 176, + 118, + 28, + 48, + 28, + 402, + 176, + 118, + 28, + 48, + 28, + 316, + 8, + 82, + 174, + 118, + 14, + 62, + 26, + 316, + 8, + 82, + 174, + 118, + 14, + 62, + 26, + 316, + 8, + 84, + 172, + 194, + 26, + 316, + 8, + 84, + 172, + 194, + 26, + 316, + 4, + 88, + 174, + 192, + 26, + 316, + 4, + 88, + 174, + 192, + 26, + 410, + 172, + 194, + 24, + 410, + 172, + 194, + 24, + 412, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 416, + 170, + 194, + 18, + 418, + 170, + 194, + 18, + 420, + 170, + 192, + 18, + 420, + 170, + 192, + 18, + 422, + 168, + 194, + 16, + 422, + 168, + 194, + 16, + 424, + 166, + 194, + 16, + 424, + 166, + 194, + 16, + 426, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 430, + 166, + 190, + 14, + 430, + 166, + 190, + 14, + 432, + 164, + 190, + 14, + 432, + 164, + 190, + 14, + 434, + 160, + 190, + 14, + 436, + 160, + 190, + 14, + 438, + 156, + 192, + 14, + 438, + 156, + 192, + 14, + 438, + 152, + 194, + 16, + 438, + 152, + 194, + 16, + 440, + 146, + 196, + 18, + 440, + 146, + 196, + 18, + 440, + 142, + 196, + 20, + 442, + 142, + 196, + 20, + 444, + 142, + 188, + 26, + 444, + 142, + 188, + 26, + 446, + 140, + 186, + 28, + 446, + 140, + 186, + 28, + 448, + 144, + 176, + 32, + 448, + 144, + 176, + 32, + 448, + 146, + 170, + 34, + 450, + 146, + 170, + 34, + 452, + 144, + 168, + 36, + 452, + 144, + 168, + 36, + 454, + 140, + 164, + 40, + 456, + 140, + 164, + 40, + 456, + 140, + 162, + 40, + 458, + 140, + 162, + 40, + 460, + 138, + 158, + 44, + 460, + 138, + 158, + 44, + 462, + 136, + 152, + 48, + 464, + 136, + 152, + 48, + 466, + 134, + 144, + 54, + 468, + 134, + 144, + 54, + 470, + 132, + 140, + 54, + 474, + 132, + 140, + 54, + 476, + 130, + 136, + 58, + 476, + 130, + 136, + 58, + 476, + 130, + 132, + 60, + 478, + 130, + 132, + 60, + 480, + 128, + 130, + 62, + 480, + 128, + 130, + 62, + 482, + 126, + 124, + 68, + 482, + 126, + 124, + 68, + 484, + 124, + 120, + 72, + 484, + 124, + 120, + 72, + 486, + 122, + 114, + 78, + 486, + 122, + 114, + 78, + 488, + 122, + 110, + 80, + 488, + 122, + 110, + 80, + 488, + 122, + 108, + 82, + 488, + 122, + 108, + 82, + 490, + 120, + 100, + 90, + 490, + 120, + 100, + 90, + 492, + 118, + 92, + 100, + 490, + 118, + 92, + 100, + 492, + 118, + 88, + 104, + 490, + 118, + 88, + 104, + 490, + 118, + 86, + 106, + 490, + 118, + 86, + 106, + 492, + 116, + 80, + 114, + 490, + 116, + 80, + 114, + 492, + 116, + 76, + 116, + 492, + 116, + 76, + 116, + 492, + 116, + 68, + 124, + 492, + 116, + 68, + 124, + 494, + 116, + 66, + 122, + 496, + 116, + 66, + 122, + 498, + 114, + 64, + 124, + 498, + 114, + 64, + 124, + 500, + 114, + 62, + 124, + 500, + 114, + 62, + 124, + 502, + 114, + 56, + 128, + 502, + 114, + 56, + 128, + 400, + 6, + 96, + 116, + 50, + 132, + 400, + 6, + 96, + 116, + 50, + 132, + 400, + 8, + 96, + 116, + 46, + 134, + 400, + 8, + 96, + 116, + 46, + 134, + 400, + 8, + 98, + 116, + 40, + 136, + 402, + 8, + 98, + 116, + 40, + 136, + 404, + 4, + 102, + 116, + 34, + 140, + 404, + 4, + 102, + 116, + 34, + 140, + 512, + 118, + 26, + 144, + 512, + 118, + 26, + 144, + 514, + 122, + 14, + 150, + 514, + 122, + 14, + 150, + 514, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 412, + 4, + 102, + 282, + 412, + 4, + 102, + 282, + 412, + 4, + 104, + 280, + 412, + 4, + 104, + 280, + 520, + 280, + 520, + 280, + 524, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 424, + 6, + 100, + 268, + 426, + 6, + 100, + 268, + 426, + 8, + 100, + 266, + 426, + 8, + 100, + 266, + 426, + 10, + 100, + 264, + 426, + 10, + 100, + 264, + 426, + 16, + 4, + 4, + 6, + 4, + 78, + 264, + 424, + 16, + 4, + 4, + 6, + 4, + 78, + 264, + 424, + 16, + 2, + 8, + 4, + 4, + 78, + 264, + 424, + 16, + 2, + 8, + 4, + 4, + 78, + 264, + 424, + 30, + 84, + 264, + 422, + 30, + 84, + 264, + 424, + 28, + 86, + 264, + 422, + 28, + 86, + 264, + 422, + 30, + 86, + 262, + 422, + 30, + 86, + 262, + 424, + 10, + 2, + 18, + 86, + 262, + 422, + 10, + 2, + 18, + 86, + 262, + 426, + 6, + 4, + 16, + 88, + 262, + 424, + 6, + 4, + 16, + 88, + 262, + 450, + 6, + 82, + 266, + 446, + 6, + 82, + 266, + 446, + 8, + 82, + 266, + 444, + 8, + 82, + 266, + 444, + 8, + 84, + 266, + 442, + 8, + 84, + 266, + 442, + 12, + 2, + 6, + 72, + 272, + 436, + 12, + 2, + 6, + 72, + 272, + 440, + 16, + 74, + 272, + 438, + 16, + 74, + 272, + 440, + 10, + 80, + 274, + 436, + 10, + 80, + 274, + 436, + 10, + 82, + 274, + 434, + 10, + 82, + 274, + 434, + 10, + 84, + 274, + 432, + 10, + 84, + 274, + 432, + 12, + 84, + 276, + 428, + 12, + 84, + 276, + 428, + 12, + 84, + 278, + 426, + 12, + 84, + 278, + 432, + 6, + 86, + 280, + 428, + 6, + 86, + 280, + 432, + 8, + 82, + 280, + 430, + 8, + 82, + 280, + 428, + 10, + 84, + 280, + 426, + 10, + 84, + 280, + 426, + 14, + 80, + 282, + 424, + 14, + 80, + 282, + 424, + 14, + 82, + 284, + 420, + 14, + 82, + 284, + 422, + 12, + 84, + 290, + 414, + 12, + 84, + 290, + 418, + 6, + 86, + 292, + 416, + 6, + 86, + 292, + 416, + 6, + 88, + 292, + 414, + 6, + 88, + 292, + 510, + 290, + 510, + 290, + 420, + 4, + 88, + 290, + 418, + 4, + 88, + 290, + 418, + 8, + 86, + 294, + 412, + 8, + 86, + 294, + 412, + 10, + 86, + 294, + 410, + 10, + 86, + 294, + 410, + 12, + 84, + 296, + 408, + 12, + 84, + 296, + 408, + 16, + 82, + 298, + 404, + 16, + 82, + 298, + 404, + 16, + 84, + 300, + 170, + 4, + 226, + 16, + 84, + 300, + 170, + 4, + 226, + 12, + 90, + 304, + 164, + 4, + 226, + 12, + 90, + 304, + 164, + 4, + 228, + 8, + 94, + 304, + 160, + 8, + 226, + 8, + 94, + 304, + 160, + 8, + 226, + 8, + 96, + 304, + 158, + 8, + 226, + 8, + 96, + 304, + 158, + 8, + 228, + 6, + 96, + 306, + 154, + 10, + 228, + 6, + 96, + 306, + 154, + 10, + 332, + 308, + 148, + 12, + 332, + 308, + 148, + 12, + 238, + 4, + 90, + 312, + 142, + 14, + 238, + 4, + 90, + 312, + 142, + 14, + 234, + 10, + 90, + 310, + 140, + 14, + 236, + 10, + 90, + 310, + 140, + 14, + 236, + 12, + 90, + 310, + 138, + 16, + 234, + 12, + 90, + 310, + 138, + 16, + 234, + 14, + 24, + 6, + 60, + 308, + 136, + 18, + 234, + 14, + 24, + 6, + 60, + 308, + 136, + 18, + 234, + 14, + 24, + 6, + 60, + 310, + 132, + 20, + 234, + 14, + 24, + 6, + 60, + 310, + 132, + 20, + 240, + 8, + 92, + 310, + 126, + 24, + 240, + 8, + 92, + 310, + 126, + 24, + 240, + 6, + 96, + 310, + 124, + 24, + 240, + 6, + 96, + 310, + 124, + 24, + 244, + 4, + 96, + 308, + 122, + 26, + 244, + 4, + 96, + 308, + 122, + 26, + 244, + 4, + 96, + 306, + 124, + 28, + 242, + 4, + 96, + 306, + 124, + 28, + 242, + 6, + 96, + 302, + 124, + 30, + 242, + 6, + 96, + 302, + 124, + 30, + 242, + 10, + 94, + 296, + 126, + 30, + 244, + 10, + 94, + 296, + 126, + 30, + 244, + 10, + 96, + 292, + 126, + 32, + 244, + 10, + 96, + 292, + 126, + 32, + 244, + 12, + 94, + 290, + 126, + 34, + 244, + 12, + 94, + 290, + 126, + 34, + 246, + 12, + 94, + 288, + 124, + 36, + 246, + 12, + 94, + 288, + 124, + 36, + 248, + 10, + 96, + 286, + 124, + 36, + 248, + 10, + 96, + 286, + 124, + 36, + 356, + 282, + 124, + 38, + 356, + 282, + 124, + 38, + 358, + 280, + 124, + 38, + 358, + 280, + 124, + 38, + 360, + 278, + 124, + 38, + 360, + 278, + 124, + 38, + 360, + 276, + 126, + 38, + 360, + 276, + 126, + 38, + 362, + 274, + 124, + 40, + 362, + 274, + 124, + 40, + 364, + 270, + 124, + 42, + 364, + 270, + 124, + 42, + 366, + 268, + 122, + 44, + 366, + 268, + 122, + 44, + 366, + 268, + 120, + 46, + 366, + 268, + 120, + 46, + 368, + 266, + 68, + 10, + 42, + 46, + 368, + 266, + 68, + 10, + 42, + 46, + 370, + 264, + 62, + 18, + 38, + 48, + 370, + 264, + 62, + 18, + 38, + 48, + 266, + 6, + 98, + 264, + 54, + 34, + 28, + 50, + 266, + 6, + 98, + 264, + 54, + 34, + 28, + 50, + 266, + 6, + 100, + 262, + 50, + 40, + 24, + 52, + 266, + 6, + 100, + 262, + 50, + 40, + 24, + 52, + 266, + 6, + 102, + 262, + 48, + 42, + 20, + 54, + 266, + 6, + 102, + 262, + 48, + 42, + 20, + 54, + 268, + 4, + 104, + 262, + 44, + 46, + 16, + 56, + 268, + 4, + 104, + 262, + 44, + 46, + 16, + 56, + 376, + 264, + 42, + 48, + 12, + 58, + 376, + 264, + 42, + 48, + 12, + 58, + 378, + 264, + 40, + 54, + 6, + 58, + 378, + 264, + 40, + 54, + 6, + 58, + 380, + 262, + 40, + 118, + 380, + 262, + 40, + 118, + 382, + 262, + 36, + 120, + 382, + 262, + 36, + 120, + 382, + 264, + 32, + 122, + 382, + 264, + 32, + 122, + 384, + 268, + 22, + 126, + 384, + 268, + 22, + 126, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 288, + 6, + 106, + 400, + 288, + 6, + 106, + 400, + 288, + 6, + 108, + 398, + 288, + 6, + 108, + 398, + 288, + 6, + 110, + 396, + 288, + 6, + 110, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 108, + 388, + 298, + 6, + 108, + 388, + 300, + 8, + 106, + 386, + 300, + 8, + 106, + 386, + 298, + 10, + 108, + 384, + 298, + 10, + 108, + 384, + 298, + 12, + 58, + 4, + 46, + 382, + 298, + 12, + 58, + 4, + 46, + 382, + 300, + 10, + 58, + 4, + 48, + 380, + 300, + 10, + 58, + 4, + 48, + 380, + 302, + 8, + 110, + 380, + 302, + 8, + 110, + 380, + 304, + 6, + 2, + 4, + 106, + 378, + 304, + 6, + 2, + 4, + 106, + 378, + 304, + 12, + 88, + 4, + 16, + 376, + 304, + 12, + 88, + 4, + 16, + 376, + 304, + 12, + 2, + 4, + 80, + 10, + 14, + 374, + 304, + 12, + 2, + 4, + 80, + 10, + 14, + 374, + 306, + 16, + 80, + 10, + 16, + 372, + 306, + 16, + 80, + 10, + 16, + 372, + 306, + 12, + 4, + 6, + 26, + 4, + 44, + 10, + 16, + 372, + 306, + 12, + 4, + 6, + 26, + 4, + 44, + 10, + 16, + 372, + 308, + 10, + 4, + 6, + 26, + 4, + 44, + 8, + 20, + 370, + 308, + 10, + 4, + 6, + 26, + 4, + 44, + 8, + 20, + 370, + 378, + 6, + 18, + 8, + 20, + 370, + 378, + 6, + 18, + 8, + 20, + 370, + 378, + 6, + 4, + 4, + 40, + 368, + 378, + 6, + 4, + 4, + 40, + 368, + 378, + 14, + 32, + 4, + 6, + 366, + 378, + 14, + 32, + 4, + 6, + 366, + 324, + 4, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 6, + 8, + 364, + 324, + 4, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 6, + 8, + 364, + 318, + 10, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 8, + 8, + 362, + 318, + 10, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 8, + 8, + 362, + 316, + 12, + 36, + 4, + 16, + 6, + 14, + 4, + 14, + 8, + 10, + 360, + 316, + 12, + 36, + 4, + 16, + 6, + 14, + 4, + 14, + 8, + 10, + 360, + 316, + 12, + 34, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 12, + 34, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 14, + 2, + 6, + 6, + 4, + 14, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 14, + 2, + 6, + 6, + 4, + 14, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 318, + 22, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 4, + 6, + 6, + 4, + 4, + 10, + 10, + 358, + 318, + 22, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 4, + 6, + 6, + 4, + 4, + 10, + 10, + 358, + 322, + 18, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 16, + 4, + 4, + 10, + 12, + 356, + 322, + 18, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 16, + 4, + 4, + 10, + 12, + 356, + 324, + 14, + 4, + 6, + 16, + 4, + 54, + 8, + 16, + 354, + 324, + 14, + 4, + 6, + 16, + 4, + 54, + 8, + 16, + 354, + 324, + 10, + 114, + 352, + 324, + 10, + 114, + 352, + 324, + 12, + 114, + 350, + 324, + 12, + 114, + 350, + 324, + 14, + 6, + 4, + 26, + 4, + 74, + 348, + 324, + 14, + 6, + 4, + 26, + 4, + 74, + 348, + 324, + 14, + 6, + 4, + 26, + 4, + 76, + 346, + 324, + 14, + 6, + 4, + 26, + 4, + 76, + 346, + 330, + 12, + 2, + 4, + 108, + 344, + 330, + 12, + 2, + 4, + 108, + 344, + 330, + 16, + 98, + 4, + 10, + 342, + 330, + 16, + 98, + 4, + 10, + 342, + 332, + 16, + 94, + 6, + 12, + 340, + 332, + 16, + 94, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 334, + 14, + 96, + 4, + 14, + 338, + 334, + 14, + 96, + 4, + 14, + 338, + 336, + 12, + 60, + 6, + 50, + 336, + 336, + 12, + 60, + 6, + 50, + 336, + 338, + 10, + 36, + 4, + 20, + 6, + 52, + 334, + 338, + 10, + 36, + 4, + 20, + 6, + 52, + 334, + 340, + 8, + 6, + 4, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 40, + 332, + 340, + 8, + 6, + 4, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 40, + 332, + 342, + 8, + 2, + 6, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 42, + 330, + 342, + 8, + 2, + 6, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 42, + 330, + 344, + 14, + 6, + 4, + 16, + 4, + 4, + 6, + 16, + 4, + 52, + 330, + 344, + 14, + 6, + 4, + 16, + 4, + 4, + 6, + 16, + 4, + 52, + 330, + 344, + 24, + 46, + 6, + 44, + 336, + 344, + 24, + 46, + 6, + 44, + 336, + 344, + 26, + 2, + 6, + 16, + 4, + 16, + 6, + 44, + 336, + 344, + 26, + 2, + 6, + 16, + 4, + 16, + 6, + 44, + 336, + 344, + 36, + 2, + 6, + 4, + 8, + 14, + 4, + 16, + 4, + 26, + 4, + 6, + 326, + 344, + 36, + 2, + 6, + 4, + 8, + 14, + 4, + 16, + 4, + 26, + 4, + 6, + 326, + 344, + 36, + 2, + 6, + 4, + 8, + 34, + 4, + 26, + 4, + 8, + 324, + 344, + 36, + 2, + 6, + 4, + 8, + 34, + 4, + 26, + 4, + 8, + 324, + 346, + 14, + 2, + 8, + 2, + 6, + 14, + 6, + 66, + 4, + 10, + 322, + 346, + 14, + 2, + 8, + 2, + 6, + 14, + 6, + 66, + 4, + 10, + 322, + 348, + 8, + 70, + 8, + 46, + 320, + 348, + 8, + 70, + 8, + 46, + 320, + 348, + 6, + 48, + 6, + 18, + 8, + 30, + 4, + 12, + 320, + 348, + 6, + 48, + 6, + 18, + 8, + 30, + 4, + 12, + 320, + 354, + 4, + 4, + 6, + 34, + 6, + 16, + 4, + 16, + 4, + 16, + 4, + 14, + 318, + 354, + 4, + 4, + 6, + 34, + 6, + 16, + 4, + 16, + 4, + 16, + 4, + 14, + 318, + 354, + 6, + 2, + 6, + 34, + 8, + 14, + 4, + 16, + 4, + 14, + 6, + 16, + 316, + 354, + 6, + 2, + 6, + 34, + 8, + 14, + 4, + 16, + 4, + 14, + 6, + 16, + 316, + 354, + 14, + 34, + 8, + 34, + 4, + 14, + 10, + 12, + 316, + 354, + 14, + 34, + 8, + 34, + 4, + 14, + 10, + 12, + 316, + 354, + 14, + 30, + 12, + 18, + 20, + 12, + 14, + 14, + 312, + 354, + 14, + 30, + 12, + 18, + 20, + 12, + 14, + 14, + 312, + 354, + 14, + 4, + 8, + 2, + 6, + 6, + 16, + 18, + 18, + 14, + 14, + 14, + 312, + 354, + 14, + 4, + 8, + 2, + 6, + 6, + 16, + 18, + 18, + 14, + 14, + 14, + 312, + 354, + 16, + 2, + 18, + 2, + 26, + 12, + 16, + 8, + 4, + 4, + 14, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 12, + 16, + 8, + 4, + 4, + 14, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 14, + 14, + 8, + 4, + 4, + 8, + 2, + 4, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 14, + 14, + 8, + 4, + 4, + 8, + 2, + 4, + 14, + 310, + 358, + 22, + 2, + 8, + 2, + 6, + 4, + 16, + 16, + 12, + 6, + 6, + 4, + 8, + 22, + 308, + 358, + 22, + 2, + 8, + 2, + 6, + 4, + 16, + 16, + 12, + 6, + 6, + 4, + 8, + 22, + 308, + 360, + 12, + 40, + 4, + 18, + 24, + 26, + 4, + 8, + 304, + 360, + 12, + 40, + 4, + 18, + 24, + 26, + 4, + 8, + 304, + 360, + 16, + 8, + 4, + 24, + 6, + 16, + 20, + 28, + 6, + 10, + 302, + 360, + 16, + 8, + 4, + 24, + 6, + 16, + 20, + 28, + 6, + 10, + 302, + 362, + 16, + 4, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 6, + 14, + 16, + 4, + 14, + 6, + 12, + 300, + 362, + 16, + 4, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 6, + 14, + 16, + 4, + 14, + 6, + 12, + 300, + 362, + 18, + 2, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 14, + 6, + 16, + 4, + 14, + 8, + 10, + 300, + 362, + 18, + 2, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 14, + 6, + 16, + 4, + 14, + 8, + 10, + 300, + 364, + 24, + 4, + 6, + 6, + 4, + 4, + 16, + 14, + 6, + 16, + 4, + 14, + 12, + 8, + 298, + 364, + 24, + 4, + 6, + 6, + 4, + 4, + 16, + 14, + 6, + 16, + 4, + 14, + 12, + 8, + 298, + 364, + 26, + 2, + 14, + 6, + 18, + 14, + 8, + 12, + 8, + 8, + 14, + 8, + 298, + 364, + 26, + 2, + 14, + 6, + 18, + 14, + 8, + 12, + 8, + 8, + 14, + 8, + 298, + 366, + 44, + 2, + 18, + 14, + 8, + 16, + 4, + 8, + 14, + 8, + 298, + 366, + 44, + 2, + 18, + 14, + 8, + 16, + 4, + 8, + 14, + 8, + 298, + 366, + 66, + 22, + 6, + 2, + 4, + 8, + 4, + 2, + 14, + 10, + 298, + 364, + 66, + 22, + 6, + 2, + 4, + 8, + 4, + 2, + 14, + 10, + 298, + 368, + 62, + 20, + 14, + 8, + 4, + 4, + 10, + 16, + 294, + 368, + 62, + 20, + 14, + 8, + 4, + 4, + 10, + 16, + 294, + 372, + 36, + 2, + 20, + 16, + 20, + 6, + 4, + 4, + 10, + 16, + 292, + 374, + 36, + 2, + 20, + 16, + 20, + 6, + 4, + 4, + 10, + 16, + 292, + 384, + 4, + 14, + 6, + 6, + 20, + 14, + 22, + 12, + 10, + 10, + 298, + 384, + 4, + 14, + 6, + 6, + 20, + 14, + 22, + 12, + 10, + 10, + 298, + 384, + 4, + 14, + 6, + 6, + 4, + 4, + 16, + 10, + 22, + 14, + 4, + 14, + 298, + 384, + 4, + 14, + 6, + 6, + 4, + 4, + 16, + 10, + 22, + 14, + 4, + 14, + 298, + 384, + 4, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 18, + 12, + 8, + 2, + 6, + 16, + 4, + 6, + 4, + 4, + 8, + 4, + 286, + 384, + 4, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 18, + 12, + 8, + 2, + 6, + 16, + 4, + 6, + 4, + 4, + 8, + 4, + 286, + 374, + 4, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 6, + 4, + 18, + 14, + 6, + 2, + 6, + 14, + 6, + 6, + 4, + 4, + 8, + 6, + 284, + 374, + 4, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 6, + 4, + 18, + 14, + 6, + 2, + 6, + 14, + 6, + 6, + 4, + 4, + 8, + 6, + 284, + 374, + 6, + 2, + 6, + 4, + 18, + 2, + 28, + 14, + 14, + 14, + 8, + 4, + 4, + 2, + 12, + 6, + 282, + 374, + 6, + 2, + 6, + 4, + 18, + 2, + 28, + 14, + 14, + 14, + 8, + 4, + 4, + 2, + 12, + 6, + 282, + 374, + 70, + 10, + 16, + 10, + 14, + 6, + 12, + 8, + 280, + 374, + 70, + 10, + 16, + 10, + 14, + 6, + 12, + 8, + 280, + 374, + 74, + 6, + 16, + 4, + 4, + 2, + 18, + 2, + 12, + 8, + 280, + 374, + 74, + 6, + 16, + 4, + 4, + 2, + 18, + 2, + 12, + 8, + 280, + 374, + 74, + 6, + 12, + 6, + 18, + 2, + 20, + 8, + 282, + 372, + 74, + 6, + 12, + 6, + 18, + 2, + 20, + 8, + 282, + 372, + 76, + 4, + 14, + 4, + 18, + 2, + 22, + 8, + 280, + 372, + 76, + 4, + 14, + 4, + 18, + 2, + 22, + 8, + 280, + 372, + 76, + 14, + 52, + 6, + 278, + 374, + 76, + 14, + 52, + 6, + 278, + 378, + 10, + 4, + 18, + 2, + 8, + 2, + 28, + 14, + 54, + 6, + 276, + 378, + 10, + 4, + 18, + 2, + 8, + 2, + 28, + 14, + 54, + 6, + 276, + 374, + 14, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 6, + 2, + 22, + 12, + 54, + 10, + 272, + 374, + 14, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 6, + 2, + 22, + 12, + 54, + 10, + 272, + 372, + 16, + 4, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 24, + 4, + 6, + 4, + 8, + 2, + 8, + 4, + 276, + 372, + 16, + 4, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 24, + 4, + 6, + 4, + 8, + 2, + 8, + 4, + 276, + 372, + 18, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 6, + 2, + 8, + 2, + 6, + 4, + 6, + 4, + 8, + 2, + 8, + 2, + 278, + 372, + 18, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 6, + 2, + 8, + 2, + 6, + 4, + 6, + 4, + 8, + 2, + 8, + 2, + 278, + 370, + 40, + 2, + 44, + 8, + 26, + 2, + 308, + 370, + 40, + 2, + 44, + 8, + 26, + 2, + 308, + 368, + 90, + 10, + 332, + 368, + 90, + 10, + 332, + 368, + 92, + 8, + 332, + 368, + 92, + 8, + 332, + 366, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 12, + 328, + 364, + 96, + 12, + 328, + 362, + 102, + 8, + 326, + 364, + 102, + 8, + 326, + 364, + 14, + 2, + 10, + 2, + 6, + 2, + 10, + 2, + 6, + 4, + 46, + 6, + 326, + 364, + 14, + 2, + 10, + 2, + 6, + 2, + 10, + 2, + 6, + 4, + 46, + 6, + 326, + 364, + 14, + 4, + 8, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 48, + 4, + 328, + 362, + 14, + 4, + 8, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 48, + 4, + 328, + 362, + 26, + 2, + 8, + 2, + 8, + 2, + 60, + 2, + 66, + 2, + 260, + 362, + 26, + 2, + 8, + 2, + 8, + 2, + 60, + 2, + 66, + 2, + 260, + 362, + 112, + 6, + 58, + 2, + 258, + 364, + 112, + 6, + 58, + 2, + 258, + 362, + 114, + 6, + 318, + 362, + 114, + 6, + 318, + 360, + 118, + 4, + 318, + 360, + 118, + 4, + 318, + 358, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 126, + 6, + 312, + 356, + 126, + 6, + 312, + 354, + 22, + 4, + 8, + 2, + 8, + 2, + 86, + 2, + 68, + 2, + 242, + 354, + 22, + 4, + 8, + 2, + 8, + 2, + 86, + 2, + 68, + 2, + 242, + 352, + 16, + 2, + 6, + 4, + 8, + 2, + 6, + 4, + 8, + 2, + 76, + 4, + 66, + 2, + 242, + 352, + 16, + 2, + 6, + 4, + 8, + 2, + 6, + 4, + 8, + 2, + 76, + 4, + 66, + 2, + 242, + 352, + 26, + 2, + 8, + 2, + 8, + 2, + 86, + 4, + 68, + 2, + 240, + 352, + 26, + 2, + 8, + 2, + 8, + 2, + 86, + 4, + 68, + 2, + 240, + 352, + 136, + 2, + 310, + 352, + 136, + 2, + 310, + 350, + 138, + 6, + 304, + 352, + 138, + 6, + 304, + 350, + 140, + 6, + 304, + 350, + 140, + 6, + 304, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000170:0000", + "experimental_retained_index": 1, + "ism_score": 0.35174989700317383, + "R": [ + [ + -0.8632614612579346, + 0.34434062242507935, + -0.3693353235721588 + ], + [ + 0.40652406215667725, + 0.9079627394676208, + -0.10367321968078613 + ], + [ + 0.29966336488723755, + -0.2395472228527069, + -0.9237226247787476 + ] + ], + "t": [ + -83.11763763427734, + -79.47217559814453, + 486.6645812988281 + ] + }, + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 890, + 0, + 170, + 40 + ], + "score": 0.15814349055290222, + "time": 0.0, + "segmentation": { + "counts": [ + 711200, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 778, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 174375 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000170:0002", + "experimental_retained_index": 2, + "ism_score": 0.3514299690723419, + "R": [ + [ + 0.0009324662387371063, + -0.9877761602401733, + -0.15658223628997803 + ], + [ + -0.9853521585464478, + -0.02760777622461319, + 0.16843032836914062 + ], + [ + -0.17043325304985046, + 0.15406788885593414, + -0.9733087420463562 + ] + ], + "t": [ + 296.4102478027344, + -286.8106994628906, + 512.1705932617188 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 890, + 0, + 170, + 40 + ], + "score": 0.15814349055290222, + "time": 0.0, + "segmentation": { + "counts": [ + 711200, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 778, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 174375 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000170:0002", + "experimental_retained_index": 2, + "ism_score": 0.3514299690723419, + "R": [ + [ + 0.0009324662387371063, + -0.9877761602401733, + -0.15658223628997803 + ], + [ + -0.9853521585464478, + -0.02760777622461319, + 0.16843032836914062 + ], + [ + -0.17043325304985046, + 0.15406788885593414, + -0.9733087420463562 + ] + ], + "t": [ + 296.4102478027344, + -286.8106994628906, + 512.1705932617188 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000170/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000170/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000170:0001", + "Slide_holder:000170:0000", + "Slide_holder:000170:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000170.png" + }, + { + "frame_id": 172, + "image_path": "/workspace/data/0008_/images/000172.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000172.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 992, + 0, + 286, + 140 + ], + "score": 0.03801913559436798, + "time": 0.0, + "segmentation": { + "counts": [ + 792803, + 8, + 792, + 8, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 730, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 657 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000172:0001", + "experimental_retained_index": 0, + "ism_score": 0.4345044195652008, + "R": [ + [ + -0.1710662692785263, + -0.5853385329246521, + -0.7923402190208435 + ], + [ + -0.7800683975219727, + -0.41068562865257263, + 0.47184881567955017 + ], + [ + -0.6020306348800659, + 0.6986174583435059, + -0.3866322636604309 + ] + ], + "t": [ + 341.9659729003906, + -255.93438720703125, + 495.0541076660156 + ] + }, + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 698, + 0, + 580, + 408 + ], + "score": 0.10256852209568024, + "time": 0.0, + "segmentation": { + "counts": [ + 557600, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 16, + 10, + 108, + 666, + 16, + 10, + 108, + 668, + 10, + 16, + 108, + 666, + 10, + 16, + 108, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 652, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 650, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 389 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000172:0000", + "experimental_retained_index": 1, + "ism_score": 0.41546741127967834, + "R": [ + [ + 0.444978266954422, + -0.8370835781097412, + -0.31776612997055054 + ], + [ + -0.8270588517189026, + -0.5205700993537903, + 0.21315068006515503 + ], + [ + -0.34396499395370483, + 0.16775700449943542, + -0.9237905740737915 + ] + ], + "t": [ + 299.8865051269531, + -215.64736938476562, + 532.0366821289062 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 698, + 0, + 580, + 408 + ], + "score": 0.10256852209568024, + "time": 0.0, + "segmentation": { + "counts": [ + 557600, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 16, + 10, + 108, + 666, + 16, + 10, + 108, + 668, + 10, + 16, + 108, + 666, + 10, + 16, + 108, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 652, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 650, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 389 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000172:0000", + "experimental_retained_index": 1, + "ism_score": 0.41546741127967834, + "R": [ + [ + 0.444978266954422, + -0.8370835781097412, + -0.31776612997055054 + ], + [ + -0.8270588517189026, + -0.5205700993537903, + 0.21315068006515503 + ], + [ + -0.34396499395370483, + 0.16775700449943542, + -0.9237905740737915 + ] + ], + "t": [ + 299.8865051269531, + -215.64736938476562, + 532.0366821289062 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000172/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000172/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000172:0001", + "Slide_holder:000172:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000172.png" + }, + { + "frame_id": 176, + "image_path": "/workspace/data/0008_/images/000176.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000176.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 550, + 274, + 106, + 64 + ], + "score": 0.3708076477050781, + "time": 0.0, + "segmentation": { + "counts": [ + 439515, + 10, + 790, + 10, + 788, + 16, + 784, + 16, + 784, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 786, + 12, + 788, + 12, + 497303 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000176:0000", + "experimental_retained_index": 0, + "ism_score": 0.39421409368515015, + "R": [ + [ + -0.4622386395931244, + 0.8848472237586975, + 0.058159589767456055 + ], + [ + -0.7103497982025146, + -0.40874555706977844, + 0.5730014443397522 + ], + [ + 0.530790388584137, + 0.22354978322982788, + 0.8174882531166077 + ] + ], + "t": [ + 22.845304489135742, + -64.83187103271484, + 408.11175537109375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 550, + 274, + 106, + 64 + ], + "score": 0.3708076477050781, + "time": 0.0, + "segmentation": { + "counts": [ + 439515, + 10, + 790, + 10, + 788, + 16, + 784, + 16, + 784, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 786, + 12, + 788, + 12, + 497303 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000176:0000", + "experimental_retained_index": 0, + "ism_score": 0.39421409368515015, + "R": [ + [ + -0.4622386395931244, + 0.8848472237586975, + 0.058159589767456055 + ], + [ + -0.7103497982025146, + -0.40874555706977844, + 0.5730014443397522 + ], + [ + 0.530790388584137, + 0.22354978322982788, + 0.8174882531166077 + ] + ], + "t": [ + 22.845304489135742, + -64.83187103271484, + 408.11175537109375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000176/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000176/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000176:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000176.png" + }, + { + "frame_id": 178, + "image_path": "/workspace/data/0008_/images/000178.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000178.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000178/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 180, + "image_path": "/workspace/data/0008_/images/000180.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000180.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 998, + 0, + 250, + 64 + ], + "score": 0.19992037117481232, + "time": 0.0, + "segmentation": { + "counts": [ + 797600, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 30, + 770, + 30, + 755, + 3, + 14, + 28, + 755, + 3, + 14, + 28, + 755, + 7, + 12, + 26, + 755, + 7, + 12, + 26, + 755, + 9, + 12, + 26, + 753, + 9, + 12, + 26, + 753, + 11, + 12, + 24, + 753, + 11, + 12, + 24, + 753, + 13, + 12, + 22, + 753, + 13, + 12, + 22, + 753, + 15, + 12, + 22, + 751, + 15, + 12, + 22, + 751, + 17, + 12, + 20, + 751, + 17, + 12, + 20, + 751, + 19, + 10, + 20, + 751, + 19, + 10, + 20, + 751, + 21, + 12, + 18, + 749, + 21, + 12, + 18, + 749, + 23, + 12, + 16, + 749, + 23, + 12, + 16, + 749, + 23, + 14, + 14, + 749, + 23, + 14, + 14, + 749, + 25, + 12, + 16, + 747, + 25, + 12, + 16, + 747, + 29, + 10, + 14, + 747, + 29, + 10, + 14, + 747, + 31, + 10, + 14, + 745, + 31, + 10, + 14, + 745, + 31, + 12, + 12, + 745, + 31, + 12, + 12, + 745, + 33, + 10, + 12, + 745, + 33, + 10, + 12, + 745, + 37, + 8, + 10, + 745, + 37, + 8, + 10, + 745, + 39, + 8, + 8, + 745, + 39, + 8, + 8, + 745, + 41, + 8, + 6, + 745, + 41, + 8, + 6, + 745, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 776, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 23979 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000180:0000", + "experimental_retained_index": 0, + "ism_score": 0.46358346939086914, + "R": [ + [ + 0.7204233407974243, + 0.44859278202056885, + -0.5289179086685181 + ], + [ + 0.5584527254104614, + 0.07699552178382874, + 0.8259552121162415 + ], + [ + 0.41124171018600464, + -0.8904133439064026, + -0.1950487494468689 + ] + ], + "t": [ + 394.1446838378906, + -261.0209045410156, + 464.3279724121094 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 998, + 0, + 250, + 64 + ], + "score": 0.19992037117481232, + "time": 0.0, + "segmentation": { + "counts": [ + 797600, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 30, + 770, + 30, + 755, + 3, + 14, + 28, + 755, + 3, + 14, + 28, + 755, + 7, + 12, + 26, + 755, + 7, + 12, + 26, + 755, + 9, + 12, + 26, + 753, + 9, + 12, + 26, + 753, + 11, + 12, + 24, + 753, + 11, + 12, + 24, + 753, + 13, + 12, + 22, + 753, + 13, + 12, + 22, + 753, + 15, + 12, + 22, + 751, + 15, + 12, + 22, + 751, + 17, + 12, + 20, + 751, + 17, + 12, + 20, + 751, + 19, + 10, + 20, + 751, + 19, + 10, + 20, + 751, + 21, + 12, + 18, + 749, + 21, + 12, + 18, + 749, + 23, + 12, + 16, + 749, + 23, + 12, + 16, + 749, + 23, + 14, + 14, + 749, + 23, + 14, + 14, + 749, + 25, + 12, + 16, + 747, + 25, + 12, + 16, + 747, + 29, + 10, + 14, + 747, + 29, + 10, + 14, + 747, + 31, + 10, + 14, + 745, + 31, + 10, + 14, + 745, + 31, + 12, + 12, + 745, + 31, + 12, + 12, + 745, + 33, + 10, + 12, + 745, + 33, + 10, + 12, + 745, + 37, + 8, + 10, + 745, + 37, + 8, + 10, + 745, + 39, + 8, + 8, + 745, + 39, + 8, + 8, + 745, + 41, + 8, + 6, + 745, + 41, + 8, + 6, + 745, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 776, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 23979 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000180:0000", + "experimental_retained_index": 0, + "ism_score": 0.46358346939086914, + "R": [ + [ + 0.7204233407974243, + 0.44859278202056885, + -0.5289179086685181 + ], + [ + 0.5584527254104614, + 0.07699552178382874, + 0.8259552121162415 + ], + [ + 0.41124171018600464, + -0.8904133439064026, + -0.1950487494468689 + ] + ], + "t": [ + 394.1446838378906, + -261.0209045410156, + 464.3279724121094 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000180/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000180/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000180:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000180.png" + }, + { + "frame_id": 182, + "image_path": "/workspace/data/0008_/images/000182.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000182.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 822, + 0, + 158, + 66 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 656821, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13594, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 786, + 16, + 784, + 16, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 772, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 780, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 790, + 6, + 794, + 6, + 238369 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000182:0000", + "experimental_retained_index": 0, + "ism_score": 0.41374555230140686, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 822, + 0, + 158, + 66 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 656821, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13594, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 786, + 16, + 784, + 16, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 772, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 780, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 790, + 6, + 794, + 6, + 238369 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000182:0000", + "experimental_retained_index": 0, + "ism_score": 0.41374555230140686, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000182/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000182/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000182:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000182.png" + }, + { + "frame_id": 184, + "image_path": "/workspace/data/0008_/images/000184.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000184.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000184/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 188, + "image_path": "/workspace/data/0008_/images/000188.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000188.png", + "status": "ok", + "detection_count": 5, + "input_candidate_count": 5, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 432, + 304, + 104, + 128 + ], + "score": 0.41245073080062866, + "time": 0.0, + "segmentation": { + "counts": [ + 345151, + 4, + 796, + 4, + 794, + 10, + 790, + 10, + 788, + 18, + 782, + 18, + 780, + 28, + 772, + 28, + 772, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 754, + 50, + 750, + 50, + 748, + 60, + 740, + 60, + 740, + 68, + 732, + 68, + 730, + 78, + 722, + 78, + 720, + 86, + 714, + 86, + 714, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 670, + 14, + 6, + 110, + 670, + 14, + 6, + 110, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 4, + 12, + 56, + 728, + 4, + 12, + 56, + 750, + 10, + 32, + 4, + 754, + 10, + 32, + 4, + 593211 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000188:0002", + "experimental_retained_index": 0, + "ism_score": 0.42852023243904114, + "R": [ + [ + 0.8411613702774048, + -0.5396292805671692, + 0.041763365268707275 + ], + [ + 0.247060626745224, + 0.4513590931892395, + 0.8575250506401062 + ], + [ + -0.4814712703227997, + -0.7108502388000488, + 0.5129478573799133 + ] + ], + "t": [ + -127.07977294921875, + 24.24416732788086, + 461.2409362792969 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 444, + 0, + 230, + 46 + ], + "score": 0.33790600299835205, + "time": 0.0, + "segmentation": { + "counts": [ + 354400, + 7, + 793, + 7, + 793, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 29, + 771, + 29, + 771, + 25, + 775, + 25, + 775, + 21, + 779, + 21, + 779, + 15, + 785, + 15, + 785, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 483191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000188:0004", + "experimental_retained_index": 1, + "ism_score": 0.41749003529548645, + "R": [ + [ + 0.7713481187820435, + 0.5102097988128662, + -0.37966275215148926 + ], + [ + 0.6359521150588989, + -0.6168982982635498, + 0.46327078342437744 + ], + [ + 0.0019358694553375244, + -0.599219560623169, + -0.8006231784820557 + ] + ], + "t": [ + 4.750925540924072, + -430.93719482421875, + 647.2439575195312 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 872, + 144, + 180, + 48 + ], + "score": 0.19047346711158752, + "time": 0.0, + "segmentation": { + "counts": [ + 696981, + 14, + 786, + 14, + 778, + 22, + 778, + 22, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 12, + 788, + 12, + 180641 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000188:0005", + "experimental_retained_index": 2, + "ism_score": 0.40907052159309387, + "R": [ + [ + 0.03281532973051071, + 0.3165077269077301, + -0.9480683207511902 + ], + [ + 0.8097478747367859, + 0.5475836396217346, + 0.21095328032970428 + ], + [ + 0.5854186415672302, + -0.7747066020965576, + -0.23843495547771454 + ] + ], + "t": [ + 549.9352416992188, + -385.85821533203125, + 1051.2049560546875 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 902, + 0, + 182, + 60 + ], + "score": 0.29428374767303467, + "time": 0.0, + "segmentation": { + "counts": [ + 720827, + 18, + 782, + 18, + 770, + 30, + 770, + 30, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 31, + 769, + 31, + 769, + 23, + 777, + 23, + 777, + 17, + 783, + 17, + 783, + 9, + 791, + 9, + 155191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000188:0001", + "experimental_retained_index": 3, + "ism_score": 0.3923783302307129, + "R": [ + [ + 0.049000754952430725, + -0.9133316278457642, + -0.4040081799030304 + ], + [ + -0.9597338438034058, + -0.15536876022815704, + 0.23503801226615906 + ], + [ + -0.27738678455352783, + 0.37607529759407043, + -0.8841171264648438 + ] + ], + "t": [ + 675.7908935546875, + -594.9522705078125, + 1070.617431640625 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 0, + 196, + 1278, + 600 + ], + "score": 0.05102492496371269, + "time": 0.0, + "segmentation": { + "counts": [ + 403, + 396, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 336, + 464, + 336, + 464, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 366, + 434, + 366, + 434, + 376, + 424, + 376, + 424, + 380, + 420, + 380, + 420, + 386, + 414, + 386, + 414, + 394, + 406, + 394, + 406, + 402, + 398, + 402, + 398, + 408, + 392, + 408, + 392, + 412, + 388, + 412, + 388, + 420, + 380, + 420, + 380, + 424, + 376, + 424, + 376, + 438, + 362, + 438, + 362, + 446, + 354, + 446, + 354, + 454, + 346, + 454, + 346, + 458, + 342, + 458, + 342, + 464, + 336, + 464, + 336, + 474, + 326, + 474, + 326, + 480, + 320, + 480, + 320, + 484, + 316, + 484, + 316, + 492, + 308, + 492, + 308, + 494, + 12, + 16, + 278, + 494, + 12, + 16, + 278, + 534, + 266, + 534, + 266, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 672, + 128, + 672, + 128, + 680, + 120, + 680, + 120, + 684, + 116, + 684, + 116, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 342, + 6, + 346, + 106, + 342, + 6, + 346, + 106, + 318, + 44, + 334, + 104, + 318, + 44, + 334, + 104, + 316, + 52, + 326, + 106, + 316, + 52, + 326, + 106, + 314, + 64, + 316, + 106, + 314, + 64, + 316, + 106, + 314, + 72, + 308, + 106, + 314, + 72, + 308, + 106, + 314, + 86, + 292, + 108, + 314, + 86, + 292, + 108, + 314, + 38, + 10, + 44, + 278, + 116, + 314, + 38, + 10, + 44, + 278, + 116, + 312, + 40, + 12, + 44, + 272, + 120, + 312, + 40, + 12, + 44, + 272, + 120, + 312, + 38, + 18, + 48, + 256, + 128, + 312, + 38, + 18, + 48, + 256, + 128, + 312, + 36, + 34, + 46, + 232, + 140, + 312, + 36, + 34, + 46, + 232, + 140, + 310, + 36, + 46, + 60, + 42, + 6, + 32, + 54, + 64, + 150, + 310, + 36, + 46, + 60, + 42, + 6, + 32, + 54, + 64, + 150, + 310, + 34, + 54, + 60, + 34, + 14, + 16, + 278, + 310, + 34, + 54, + 60, + 34, + 14, + 16, + 278, + 310, + 34, + 58, + 60, + 28, + 310, + 310, + 34, + 58, + 60, + 28, + 310, + 310, + 34, + 64, + 62, + 16, + 314, + 310, + 34, + 64, + 62, + 16, + 314, + 310, + 32, + 78, + 380, + 310, + 32, + 78, + 380, + 308, + 32, + 84, + 376, + 308, + 32, + 84, + 376, + 308, + 32, + 90, + 370, + 308, + 32, + 90, + 370, + 308, + 32, + 92, + 368, + 308, + 32, + 92, + 368, + 308, + 30, + 96, + 366, + 308, + 30, + 96, + 366, + 308, + 28, + 98, + 366, + 308, + 28, + 98, + 366, + 308, + 26, + 100, + 366, + 308, + 26, + 100, + 366, + 308, + 24, + 104, + 364, + 308, + 24, + 104, + 364, + 308, + 22, + 106, + 364, + 308, + 22, + 106, + 364, + 310, + 16, + 112, + 362, + 310, + 16, + 112, + 362, + 316, + 8, + 114, + 362, + 316, + 8, + 114, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 436, + 364, + 436, + 364, + 434, + 366, + 434, + 366, + 434, + 104, + 10, + 252, + 434, + 104, + 10, + 252, + 432, + 102, + 16, + 250, + 432, + 102, + 16, + 250, + 432, + 84, + 34, + 250, + 432, + 84, + 34, + 250, + 430, + 82, + 38, + 250, + 430, + 82, + 38, + 250, + 426, + 80, + 44, + 250, + 426, + 80, + 44, + 250, + 424, + 76, + 50, + 250, + 424, + 76, + 50, + 250, + 422, + 72, + 56, + 250, + 422, + 72, + 56, + 250, + 304, + 4, + 114, + 68, + 60, + 250, + 304, + 4, + 114, + 68, + 60, + 250, + 302, + 8, + 112, + 64, + 64, + 250, + 302, + 8, + 112, + 64, + 64, + 250, + 302, + 8, + 110, + 58, + 72, + 250, + 302, + 8, + 110, + 58, + 72, + 250, + 298, + 14, + 106, + 54, + 78, + 250, + 298, + 14, + 106, + 54, + 78, + 250, + 298, + 14, + 102, + 54, + 82, + 250, + 298, + 14, + 102, + 54, + 82, + 250, + 298, + 14, + 102, + 48, + 88, + 250, + 298, + 14, + 102, + 48, + 88, + 250, + 298, + 14, + 102, + 44, + 92, + 250, + 298, + 14, + 102, + 44, + 92, + 250, + 298, + 16, + 98, + 40, + 98, + 250, + 298, + 16, + 98, + 40, + 98, + 250, + 296, + 18, + 94, + 38, + 104, + 250, + 296, + 18, + 94, + 38, + 104, + 250, + 296, + 18, + 94, + 34, + 108, + 250, + 296, + 18, + 94, + 34, + 108, + 250, + 296, + 20, + 90, + 30, + 114, + 250, + 296, + 20, + 90, + 30, + 114, + 250, + 296, + 20, + 88, + 30, + 116, + 250, + 296, + 20, + 88, + 30, + 116, + 250, + 294, + 24, + 84, + 26, + 122, + 250, + 294, + 24, + 84, + 26, + 122, + 250, + 294, + 24, + 84, + 20, + 128, + 250, + 294, + 24, + 84, + 20, + 128, + 250, + 292, + 28, + 80, + 18, + 132, + 250, + 292, + 28, + 80, + 18, + 132, + 250, + 292, + 28, + 80, + 16, + 134, + 250, + 292, + 28, + 80, + 16, + 134, + 250, + 292, + 28, + 80, + 14, + 138, + 64, + 32, + 152, + 292, + 28, + 80, + 14, + 138, + 64, + 32, + 152, + 292, + 30, + 74, + 16, + 140, + 46, + 68, + 134, + 292, + 30, + 74, + 16, + 140, + 46, + 68, + 134, + 294, + 40, + 6, + 10, + 4, + 58, + 140, + 32, + 92, + 124, + 294, + 40, + 6, + 10, + 4, + 58, + 140, + 32, + 92, + 124, + 302, + 110, + 142, + 14, + 112, + 120, + 302, + 110, + 142, + 14, + 112, + 120, + 304, + 108, + 270, + 118, + 304, + 108, + 270, + 118, + 338, + 72, + 272, + 118, + 338, + 72, + 272, + 118, + 342, + 68, + 274, + 116, + 342, + 68, + 274, + 116, + 352, + 58, + 274, + 116, + 352, + 58, + 274, + 116, + 368, + 42, + 272, + 118, + 368, + 42, + 272, + 118, + 376, + 34, + 272, + 118, + 376, + 34, + 272, + 118, + 384, + 24, + 270, + 122, + 384, + 24, + 270, + 122, + 402, + 6, + 264, + 128, + 402, + 6, + 264, + 128, + 666, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 642, + 158, + 642, + 158, + 634, + 166, + 634, + 166, + 624, + 176, + 624, + 176, + 606, + 194, + 606, + 194, + 584, + 216, + 584, + 216, + 564, + 236, + 564, + 236, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 290, + 28, + 234, + 248, + 290, + 28, + 234, + 248, + 282, + 58, + 212, + 248, + 282, + 58, + 212, + 248, + 278, + 82, + 2, + 8, + 182, + 248, + 278, + 82, + 2, + 8, + 182, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 144, + 246, + 278, + 132, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 66, + 8, + 172, + 276, + 134, + 144, + 66, + 8, + 172, + 276, + 134, + 144, + 64, + 12, + 170, + 276, + 134, + 144, + 64, + 12, + 170, + 276, + 136, + 142, + 62, + 14, + 170, + 276, + 136, + 142, + 62, + 14, + 170, + 276, + 136, + 142, + 60, + 18, + 168, + 276, + 136, + 142, + 60, + 18, + 168, + 274, + 46, + 4, + 86, + 144, + 58, + 20, + 168, + 274, + 46, + 4, + 86, + 144, + 58, + 20, + 168, + 274, + 44, + 60, + 32, + 144, + 56, + 24, + 166, + 274, + 44, + 60, + 32, + 144, + 56, + 24, + 166, + 272, + 44, + 66, + 28, + 144, + 52, + 30, + 164, + 272, + 44, + 66, + 28, + 144, + 52, + 30, + 164, + 272, + 44, + 68, + 26, + 144, + 50, + 32, + 164, + 272, + 44, + 68, + 26, + 144, + 50, + 32, + 164, + 272, + 44, + 70, + 24, + 144, + 48, + 36, + 162, + 272, + 44, + 70, + 24, + 144, + 48, + 36, + 162, + 272, + 42, + 72, + 24, + 144, + 46, + 38, + 162, + 272, + 42, + 72, + 24, + 144, + 46, + 38, + 162, + 272, + 42, + 76, + 20, + 142, + 46, + 42, + 160, + 272, + 42, + 76, + 20, + 142, + 46, + 42, + 160, + 270, + 42, + 82, + 16, + 142, + 44, + 44, + 160, + 270, + 42, + 82, + 16, + 142, + 44, + 44, + 160, + 270, + 40, + 86, + 16, + 136, + 46, + 48, + 158, + 270, + 40, + 86, + 16, + 136, + 46, + 48, + 158, + 270, + 38, + 90, + 14, + 118, + 60, + 52, + 158, + 270, + 38, + 90, + 14, + 118, + 60, + 52, + 158, + 270, + 36, + 94, + 12, + 90, + 88, + 54, + 156, + 270, + 36, + 94, + 12, + 90, + 88, + 54, + 156, + 270, + 36, + 96, + 20, + 36, + 130, + 58, + 154, + 270, + 36, + 96, + 20, + 36, + 130, + 58, + 154, + 268, + 38, + 98, + 180, + 62, + 154, + 268, + 38, + 98, + 180, + 62, + 154, + 268, + 38, + 104, + 172, + 66, + 152, + 268, + 38, + 104, + 172, + 66, + 152, + 268, + 38, + 104, + 170, + 68, + 152, + 268, + 38, + 104, + 170, + 68, + 152, + 268, + 38, + 106, + 166, + 72, + 150, + 268, + 38, + 106, + 166, + 72, + 150, + 266, + 38, + 110, + 160, + 76, + 150, + 266, + 38, + 110, + 160, + 76, + 150, + 266, + 38, + 114, + 154, + 78, + 150, + 266, + 38, + 114, + 154, + 78, + 150, + 266, + 36, + 118, + 150, + 80, + 150, + 266, + 36, + 118, + 150, + 80, + 150, + 266, + 28, + 128, + 146, + 80, + 152, + 266, + 28, + 128, + 146, + 80, + 152, + 266, + 28, + 130, + 142, + 80, + 154, + 266, + 28, + 130, + 142, + 80, + 154, + 266, + 24, + 134, + 138, + 82, + 156, + 266, + 24, + 134, + 138, + 82, + 156, + 264, + 26, + 140, + 130, + 82, + 158, + 264, + 26, + 140, + 130, + 82, + 158, + 264, + 26, + 142, + 128, + 80, + 160, + 264, + 26, + 142, + 128, + 80, + 160, + 264, + 26, + 144, + 122, + 80, + 164, + 264, + 26, + 144, + 122, + 80, + 164, + 264, + 22, + 150, + 118, + 78, + 168, + 264, + 22, + 150, + 118, + 78, + 168, + 262, + 24, + 154, + 112, + 78, + 170, + 262, + 24, + 154, + 112, + 78, + 170, + 262, + 24, + 156, + 108, + 78, + 172, + 262, + 24, + 156, + 108, + 78, + 172, + 262, + 30, + 154, + 100, + 80, + 174, + 262, + 30, + 154, + 100, + 80, + 174, + 262, + 30, + 156, + 96, + 80, + 176, + 262, + 30, + 156, + 96, + 80, + 176, + 262, + 24, + 164, + 92, + 78, + 180, + 262, + 24, + 164, + 92, + 78, + 180, + 262, + 24, + 166, + 86, + 78, + 184, + 262, + 24, + 166, + 86, + 78, + 184, + 260, + 30, + 166, + 80, + 80, + 184, + 260, + 30, + 166, + 80, + 80, + 184, + 260, + 32, + 166, + 78, + 78, + 186, + 260, + 32, + 166, + 78, + 78, + 186, + 260, + 32, + 168, + 74, + 76, + 190, + 260, + 32, + 168, + 74, + 76, + 190, + 260, + 38, + 164, + 72, + 72, + 194, + 260, + 38, + 164, + 72, + 72, + 194, + 258, + 40, + 166, + 70, + 70, + 196, + 258, + 40, + 166, + 70, + 70, + 196, + 258, + 12, + 6, + 10, + 4, + 8, + 170, + 68, + 66, + 198, + 258, + 12, + 6, + 10, + 4, + 8, + 170, + 68, + 66, + 198, + 258, + 6, + 208, + 64, + 64, + 200, + 258, + 6, + 208, + 64, + 64, + 200, + 258, + 6, + 212, + 60, + 62, + 202, + 258, + 6, + 212, + 60, + 62, + 202, + 258, + 4, + 214, + 62, + 56, + 206, + 258, + 4, + 214, + 62, + 56, + 206, + 256, + 6, + 218, + 58, + 54, + 208, + 256, + 6, + 218, + 58, + 54, + 208, + 256, + 8, + 218, + 58, + 48, + 212, + 256, + 8, + 218, + 58, + 48, + 212, + 256, + 8, + 222, + 54, + 46, + 214, + 256, + 8, + 222, + 54, + 46, + 214, + 256, + 8, + 224, + 54, + 42, + 216, + 256, + 8, + 224, + 54, + 42, + 216, + 256, + 6, + 228, + 52, + 38, + 220, + 256, + 6, + 228, + 52, + 38, + 220, + 254, + 8, + 230, + 50, + 36, + 222, + 254, + 8, + 230, + 50, + 36, + 222, + 254, + 8, + 232, + 50, + 32, + 224, + 254, + 8, + 232, + 50, + 32, + 224, + 254, + 10, + 232, + 48, + 30, + 226, + 254, + 10, + 232, + 48, + 30, + 226, + 252, + 12, + 234, + 48, + 26, + 228, + 252, + 12, + 234, + 48, + 26, + 228, + 252, + 14, + 232, + 48, + 22, + 232, + 252, + 14, + 232, + 48, + 22, + 232, + 252, + 16, + 16, + 4, + 210, + 50, + 16, + 236, + 252, + 16, + 16, + 4, + 210, + 50, + 16, + 236, + 252, + 22, + 8, + 12, + 202, + 54, + 12, + 238, + 252, + 22, + 8, + 12, + 202, + 54, + 12, + 238, + 250, + 48, + 198, + 54, + 10, + 240, + 250, + 48, + 198, + 54, + 10, + 240, + 250, + 50, + 196, + 56, + 4, + 244, + 250, + 50, + 196, + 56, + 4, + 244, + 250, + 50, + 196, + 304, + 250, + 50, + 196, + 304, + 250, + 50, + 196, + 304, + 250, + 50, + 196, + 304, + 248, + 50, + 198, + 304, + 248, + 50, + 198, + 304, + 248, + 48, + 200, + 304, + 248, + 48, + 200, + 304, + 248, + 46, + 200, + 306, + 248, + 46, + 200, + 306, + 248, + 44, + 202, + 306, + 248, + 44, + 202, + 306, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 128, + 6, + 174, + 246, + 40, + 206, + 128, + 6, + 174, + 246, + 40, + 206, + 86, + 52, + 170, + 246, + 40, + 206, + 86, + 52, + 170, + 246, + 40, + 206, + 68, + 72, + 168, + 246, + 40, + 206, + 68, + 72, + 168, + 246, + 40, + 206, + 44, + 96, + 168, + 246, + 40, + 206, + 44, + 96, + 168, + 244, + 42, + 206, + 22, + 118, + 168, + 244, + 42, + 206, + 22, + 118, + 168, + 244, + 48, + 342, + 166, + 244, + 48, + 342, + 166, + 244, + 48, + 342, + 166, + 244, + 48, + 342, + 166, + 244, + 42, + 348, + 166, + 244, + 42, + 348, + 166, + 244, + 42, + 348, + 166, + 244, + 42, + 348, + 166, + 242, + 50, + 342, + 166, + 242, + 50, + 342, + 166, + 242, + 50, + 342, + 166, + 242, + 50, + 342, + 166, + 242, + 52, + 340, + 166, + 242, + 52, + 340, + 166, + 242, + 56, + 22, + 8, + 308, + 164, + 242, + 56, + 22, + 8, + 308, + 164, + 242, + 90, + 304, + 164, + 242, + 90, + 304, + 164, + 242, + 92, + 302, + 164, + 242, + 92, + 302, + 164, + 240, + 96, + 300, + 164, + 240, + 96, + 300, + 164, + 240, + 98, + 300, + 162, + 240, + 98, + 300, + 162, + 240, + 100, + 298, + 162, + 240, + 100, + 298, + 162, + 240, + 100, + 298, + 162, + 240, + 100, + 298, + 162, + 238, + 104, + 142, + 4, + 152, + 160, + 238, + 104, + 142, + 4, + 152, + 160, + 238, + 106, + 140, + 4, + 152, + 160, + 238, + 106, + 140, + 4, + 152, + 160, + 238, + 106, + 296, + 160, + 238, + 106, + 296, + 160, + 236, + 108, + 296, + 160, + 236, + 108, + 296, + 160, + 236, + 110, + 294, + 160, + 236, + 110, + 294, + 160, + 236, + 112, + 292, + 160, + 236, + 112, + 292, + 160, + 236, + 114, + 290, + 160, + 236, + 114, + 290, + 160, + 236, + 114, + 292, + 158, + 236, + 114, + 292, + 158, + 236, + 116, + 290, + 158, + 236, + 116, + 290, + 158, + 234, + 120, + 288, + 158, + 234, + 120, + 288, + 158, + 234, + 122, + 286, + 158, + 234, + 122, + 286, + 158, + 234, + 122, + 286, + 158, + 234, + 122, + 286, + 158, + 234, + 126, + 282, + 158, + 234, + 126, + 282, + 158, + 232, + 128, + 114, + 18, + 150, + 158, + 232, + 128, + 114, + 18, + 150, + 158, + 232, + 128, + 114, + 20, + 148, + 158, + 232, + 128, + 114, + 20, + 148, + 158, + 232, + 130, + 112, + 20, + 148, + 158, + 232, + 130, + 112, + 20, + 148, + 158, + 232, + 132, + 110, + 22, + 146, + 158, + 232, + 132, + 110, + 22, + 146, + 158, + 232, + 132, + 108, + 24, + 148, + 156, + 232, + 132, + 108, + 24, + 148, + 156, + 232, + 134, + 106, + 26, + 146, + 156, + 232, + 134, + 106, + 26, + 146, + 156, + 230, + 136, + 106, + 26, + 146, + 156, + 230, + 136, + 106, + 26, + 146, + 156, + 230, + 138, + 104, + 26, + 146, + 156, + 230, + 138, + 104, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 142, + 100, + 26, + 148, + 154, + 230, + 142, + 100, + 26, + 148, + 154, + 228, + 146, + 98, + 26, + 148, + 154, + 228, + 146, + 98, + 26, + 148, + 154, + 228, + 148, + 94, + 26, + 150, + 154, + 228, + 148, + 94, + 26, + 150, + 154, + 228, + 152, + 90, + 24, + 152, + 154, + 228, + 152, + 90, + 24, + 152, + 154, + 226, + 154, + 90, + 16, + 160, + 154, + 226, + 154, + 90, + 16, + 160, + 154, + 226, + 154, + 266, + 154, + 226, + 154, + 266, + 154, + 226, + 156, + 266, + 152, + 226, + 156, + 266, + 152, + 226, + 158, + 264, + 152, + 226, + 158, + 264, + 152, + 224, + 162, + 264, + 150, + 224, + 162, + 264, + 150, + 224, + 162, + 64, + 28, + 172, + 150, + 224, + 162, + 64, + 28, + 172, + 150, + 224, + 164, + 46, + 4, + 4, + 54, + 154, + 150, + 224, + 164, + 46, + 4, + 4, + 54, + 154, + 150, + 224, + 168, + 32, + 76, + 150, + 150, + 224, + 168, + 32, + 76, + 150, + 150, + 222, + 172, + 22, + 86, + 148, + 150, + 222, + 172, + 22, + 86, + 148, + 150, + 222, + 172, + 12, + 96, + 150, + 148, + 222, + 172, + 12, + 96, + 150, + 148, + 222, + 280, + 150, + 148, + 222, + 280, + 150, + 148, + 222, + 280, + 150, + 148, + 222, + 280, + 150, + 148, + 220, + 282, + 150, + 148, + 220, + 282, + 150, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 150, + 146, + 220, + 284, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 216, + 288, + 152, + 144, + 216, + 288, + 152, + 144, + 216, + 290, + 150, + 144, + 216, + 290, + 150, + 144, + 216, + 290, + 150, + 144, + 216, + 290, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 152, + 142, + 214, + 292, + 152, + 142, + 212, + 296, + 150, + 142, + 212, + 296, + 150, + 142, + 212, + 296, + 152, + 140, + 212, + 296, + 152, + 140, + 212, + 296, + 152, + 140, + 212, + 296, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 300, + 150, + 140, + 210, + 300, + 150, + 140, + 210, + 300, + 150, + 140, + 210, + 300, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 148, + 142, + 208, + 302, + 148, + 142, + 206, + 304, + 144, + 146, + 206, + 304, + 144, + 146, + 206, + 304, + 134, + 156, + 206, + 304, + 134, + 156, + 206, + 304, + 128, + 162, + 206, + 304, + 128, + 162, + 206, + 304, + 122, + 168, + 206, + 304, + 122, + 168, + 206, + 304, + 116, + 174, + 206, + 304, + 116, + 174, + 206, + 306, + 106, + 182, + 206, + 306, + 106, + 182, + 204, + 308, + 100, + 188, + 204, + 308, + 100, + 188, + 204, + 310, + 96, + 190, + 204, + 310, + 96, + 190, + 204, + 312, + 92, + 192, + 204, + 312, + 92, + 192, + 204, + 320, + 78, + 198, + 204, + 320, + 78, + 198, + 204, + 328, + 62, + 206, + 204, + 328, + 62, + 206, + 204, + 336, + 42, + 218, + 204, + 336, + 42, + 218, + 202, + 348, + 28, + 222, + 202, + 348, + 28, + 222, + 202, + 356, + 16, + 226, + 202, + 356, + 16, + 226, + 202, + 362, + 8, + 228, + 202, + 362, + 8, + 228, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 210, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 42, + 8, + 526, + 224, + 42, + 8, + 526, + 224, + 40, + 12, + 524, + 224, + 40, + 12, + 524, + 226, + 34, + 18, + 522, + 226, + 34, + 18, + 522, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 512, + 290, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 22, + 6, + 472, + 300, + 22, + 6, + 472, + 300, + 18, + 12, + 470, + 300, + 18, + 12, + 470, + 302, + 12, + 20, + 466, + 302, + 12, + 20, + 466, + 304, + 6, + 30, + 458, + 306, + 6, + 30, + 458, + 344, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 354, + 444, + 356, + 444, + 358, + 442, + 358, + 442, + 360, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 360, + 440, + 360, + 440, + 324, + 8, + 2, + 6, + 22, + 436, + 326, + 8, + 2, + 6, + 22, + 436, + 324, + 20, + 22, + 436, + 322, + 20, + 22, + 436, + 322, + 22, + 22, + 434, + 322, + 22, + 22, + 434, + 322, + 22, + 24, + 432, + 322, + 22, + 24, + 432, + 322, + 22, + 26, + 430, + 322, + 22, + 26, + 430, + 322, + 26, + 24, + 426, + 324, + 26, + 24, + 426, + 324, + 30, + 20, + 426, + 324, + 30, + 20, + 426, + 324, + 32, + 20, + 426, + 322, + 32, + 20, + 426, + 322, + 36, + 16, + 426, + 322, + 36, + 16, + 426, + 324, + 36, + 16, + 424, + 324, + 36, + 16, + 424, + 324, + 38, + 16, + 422, + 324, + 38, + 16, + 422, + 324, + 38, + 18, + 420, + 324, + 38, + 18, + 420, + 326, + 38, + 16, + 420, + 326, + 38, + 16, + 420, + 326, + 38, + 16, + 420, + 326, + 38, + 16, + 420, + 328, + 36, + 18, + 418, + 328, + 36, + 18, + 418, + 330, + 34, + 18, + 416, + 332, + 34, + 18, + 416, + 332, + 36, + 18, + 416, + 330, + 36, + 18, + 416, + 330, + 38, + 16, + 416, + 330, + 38, + 16, + 416, + 330, + 40, + 16, + 414, + 330, + 40, + 16, + 414, + 332, + 40, + 16, + 412, + 332, + 40, + 16, + 412, + 334, + 38, + 18, + 410, + 334, + 38, + 18, + 410, + 336, + 38, + 16, + 410, + 336, + 38, + 16, + 410, + 336, + 40, + 14, + 410, + 336, + 40, + 14, + 410, + 338, + 38, + 16, + 408, + 338, + 38, + 16, + 408, + 338, + 38, + 16, + 408, + 338, + 38, + 16, + 408, + 340, + 38, + 16, + 404, + 342, + 38, + 16, + 404, + 342, + 40, + 14, + 406, + 340, + 40, + 14, + 406, + 340, + 40, + 16, + 404, + 340, + 40, + 16, + 404, + 340, + 42, + 14, + 404, + 340, + 42, + 14, + 404, + 340, + 42, + 16, + 402, + 340, + 42, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 42, + 16, + 400, + 342, + 42, + 16, + 400, + 342, + 42, + 16, + 400, + 342, + 42, + 16, + 400, + 344, + 40, + 16, + 400, + 344, + 40, + 16, + 400, + 346, + 38, + 16, + 400, + 346, + 38, + 16, + 400, + 348, + 36, + 18, + 398, + 348, + 36, + 18, + 398, + 348, + 38, + 16, + 398, + 348, + 38, + 16, + 398, + 350, + 36, + 16, + 398, + 350, + 36, + 16, + 398, + 350, + 36, + 16, + 398, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000188:0000", + "experimental_retained_index": 4, + "ism_score": 0.34740376472473145, + "R": [ + [ + -0.7303878664970398, + 0.30197399854660034, + -0.61284339427948 + ], + [ + 0.550402045249939, + 0.7910696864128113, + -0.2661639153957367 + ], + [ + 0.4045395255088806, + -0.5317625999450684, + -0.7441185712814331 + ] + ], + "t": [ + 4.025477409362793, + 70.79488372802734, + 344.6120300292969 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 432, + 304, + 104, + 128 + ], + "score": 0.41245073080062866, + "time": 0.0, + "segmentation": { + "counts": [ + 345151, + 4, + 796, + 4, + 794, + 10, + 790, + 10, + 788, + 18, + 782, + 18, + 780, + 28, + 772, + 28, + 772, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 754, + 50, + 750, + 50, + 748, + 60, + 740, + 60, + 740, + 68, + 732, + 68, + 730, + 78, + 722, + 78, + 720, + 86, + 714, + 86, + 714, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 670, + 14, + 6, + 110, + 670, + 14, + 6, + 110, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 4, + 12, + 56, + 728, + 4, + 12, + 56, + 750, + 10, + 32, + 4, + 754, + 10, + 32, + 4, + 593211 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000188:0002", + "experimental_retained_index": 0, + "ism_score": 0.42852023243904114, + "R": [ + [ + 0.8411613702774048, + -0.5396292805671692, + 0.041763365268707275 + ], + [ + 0.247060626745224, + 0.4513590931892395, + 0.8575250506401062 + ], + [ + -0.4814712703227997, + -0.7108502388000488, + 0.5129478573799133 + ] + ], + "t": [ + -127.07977294921875, + 24.24416732788086, + 461.2409362792969 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000188/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000188/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000188:0002", + "Slide_holder:000188:0004", + "Slide_holder:000188:0005", + "Slide_holder:000188:0001", + "Slide_holder:000188:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000188.png" + }, + { + "frame_id": 198, + "image_path": "/workspace/data/0008_/images/000198.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000198.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 854, + 326, + 134, + 166 + ], + "score": 0.3855346441268921, + "time": 0.0, + "segmentation": { + "counts": [ + 682819, + 10, + 790, + 10, + 756, + 8, + 24, + 14, + 754, + 8, + 24, + 14, + 752, + 14, + 8, + 30, + 30, + 12, + 706, + 14, + 8, + 30, + 30, + 12, + 704, + 58, + 4, + 36, + 702, + 58, + 4, + 36, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 652, + 146, + 654, + 146, + 640, + 160, + 640, + 160, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 88, + 712, + 88, + 714, + 74, + 726, + 74, + 726, + 66, + 734, + 66, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 28, + 10, + 10, + 752, + 28, + 10, + 10, + 754, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 231649 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000198:0000", + "experimental_retained_index": 0, + "ism_score": 0.40186020731925964, + "R": [ + [ + 0.6402604579925537, + -0.7517209649085999, + 0.15805460512638092 + ], + [ + 0.332195520401001, + 0.4564831852912903, + 0.8253904581069946 + ], + [ + -0.6926126480102539, + -0.47596001625061035, + 0.5419869422912598 + ] + ], + "t": [ + 131.8624267578125, + 48.90410232543945, + 356.5497131347656 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 854, + 326, + 134, + 166 + ], + "score": 0.3855346441268921, + "time": 0.0, + "segmentation": { + "counts": [ + 682819, + 10, + 790, + 10, + 756, + 8, + 24, + 14, + 754, + 8, + 24, + 14, + 752, + 14, + 8, + 30, + 30, + 12, + 706, + 14, + 8, + 30, + 30, + 12, + 704, + 58, + 4, + 36, + 702, + 58, + 4, + 36, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 652, + 146, + 654, + 146, + 640, + 160, + 640, + 160, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 88, + 712, + 88, + 714, + 74, + 726, + 74, + 726, + 66, + 734, + 66, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 28, + 10, + 10, + 752, + 28, + 10, + 10, + 754, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 231649 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000198:0000", + "experimental_retained_index": 0, + "ism_score": 0.40186020731925964, + "R": [ + [ + 0.6402604579925537, + -0.7517209649085999, + 0.15805460512638092 + ], + [ + 0.332195520401001, + 0.4564831852912903, + 0.8253904581069946 + ], + [ + -0.6926126480102539, + -0.47596001625061035, + 0.5419869422912598 + ] + ], + "t": [ + 131.8624267578125, + 48.90410232543945, + 356.5497131347656 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000198/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000198/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000198:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000198.png" + }, + { + "frame_id": 202, + "image_path": "/workspace/data/0008_/images/000202.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000202.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 884, + 180, + 96, + 156 + ], + "score": 0.42008689045906067, + "time": 0.0, + "segmentation": { + "counts": [ + 706675, + 6, + 794, + 6, + 790, + 12, + 788, + 12, + 758, + 4, + 22, + 20, + 34, + 10, + 710, + 4, + 22, + 20, + 34, + 10, + 706, + 12, + 14, + 26, + 16, + 28, + 704, + 12, + 14, + 26, + 16, + 28, + 702, + 18, + 2, + 78, + 702, + 18, + 2, + 78, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 644, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 654, + 142, + 658, + 142, + 658, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 690, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 700, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 714, + 80, + 720, + 80, + 720, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 60, + 740, + 60, + 740, + 56, + 744, + 56, + 744, + 50, + 750, + 50, + 750, + 28, + 12, + 6, + 754, + 28, + 12, + 6, + 754, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 238203 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000202:0001", + "experimental_retained_index": 0, + "ism_score": 0.44219672679901123, + "R": [ + [ + 0.8505946397781372, + -0.4980965852737427, + 0.16844090819358826 + ], + [ + 0.22969743609428406, + 0.6402134895324707, + 0.733078122138977 + ], + [ + -0.4731595516204834, + -0.5849618911743164, + 0.6590929627418518 + ] + ], + "t": [ + 159.96852111816406, + -37.27076721191406, + 387.3709411621094 + ] + }, + { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 0, + 0, + 402, + 742 + ], + "score": 0.17886246740818024, + "time": 0.0, + "segmentation": { + "counts": [ + 423, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 316, + 484, + 316, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 490, + 306, + 494, + 306, + 494, + 302, + 498, + 302, + 498, + 298, + 502, + 298, + 500, + 296, + 504, + 296, + 504, + 292, + 508, + 292, + 508, + 288, + 512, + 288, + 510, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 518, + 278, + 522, + 278, + 520, + 276, + 524, + 276, + 522, + 276, + 524, + 276, + 522, + 274, + 526, + 274, + 524, + 270, + 530, + 270, + 528, + 268, + 532, + 268, + 530, + 266, + 534, + 266, + 532, + 264, + 536, + 264, + 534, + 262, + 538, + 262, + 536, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 536, + 260, + 540, + 260, + 538, + 258, + 542, + 258, + 540, + 256, + 544, + 256, + 540, + 254, + 546, + 254, + 542, + 256, + 544, + 256, + 542, + 254, + 546, + 254, + 544, + 252, + 548, + 252, + 544, + 252, + 548, + 252, + 546, + 250, + 550, + 250, + 548, + 248, + 552, + 248, + 548, + 248, + 552, + 248, + 550, + 248, + 552, + 248, + 550, + 246, + 554, + 246, + 552, + 244, + 556, + 244, + 552, + 244, + 556, + 244, + 552, + 244, + 556, + 244, + 554, + 242, + 558, + 242, + 556, + 240, + 560, + 240, + 556, + 240, + 560, + 240, + 558, + 238, + 562, + 238, + 560, + 236, + 564, + 236, + 562, + 234, + 566, + 234, + 562, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 562, + 234, + 566, + 234, + 564, + 232, + 568, + 232, + 566, + 230, + 570, + 230, + 568, + 228, + 572, + 228, + 570, + 226, + 574, + 226, + 570, + 228, + 572, + 228, + 570, + 224, + 576, + 224, + 572, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 574, + 222, + 578, + 222, + 574, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 218, + 582, + 218, + 580, + 216, + 584, + 216, + 580, + 216, + 584, + 216, + 582, + 216, + 584, + 216, + 580, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 582, + 214, + 586, + 214, + 564, + 12, + 8, + 212, + 568, + 12, + 8, + 212, + 566, + 230, + 570, + 230, + 570, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 594, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 604, + 192, + 608, + 192, + 606, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 622, + 174, + 626, + 174, + 624, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 678, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 96, + 704, + 96, + 702, + 94, + 706, + 94, + 704, + 90, + 710, + 90, + 708, + 90, + 710, + 90, + 708, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 716, + 80, + 720, + 80, + 512, + 4, + 200, + 80, + 516, + 4, + 200, + 80, + 511, + 11, + 196, + 78, + 515, + 11, + 196, + 78, + 515, + 13, + 192, + 76, + 519, + 13, + 192, + 76, + 519, + 17, + 184, + 76, + 523, + 17, + 184, + 76, + 523, + 19, + 180, + 76, + 525, + 19, + 180, + 76, + 525, + 21, + 176, + 74, + 529, + 21, + 176, + 74, + 529, + 25, + 170, + 72, + 533, + 25, + 170, + 72, + 533, + 27, + 166, + 72, + 535, + 27, + 166, + 72, + 535, + 35, + 154, + 72, + 539, + 35, + 154, + 72, + 539, + 41, + 144, + 72, + 543, + 41, + 144, + 72, + 543, + 43, + 140, + 70, + 547, + 43, + 140, + 70, + 547, + 49, + 130, + 72, + 549, + 49, + 130, + 72, + 549, + 51, + 126, + 70, + 553, + 51, + 126, + 70, + 553, + 53, + 122, + 68, + 557, + 53, + 122, + 68, + 557, + 57, + 116, + 66, + 561, + 57, + 116, + 66, + 561, + 59, + 110, + 66, + 565, + 59, + 110, + 66, + 565, + 71, + 96, + 64, + 569, + 71, + 96, + 64, + 569, + 73, + 94, + 60, + 573, + 73, + 94, + 60, + 573, + 73, + 90, + 60, + 577, + 73, + 90, + 60, + 577, + 73, + 88, + 58, + 581, + 73, + 88, + 58, + 581, + 73, + 84, + 58, + 585, + 73, + 84, + 58, + 585, + 71, + 86, + 54, + 589, + 71, + 86, + 54, + 589, + 71, + 84, + 52, + 593, + 71, + 84, + 52, + 593, + 71, + 80, + 52, + 597, + 71, + 80, + 52, + 597, + 63, + 2, + 6, + 78, + 52, + 599, + 63, + 2, + 6, + 78, + 52, + 599, + 63, + 2, + 6, + 74, + 50, + 605, + 63, + 2, + 6, + 74, + 50, + 605, + 71, + 72, + 48, + 609, + 71, + 72, + 48, + 609, + 71, + 14, + 4, + 50, + 48, + 613, + 71, + 14, + 4, + 50, + 48, + 613, + 71, + 14, + 4, + 30, + 64, + 617, + 71, + 14, + 4, + 30, + 64, + 617, + 61, + 4, + 4, + 46, + 64, + 621, + 61, + 4, + 4, + 46, + 64, + 621, + 61, + 40, + 4, + 8, + 62, + 625, + 61, + 40, + 4, + 8, + 62, + 625, + 59, + 42, + 4, + 2, + 64, + 629, + 59, + 42, + 4, + 2, + 64, + 629, + 59, + 42, + 66, + 633, + 59, + 42, + 66, + 633, + 59, + 40, + 64, + 637, + 59, + 40, + 64, + 637, + 61, + 34, + 64, + 641, + 61, + 34, + 64, + 641, + 61, + 30, + 64, + 645, + 61, + 30, + 64, + 645, + 61, + 28, + 62, + 649, + 61, + 28, + 62, + 649, + 63, + 18, + 4, + 4, + 60, + 651, + 63, + 18, + 4, + 4, + 60, + 651, + 63, + 16, + 66, + 655, + 63, + 16, + 66, + 655, + 63, + 16, + 60, + 661, + 63, + 16, + 60, + 661, + 63, + 14, + 58, + 665, + 63, + 14, + 58, + 665, + 63, + 12, + 56, + 669, + 63, + 12, + 56, + 669, + 65, + 8, + 54, + 673, + 65, + 8, + 54, + 673, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 107, + 693, + 107, + 693, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 87, + 713, + 87, + 713, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 720, + 74, + 726, + 74, + 730, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 34, + 766, + 34, + 774, + 18, + 782, + 18, + 784, + 6, + 4, + 4, + 786, + 6, + 4, + 4, + 10364, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2391, + 11, + 789, + 11, + 789, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 700785 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000202:0002", + "experimental_retained_index": 1, + "ism_score": 0.4402768313884735, + "R": [ + [ + -0.42051512002944946, + 0.8993346691131592, + 0.12075138837099075 + ], + [ + 0.759459376335144, + 0.27607816457748413, + 0.5892090797424316 + ], + [ + 0.4966146945953369, + 0.339520126581192, + -0.7989781498908997 + ] + ], + "t": [ + -345.5706481933594, + -126.03797149658203, + 571.277587890625 + ] + }, + { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 402, + 366, + 162, + 180 + ], + "score": 0.4338454008102417, + "time": 0.0, + "segmentation": { + "counts": [ + 321201, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 766, + 36, + 10, + 6, + 748, + 36, + 10, + 6, + 748, + 38, + 2, + 14, + 746, + 38, + 2, + 14, + 744, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 680, + 120, + 680, + 120, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 672, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 10, + 6, + 94, + 690, + 10, + 6, + 94, + 710, + 88, + 712, + 88, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 20, + 6, + 44, + 730, + 20, + 6, + 44, + 734, + 10, + 18, + 38, + 734, + 10, + 18, + 38, + 766, + 32, + 768, + 32, + 774, + 24, + 776, + 24, + 782, + 16, + 784, + 16, + 790, + 8, + 792, + 8, + 570679 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000202:0000", + "experimental_retained_index": 2, + "ism_score": 0.4393371045589447, + "R": [ + [ + 0.710712194442749, + 0.6709566116333008, + 0.2110026478767395 + ], + [ + -0.5930697321891785, + 0.4104347825050354, + 0.6931116580963135 + ], + [ + 0.3785451650619507, + -0.6177650690078735, + 0.6896054148674011 + ] + ], + "t": [ + -45.55812454223633, + 76.41156768798828, + 311.1820983886719 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 402, + 366, + 162, + 180 + ], + "score": 0.4338454008102417, + "time": 0.0, + "segmentation": { + "counts": [ + 321201, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 766, + 36, + 10, + 6, + 748, + 36, + 10, + 6, + 748, + 38, + 2, + 14, + 746, + 38, + 2, + 14, + 744, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 680, + 120, + 680, + 120, + 684, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 678, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 130, + 670, + 130, + 672, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 10, + 6, + 94, + 690, + 10, + 6, + 94, + 710, + 88, + 712, + 88, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 20, + 6, + 44, + 730, + 20, + 6, + 44, + 734, + 10, + 18, + 38, + 734, + 10, + 18, + 38, + 766, + 32, + 768, + 32, + 774, + 24, + 776, + 24, + 782, + 16, + 784, + 16, + 790, + 8, + 792, + 8, + 570679 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000202:0000", + "experimental_retained_index": 2, + "ism_score": 0.4393371045589447, + "R": [ + [ + 0.710712194442749, + 0.6709566116333008, + 0.2110026478767395 + ], + [ + -0.5930697321891785, + 0.4104347825050354, + 0.6931116580963135 + ], + [ + 0.3785451650619507, + -0.6177650690078735, + 0.6896054148674011 + ] + ], + "t": [ + -45.55812454223633, + 76.41156768798828, + 311.1820983886719 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000202/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000202/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000202:0001", + "Slide_holder:000202:0002", + "Slide_holder:000202:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000202.png" + }, + { + "frame_id": 207, + "image_path": "/workspace/data/0008_/images/000207.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000207.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 784, + 130, + 76, + 148 + ], + "score": 0.3915427029132843, + "time": 0.0, + "segmentation": { + "counts": [ + 626541, + 6, + 24, + 10, + 760, + 6, + 24, + 10, + 756, + 16, + 16, + 18, + 750, + 16, + 16, + 18, + 750, + 26, + 4, + 28, + 742, + 26, + 4, + 28, + 740, + 68, + 732, + 68, + 732, + 84, + 716, + 84, + 716, + 94, + 706, + 94, + 706, + 100, + 700, + 100, + 700, + 106, + 694, + 106, + 694, + 116, + 684, + 116, + 684, + 126, + 674, + 126, + 674, + 136, + 664, + 136, + 662, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 676, + 112, + 688, + 112, + 692, + 86, + 714, + 86, + 718, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 736, + 62, + 738, + 62, + 742, + 28, + 18, + 10, + 744, + 28, + 18, + 10, + 750, + 16, + 28, + 4, + 752, + 16, + 28, + 4, + 756, + 12, + 788, + 12, + 792, + 6, + 794, + 6, + 334205 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000207:0000", + "experimental_retained_index": 0, + "ism_score": 0.40945640206336975, + "R": [ + [ + 0.9854185581207275, + -0.0486583411693573, + 0.16303786635398865 + ], + [ + -0.07623642683029175, + 0.7303873896598816, + 0.6787649393081665 + ], + [ + -0.1521085649728775, + -0.6812978386878967, + 0.7160282135009766 + ] + ], + "t": [ + 117.4548568725586, + -72.7190933227539, + 412.22625732421875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 784, + 130, + 76, + 148 + ], + "score": 0.3915427029132843, + "time": 0.0, + "segmentation": { + "counts": [ + 626541, + 6, + 24, + 10, + 760, + 6, + 24, + 10, + 756, + 16, + 16, + 18, + 750, + 16, + 16, + 18, + 750, + 26, + 4, + 28, + 742, + 26, + 4, + 28, + 740, + 68, + 732, + 68, + 732, + 84, + 716, + 84, + 716, + 94, + 706, + 94, + 706, + 100, + 700, + 100, + 700, + 106, + 694, + 106, + 694, + 116, + 684, + 116, + 684, + 126, + 674, + 126, + 674, + 136, + 664, + 136, + 662, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 676, + 112, + 688, + 112, + 692, + 86, + 714, + 86, + 718, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 736, + 62, + 738, + 62, + 742, + 28, + 18, + 10, + 744, + 28, + 18, + 10, + 750, + 16, + 28, + 4, + 752, + 16, + 28, + 4, + 756, + 12, + 788, + 12, + 792, + 6, + 794, + 6, + 334205 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000207:0000", + "experimental_retained_index": 0, + "ism_score": 0.40945640206336975, + "R": [ + [ + 0.9854185581207275, + -0.0486583411693573, + 0.16303786635398865 + ], + [ + -0.07623642683029175, + 0.7303873896598816, + 0.6787649393081665 + ], + [ + -0.1521085649728775, + -0.6812978386878967, + 0.7160282135009766 + ] + ], + "t": [ + 117.4548568725586, + -72.7190933227539, + 412.22625732421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000207/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000207/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000207:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000207.png" + }, + { + "frame_id": 211, + "image_path": "/workspace/data/0008_/images/000211.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000211.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 2, + 0, + 248, + 82 + ], + "score": 0.007689245976507664, + "time": 0.0, + "segmentation": { + "counts": [ + 803, + 8, + 792, + 8, + 789, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 737, + 9, + 30, + 24, + 737, + 9, + 30, + 24, + 737, + 13, + 28, + 20, + 739, + 13, + 28, + 20, + 739, + 15, + 30, + 16, + 739, + 15, + 30, + 16, + 739, + 19, + 30, + 10, + 741, + 19, + 30, + 10, + 741, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 29, + 771, + 29, + 771, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 45, + 755, + 45, + 755, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 776, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 822377 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000211:0000", + "experimental_retained_index": 0, + "ism_score": 0.4100930988788605, + "R": [ + [ + -0.5920770764350891, + -0.7960010766983032, + -0.12677064538002014 + ], + [ + -0.3299313187599182, + 0.09587809443473816, + 0.9389760494232178 + ], + [ + -0.7350862622261047, + 0.5976458191871643, + -0.3194606304168701 + ] + ], + "t": [ + -1073.7626953125, + -650.7453002929688, + 1267.292724609375 + ] + }, + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 728, + 174, + 94, + 140 + ], + "score": 0.40128737688064575, + "time": 0.0, + "segmentation": { + "counts": [ + 581789, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 16, + 14, + 12, + 758, + 16, + 14, + 12, + 758, + 44, + 756, + 44, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 748, + 68, + 732, + 68, + 732, + 82, + 718, + 82, + 718, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 678, + 120, + 680, + 120, + 684, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 22, + 2, + 22, + 754, + 22, + 2, + 22, + 756, + 12, + 20, + 10, + 758, + 12, + 20, + 10, + 760, + 6, + 794, + 6, + 364571 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000211:0001", + "experimental_retained_index": 1, + "ism_score": 0.40895530581474304, + "R": [ + [ + 0.9550631642341614, + 0.2339468002319336, + 0.18332263827323914 + ], + [ + -0.2945791780948639, + 0.6648215651512146, + 0.6862861514091492 + ], + [ + 0.0387149304151535, + -0.7093580961227417, + 0.703839123249054 + ] + ], + "t": [ + 104.68479919433594, + -52.34733963012695, + 427.254150390625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 728, + 174, + 94, + 140 + ], + "score": 0.40128737688064575, + "time": 0.0, + "segmentation": { + "counts": [ + 581789, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 16, + 14, + 12, + 758, + 16, + 14, + 12, + 758, + 44, + 756, + 44, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 748, + 68, + 732, + 68, + 732, + 82, + 718, + 82, + 718, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 678, + 120, + 680, + 120, + 684, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 22, + 2, + 22, + 754, + 22, + 2, + 22, + 756, + 12, + 20, + 10, + 758, + 12, + 20, + 10, + 760, + 6, + 794, + 6, + 364571 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000211:0001", + "experimental_retained_index": 1, + "ism_score": 0.40895530581474304, + "R": [ + [ + 0.9550631642341614, + 0.2339468002319336, + 0.18332263827323914 + ], + [ + -0.2945791780948639, + 0.6648215651512146, + 0.6862861514091492 + ], + [ + 0.0387149304151535, + -0.7093580961227417, + 0.703839123249054 + ] + ], + "t": [ + 104.68479919433594, + -52.34733963012695, + 427.254150390625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000211/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000211/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000211:0000", + "Slide_holder:000211:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000211.png" + }, + { + "frame_id": 219, + "image_path": "/workspace/data/0008_/images/000219.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000219.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 712, + 176, + 62, + 144 + ], + "score": 0.42562058568000793, + "time": 0.0, + "segmentation": { + "counts": [ + 569073, + 12, + 24, + 10, + 754, + 12, + 24, + 10, + 736, + 32, + 4, + 28, + 736, + 32, + 4, + 28, + 718, + 84, + 716, + 84, + 694, + 106, + 694, + 106, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 670, + 130, + 670, + 130, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 126, + 674, + 126, + 674, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 96, + 704, + 96, + 704, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 718, + 30, + 770, + 30, + 402985 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000219:0001", + "experimental_retained_index": 0, + "ism_score": 0.42695483565330505, + "R": [ + [ + 0.9867848753929138, + -0.15509863197803497, + -0.04906758666038513 + ], + [ + 0.15860092639923096, + 0.8498232960700989, + 0.5028387904167175 + ], + [ + -0.03630805015563965, + -0.5038115978240967, + 0.8629114031791687 + ] + ], + "t": [ + 58.959136962890625, + -53.238521575927734, + 449.9039306640625 + ] + }, + { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 308, + 474, + 188, + 140 + ], + "score": 0.2850560247898102, + "time": 0.0, + "segmentation": { + "counts": [ + 246133, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 46, + 754, + 46, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 742, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 78, + 722, + 78, + 722, + 74, + 726, + 74, + 728, + 66, + 734, + 66, + 746, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 754, + 10, + 10, + 22, + 758, + 10, + 10, + 22, + 784, + 10, + 790, + 10, + 625019 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000219:0000", + "experimental_retained_index": 1, + "ism_score": 0.38651663064956665, + "R": [ + [ + -0.17357425391674042, + 0.9845943450927734, + 0.025808334350585938 + ], + [ + 0.9417591094970703, + 0.1735680252313614, + -0.2879224419593811 + ], + [ + -0.2879435420036316, + -0.02565827965736389, + -0.9573667645454407 + ] + ], + "t": [ + -71.15399169921875, + 71.35111236572266, + 287.9126281738281 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 712, + 176, + 62, + 144 + ], + "score": 0.42562058568000793, + "time": 0.0, + "segmentation": { + "counts": [ + 569073, + 12, + 24, + 10, + 754, + 12, + 24, + 10, + 736, + 32, + 4, + 28, + 736, + 32, + 4, + 28, + 718, + 84, + 716, + 84, + 694, + 106, + 694, + 106, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 670, + 130, + 670, + 130, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 126, + 674, + 126, + 674, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 96, + 704, + 96, + 704, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 718, + 30, + 770, + 30, + 402985 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000219:0001", + "experimental_retained_index": 0, + "ism_score": 0.42695483565330505, + "R": [ + [ + 0.9867848753929138, + -0.15509863197803497, + -0.04906758666038513 + ], + [ + 0.15860092639923096, + 0.8498232960700989, + 0.5028387904167175 + ], + [ + -0.03630805015563965, + -0.5038115978240967, + 0.8629114031791687 + ] + ], + "t": [ + 58.959136962890625, + -53.238521575927734, + 449.9039306640625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000219/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000219/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000219:0001", + "Slide_holder:000219:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000219.png" + }, + { + "frame_id": 222, + "image_path": "/workspace/data/0008_/images/000222.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000222.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 668, + 274, + 76, + 140 + ], + "score": 0.41049420833587646, + "time": 0.0, + "segmentation": { + "counts": [ + 533979, + 8, + 18, + 4, + 770, + 8, + 18, + 4, + 762, + 18, + 8, + 14, + 760, + 18, + 8, + 14, + 754, + 46, + 754, + 46, + 744, + 58, + 742, + 58, + 734, + 66, + 734, + 66, + 726, + 74, + 726, + 74, + 718, + 82, + 718, + 82, + 710, + 92, + 708, + 92, + 700, + 100, + 700, + 100, + 690, + 110, + 690, + 110, + 680, + 120, + 680, + 120, + 676, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 664, + 136, + 664, + 136, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 100, + 700, + 100, + 700, + 94, + 706, + 94, + 708, + 78, + 722, + 78, + 722, + 68, + 732, + 68, + 732, + 56, + 744, + 56, + 746, + 44, + 756, + 44, + 756, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 776, + 10, + 790, + 10, + 426905 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000222:0000", + "experimental_retained_index": 0, + "ism_score": 0.4320991635322571, + "R": [ + [ + -0.9591765999794006, + -0.14897964894771576, + -0.24038895964622498 + ], + [ + -0.28107699751853943, + 0.40820688009262085, + 0.8685407638549805 + ], + [ + -0.03126651793718338, + 0.9006509184837341, + -0.43341711163520813 + ] + ], + "t": [ + 47.72611618041992, + 21.94573974609375, + 461.94647216796875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 668, + 274, + 76, + 140 + ], + "score": 0.41049420833587646, + "time": 0.0, + "segmentation": { + "counts": [ + 533979, + 8, + 18, + 4, + 770, + 8, + 18, + 4, + 762, + 18, + 8, + 14, + 760, + 18, + 8, + 14, + 754, + 46, + 754, + 46, + 744, + 58, + 742, + 58, + 734, + 66, + 734, + 66, + 726, + 74, + 726, + 74, + 718, + 82, + 718, + 82, + 710, + 92, + 708, + 92, + 700, + 100, + 700, + 100, + 690, + 110, + 690, + 110, + 680, + 120, + 680, + 120, + 676, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 664, + 136, + 664, + 136, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 100, + 700, + 100, + 700, + 94, + 706, + 94, + 708, + 78, + 722, + 78, + 722, + 68, + 732, + 68, + 732, + 56, + 744, + 56, + 746, + 44, + 756, + 44, + 756, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 776, + 10, + 790, + 10, + 426905 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000222:0000", + "experimental_retained_index": 0, + "ism_score": 0.4320991635322571, + "R": [ + [ + -0.9591765999794006, + -0.14897964894771576, + -0.24038895964622498 + ], + [ + -0.28107699751853943, + 0.40820688009262085, + 0.8685407638549805 + ], + [ + -0.03126651793718338, + 0.9006509184837341, + -0.43341711163520813 + ] + ], + "t": [ + 47.72611618041992, + 21.94573974609375, + 461.94647216796875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000222/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000222/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000222:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000222.png" + }, + { + "frame_id": 227, + "image_path": "/workspace/data/0008_/images/000227.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000227.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 16, + 366, + 172, + 306 + ], + "score": 0.39664873480796814, + "time": 0.0, + "segmentation": { + "counts": [ + 12643, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 6, + 794, + 6, + 4020, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 6956, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 744, + 12, + 36, + 10, + 742, + 12, + 36, + 10, + 742, + 28, + 20, + 12, + 740, + 28, + 20, + 12, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 80, + 720, + 80, + 720, + 98, + 702, + 98, + 702, + 118, + 682, + 118, + 680, + 148, + 652, + 148, + 652, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 632, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 646, + 154, + 646, + 154, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 674, + 124, + 676, + 124, + 682, + 118, + 682, + 118, + 692, + 108, + 692, + 108, + 704, + 96, + 704, + 96, + 724, + 76, + 724, + 76, + 736, + 62, + 738, + 62, + 750, + 50, + 750, + 50, + 760, + 40, + 760, + 40, + 772, + 26, + 774, + 26, + 786, + 12, + 788, + 12, + 871473 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000227:0000", + "experimental_retained_index": 0, + "ism_score": 0.39664873480796814, + "R": [ + [ + -0.9370001554489136, + -0.2846280634403229, + -0.20252804458141327 + ], + [ + 0.21148423850536346, + -0.9236412644386292, + 0.31962692737579346 + ], + [ + -0.2780380845069885, + 0.2566588222980499, + 0.9256460666656494 + ] + ], + "t": [ + -266.7335510253906, + 4.78152322769165, + 370.88873291015625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 16, + 366, + 172, + 306 + ], + "score": 0.39664873480796814, + "time": 0.0, + "segmentation": { + "counts": [ + 12643, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 6, + 794, + 6, + 4020, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 6956, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 744, + 12, + 36, + 10, + 742, + 12, + 36, + 10, + 742, + 28, + 20, + 12, + 740, + 28, + 20, + 12, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 80, + 720, + 80, + 720, + 98, + 702, + 98, + 702, + 118, + 682, + 118, + 680, + 148, + 652, + 148, + 652, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 632, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 646, + 154, + 646, + 154, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 674, + 124, + 676, + 124, + 682, + 118, + 682, + 118, + 692, + 108, + 692, + 108, + 704, + 96, + 704, + 96, + 724, + 76, + 724, + 76, + 736, + 62, + 738, + 62, + 750, + 50, + 750, + 50, + 760, + 40, + 760, + 40, + 772, + 26, + 774, + 26, + 786, + 12, + 788, + 12, + 871473 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000227:0000", + "experimental_retained_index": 0, + "ism_score": 0.39664873480796814, + "R": [ + [ + -0.9370001554489136, + -0.2846280634403229, + -0.20252804458141327 + ], + [ + 0.21148423850536346, + -0.9236412644386292, + 0.31962692737579346 + ], + [ + -0.2780380845069885, + 0.2566588222980499, + 0.9256460666656494 + ] + ], + "t": [ + -266.7335510253906, + 4.78152322769165, + 370.88873291015625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000227/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000227/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000227:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000227.png" + }, + { + "frame_id": 230, + "image_path": "/workspace/data/0008_/images/000230.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000230.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000230/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 234, + "image_path": "/workspace/data/0008_/images/000234.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000234.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000234/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 238, + "image_path": "/workspace/data/0008_/images/000238.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000238.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 40, + 0, + 416, + 124 + ], + "score": 0.10174146294593811, + "time": 0.0, + "segmentation": { + "counts": [ + 31209, + 8, + 792, + 8, + 786, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 779, + 23, + 777, + 23, + 777, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 41, + 759, + 41, + 759, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 65, + 735, + 65, + 735, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 77, + 723, + 77, + 723, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 87, + 713, + 87, + 713, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 111, + 689, + 111, + 689, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 121, + 679, + 121, + 679, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 716, + 84, + 716, + 84, + 722, + 4, + 28, + 46, + 722, + 4, + 28, + 46, + 766, + 34, + 766, + 34, + 782, + 16, + 784, + 16, + 657517 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000238:0000", + "experimental_retained_index": 0, + "ism_score": 0.41740086674690247, + "R": [ + [ + -0.6569057703018188, + 0.7288593649864197, + 0.19297239184379578 + ], + [ + 0.6396591067314148, + 0.40325677394866943, + 0.6543853878974915 + ], + [ + 0.39913779497146606, + 0.5533057451248169, + -0.7311235666275024 + ] + ], + "t": [ + -301.5223693847656, + -229.3043212890625, + 498.26434326171875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 40, + 0, + 416, + 124 + ], + "score": 0.10174146294593811, + "time": 0.0, + "segmentation": { + "counts": [ + 31209, + 8, + 792, + 8, + 786, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 779, + 23, + 777, + 23, + 777, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 41, + 759, + 41, + 759, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 65, + 735, + 65, + 735, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 77, + 723, + 77, + 723, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 87, + 713, + 87, + 713, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 111, + 689, + 111, + 689, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 121, + 679, + 121, + 679, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 716, + 84, + 716, + 84, + 722, + 4, + 28, + 46, + 722, + 4, + 28, + 46, + 766, + 34, + 766, + 34, + 782, + 16, + 784, + 16, + 657517 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000238:0000", + "experimental_retained_index": 0, + "ism_score": 0.41740086674690247, + "R": [ + [ + -0.6569057703018188, + 0.7288593649864197, + 0.19297239184379578 + ], + [ + 0.6396591067314148, + 0.40325677394866943, + 0.6543853878974915 + ], + [ + 0.39913779497146606, + 0.5533057451248169, + -0.7311235666275024 + ] + ], + "t": [ + -301.5223693847656, + -229.3043212890625, + 498.26434326171875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000238/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000238/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000238:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000238.png" + }, + { + "frame_id": 243, + "image_path": "/workspace/data/0008_/images/000243.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000243.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 0, + 6, + 1278, + 790 + ], + "score": 0.0023166886530816555, + "time": 0.0, + "segmentation": { + "counts": [ + 31, + 768, + 30, + 770, + 30, + 770, + 14, + 786, + 14, + 786, + 8, + 792, + 8, + 792, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 502, + 2, + 260, + 36, + 502, + 2, + 260, + 36, + 498, + 12, + 254, + 36, + 498, + 12, + 254, + 36, + 492, + 20, + 252, + 36, + 492, + 20, + 252, + 36, + 488, + 24, + 252, + 36, + 488, + 24, + 252, + 36, + 484, + 28, + 252, + 36, + 484, + 28, + 252, + 38, + 478, + 32, + 252, + 38, + 478, + 32, + 252, + 38, + 474, + 36, + 252, + 38, + 474, + 36, + 252, + 38, + 468, + 42, + 252, + 38, + 468, + 42, + 252, + 38, + 464, + 44, + 254, + 38, + 464, + 44, + 254, + 38, + 460, + 44, + 258, + 38, + 460, + 44, + 258, + 38, + 456, + 48, + 258, + 38, + 456, + 48, + 258, + 38, + 454, + 48, + 260, + 38, + 454, + 48, + 260, + 40, + 448, + 50, + 262, + 40, + 448, + 50, + 262, + 40, + 446, + 52, + 262, + 40, + 446, + 52, + 262, + 40, + 444, + 50, + 266, + 40, + 444, + 50, + 266, + 40, + 442, + 50, + 268, + 40, + 442, + 50, + 268, + 40, + 440, + 50, + 270, + 40, + 440, + 50, + 270, + 40, + 436, + 52, + 272, + 40, + 436, + 52, + 272, + 40, + 432, + 54, + 274, + 40, + 432, + 54, + 274, + 42, + 428, + 54, + 276, + 42, + 428, + 54, + 276, + 42, + 426, + 54, + 278, + 42, + 426, + 54, + 278, + 42, + 424, + 54, + 280, + 42, + 424, + 54, + 280, + 42, + 420, + 58, + 280, + 42, + 420, + 58, + 280, + 42, + 418, + 58, + 282, + 42, + 418, + 58, + 282, + 42, + 416, + 58, + 284, + 42, + 416, + 58, + 284, + 44, + 412, + 56, + 288, + 44, + 412, + 56, + 288, + 44, + 408, + 58, + 290, + 44, + 408, + 58, + 290, + 44, + 406, + 58, + 292, + 44, + 406, + 58, + 292, + 44, + 402, + 60, + 294, + 44, + 402, + 60, + 294, + 44, + 400, + 58, + 298, + 44, + 400, + 58, + 298, + 44, + 398, + 58, + 300, + 44, + 398, + 58, + 300, + 46, + 394, + 58, + 302, + 46, + 394, + 58, + 302, + 46, + 390, + 60, + 304, + 46, + 390, + 60, + 304, + 46, + 388, + 58, + 308, + 46, + 388, + 58, + 308, + 46, + 386, + 58, + 310, + 46, + 386, + 58, + 310, + 46, + 384, + 58, + 312, + 46, + 384, + 58, + 312, + 46, + 380, + 58, + 316, + 46, + 380, + 58, + 316, + 48, + 376, + 56, + 320, + 48, + 376, + 56, + 320, + 48, + 374, + 58, + 320, + 48, + 374, + 58, + 320, + 48, + 370, + 60, + 322, + 48, + 370, + 60, + 322, + 48, + 368, + 58, + 326, + 48, + 368, + 58, + 326, + 48, + 366, + 56, + 330, + 48, + 366, + 56, + 330, + 48, + 362, + 58, + 332, + 48, + 362, + 58, + 332, + 48, + 360, + 58, + 334, + 48, + 360, + 58, + 334, + 48, + 358, + 56, + 338, + 48, + 358, + 56, + 338, + 50, + 114, + 16, + 224, + 54, + 342, + 50, + 114, + 16, + 224, + 54, + 342, + 50, + 110, + 26, + 214, + 56, + 344, + 50, + 110, + 26, + 214, + 56, + 344, + 50, + 108, + 34, + 206, + 54, + 348, + 50, + 108, + 34, + 206, + 54, + 348, + 50, + 106, + 40, + 198, + 56, + 140, + 4, + 206, + 50, + 106, + 40, + 198, + 56, + 140, + 4, + 206, + 50, + 104, + 46, + 192, + 56, + 138, + 12, + 202, + 50, + 104, + 46, + 192, + 56, + 138, + 12, + 202, + 52, + 100, + 50, + 188, + 54, + 138, + 18, + 200, + 52, + 100, + 50, + 188, + 54, + 138, + 18, + 200, + 52, + 100, + 52, + 182, + 56, + 136, + 22, + 200, + 52, + 100, + 52, + 182, + 56, + 136, + 22, + 200, + 52, + 98, + 56, + 178, + 56, + 134, + 26, + 200, + 52, + 98, + 56, + 178, + 56, + 134, + 26, + 200, + 52, + 96, + 60, + 174, + 56, + 132, + 30, + 200, + 52, + 96, + 60, + 174, + 56, + 132, + 30, + 200, + 52, + 96, + 62, + 170, + 54, + 134, + 34, + 198, + 52, + 96, + 62, + 170, + 54, + 134, + 34, + 198, + 52, + 94, + 64, + 166, + 54, + 134, + 36, + 200, + 52, + 94, + 64, + 166, + 54, + 134, + 36, + 200, + 54, + 92, + 68, + 158, + 56, + 134, + 38, + 200, + 54, + 92, + 68, + 158, + 56, + 134, + 38, + 200, + 54, + 92, + 74, + 138, + 66, + 134, + 40, + 202, + 54, + 92, + 74, + 138, + 66, + 134, + 40, + 202, + 54, + 92, + 84, + 122, + 70, + 132, + 42, + 204, + 54, + 92, + 84, + 122, + 70, + 132, + 42, + 204, + 54, + 90, + 92, + 114, + 70, + 130, + 44, + 206, + 54, + 90, + 92, + 114, + 70, + 130, + 44, + 206, + 54, + 90, + 96, + 110, + 68, + 130, + 44, + 208, + 54, + 90, + 96, + 110, + 68, + 130, + 44, + 208, + 56, + 88, + 102, + 102, + 68, + 128, + 48, + 208, + 56, + 88, + 102, + 102, + 68, + 128, + 48, + 208, + 56, + 88, + 108, + 94, + 66, + 130, + 48, + 210, + 56, + 88, + 108, + 94, + 66, + 130, + 48, + 210, + 56, + 88, + 114, + 88, + 64, + 130, + 48, + 212, + 56, + 88, + 114, + 88, + 64, + 130, + 48, + 212, + 56, + 88, + 118, + 82, + 62, + 132, + 48, + 214, + 56, + 88, + 118, + 82, + 62, + 132, + 48, + 214, + 56, + 88, + 122, + 78, + 58, + 134, + 48, + 216, + 56, + 88, + 122, + 78, + 58, + 134, + 48, + 216, + 56, + 88, + 128, + 74, + 54, + 132, + 50, + 218, + 56, + 88, + 128, + 74, + 54, + 132, + 50, + 218, + 58, + 86, + 132, + 70, + 52, + 132, + 50, + 220, + 58, + 86, + 132, + 70, + 52, + 132, + 50, + 220, + 58, + 86, + 138, + 64, + 48, + 134, + 52, + 220, + 58, + 86, + 138, + 64, + 48, + 134, + 52, + 220, + 58, + 86, + 144, + 58, + 46, + 134, + 52, + 222, + 58, + 86, + 144, + 58, + 46, + 134, + 52, + 222, + 58, + 86, + 150, + 52, + 44, + 134, + 54, + 222, + 58, + 86, + 150, + 52, + 44, + 134, + 54, + 222, + 58, + 86, + 156, + 48, + 40, + 132, + 56, + 224, + 58, + 86, + 156, + 48, + 40, + 132, + 56, + 224, + 58, + 86, + 160, + 46, + 38, + 130, + 56, + 226, + 58, + 86, + 160, + 46, + 38, + 130, + 56, + 226, + 58, + 88, + 164, + 40, + 36, + 130, + 56, + 228, + 58, + 88, + 164, + 40, + 36, + 130, + 56, + 228, + 60, + 86, + 168, + 38, + 32, + 130, + 58, + 228, + 60, + 86, + 168, + 38, + 32, + 130, + 58, + 228, + 60, + 86, + 174, + 34, + 28, + 130, + 56, + 232, + 60, + 86, + 174, + 34, + 28, + 130, + 56, + 232, + 60, + 88, + 176, + 32, + 24, + 130, + 54, + 236, + 60, + 88, + 176, + 32, + 24, + 130, + 54, + 236, + 60, + 90, + 180, + 28, + 20, + 128, + 56, + 238, + 60, + 90, + 180, + 28, + 20, + 128, + 56, + 238, + 60, + 90, + 186, + 24, + 16, + 130, + 54, + 240, + 60, + 90, + 186, + 24, + 16, + 130, + 54, + 240, + 60, + 92, + 186, + 164, + 58, + 240, + 60, + 92, + 186, + 164, + 58, + 240, + 60, + 92, + 186, + 162, + 58, + 242, + 60, + 92, + 186, + 162, + 58, + 242, + 62, + 92, + 186, + 158, + 58, + 244, + 62, + 92, + 186, + 158, + 58, + 244, + 62, + 96, + 182, + 154, + 58, + 248, + 62, + 96, + 182, + 154, + 58, + 248, + 62, + 98, + 180, + 152, + 58, + 250, + 62, + 98, + 180, + 152, + 58, + 250, + 62, + 100, + 180, + 148, + 58, + 252, + 62, + 100, + 180, + 148, + 58, + 252, + 62, + 108, + 172, + 146, + 56, + 256, + 62, + 108, + 172, + 146, + 56, + 256, + 62, + 114, + 20, + 16, + 130, + 86, + 2, + 56, + 56, + 258, + 62, + 114, + 20, + 16, + 130, + 86, + 2, + 56, + 56, + 258, + 62, + 124, + 2, + 32, + 122, + 82, + 12, + 48, + 56, + 260, + 62, + 124, + 2, + 32, + 122, + 82, + 12, + 48, + 56, + 260, + 64, + 164, + 114, + 78, + 18, + 44, + 56, + 262, + 64, + 164, + 114, + 78, + 18, + 44, + 56, + 262, + 64, + 174, + 104, + 76, + 22, + 40, + 58, + 262, + 64, + 174, + 104, + 76, + 22, + 40, + 58, + 262, + 64, + 184, + 92, + 74, + 26, + 38, + 58, + 264, + 64, + 184, + 92, + 74, + 26, + 38, + 58, + 264, + 64, + 192, + 84, + 68, + 34, + 32, + 58, + 268, + 64, + 192, + 84, + 68, + 34, + 32, + 58, + 268, + 64, + 202, + 74, + 66, + 40, + 26, + 58, + 270, + 64, + 202, + 74, + 66, + 40, + 26, + 58, + 270, + 64, + 210, + 64, + 66, + 44, + 22, + 58, + 272, + 64, + 210, + 64, + 66, + 44, + 22, + 58, + 272, + 66, + 214, + 58, + 64, + 46, + 20, + 58, + 274, + 66, + 214, + 58, + 64, + 46, + 20, + 58, + 274, + 66, + 220, + 52, + 64, + 48, + 16, + 56, + 278, + 66, + 220, + 52, + 64, + 48, + 16, + 56, + 278, + 66, + 226, + 44, + 64, + 50, + 14, + 56, + 280, + 66, + 226, + 44, + 64, + 50, + 14, + 56, + 280, + 66, + 232, + 36, + 64, + 54, + 10, + 56, + 282, + 66, + 232, + 36, + 64, + 54, + 10, + 56, + 282, + 66, + 238, + 28, + 64, + 120, + 66, + 20, + 198, + 66, + 238, + 28, + 64, + 120, + 66, + 20, + 198, + 68, + 246, + 16, + 64, + 120, + 66, + 34, + 186, + 68, + 246, + 16, + 64, + 120, + 66, + 34, + 186, + 68, + 326, + 118, + 68, + 38, + 182, + 68, + 326, + 118, + 68, + 38, + 182, + 68, + 324, + 118, + 68, + 50, + 172, + 68, + 324, + 118, + 68, + 50, + 172, + 68, + 322, + 118, + 68, + 56, + 168, + 68, + 322, + 118, + 68, + 56, + 168, + 68, + 320, + 118, + 70, + 56, + 168, + 68, + 320, + 118, + 70, + 56, + 168, + 68, + 318, + 116, + 74, + 58, + 166, + 68, + 318, + 116, + 74, + 58, + 166, + 68, + 318, + 114, + 74, + 58, + 168, + 68, + 318, + 114, + 74, + 58, + 168, + 70, + 314, + 114, + 76, + 58, + 168, + 70, + 314, + 114, + 76, + 58, + 168, + 70, + 312, + 112, + 78, + 58, + 170, + 70, + 312, + 112, + 78, + 58, + 170, + 70, + 312, + 110, + 80, + 58, + 170, + 70, + 312, + 110, + 80, + 58, + 170, + 70, + 310, + 110, + 82, + 58, + 170, + 70, + 310, + 110, + 82, + 58, + 170, + 70, + 308, + 110, + 82, + 60, + 170, + 70, + 308, + 110, + 82, + 60, + 170, + 70, + 306, + 110, + 84, + 60, + 170, + 70, + 306, + 110, + 84, + 60, + 170, + 72, + 302, + 110, + 84, + 60, + 172, + 72, + 302, + 110, + 84, + 60, + 172, + 72, + 300, + 112, + 84, + 60, + 172, + 72, + 300, + 112, + 84, + 60, + 172, + 72, + 300, + 110, + 86, + 58, + 174, + 72, + 300, + 110, + 86, + 58, + 174, + 72, + 298, + 112, + 86, + 56, + 176, + 72, + 298, + 112, + 86, + 56, + 176, + 72, + 296, + 116, + 84, + 54, + 178, + 72, + 296, + 116, + 84, + 54, + 178, + 72, + 126, + 6, + 162, + 122, + 80, + 54, + 178, + 72, + 126, + 6, + 162, + 122, + 80, + 54, + 178, + 74, + 122, + 14, + 156, + 122, + 80, + 54, + 178, + 74, + 122, + 14, + 156, + 122, + 80, + 54, + 178, + 74, + 122, + 20, + 148, + 126, + 76, + 56, + 178, + 74, + 122, + 20, + 148, + 126, + 76, + 56, + 178, + 74, + 120, + 28, + 140, + 128, + 76, + 56, + 178, + 74, + 120, + 28, + 140, + 128, + 76, + 56, + 178, + 74, + 120, + 46, + 122, + 130, + 72, + 56, + 180, + 74, + 120, + 46, + 122, + 130, + 72, + 56, + 180, + 74, + 120, + 58, + 108, + 134, + 70, + 56, + 180, + 74, + 120, + 58, + 108, + 134, + 70, + 56, + 180, + 74, + 120, + 74, + 90, + 138, + 68, + 56, + 180, + 74, + 120, + 74, + 90, + 138, + 68, + 56, + 180, + 76, + 118, + 84, + 78, + 142, + 66, + 56, + 180, + 76, + 118, + 84, + 78, + 142, + 66, + 56, + 180, + 76, + 116, + 90, + 72, + 144, + 64, + 58, + 180, + 76, + 116, + 90, + 72, + 144, + 64, + 58, + 180, + 76, + 116, + 94, + 66, + 148, + 62, + 56, + 182, + 76, + 116, + 94, + 66, + 148, + 62, + 56, + 182, + 76, + 116, + 98, + 60, + 152, + 60, + 56, + 182, + 76, + 116, + 98, + 60, + 152, + 60, + 56, + 182, + 76, + 116, + 100, + 58, + 154, + 56, + 58, + 182, + 76, + 116, + 100, + 58, + 154, + 56, + 58, + 182, + 76, + 114, + 104, + 54, + 158, + 54, + 58, + 182, + 76, + 114, + 104, + 54, + 158, + 54, + 58, + 182, + 78, + 112, + 106, + 52, + 160, + 52, + 58, + 182, + 78, + 112, + 106, + 52, + 160, + 52, + 58, + 182, + 78, + 112, + 108, + 48, + 164, + 48, + 58, + 184, + 78, + 112, + 108, + 48, + 164, + 48, + 58, + 184, + 78, + 112, + 108, + 46, + 166, + 46, + 60, + 184, + 78, + 112, + 108, + 46, + 166, + 46, + 60, + 184, + 78, + 110, + 110, + 44, + 170, + 44, + 60, + 184, + 78, + 110, + 110, + 44, + 170, + 44, + 60, + 184, + 78, + 110, + 108, + 44, + 174, + 40, + 62, + 184, + 78, + 110, + 108, + 44, + 174, + 40, + 62, + 184, + 78, + 110, + 108, + 42, + 178, + 38, + 62, + 184, + 78, + 110, + 108, + 42, + 178, + 38, + 62, + 184, + 80, + 108, + 108, + 42, + 180, + 36, + 58, + 30, + 4, + 154, + 80, + 108, + 108, + 42, + 180, + 36, + 58, + 30, + 4, + 154, + 80, + 106, + 110, + 38, + 184, + 34, + 60, + 24, + 20, + 144, + 80, + 106, + 110, + 38, + 184, + 34, + 60, + 24, + 20, + 144, + 80, + 106, + 108, + 40, + 186, + 32, + 60, + 22, + 26, + 140, + 80, + 106, + 108, + 40, + 186, + 32, + 60, + 22, + 26, + 140, + 80, + 106, + 108, + 38, + 188, + 32, + 60, + 20, + 30, + 138, + 80, + 106, + 108, + 38, + 188, + 32, + 60, + 20, + 30, + 138, + 80, + 106, + 108, + 36, + 190, + 30, + 62, + 18, + 36, + 134, + 80, + 106, + 108, + 36, + 190, + 30, + 62, + 18, + 36, + 134, + 80, + 104, + 108, + 38, + 190, + 30, + 60, + 18, + 42, + 130, + 80, + 104, + 108, + 38, + 190, + 30, + 60, + 18, + 42, + 130, + 82, + 102, + 108, + 36, + 190, + 32, + 60, + 16, + 46, + 128, + 82, + 102, + 108, + 36, + 190, + 32, + 60, + 16, + 46, + 128, + 82, + 102, + 108, + 34, + 192, + 30, + 62, + 16, + 48, + 126, + 82, + 102, + 108, + 34, + 192, + 30, + 62, + 16, + 48, + 126, + 82, + 102, + 106, + 34, + 190, + 34, + 60, + 14, + 54, + 124, + 82, + 102, + 106, + 34, + 190, + 34, + 60, + 14, + 54, + 124, + 82, + 100, + 108, + 32, + 190, + 36, + 58, + 16, + 56, + 122, + 82, + 100, + 108, + 32, + 190, + 36, + 58, + 16, + 56, + 122, + 82, + 100, + 108, + 32, + 188, + 38, + 54, + 18, + 60, + 120, + 82, + 100, + 108, + 32, + 188, + 38, + 54, + 18, + 60, + 120, + 82, + 100, + 106, + 32, + 188, + 38, + 56, + 16, + 66, + 116, + 82, + 100, + 106, + 32, + 188, + 38, + 56, + 16, + 66, + 116, + 82, + 98, + 108, + 30, + 190, + 38, + 56, + 14, + 72, + 112, + 82, + 98, + 108, + 30, + 190, + 38, + 56, + 14, + 72, + 112, + 84, + 78, + 126, + 28, + 188, + 42, + 56, + 12, + 76, + 110, + 84, + 78, + 126, + 28, + 188, + 42, + 56, + 12, + 76, + 110, + 84, + 76, + 126, + 28, + 188, + 42, + 58, + 10, + 82, + 106, + 84, + 76, + 126, + 28, + 188, + 42, + 58, + 10, + 82, + 106, + 84, + 76, + 126, + 28, + 186, + 44, + 56, + 10, + 86, + 104, + 84, + 76, + 126, + 28, + 186, + 44, + 56, + 10, + 86, + 104, + 84, + 78, + 124, + 26, + 188, + 44, + 56, + 10, + 88, + 102, + 84, + 78, + 124, + 26, + 188, + 44, + 56, + 10, + 88, + 102, + 84, + 80, + 122, + 24, + 188, + 46, + 56, + 8, + 92, + 100, + 84, + 80, + 122, + 24, + 188, + 46, + 56, + 8, + 92, + 100, + 84, + 82, + 118, + 24, + 188, + 48, + 58, + 4, + 96, + 98, + 84, + 82, + 118, + 24, + 188, + 48, + 58, + 4, + 96, + 98, + 86, + 80, + 118, + 24, + 184, + 50, + 162, + 96, + 86, + 80, + 118, + 24, + 184, + 50, + 162, + 96, + 86, + 82, + 114, + 24, + 184, + 52, + 164, + 94, + 86, + 82, + 114, + 24, + 184, + 52, + 164, + 94, + 86, + 84, + 112, + 24, + 182, + 54, + 168, + 90, + 86, + 84, + 112, + 24, + 182, + 54, + 168, + 90, + 86, + 86, + 110, + 24, + 182, + 52, + 172, + 88, + 86, + 86, + 110, + 24, + 182, + 52, + 172, + 88, + 86, + 86, + 110, + 24, + 180, + 54, + 176, + 84, + 86, + 86, + 110, + 24, + 180, + 54, + 176, + 84, + 88, + 86, + 108, + 24, + 176, + 58, + 178, + 82, + 88, + 86, + 108, + 24, + 176, + 58, + 178, + 82, + 88, + 86, + 106, + 26, + 174, + 58, + 182, + 80, + 88, + 86, + 106, + 26, + 174, + 58, + 182, + 80, + 88, + 86, + 106, + 26, + 174, + 56, + 186, + 78, + 88, + 86, + 106, + 26, + 174, + 56, + 186, + 78, + 88, + 86, + 106, + 26, + 172, + 58, + 188, + 76, + 88, + 86, + 106, + 26, + 172, + 58, + 188, + 76, + 88, + 86, + 104, + 28, + 170, + 60, + 192, + 72, + 88, + 86, + 104, + 28, + 170, + 60, + 192, + 72, + 88, + 86, + 104, + 28, + 166, + 62, + 196, + 70, + 88, + 86, + 104, + 28, + 166, + 62, + 196, + 70, + 88, + 84, + 106, + 28, + 164, + 64, + 198, + 68, + 88, + 84, + 106, + 28, + 164, + 64, + 198, + 68, + 90, + 82, + 106, + 28, + 162, + 66, + 202, + 64, + 90, + 82, + 106, + 28, + 162, + 66, + 202, + 64, + 90, + 82, + 106, + 30, + 160, + 64, + 206, + 62, + 90, + 82, + 106, + 30, + 160, + 64, + 206, + 62, + 90, + 82, + 104, + 34, + 154, + 68, + 208, + 60, + 90, + 82, + 104, + 34, + 154, + 68, + 208, + 60, + 90, + 82, + 104, + 34, + 152, + 70, + 212, + 56, + 90, + 82, + 104, + 34, + 152, + 70, + 212, + 56, + 90, + 82, + 102, + 38, + 148, + 76, + 212, + 52, + 90, + 82, + 102, + 38, + 148, + 76, + 212, + 52, + 90, + 82, + 102, + 38, + 148, + 80, + 210, + 50, + 90, + 82, + 102, + 38, + 148, + 80, + 210, + 50, + 92, + 80, + 102, + 40, + 144, + 86, + 208, + 48, + 92, + 80, + 102, + 40, + 144, + 86, + 208, + 48, + 92, + 82, + 98, + 44, + 138, + 96, + 204, + 46, + 92, + 82, + 98, + 44, + 138, + 96, + 204, + 46, + 92, + 84, + 96, + 44, + 136, + 108, + 22, + 10, + 164, + 44, + 92, + 84, + 96, + 44, + 136, + 108, + 22, + 10, + 164, + 44, + 92, + 88, + 92, + 46, + 132, + 114, + 16, + 16, + 164, + 40, + 92, + 88, + 92, + 46, + 132, + 114, + 16, + 16, + 164, + 40, + 92, + 90, + 88, + 50, + 128, + 126, + 6, + 20, + 162, + 38, + 92, + 90, + 88, + 50, + 128, + 126, + 6, + 20, + 162, + 38, + 92, + 90, + 88, + 50, + 126, + 156, + 162, + 36, + 92, + 90, + 88, + 50, + 126, + 156, + 162, + 36, + 94, + 88, + 90, + 50, + 122, + 158, + 166, + 32, + 94, + 88, + 90, + 50, + 122, + 158, + 166, + 32, + 94, + 84, + 98, + 46, + 120, + 162, + 168, + 28, + 94, + 84, + 98, + 46, + 120, + 162, + 168, + 28, + 94, + 66, + 156, + 4, + 120, + 166, + 168, + 26, + 94, + 66, + 156, + 4, + 120, + 166, + 168, + 26, + 94, + 60, + 284, + 170, + 168, + 24, + 94, + 60, + 284, + 170, + 168, + 24, + 94, + 56, + 286, + 174, + 168, + 22, + 94, + 56, + 286, + 174, + 168, + 22, + 94, + 56, + 284, + 178, + 168, + 20, + 94, + 56, + 284, + 178, + 168, + 20, + 96, + 52, + 176, + 6, + 102, + 184, + 166, + 18, + 96, + 52, + 176, + 6, + 102, + 184, + 166, + 18, + 96, + 50, + 178, + 6, + 100, + 190, + 164, + 16, + 96, + 50, + 178, + 6, + 100, + 190, + 164, + 16, + 96, + 48, + 180, + 8, + 96, + 194, + 166, + 12, + 96, + 48, + 180, + 8, + 96, + 194, + 166, + 12, + 96, + 48, + 180, + 10, + 92, + 198, + 166, + 10, + 96, + 48, + 180, + 10, + 92, + 198, + 166, + 10, + 96, + 48, + 180, + 12, + 88, + 200, + 272, + 48, + 180, + 12, + 88, + 200, + 274, + 44, + 182, + 14, + 84, + 204, + 272, + 44, + 182, + 14, + 84, + 204, + 272, + 44, + 182, + 16, + 80, + 208, + 270, + 44, + 182, + 16, + 80, + 208, + 270, + 44, + 182, + 18, + 78, + 212, + 266, + 44, + 182, + 18, + 78, + 212, + 266, + 44, + 182, + 18, + 76, + 214, + 266, + 44, + 182, + 18, + 76, + 214, + 266, + 44, + 182, + 20, + 72, + 220, + 262, + 44, + 182, + 20, + 72, + 220, + 264, + 40, + 182, + 22, + 68, + 228, + 260, + 40, + 182, + 22, + 68, + 228, + 260, + 42, + 180, + 24, + 64, + 232, + 258, + 42, + 180, + 24, + 64, + 232, + 258, + 42, + 178, + 28, + 60, + 236, + 256, + 42, + 178, + 28, + 60, + 236, + 256, + 42, + 178, + 28, + 58, + 240, + 254, + 42, + 178, + 28, + 58, + 240, + 254, + 42, + 176, + 32, + 54, + 244, + 252, + 42, + 176, + 32, + 54, + 244, + 252, + 42, + 174, + 36, + 50, + 248, + 250, + 42, + 174, + 36, + 50, + 248, + 250, + 42, + 170, + 40, + 48, + 252, + 248, + 42, + 170, + 40, + 48, + 252, + 248, + 44, + 158, + 52, + 44, + 100, + 14, + 144, + 244, + 44, + 158, + 52, + 44, + 100, + 14, + 144, + 246, + 42, + 140, + 72, + 42, + 92, + 24, + 146, + 242, + 42, + 140, + 72, + 42, + 92, + 24, + 146, + 242, + 42, + 126, + 88, + 36, + 90, + 30, + 148, + 240, + 42, + 126, + 88, + 36, + 90, + 30, + 148, + 240, + 42, + 112, + 104, + 32, + 86, + 38, + 148, + 238, + 42, + 112, + 104, + 32, + 86, + 38, + 148, + 238, + 44, + 98, + 116, + 30, + 74, + 52, + 150, + 236, + 44, + 98, + 116, + 30, + 74, + 52, + 150, + 236, + 44, + 84, + 132, + 26, + 68, + 62, + 150, + 234, + 44, + 84, + 132, + 26, + 68, + 62, + 150, + 234, + 46, + 72, + 144, + 22, + 64, + 68, + 72, + 8, + 72, + 232, + 46, + 72, + 144, + 22, + 64, + 68, + 72, + 8, + 72, + 232, + 48, + 56, + 160, + 16, + 64, + 72, + 70, + 12, + 72, + 120, + 8, + 102, + 48, + 56, + 160, + 16, + 64, + 72, + 70, + 12, + 72, + 120, + 8, + 104, + 48, + 46, + 174, + 8, + 58, + 80, + 66, + 20, + 72, + 114, + 10, + 104, + 48, + 46, + 174, + 8, + 58, + 80, + 66, + 20, + 72, + 114, + 10, + 104, + 50, + 40, + 234, + 90, + 66, + 22, + 74, + 106, + 14, + 104, + 50, + 40, + 234, + 90, + 66, + 22, + 74, + 106, + 14, + 104, + 52, + 34, + 232, + 98, + 62, + 26, + 74, + 102, + 16, + 104, + 52, + 34, + 232, + 98, + 62, + 26, + 74, + 102, + 16, + 104, + 56, + 26, + 230, + 104, + 60, + 28, + 76, + 98, + 18, + 104, + 56, + 26, + 230, + 104, + 60, + 28, + 76, + 98, + 18, + 104, + 64, + 4, + 238, + 110, + 58, + 32, + 74, + 98, + 18, + 104, + 64, + 4, + 238, + 110, + 58, + 32, + 74, + 98, + 18, + 106, + 298, + 116, + 56, + 34, + 78, + 90, + 22, + 106, + 298, + 116, + 56, + 34, + 78, + 90, + 22, + 106, + 288, + 126, + 54, + 36, + 80, + 84, + 26, + 106, + 288, + 126, + 54, + 36, + 80, + 84, + 26, + 106, + 282, + 132, + 50, + 40, + 82, + 80, + 28, + 106, + 282, + 132, + 50, + 40, + 82, + 80, + 28, + 106, + 276, + 138, + 48, + 42, + 84, + 76, + 30, + 106, + 276, + 138, + 48, + 42, + 84, + 76, + 30, + 106, + 268, + 148, + 44, + 44, + 88, + 70, + 32, + 106, + 268, + 148, + 44, + 44, + 88, + 70, + 32, + 106, + 262, + 156, + 42, + 46, + 88, + 66, + 34, + 106, + 262, + 156, + 42, + 46, + 88, + 66, + 34, + 108, + 250, + 166, + 40, + 46, + 92, + 60, + 38, + 108, + 250, + 166, + 40, + 46, + 92, + 60, + 38, + 108, + 242, + 174, + 38, + 48, + 94, + 56, + 40, + 108, + 242, + 174, + 38, + 48, + 94, + 56, + 40, + 108, + 236, + 180, + 38, + 46, + 98, + 54, + 40, + 108, + 236, + 180, + 38, + 46, + 98, + 54, + 40, + 108, + 230, + 188, + 36, + 46, + 100, + 50, + 42, + 108, + 230, + 188, + 36, + 46, + 100, + 50, + 42, + 108, + 222, + 196, + 36, + 44, + 104, + 44, + 46, + 108, + 222, + 196, + 36, + 44, + 104, + 44, + 46, + 108, + 216, + 204, + 36, + 38, + 110, + 40, + 48, + 108, + 216, + 204, + 36, + 38, + 110, + 40, + 48, + 108, + 206, + 214, + 38, + 34, + 116, + 34, + 50, + 108, + 206, + 214, + 38, + 34, + 116, + 34, + 50, + 110, + 198, + 220, + 58, + 12, + 120, + 30, + 52, + 110, + 198, + 220, + 58, + 12, + 120, + 30, + 52, + 110, + 192, + 228, + 190, + 24, + 56, + 110, + 192, + 228, + 190, + 24, + 56, + 110, + 186, + 234, + 192, + 20, + 58, + 110, + 186, + 234, + 192, + 20, + 58, + 110, + 176, + 244, + 196, + 14, + 60, + 110, + 176, + 244, + 196, + 14, + 60, + 112, + 166, + 252, + 198, + 12, + 60, + 112, + 166, + 252, + 198, + 12, + 60, + 112, + 156, + 262, + 200, + 8, + 62, + 112, + 156, + 262, + 200, + 8, + 62, + 112, + 152, + 268, + 268, + 112, + 152, + 268, + 268, + 112, + 144, + 276, + 268, + 112, + 144, + 276, + 268, + 112, + 138, + 282, + 268, + 112, + 138, + 282, + 268, + 112, + 134, + 286, + 268, + 112, + 134, + 286, + 268, + 114, + 130, + 288, + 268, + 114, + 130, + 288, + 268, + 114, + 130, + 290, + 266, + 114, + 130, + 290, + 266, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 294, + 262, + 114, + 130, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 132, + 290, + 262, + 116, + 132, + 290, + 262, + 116, + 132, + 292, + 260, + 116, + 132, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 132, + 290, + 260, + 118, + 132, + 290, + 260, + 120, + 130, + 290, + 260, + 120, + 130, + 290, + 260, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 122, + 130, + 292, + 256, + 122, + 130, + 292, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 124, + 130, + 294, + 252, + 124, + 130, + 294, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 292, + 250, + 124, + 134, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 136, + 290, + 246, + 128, + 136, + 290, + 246, + 128, + 136, + 288, + 248, + 128, + 136, + 288, + 248, + 128, + 136, + 286, + 250, + 128, + 136, + 286, + 250, + 130, + 134, + 284, + 252, + 130, + 134, + 284, + 252, + 130, + 134, + 280, + 256, + 130, + 134, + 280, + 256, + 130, + 134, + 278, + 258, + 130, + 134, + 278, + 258, + 130, + 136, + 272, + 262, + 130, + 136, + 272, + 262, + 130, + 138, + 270, + 262, + 130, + 138, + 270, + 262, + 132, + 136, + 266, + 266, + 132, + 136, + 266, + 266, + 132, + 136, + 264, + 268, + 132, + 136, + 264, + 268, + 132, + 134, + 264, + 270, + 132, + 134, + 264, + 270, + 132, + 130, + 266, + 272, + 132, + 130, + 266, + 272, + 132, + 124, + 270, + 274, + 132, + 124, + 270, + 274, + 132, + 108, + 282, + 278, + 132, + 108, + 282, + 278, + 134, + 100, + 288, + 278, + 134, + 100, + 288, + 278, + 134, + 98, + 288, + 280, + 134, + 98, + 288, + 280, + 134, + 98, + 286, + 282, + 134, + 98, + 286, + 282, + 134, + 98, + 284, + 284, + 134, + 98, + 284, + 284, + 134, + 98, + 278, + 290, + 134, + 98, + 278, + 290, + 136, + 96, + 260, + 308, + 136, + 96, + 260, + 308, + 136, + 96, + 230, + 4, + 4, + 330, + 136, + 96, + 230, + 4, + 4, + 330, + 136, + 98, + 202, + 364, + 136, + 98, + 202, + 364, + 136, + 98, + 32, + 4, + 138, + 392, + 136, + 98, + 32, + 4, + 138, + 392, + 136, + 100, + 24, + 14, + 114, + 412, + 136, + 100, + 24, + 14, + 114, + 412, + 136, + 102, + 18, + 20, + 86, + 438, + 136, + 102, + 18, + 20, + 86, + 438, + 136, + 106, + 8, + 26, + 58, + 466, + 136, + 106, + 8, + 26, + 58, + 466, + 136, + 142, + 28, + 494, + 136, + 142, + 28, + 494, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000243:0000", + "experimental_retained_index": 0, + "ism_score": 0.3706701695919037, + "R": [ + [ + 0.015222296118736267, + -0.9772971272468567, + 0.21132612228393555 + ], + [ + -0.7669411897659302, + -0.14701713621616364, + -0.6246498823165894 + ], + [ + 0.6415371894836426, + -0.15256619453430176, + -0.7517669796943665 + ] + ], + "t": [ + -7.049790382385254, + -17.62303924560547, + 332.3379211425781 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 0, + 6, + 1278, + 790 + ], + "score": 0.0023166886530816555, + "time": 0.0, + "segmentation": { + "counts": [ + 31, + 768, + 30, + 770, + 30, + 770, + 14, + 786, + 14, + 786, + 8, + 792, + 8, + 792, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 502, + 2, + 260, + 36, + 502, + 2, + 260, + 36, + 498, + 12, + 254, + 36, + 498, + 12, + 254, + 36, + 492, + 20, + 252, + 36, + 492, + 20, + 252, + 36, + 488, + 24, + 252, + 36, + 488, + 24, + 252, + 36, + 484, + 28, + 252, + 36, + 484, + 28, + 252, + 38, + 478, + 32, + 252, + 38, + 478, + 32, + 252, + 38, + 474, + 36, + 252, + 38, + 474, + 36, + 252, + 38, + 468, + 42, + 252, + 38, + 468, + 42, + 252, + 38, + 464, + 44, + 254, + 38, + 464, + 44, + 254, + 38, + 460, + 44, + 258, + 38, + 460, + 44, + 258, + 38, + 456, + 48, + 258, + 38, + 456, + 48, + 258, + 38, + 454, + 48, + 260, + 38, + 454, + 48, + 260, + 40, + 448, + 50, + 262, + 40, + 448, + 50, + 262, + 40, + 446, + 52, + 262, + 40, + 446, + 52, + 262, + 40, + 444, + 50, + 266, + 40, + 444, + 50, + 266, + 40, + 442, + 50, + 268, + 40, + 442, + 50, + 268, + 40, + 440, + 50, + 270, + 40, + 440, + 50, + 270, + 40, + 436, + 52, + 272, + 40, + 436, + 52, + 272, + 40, + 432, + 54, + 274, + 40, + 432, + 54, + 274, + 42, + 428, + 54, + 276, + 42, + 428, + 54, + 276, + 42, + 426, + 54, + 278, + 42, + 426, + 54, + 278, + 42, + 424, + 54, + 280, + 42, + 424, + 54, + 280, + 42, + 420, + 58, + 280, + 42, + 420, + 58, + 280, + 42, + 418, + 58, + 282, + 42, + 418, + 58, + 282, + 42, + 416, + 58, + 284, + 42, + 416, + 58, + 284, + 44, + 412, + 56, + 288, + 44, + 412, + 56, + 288, + 44, + 408, + 58, + 290, + 44, + 408, + 58, + 290, + 44, + 406, + 58, + 292, + 44, + 406, + 58, + 292, + 44, + 402, + 60, + 294, + 44, + 402, + 60, + 294, + 44, + 400, + 58, + 298, + 44, + 400, + 58, + 298, + 44, + 398, + 58, + 300, + 44, + 398, + 58, + 300, + 46, + 394, + 58, + 302, + 46, + 394, + 58, + 302, + 46, + 390, + 60, + 304, + 46, + 390, + 60, + 304, + 46, + 388, + 58, + 308, + 46, + 388, + 58, + 308, + 46, + 386, + 58, + 310, + 46, + 386, + 58, + 310, + 46, + 384, + 58, + 312, + 46, + 384, + 58, + 312, + 46, + 380, + 58, + 316, + 46, + 380, + 58, + 316, + 48, + 376, + 56, + 320, + 48, + 376, + 56, + 320, + 48, + 374, + 58, + 320, + 48, + 374, + 58, + 320, + 48, + 370, + 60, + 322, + 48, + 370, + 60, + 322, + 48, + 368, + 58, + 326, + 48, + 368, + 58, + 326, + 48, + 366, + 56, + 330, + 48, + 366, + 56, + 330, + 48, + 362, + 58, + 332, + 48, + 362, + 58, + 332, + 48, + 360, + 58, + 334, + 48, + 360, + 58, + 334, + 48, + 358, + 56, + 338, + 48, + 358, + 56, + 338, + 50, + 114, + 16, + 224, + 54, + 342, + 50, + 114, + 16, + 224, + 54, + 342, + 50, + 110, + 26, + 214, + 56, + 344, + 50, + 110, + 26, + 214, + 56, + 344, + 50, + 108, + 34, + 206, + 54, + 348, + 50, + 108, + 34, + 206, + 54, + 348, + 50, + 106, + 40, + 198, + 56, + 140, + 4, + 206, + 50, + 106, + 40, + 198, + 56, + 140, + 4, + 206, + 50, + 104, + 46, + 192, + 56, + 138, + 12, + 202, + 50, + 104, + 46, + 192, + 56, + 138, + 12, + 202, + 52, + 100, + 50, + 188, + 54, + 138, + 18, + 200, + 52, + 100, + 50, + 188, + 54, + 138, + 18, + 200, + 52, + 100, + 52, + 182, + 56, + 136, + 22, + 200, + 52, + 100, + 52, + 182, + 56, + 136, + 22, + 200, + 52, + 98, + 56, + 178, + 56, + 134, + 26, + 200, + 52, + 98, + 56, + 178, + 56, + 134, + 26, + 200, + 52, + 96, + 60, + 174, + 56, + 132, + 30, + 200, + 52, + 96, + 60, + 174, + 56, + 132, + 30, + 200, + 52, + 96, + 62, + 170, + 54, + 134, + 34, + 198, + 52, + 96, + 62, + 170, + 54, + 134, + 34, + 198, + 52, + 94, + 64, + 166, + 54, + 134, + 36, + 200, + 52, + 94, + 64, + 166, + 54, + 134, + 36, + 200, + 54, + 92, + 68, + 158, + 56, + 134, + 38, + 200, + 54, + 92, + 68, + 158, + 56, + 134, + 38, + 200, + 54, + 92, + 74, + 138, + 66, + 134, + 40, + 202, + 54, + 92, + 74, + 138, + 66, + 134, + 40, + 202, + 54, + 92, + 84, + 122, + 70, + 132, + 42, + 204, + 54, + 92, + 84, + 122, + 70, + 132, + 42, + 204, + 54, + 90, + 92, + 114, + 70, + 130, + 44, + 206, + 54, + 90, + 92, + 114, + 70, + 130, + 44, + 206, + 54, + 90, + 96, + 110, + 68, + 130, + 44, + 208, + 54, + 90, + 96, + 110, + 68, + 130, + 44, + 208, + 56, + 88, + 102, + 102, + 68, + 128, + 48, + 208, + 56, + 88, + 102, + 102, + 68, + 128, + 48, + 208, + 56, + 88, + 108, + 94, + 66, + 130, + 48, + 210, + 56, + 88, + 108, + 94, + 66, + 130, + 48, + 210, + 56, + 88, + 114, + 88, + 64, + 130, + 48, + 212, + 56, + 88, + 114, + 88, + 64, + 130, + 48, + 212, + 56, + 88, + 118, + 82, + 62, + 132, + 48, + 214, + 56, + 88, + 118, + 82, + 62, + 132, + 48, + 214, + 56, + 88, + 122, + 78, + 58, + 134, + 48, + 216, + 56, + 88, + 122, + 78, + 58, + 134, + 48, + 216, + 56, + 88, + 128, + 74, + 54, + 132, + 50, + 218, + 56, + 88, + 128, + 74, + 54, + 132, + 50, + 218, + 58, + 86, + 132, + 70, + 52, + 132, + 50, + 220, + 58, + 86, + 132, + 70, + 52, + 132, + 50, + 220, + 58, + 86, + 138, + 64, + 48, + 134, + 52, + 220, + 58, + 86, + 138, + 64, + 48, + 134, + 52, + 220, + 58, + 86, + 144, + 58, + 46, + 134, + 52, + 222, + 58, + 86, + 144, + 58, + 46, + 134, + 52, + 222, + 58, + 86, + 150, + 52, + 44, + 134, + 54, + 222, + 58, + 86, + 150, + 52, + 44, + 134, + 54, + 222, + 58, + 86, + 156, + 48, + 40, + 132, + 56, + 224, + 58, + 86, + 156, + 48, + 40, + 132, + 56, + 224, + 58, + 86, + 160, + 46, + 38, + 130, + 56, + 226, + 58, + 86, + 160, + 46, + 38, + 130, + 56, + 226, + 58, + 88, + 164, + 40, + 36, + 130, + 56, + 228, + 58, + 88, + 164, + 40, + 36, + 130, + 56, + 228, + 60, + 86, + 168, + 38, + 32, + 130, + 58, + 228, + 60, + 86, + 168, + 38, + 32, + 130, + 58, + 228, + 60, + 86, + 174, + 34, + 28, + 130, + 56, + 232, + 60, + 86, + 174, + 34, + 28, + 130, + 56, + 232, + 60, + 88, + 176, + 32, + 24, + 130, + 54, + 236, + 60, + 88, + 176, + 32, + 24, + 130, + 54, + 236, + 60, + 90, + 180, + 28, + 20, + 128, + 56, + 238, + 60, + 90, + 180, + 28, + 20, + 128, + 56, + 238, + 60, + 90, + 186, + 24, + 16, + 130, + 54, + 240, + 60, + 90, + 186, + 24, + 16, + 130, + 54, + 240, + 60, + 92, + 186, + 164, + 58, + 240, + 60, + 92, + 186, + 164, + 58, + 240, + 60, + 92, + 186, + 162, + 58, + 242, + 60, + 92, + 186, + 162, + 58, + 242, + 62, + 92, + 186, + 158, + 58, + 244, + 62, + 92, + 186, + 158, + 58, + 244, + 62, + 96, + 182, + 154, + 58, + 248, + 62, + 96, + 182, + 154, + 58, + 248, + 62, + 98, + 180, + 152, + 58, + 250, + 62, + 98, + 180, + 152, + 58, + 250, + 62, + 100, + 180, + 148, + 58, + 252, + 62, + 100, + 180, + 148, + 58, + 252, + 62, + 108, + 172, + 146, + 56, + 256, + 62, + 108, + 172, + 146, + 56, + 256, + 62, + 114, + 20, + 16, + 130, + 86, + 2, + 56, + 56, + 258, + 62, + 114, + 20, + 16, + 130, + 86, + 2, + 56, + 56, + 258, + 62, + 124, + 2, + 32, + 122, + 82, + 12, + 48, + 56, + 260, + 62, + 124, + 2, + 32, + 122, + 82, + 12, + 48, + 56, + 260, + 64, + 164, + 114, + 78, + 18, + 44, + 56, + 262, + 64, + 164, + 114, + 78, + 18, + 44, + 56, + 262, + 64, + 174, + 104, + 76, + 22, + 40, + 58, + 262, + 64, + 174, + 104, + 76, + 22, + 40, + 58, + 262, + 64, + 184, + 92, + 74, + 26, + 38, + 58, + 264, + 64, + 184, + 92, + 74, + 26, + 38, + 58, + 264, + 64, + 192, + 84, + 68, + 34, + 32, + 58, + 268, + 64, + 192, + 84, + 68, + 34, + 32, + 58, + 268, + 64, + 202, + 74, + 66, + 40, + 26, + 58, + 270, + 64, + 202, + 74, + 66, + 40, + 26, + 58, + 270, + 64, + 210, + 64, + 66, + 44, + 22, + 58, + 272, + 64, + 210, + 64, + 66, + 44, + 22, + 58, + 272, + 66, + 214, + 58, + 64, + 46, + 20, + 58, + 274, + 66, + 214, + 58, + 64, + 46, + 20, + 58, + 274, + 66, + 220, + 52, + 64, + 48, + 16, + 56, + 278, + 66, + 220, + 52, + 64, + 48, + 16, + 56, + 278, + 66, + 226, + 44, + 64, + 50, + 14, + 56, + 280, + 66, + 226, + 44, + 64, + 50, + 14, + 56, + 280, + 66, + 232, + 36, + 64, + 54, + 10, + 56, + 282, + 66, + 232, + 36, + 64, + 54, + 10, + 56, + 282, + 66, + 238, + 28, + 64, + 120, + 66, + 20, + 198, + 66, + 238, + 28, + 64, + 120, + 66, + 20, + 198, + 68, + 246, + 16, + 64, + 120, + 66, + 34, + 186, + 68, + 246, + 16, + 64, + 120, + 66, + 34, + 186, + 68, + 326, + 118, + 68, + 38, + 182, + 68, + 326, + 118, + 68, + 38, + 182, + 68, + 324, + 118, + 68, + 50, + 172, + 68, + 324, + 118, + 68, + 50, + 172, + 68, + 322, + 118, + 68, + 56, + 168, + 68, + 322, + 118, + 68, + 56, + 168, + 68, + 320, + 118, + 70, + 56, + 168, + 68, + 320, + 118, + 70, + 56, + 168, + 68, + 318, + 116, + 74, + 58, + 166, + 68, + 318, + 116, + 74, + 58, + 166, + 68, + 318, + 114, + 74, + 58, + 168, + 68, + 318, + 114, + 74, + 58, + 168, + 70, + 314, + 114, + 76, + 58, + 168, + 70, + 314, + 114, + 76, + 58, + 168, + 70, + 312, + 112, + 78, + 58, + 170, + 70, + 312, + 112, + 78, + 58, + 170, + 70, + 312, + 110, + 80, + 58, + 170, + 70, + 312, + 110, + 80, + 58, + 170, + 70, + 310, + 110, + 82, + 58, + 170, + 70, + 310, + 110, + 82, + 58, + 170, + 70, + 308, + 110, + 82, + 60, + 170, + 70, + 308, + 110, + 82, + 60, + 170, + 70, + 306, + 110, + 84, + 60, + 170, + 70, + 306, + 110, + 84, + 60, + 170, + 72, + 302, + 110, + 84, + 60, + 172, + 72, + 302, + 110, + 84, + 60, + 172, + 72, + 300, + 112, + 84, + 60, + 172, + 72, + 300, + 112, + 84, + 60, + 172, + 72, + 300, + 110, + 86, + 58, + 174, + 72, + 300, + 110, + 86, + 58, + 174, + 72, + 298, + 112, + 86, + 56, + 176, + 72, + 298, + 112, + 86, + 56, + 176, + 72, + 296, + 116, + 84, + 54, + 178, + 72, + 296, + 116, + 84, + 54, + 178, + 72, + 126, + 6, + 162, + 122, + 80, + 54, + 178, + 72, + 126, + 6, + 162, + 122, + 80, + 54, + 178, + 74, + 122, + 14, + 156, + 122, + 80, + 54, + 178, + 74, + 122, + 14, + 156, + 122, + 80, + 54, + 178, + 74, + 122, + 20, + 148, + 126, + 76, + 56, + 178, + 74, + 122, + 20, + 148, + 126, + 76, + 56, + 178, + 74, + 120, + 28, + 140, + 128, + 76, + 56, + 178, + 74, + 120, + 28, + 140, + 128, + 76, + 56, + 178, + 74, + 120, + 46, + 122, + 130, + 72, + 56, + 180, + 74, + 120, + 46, + 122, + 130, + 72, + 56, + 180, + 74, + 120, + 58, + 108, + 134, + 70, + 56, + 180, + 74, + 120, + 58, + 108, + 134, + 70, + 56, + 180, + 74, + 120, + 74, + 90, + 138, + 68, + 56, + 180, + 74, + 120, + 74, + 90, + 138, + 68, + 56, + 180, + 76, + 118, + 84, + 78, + 142, + 66, + 56, + 180, + 76, + 118, + 84, + 78, + 142, + 66, + 56, + 180, + 76, + 116, + 90, + 72, + 144, + 64, + 58, + 180, + 76, + 116, + 90, + 72, + 144, + 64, + 58, + 180, + 76, + 116, + 94, + 66, + 148, + 62, + 56, + 182, + 76, + 116, + 94, + 66, + 148, + 62, + 56, + 182, + 76, + 116, + 98, + 60, + 152, + 60, + 56, + 182, + 76, + 116, + 98, + 60, + 152, + 60, + 56, + 182, + 76, + 116, + 100, + 58, + 154, + 56, + 58, + 182, + 76, + 116, + 100, + 58, + 154, + 56, + 58, + 182, + 76, + 114, + 104, + 54, + 158, + 54, + 58, + 182, + 76, + 114, + 104, + 54, + 158, + 54, + 58, + 182, + 78, + 112, + 106, + 52, + 160, + 52, + 58, + 182, + 78, + 112, + 106, + 52, + 160, + 52, + 58, + 182, + 78, + 112, + 108, + 48, + 164, + 48, + 58, + 184, + 78, + 112, + 108, + 48, + 164, + 48, + 58, + 184, + 78, + 112, + 108, + 46, + 166, + 46, + 60, + 184, + 78, + 112, + 108, + 46, + 166, + 46, + 60, + 184, + 78, + 110, + 110, + 44, + 170, + 44, + 60, + 184, + 78, + 110, + 110, + 44, + 170, + 44, + 60, + 184, + 78, + 110, + 108, + 44, + 174, + 40, + 62, + 184, + 78, + 110, + 108, + 44, + 174, + 40, + 62, + 184, + 78, + 110, + 108, + 42, + 178, + 38, + 62, + 184, + 78, + 110, + 108, + 42, + 178, + 38, + 62, + 184, + 80, + 108, + 108, + 42, + 180, + 36, + 58, + 30, + 4, + 154, + 80, + 108, + 108, + 42, + 180, + 36, + 58, + 30, + 4, + 154, + 80, + 106, + 110, + 38, + 184, + 34, + 60, + 24, + 20, + 144, + 80, + 106, + 110, + 38, + 184, + 34, + 60, + 24, + 20, + 144, + 80, + 106, + 108, + 40, + 186, + 32, + 60, + 22, + 26, + 140, + 80, + 106, + 108, + 40, + 186, + 32, + 60, + 22, + 26, + 140, + 80, + 106, + 108, + 38, + 188, + 32, + 60, + 20, + 30, + 138, + 80, + 106, + 108, + 38, + 188, + 32, + 60, + 20, + 30, + 138, + 80, + 106, + 108, + 36, + 190, + 30, + 62, + 18, + 36, + 134, + 80, + 106, + 108, + 36, + 190, + 30, + 62, + 18, + 36, + 134, + 80, + 104, + 108, + 38, + 190, + 30, + 60, + 18, + 42, + 130, + 80, + 104, + 108, + 38, + 190, + 30, + 60, + 18, + 42, + 130, + 82, + 102, + 108, + 36, + 190, + 32, + 60, + 16, + 46, + 128, + 82, + 102, + 108, + 36, + 190, + 32, + 60, + 16, + 46, + 128, + 82, + 102, + 108, + 34, + 192, + 30, + 62, + 16, + 48, + 126, + 82, + 102, + 108, + 34, + 192, + 30, + 62, + 16, + 48, + 126, + 82, + 102, + 106, + 34, + 190, + 34, + 60, + 14, + 54, + 124, + 82, + 102, + 106, + 34, + 190, + 34, + 60, + 14, + 54, + 124, + 82, + 100, + 108, + 32, + 190, + 36, + 58, + 16, + 56, + 122, + 82, + 100, + 108, + 32, + 190, + 36, + 58, + 16, + 56, + 122, + 82, + 100, + 108, + 32, + 188, + 38, + 54, + 18, + 60, + 120, + 82, + 100, + 108, + 32, + 188, + 38, + 54, + 18, + 60, + 120, + 82, + 100, + 106, + 32, + 188, + 38, + 56, + 16, + 66, + 116, + 82, + 100, + 106, + 32, + 188, + 38, + 56, + 16, + 66, + 116, + 82, + 98, + 108, + 30, + 190, + 38, + 56, + 14, + 72, + 112, + 82, + 98, + 108, + 30, + 190, + 38, + 56, + 14, + 72, + 112, + 84, + 78, + 126, + 28, + 188, + 42, + 56, + 12, + 76, + 110, + 84, + 78, + 126, + 28, + 188, + 42, + 56, + 12, + 76, + 110, + 84, + 76, + 126, + 28, + 188, + 42, + 58, + 10, + 82, + 106, + 84, + 76, + 126, + 28, + 188, + 42, + 58, + 10, + 82, + 106, + 84, + 76, + 126, + 28, + 186, + 44, + 56, + 10, + 86, + 104, + 84, + 76, + 126, + 28, + 186, + 44, + 56, + 10, + 86, + 104, + 84, + 78, + 124, + 26, + 188, + 44, + 56, + 10, + 88, + 102, + 84, + 78, + 124, + 26, + 188, + 44, + 56, + 10, + 88, + 102, + 84, + 80, + 122, + 24, + 188, + 46, + 56, + 8, + 92, + 100, + 84, + 80, + 122, + 24, + 188, + 46, + 56, + 8, + 92, + 100, + 84, + 82, + 118, + 24, + 188, + 48, + 58, + 4, + 96, + 98, + 84, + 82, + 118, + 24, + 188, + 48, + 58, + 4, + 96, + 98, + 86, + 80, + 118, + 24, + 184, + 50, + 162, + 96, + 86, + 80, + 118, + 24, + 184, + 50, + 162, + 96, + 86, + 82, + 114, + 24, + 184, + 52, + 164, + 94, + 86, + 82, + 114, + 24, + 184, + 52, + 164, + 94, + 86, + 84, + 112, + 24, + 182, + 54, + 168, + 90, + 86, + 84, + 112, + 24, + 182, + 54, + 168, + 90, + 86, + 86, + 110, + 24, + 182, + 52, + 172, + 88, + 86, + 86, + 110, + 24, + 182, + 52, + 172, + 88, + 86, + 86, + 110, + 24, + 180, + 54, + 176, + 84, + 86, + 86, + 110, + 24, + 180, + 54, + 176, + 84, + 88, + 86, + 108, + 24, + 176, + 58, + 178, + 82, + 88, + 86, + 108, + 24, + 176, + 58, + 178, + 82, + 88, + 86, + 106, + 26, + 174, + 58, + 182, + 80, + 88, + 86, + 106, + 26, + 174, + 58, + 182, + 80, + 88, + 86, + 106, + 26, + 174, + 56, + 186, + 78, + 88, + 86, + 106, + 26, + 174, + 56, + 186, + 78, + 88, + 86, + 106, + 26, + 172, + 58, + 188, + 76, + 88, + 86, + 106, + 26, + 172, + 58, + 188, + 76, + 88, + 86, + 104, + 28, + 170, + 60, + 192, + 72, + 88, + 86, + 104, + 28, + 170, + 60, + 192, + 72, + 88, + 86, + 104, + 28, + 166, + 62, + 196, + 70, + 88, + 86, + 104, + 28, + 166, + 62, + 196, + 70, + 88, + 84, + 106, + 28, + 164, + 64, + 198, + 68, + 88, + 84, + 106, + 28, + 164, + 64, + 198, + 68, + 90, + 82, + 106, + 28, + 162, + 66, + 202, + 64, + 90, + 82, + 106, + 28, + 162, + 66, + 202, + 64, + 90, + 82, + 106, + 30, + 160, + 64, + 206, + 62, + 90, + 82, + 106, + 30, + 160, + 64, + 206, + 62, + 90, + 82, + 104, + 34, + 154, + 68, + 208, + 60, + 90, + 82, + 104, + 34, + 154, + 68, + 208, + 60, + 90, + 82, + 104, + 34, + 152, + 70, + 212, + 56, + 90, + 82, + 104, + 34, + 152, + 70, + 212, + 56, + 90, + 82, + 102, + 38, + 148, + 76, + 212, + 52, + 90, + 82, + 102, + 38, + 148, + 76, + 212, + 52, + 90, + 82, + 102, + 38, + 148, + 80, + 210, + 50, + 90, + 82, + 102, + 38, + 148, + 80, + 210, + 50, + 92, + 80, + 102, + 40, + 144, + 86, + 208, + 48, + 92, + 80, + 102, + 40, + 144, + 86, + 208, + 48, + 92, + 82, + 98, + 44, + 138, + 96, + 204, + 46, + 92, + 82, + 98, + 44, + 138, + 96, + 204, + 46, + 92, + 84, + 96, + 44, + 136, + 108, + 22, + 10, + 164, + 44, + 92, + 84, + 96, + 44, + 136, + 108, + 22, + 10, + 164, + 44, + 92, + 88, + 92, + 46, + 132, + 114, + 16, + 16, + 164, + 40, + 92, + 88, + 92, + 46, + 132, + 114, + 16, + 16, + 164, + 40, + 92, + 90, + 88, + 50, + 128, + 126, + 6, + 20, + 162, + 38, + 92, + 90, + 88, + 50, + 128, + 126, + 6, + 20, + 162, + 38, + 92, + 90, + 88, + 50, + 126, + 156, + 162, + 36, + 92, + 90, + 88, + 50, + 126, + 156, + 162, + 36, + 94, + 88, + 90, + 50, + 122, + 158, + 166, + 32, + 94, + 88, + 90, + 50, + 122, + 158, + 166, + 32, + 94, + 84, + 98, + 46, + 120, + 162, + 168, + 28, + 94, + 84, + 98, + 46, + 120, + 162, + 168, + 28, + 94, + 66, + 156, + 4, + 120, + 166, + 168, + 26, + 94, + 66, + 156, + 4, + 120, + 166, + 168, + 26, + 94, + 60, + 284, + 170, + 168, + 24, + 94, + 60, + 284, + 170, + 168, + 24, + 94, + 56, + 286, + 174, + 168, + 22, + 94, + 56, + 286, + 174, + 168, + 22, + 94, + 56, + 284, + 178, + 168, + 20, + 94, + 56, + 284, + 178, + 168, + 20, + 96, + 52, + 176, + 6, + 102, + 184, + 166, + 18, + 96, + 52, + 176, + 6, + 102, + 184, + 166, + 18, + 96, + 50, + 178, + 6, + 100, + 190, + 164, + 16, + 96, + 50, + 178, + 6, + 100, + 190, + 164, + 16, + 96, + 48, + 180, + 8, + 96, + 194, + 166, + 12, + 96, + 48, + 180, + 8, + 96, + 194, + 166, + 12, + 96, + 48, + 180, + 10, + 92, + 198, + 166, + 10, + 96, + 48, + 180, + 10, + 92, + 198, + 166, + 10, + 96, + 48, + 180, + 12, + 88, + 200, + 272, + 48, + 180, + 12, + 88, + 200, + 274, + 44, + 182, + 14, + 84, + 204, + 272, + 44, + 182, + 14, + 84, + 204, + 272, + 44, + 182, + 16, + 80, + 208, + 270, + 44, + 182, + 16, + 80, + 208, + 270, + 44, + 182, + 18, + 78, + 212, + 266, + 44, + 182, + 18, + 78, + 212, + 266, + 44, + 182, + 18, + 76, + 214, + 266, + 44, + 182, + 18, + 76, + 214, + 266, + 44, + 182, + 20, + 72, + 220, + 262, + 44, + 182, + 20, + 72, + 220, + 264, + 40, + 182, + 22, + 68, + 228, + 260, + 40, + 182, + 22, + 68, + 228, + 260, + 42, + 180, + 24, + 64, + 232, + 258, + 42, + 180, + 24, + 64, + 232, + 258, + 42, + 178, + 28, + 60, + 236, + 256, + 42, + 178, + 28, + 60, + 236, + 256, + 42, + 178, + 28, + 58, + 240, + 254, + 42, + 178, + 28, + 58, + 240, + 254, + 42, + 176, + 32, + 54, + 244, + 252, + 42, + 176, + 32, + 54, + 244, + 252, + 42, + 174, + 36, + 50, + 248, + 250, + 42, + 174, + 36, + 50, + 248, + 250, + 42, + 170, + 40, + 48, + 252, + 248, + 42, + 170, + 40, + 48, + 252, + 248, + 44, + 158, + 52, + 44, + 100, + 14, + 144, + 244, + 44, + 158, + 52, + 44, + 100, + 14, + 144, + 246, + 42, + 140, + 72, + 42, + 92, + 24, + 146, + 242, + 42, + 140, + 72, + 42, + 92, + 24, + 146, + 242, + 42, + 126, + 88, + 36, + 90, + 30, + 148, + 240, + 42, + 126, + 88, + 36, + 90, + 30, + 148, + 240, + 42, + 112, + 104, + 32, + 86, + 38, + 148, + 238, + 42, + 112, + 104, + 32, + 86, + 38, + 148, + 238, + 44, + 98, + 116, + 30, + 74, + 52, + 150, + 236, + 44, + 98, + 116, + 30, + 74, + 52, + 150, + 236, + 44, + 84, + 132, + 26, + 68, + 62, + 150, + 234, + 44, + 84, + 132, + 26, + 68, + 62, + 150, + 234, + 46, + 72, + 144, + 22, + 64, + 68, + 72, + 8, + 72, + 232, + 46, + 72, + 144, + 22, + 64, + 68, + 72, + 8, + 72, + 232, + 48, + 56, + 160, + 16, + 64, + 72, + 70, + 12, + 72, + 120, + 8, + 102, + 48, + 56, + 160, + 16, + 64, + 72, + 70, + 12, + 72, + 120, + 8, + 104, + 48, + 46, + 174, + 8, + 58, + 80, + 66, + 20, + 72, + 114, + 10, + 104, + 48, + 46, + 174, + 8, + 58, + 80, + 66, + 20, + 72, + 114, + 10, + 104, + 50, + 40, + 234, + 90, + 66, + 22, + 74, + 106, + 14, + 104, + 50, + 40, + 234, + 90, + 66, + 22, + 74, + 106, + 14, + 104, + 52, + 34, + 232, + 98, + 62, + 26, + 74, + 102, + 16, + 104, + 52, + 34, + 232, + 98, + 62, + 26, + 74, + 102, + 16, + 104, + 56, + 26, + 230, + 104, + 60, + 28, + 76, + 98, + 18, + 104, + 56, + 26, + 230, + 104, + 60, + 28, + 76, + 98, + 18, + 104, + 64, + 4, + 238, + 110, + 58, + 32, + 74, + 98, + 18, + 104, + 64, + 4, + 238, + 110, + 58, + 32, + 74, + 98, + 18, + 106, + 298, + 116, + 56, + 34, + 78, + 90, + 22, + 106, + 298, + 116, + 56, + 34, + 78, + 90, + 22, + 106, + 288, + 126, + 54, + 36, + 80, + 84, + 26, + 106, + 288, + 126, + 54, + 36, + 80, + 84, + 26, + 106, + 282, + 132, + 50, + 40, + 82, + 80, + 28, + 106, + 282, + 132, + 50, + 40, + 82, + 80, + 28, + 106, + 276, + 138, + 48, + 42, + 84, + 76, + 30, + 106, + 276, + 138, + 48, + 42, + 84, + 76, + 30, + 106, + 268, + 148, + 44, + 44, + 88, + 70, + 32, + 106, + 268, + 148, + 44, + 44, + 88, + 70, + 32, + 106, + 262, + 156, + 42, + 46, + 88, + 66, + 34, + 106, + 262, + 156, + 42, + 46, + 88, + 66, + 34, + 108, + 250, + 166, + 40, + 46, + 92, + 60, + 38, + 108, + 250, + 166, + 40, + 46, + 92, + 60, + 38, + 108, + 242, + 174, + 38, + 48, + 94, + 56, + 40, + 108, + 242, + 174, + 38, + 48, + 94, + 56, + 40, + 108, + 236, + 180, + 38, + 46, + 98, + 54, + 40, + 108, + 236, + 180, + 38, + 46, + 98, + 54, + 40, + 108, + 230, + 188, + 36, + 46, + 100, + 50, + 42, + 108, + 230, + 188, + 36, + 46, + 100, + 50, + 42, + 108, + 222, + 196, + 36, + 44, + 104, + 44, + 46, + 108, + 222, + 196, + 36, + 44, + 104, + 44, + 46, + 108, + 216, + 204, + 36, + 38, + 110, + 40, + 48, + 108, + 216, + 204, + 36, + 38, + 110, + 40, + 48, + 108, + 206, + 214, + 38, + 34, + 116, + 34, + 50, + 108, + 206, + 214, + 38, + 34, + 116, + 34, + 50, + 110, + 198, + 220, + 58, + 12, + 120, + 30, + 52, + 110, + 198, + 220, + 58, + 12, + 120, + 30, + 52, + 110, + 192, + 228, + 190, + 24, + 56, + 110, + 192, + 228, + 190, + 24, + 56, + 110, + 186, + 234, + 192, + 20, + 58, + 110, + 186, + 234, + 192, + 20, + 58, + 110, + 176, + 244, + 196, + 14, + 60, + 110, + 176, + 244, + 196, + 14, + 60, + 112, + 166, + 252, + 198, + 12, + 60, + 112, + 166, + 252, + 198, + 12, + 60, + 112, + 156, + 262, + 200, + 8, + 62, + 112, + 156, + 262, + 200, + 8, + 62, + 112, + 152, + 268, + 268, + 112, + 152, + 268, + 268, + 112, + 144, + 276, + 268, + 112, + 144, + 276, + 268, + 112, + 138, + 282, + 268, + 112, + 138, + 282, + 268, + 112, + 134, + 286, + 268, + 112, + 134, + 286, + 268, + 114, + 130, + 288, + 268, + 114, + 130, + 288, + 268, + 114, + 130, + 290, + 266, + 114, + 130, + 290, + 266, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 294, + 262, + 114, + 130, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 132, + 290, + 262, + 116, + 132, + 290, + 262, + 116, + 132, + 292, + 260, + 116, + 132, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 132, + 290, + 260, + 118, + 132, + 290, + 260, + 120, + 130, + 290, + 260, + 120, + 130, + 290, + 260, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 122, + 130, + 292, + 256, + 122, + 130, + 292, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 124, + 130, + 294, + 252, + 124, + 130, + 294, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 292, + 250, + 124, + 134, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 136, + 290, + 246, + 128, + 136, + 290, + 246, + 128, + 136, + 288, + 248, + 128, + 136, + 288, + 248, + 128, + 136, + 286, + 250, + 128, + 136, + 286, + 250, + 130, + 134, + 284, + 252, + 130, + 134, + 284, + 252, + 130, + 134, + 280, + 256, + 130, + 134, + 280, + 256, + 130, + 134, + 278, + 258, + 130, + 134, + 278, + 258, + 130, + 136, + 272, + 262, + 130, + 136, + 272, + 262, + 130, + 138, + 270, + 262, + 130, + 138, + 270, + 262, + 132, + 136, + 266, + 266, + 132, + 136, + 266, + 266, + 132, + 136, + 264, + 268, + 132, + 136, + 264, + 268, + 132, + 134, + 264, + 270, + 132, + 134, + 264, + 270, + 132, + 130, + 266, + 272, + 132, + 130, + 266, + 272, + 132, + 124, + 270, + 274, + 132, + 124, + 270, + 274, + 132, + 108, + 282, + 278, + 132, + 108, + 282, + 278, + 134, + 100, + 288, + 278, + 134, + 100, + 288, + 278, + 134, + 98, + 288, + 280, + 134, + 98, + 288, + 280, + 134, + 98, + 286, + 282, + 134, + 98, + 286, + 282, + 134, + 98, + 284, + 284, + 134, + 98, + 284, + 284, + 134, + 98, + 278, + 290, + 134, + 98, + 278, + 290, + 136, + 96, + 260, + 308, + 136, + 96, + 260, + 308, + 136, + 96, + 230, + 4, + 4, + 330, + 136, + 96, + 230, + 4, + 4, + 330, + 136, + 98, + 202, + 364, + 136, + 98, + 202, + 364, + 136, + 98, + 32, + 4, + 138, + 392, + 136, + 98, + 32, + 4, + 138, + 392, + 136, + 100, + 24, + 14, + 114, + 412, + 136, + 100, + 24, + 14, + 114, + 412, + 136, + 102, + 18, + 20, + 86, + 438, + 136, + 102, + 18, + 20, + 86, + 438, + 136, + 106, + 8, + 26, + 58, + 466, + 136, + 106, + 8, + 26, + 58, + 466, + 136, + 142, + 28, + 494, + 136, + 142, + 28, + 494, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000243:0000", + "experimental_retained_index": 0, + "ism_score": 0.3706701695919037, + "R": [ + [ + 0.015222296118736267, + -0.9772971272468567, + 0.21132612228393555 + ], + [ + -0.7669411897659302, + -0.14701713621616364, + -0.6246498823165894 + ], + [ + 0.6415371894836426, + -0.15256619453430176, + -0.7517669796943665 + ] + ], + "t": [ + -7.049790382385254, + -17.62303924560547, + 332.3379211425781 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000243/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000243/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000243:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000243.png" + }, + { + "frame_id": 248, + "image_path": "/workspace/data/0008_/images/000248.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000248.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 1144, + 0, + 134, + 198 + ], + "score": 0.09916157275438309, + "time": 0.0, + "segmentation": { + "counts": [ + 914565, + 4, + 796, + 4, + 744, + 80, + 720, + 80, + 712, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 688, + 110, + 690, + 110, + 686, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 684, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 707, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 63, + 737 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.41210004687309265, + "R": [ + [ + 0.7505947351455688, + 0.07532115280628204, + -0.6564569473266602 + ], + [ + 0.594231367111206, + -0.5114068984985352, + 0.6207665205001831 + ], + [ + -0.2889605760574341, + -0.8560312986373901, + -0.428617000579834 + ] + ], + "t": [ + 421.1901550292969, + -211.8917999267578, + 458.25665283203125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 1144, + 0, + 134, + 198 + ], + "score": 0.09916157275438309, + "time": 0.0, + "segmentation": { + "counts": [ + 914565, + 4, + 796, + 4, + 744, + 80, + 720, + 80, + 712, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 688, + 110, + 690, + 110, + 686, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 684, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 707, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 63, + 737 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Slide_holder:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.41210004687309265, + "R": [ + [ + 0.7505947351455688, + 0.07532115280628204, + -0.6564569473266602 + ], + [ + 0.594231367111206, + -0.5114068984985352, + 0.6207665205001831 + ], + [ + -0.2889605760574341, + -0.8560312986373901, + -0.428617000579834 + ] + ], + "t": [ + 421.1901550292969, + -211.8917999267578, + 458.25665283203125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000248/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000248/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Slide_holder:000248:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/visualizations/000248.png" + }, + { + "frame_id": 249, + "image_path": "/workspace/data/0008_/images/000249.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000249.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Slide_holder/frames/000249/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + } + ] +} diff --git a/0008_/experimental_multi_instance/pem/Tube/Tube_poses_per_frame.json b/0008_/experimental_multi_instance/pem/Tube/Tube_poses_per_frame.json new file mode 100644 index 0000000000000000000000000000000000000000..0d7e9f7f0c387807ed6e1c6b39f09012b8f8695a --- /dev/null +++ b/0008_/experimental_multi_instance/pem/Tube/Tube_poses_per_frame.json @@ -0,0 +1,43477 @@ +{ + "format": "label_factory_experimental_multi_instance_poses_per_frame_v1", + "experimental": true, + "changes_current_pipeline": false, + "object_name": "Tube", + "object_identity": { + "object_name": "Tube", + "cad_path": "/workspace/data/0008_/objects/stl/Tube.stl", + "cad_sha256": "73e996aa5bfc37f6ec51f319788fb4a2eaf1b3fbaee62eeb9c9af4b0828f2d01", + "templates_identity": "73e996aa5bfc37f6ec51f319788fb4a2eaf1b3fbaee62eeb9c9af4b0828f2d01" + }, + "config_path": "/workspace/scripts/configs/default.yaml", + "dataset_dir": "/workspace/data/0008_", + "cad_path": "/workspace/data/0008_/objects/stl/Tube.stl", + "camera_path": "/workspace/data/0008_/sam6d_sequences/Tube/camera_depth_mm.json", + "depth_unit": "millimetre", + "source_audit": "/workspace/data/0008_/experimental_multi_instance/ism_candidate_audit/summary.json", + "experimental_pem_manifest": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/experimental_pem_manifest.json", + "statistics": { + "frames": 57, + "frames_with_candidates": 18, + "frames_with_poses": 17, + "input_candidates": 21, + "pose_candidates": 20, + "candidates_without_pose": 1 + }, + "frames": [ + { + "frame_id": 0, + "image_path": "/workspace/data/0008_/images/000000.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000000.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000000/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 5, + "image_path": "/workspace/data/0008_/images/000005.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000005.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000005/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 11, + "image_path": "/workspace/data/0008_/images/000011.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000011.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000011/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 17, + "image_path": "/workspace/data/0008_/images/000017.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000017.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 0, + 0, + 384, + 318 + ], + "score": 0.02019907347857952, + "time": 0.0, + "segmentation": { + "counts": [ + 235, + 86, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 3, + 797, + 3, + 715197 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000017:0000", + "experimental_retained_index": 0, + "ism_score": 0.40398144721984863, + "R": [ + [ + 0.3886803388595581, + 0.001987493596971035, + 0.9213706254959106 + ], + [ + -0.6705634593963623, + 0.6864110231399536, + 0.2813965678215027 + ], + [ + -0.6318792700767517, + -0.727211058139801, + 0.2681266665458679 + ] + ], + "t": [ + -299.5541076660156, + -208.8945770263672, + 463.8929443359375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 0, + 0, + 384, + 318 + ], + "score": 0.02019907347857952, + "time": 0.0, + "segmentation": { + "counts": [ + 235, + 86, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 3, + 797, + 3, + 715197 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000017:0000", + "experimental_retained_index": 0, + "ism_score": 0.40398144721984863, + "R": [ + [ + 0.3886803388595581, + 0.001987493596971035, + 0.9213706254959106 + ], + [ + -0.6705634593963623, + 0.6864110231399536, + 0.2813965678215027 + ], + [ + -0.6318792700767517, + -0.727211058139801, + 0.2681266665458679 + ] + ], + "t": [ + -299.5541076660156, + -208.8945770263672, + 463.8929443359375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000017/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000017/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000017:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000017.png" + }, + { + "frame_id": 29, + "image_path": "/workspace/data/0008_/images/000029.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000029.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000029/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 34, + "image_path": "/workspace/data/0008_/images/000034.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000034.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 394, + 650, + 78, + 148 + ], + "score": 0.39776918292045593, + "time": 0.0, + "segmentation": { + "counts": [ + 315063, + 12, + 788, + 12, + 786, + 20, + 780, + 20, + 780, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 764, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 750, + 58, + 742, + 58, + 740, + 66, + 734, + 66, + 734, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 718, + 90, + 710, + 90, + 710, + 96, + 704, + 96, + 704, + 104, + 696, + 104, + 694, + 116, + 684, + 116, + 684, + 122, + 678, + 122, + 678, + 130, + 670, + 130, + 670, + 136, + 664, + 136, + 664, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 656, + 144, + 656, + 144, + 660, + 12, + 8, + 120, + 660, + 12, + 8, + 120, + 686, + 115, + 685, + 115, + 693, + 107, + 693, + 107, + 699, + 101, + 699, + 101, + 705, + 95, + 705, + 95, + 713, + 87, + 713, + 87, + 721, + 79, + 721, + 79, + 727, + 73, + 727, + 73, + 735, + 65, + 735, + 65, + 741, + 59, + 741, + 59, + 747, + 53, + 747, + 53, + 755, + 45, + 755, + 45, + 763, + 37, + 763, + 37, + 771, + 29, + 771, + 29, + 777, + 23, + 777, + 23, + 785, + 15, + 785, + 15, + 791, + 9, + 791, + 9, + 644000 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000034:0000", + "experimental_retained_index": 0, + "ism_score": 0.4040829837322235, + "R": [ + [ + 0.8724929094314575, + 0.4798046350479126, + 0.09242893755435944 + ], + [ + -0.4874972105026245, + 0.8676129579544067, + 0.09794828295707703 + ], + [ + -0.03319649398326874, + -0.13051804900169373, + 0.9908900260925293 + ] + ], + "t": [ + -59.250797271728516, + 241.879150390625, + 319.4001770019531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 394, + 650, + 78, + 148 + ], + "score": 0.39776918292045593, + "time": 0.0, + "segmentation": { + "counts": [ + 315063, + 12, + 788, + 12, + 786, + 20, + 780, + 20, + 780, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 764, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 750, + 58, + 742, + 58, + 740, + 66, + 734, + 66, + 734, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 718, + 90, + 710, + 90, + 710, + 96, + 704, + 96, + 704, + 104, + 696, + 104, + 694, + 116, + 684, + 116, + 684, + 122, + 678, + 122, + 678, + 130, + 670, + 130, + 670, + 136, + 664, + 136, + 664, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 656, + 144, + 656, + 144, + 660, + 12, + 8, + 120, + 660, + 12, + 8, + 120, + 686, + 115, + 685, + 115, + 693, + 107, + 693, + 107, + 699, + 101, + 699, + 101, + 705, + 95, + 705, + 95, + 713, + 87, + 713, + 87, + 721, + 79, + 721, + 79, + 727, + 73, + 727, + 73, + 735, + 65, + 735, + 65, + 741, + 59, + 741, + 59, + 747, + 53, + 747, + 53, + 755, + 45, + 755, + 45, + 763, + 37, + 763, + 37, + 771, + 29, + 771, + 29, + 777, + 23, + 777, + 23, + 785, + 15, + 785, + 15, + 791, + 9, + 791, + 9, + 644000 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000034:0000", + "experimental_retained_index": 0, + "ism_score": 0.4040829837322235, + "R": [ + [ + 0.8724929094314575, + 0.4798046350479126, + 0.09242893755435944 + ], + [ + -0.4874972105026245, + 0.8676129579544067, + 0.09794828295707703 + ], + [ + -0.03319649398326874, + -0.13051804900169373, + 0.9908900260925293 + ] + ], + "t": [ + -59.250797271728516, + 241.879150390625, + 319.4001770019531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000034/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000034/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000034:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000034.png" + }, + { + "frame_id": 36, + "image_path": "/workspace/data/0008_/images/000036.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000036.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000036/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 38, + "image_path": "/workspace/data/0008_/images/000038.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000038.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000038/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 40, + "image_path": "/workspace/data/0008_/images/000040.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000040.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000040/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 43, + "image_path": "/workspace/data/0008_/images/000043.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000043.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000043/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 51, + "image_path": "/workspace/data/0008_/images/000051.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000051.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000051/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 55, + "image_path": "/workspace/data/0008_/images/000055.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000055.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 310, + 546, + 98, + 160 + ], + "score": 0.006381535436958075, + "time": 0.0, + "segmentation": { + "counts": [ + 247759, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 782, + 4, + 2, + 16, + 778, + 4, + 2, + 16, + 778, + 4, + 2, + 20, + 774, + 4, + 2, + 20, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 42, + 758, + 42, + 758, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 748, + 56, + 744, + 56, + 744, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 742, + 62, + 738, + 62, + 740, + 66, + 734, + 66, + 738, + 66, + 734, + 66, + 738, + 66, + 734, + 66, + 738, + 68, + 732, + 68, + 736, + 68, + 732, + 68, + 736, + 68, + 732, + 68, + 734, + 72, + 728, + 72, + 734, + 70, + 730, + 70, + 734, + 70, + 730, + 70, + 734, + 70, + 730, + 70, + 734, + 70, + 730, + 70, + 734, + 72, + 728, + 72, + 732, + 72, + 728, + 72, + 730, + 74, + 726, + 74, + 730, + 74, + 726, + 74, + 730, + 76, + 724, + 76, + 728, + 78, + 722, + 78, + 726, + 76, + 724, + 76, + 728, + 76, + 724, + 76, + 728, + 76, + 724, + 76, + 728, + 74, + 726, + 74, + 732, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 734, + 64, + 736, + 64, + 740, + 60, + 740, + 60, + 744, + 54, + 746, + 54, + 750, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 760, + 40, + 760, + 40, + 764, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 790, + 10, + 790, + 10, + 695301 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000055:0000", + "experimental_retained_index": 0, + "ism_score": 0.4084182679653168, + "R": [ + [ + -0.513959527015686, + -0.03772982209920883, + 0.8569842576980591 + ], + [ + -0.8558416962623596, + -0.045160531997680664, + -0.5152628421783447 + ], + [ + 0.05814327299594879, + -0.9982666373252869, + -0.009080074727535248 + ] + ], + "t": [ + -126.32843780517578, + 72.23774719238281, + 259.3822937011719 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 310, + 546, + 98, + 160 + ], + "score": 0.006381535436958075, + "time": 0.0, + "segmentation": { + "counts": [ + 247759, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 782, + 4, + 2, + 16, + 778, + 4, + 2, + 16, + 778, + 4, + 2, + 20, + 774, + 4, + 2, + 20, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 42, + 758, + 42, + 758, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 748, + 56, + 744, + 56, + 744, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 742, + 62, + 738, + 62, + 740, + 66, + 734, + 66, + 738, + 66, + 734, + 66, + 738, + 66, + 734, + 66, + 738, + 68, + 732, + 68, + 736, + 68, + 732, + 68, + 736, + 68, + 732, + 68, + 734, + 72, + 728, + 72, + 734, + 70, + 730, + 70, + 734, + 70, + 730, + 70, + 734, + 70, + 730, + 70, + 734, + 70, + 730, + 70, + 734, + 72, + 728, + 72, + 732, + 72, + 728, + 72, + 730, + 74, + 726, + 74, + 730, + 74, + 726, + 74, + 730, + 76, + 724, + 76, + 728, + 78, + 722, + 78, + 726, + 76, + 724, + 76, + 728, + 76, + 724, + 76, + 728, + 76, + 724, + 76, + 728, + 74, + 726, + 74, + 732, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 734, + 64, + 736, + 64, + 740, + 60, + 740, + 60, + 744, + 54, + 746, + 54, + 750, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 760, + 40, + 760, + 40, + 764, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 790, + 10, + 790, + 10, + 695301 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000055:0000", + "experimental_retained_index": 0, + "ism_score": 0.4084182679653168, + "R": [ + [ + -0.513959527015686, + -0.03772982209920883, + 0.8569842576980591 + ], + [ + -0.8558416962623596, + -0.045160531997680664, + -0.5152628421783447 + ], + [ + 0.05814327299594879, + -0.9982666373252869, + -0.009080074727535248 + ] + ], + "t": [ + -126.32843780517578, + 72.23774719238281, + 259.3822937011719 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000055/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000055/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000055:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000055.png" + }, + { + "frame_id": 60, + "image_path": "/workspace/data/0008_/images/000060.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000060.png", + "status": "no_depth_supported_pose", + "detection_count": 0, + "input_candidate_count": 1, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000060/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000060/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 64, + "image_path": "/workspace/data/0008_/images/000064.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000064.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000064/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 70, + "image_path": "/workspace/data/0008_/images/000070.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000070.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000070/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 73, + "image_path": "/workspace/data/0008_/images/000073.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000073.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000073/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 77, + "image_path": "/workspace/data/0008_/images/000077.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000077.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000077/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 80, + "image_path": "/workspace/data/0008_/images/000080.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000080.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 304, + 506, + 184, + 106 + ], + "score": 0.13218003511428833, + "time": 0.0, + "segmentation": { + "counts": [ + 242959, + 20, + 780, + 20, + 774, + 32, + 768, + 32, + 760, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 746, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 772, + 24, + 776, + 24, + 631459 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000080:0000", + "experimental_retained_index": 0, + "ism_score": 0.3990340530872345, + "R": [ + [ + 0.4901828169822693, + 0.83006751537323, + -0.2659115791320801 + ], + [ + 0.8659986853599548, + -0.42921164631843567, + 0.2565619647502899 + ], + [ + 0.09883133322000504, + -0.35604116320610046, + -0.9292293787002563 + ] + ], + "t": [ + -84.15650177001953, + 68.5766372680664, + 332.8096618652344 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 304, + 506, + 184, + 106 + ], + "score": 0.13218003511428833, + "time": 0.0, + "segmentation": { + "counts": [ + 242959, + 20, + 780, + 20, + 774, + 32, + 768, + 32, + 760, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 746, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 772, + 24, + 776, + 24, + 631459 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000080:0000", + "experimental_retained_index": 0, + "ism_score": 0.3990340530872345, + "R": [ + [ + 0.4901828169822693, + 0.83006751537323, + -0.2659115791320801 + ], + [ + 0.8659986853599548, + -0.42921164631843567, + 0.2565619647502899 + ], + [ + 0.09883133322000504, + -0.35604116320610046, + -0.9292293787002563 + ] + ], + "t": [ + -84.15650177001953, + 68.5766372680664, + 332.8096618652344 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000080/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000080/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000080:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000080.png" + }, + { + "frame_id": 82, + "image_path": "/workspace/data/0008_/images/000082.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000082.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 300, + 466, + 122, + 74 + ], + "score": 0.3992459774017334, + "time": 0.0, + "segmentation": { + "counts": [ + 239723, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 770, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 732, + 6, + 22, + 40, + 732, + 6, + 22, + 40, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 766, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 782, + 10, + 790, + 10, + 684281 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000082:0000", + "experimental_retained_index": 0, + "ism_score": 0.40429970622062683, + "R": [ + [ + 0.43949732184410095, + 0.12522126734256744, + -0.8894726037979126 + ], + [ + 0.8967387676239014, + -0.11847348511219025, + 0.42640888690948486 + ], + [ + -0.05198433995246887, + -0.9850296974182129, + -0.16435950994491577 + ] + ], + "t": [ + -119.447509765625, + 55.74734878540039, + 242.6451873779297 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 300, + 466, + 122, + 74 + ], + "score": 0.3992459774017334, + "time": 0.0, + "segmentation": { + "counts": [ + 239723, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 770, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 732, + 6, + 22, + 40, + 732, + 6, + 22, + 40, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 766, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 782, + 10, + 790, + 10, + 684281 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000082:0000", + "experimental_retained_index": 0, + "ism_score": 0.40429970622062683, + "R": [ + [ + 0.43949732184410095, + 0.12522126734256744, + -0.8894726037979126 + ], + [ + 0.8967387676239014, + -0.11847348511219025, + 0.42640888690948486 + ], + [ + -0.05198433995246887, + -0.9850296974182129, + -0.16435950994491577 + ] + ], + "t": [ + -119.447509765625, + 55.74734878540039, + 242.6451873779297 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000082/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000082/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000082:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000082.png" + }, + { + "frame_id": 84, + "image_path": "/workspace/data/0008_/images/000084.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000084.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000084/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 86, + "image_path": "/workspace/data/0008_/images/000086.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000086.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000086/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 87, + "image_path": "/workspace/data/0008_/images/000087.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000087.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 888, + 0, + 390, + 144 + ], + "score": 0.07024283707141876, + "time": 0.0, + "segmentation": { + "counts": [ + 709675, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 764, + 36, + 764, + 36, + 756, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 728, + 72, + 728, + 72, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000087:0000", + "experimental_retained_index": 0, + "ism_score": 0.41625383496284485, + "R": [ + [ + -0.6415666341781616, + 0.7254714965820312, + 0.249165341258049 + ], + [ + 0.4043108820915222, + 0.5958665013313293, + -0.6938846707344055 + ], + [ + -0.6518627405166626, + -0.3444329798221588, + -0.6756041049957275 + ] + ], + "t": [ + 476.8203125, + -353.5828552246094, + 737.0223999023438 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 888, + 0, + 390, + 144 + ], + "score": 0.07024283707141876, + "time": 0.0, + "segmentation": { + "counts": [ + 709675, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 764, + 36, + 764, + 36, + 756, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 728, + 72, + 728, + 72, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000087:0000", + "experimental_retained_index": 0, + "ism_score": 0.41625383496284485, + "R": [ + [ + -0.6415666341781616, + 0.7254714965820312, + 0.249165341258049 + ], + [ + 0.4043108820915222, + 0.5958665013313293, + -0.6938846707344055 + ], + [ + -0.6518627405166626, + -0.3444329798221588, + -0.6756041049957275 + ] + ], + "t": [ + 476.8203125, + -353.5828552246094, + 737.0223999023438 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000087/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000087/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000087:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000087.png" + }, + { + "frame_id": 92, + "image_path": "/workspace/data/0008_/images/000092.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000092.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000092/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 95, + "image_path": "/workspace/data/0008_/images/000095.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000095.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000095/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 97, + "image_path": "/workspace/data/0008_/images/000097.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000097.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000097/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 100, + "image_path": "/workspace/data/0008_/images/000100.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000100.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 1122, + 224, + 156, + 64 + ], + "score": 0.11289381235837936, + "time": 0.0, + "segmentation": { + "counts": [ + 897047, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000100:0000", + "experimental_retained_index": 0, + "ism_score": 0.38431933522224426, + "R": [ + [ + 0.1735704094171524, + 0.9469029307365417, + 0.27064448595046997 + ], + [ + 0.47720611095428467, + 0.15952995419502258, + -0.8641893863677979 + ], + [ + -0.8614795804023743, + 0.2791510820388794, + -0.4241778254508972 + ] + ], + "t": [ + 657.1707763671875, + -157.8402557373047, + 729.06982421875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 1122, + 224, + 156, + 64 + ], + "score": 0.11289381235837936, + "time": 0.0, + "segmentation": { + "counts": [ + 897047, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000100:0000", + "experimental_retained_index": 0, + "ism_score": 0.38431933522224426, + "R": [ + [ + 0.1735704094171524, + 0.9469029307365417, + 0.27064448595046997 + ], + [ + 0.47720611095428467, + 0.15952995419502258, + -0.8641893863677979 + ], + [ + -0.8614795804023743, + 0.2791510820388794, + -0.4241778254508972 + ] + ], + "t": [ + 657.1707763671875, + -157.8402557373047, + 729.06982421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000100/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000100/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000100:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000100.png" + }, + { + "frame_id": 110, + "image_path": "/workspace/data/0008_/images/000110.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000110.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000110/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 119, + "image_path": "/workspace/data/0008_/images/000119.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000119.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000119/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 122, + "image_path": "/workspace/data/0008_/images/000122.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000122.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 292, + 304, + 92, + 100 + ], + "score": 0.4042064845561981, + "time": 0.0, + "segmentation": { + "counts": [ + 233189, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 760, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 760, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 4, + 796, + 4, + 714881 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000122:0000", + "experimental_retained_index": 0, + "ism_score": 0.4369799792766571, + "R": [ + [ + -0.8124822974205017, + -0.5608992576599121, + 0.15894517302513123 + ], + [ + -0.5828593373298645, + 0.7871904373168945, + -0.20150841772556305 + ], + [ + -0.012094184756278992, + -0.2563648819923401, + -0.9665043354034424 + ] + ], + "t": [ + -200.748779296875, + 2.1717233657836914, + 371.2986145019531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 292, + 304, + 92, + 100 + ], + "score": 0.4042064845561981, + "time": 0.0, + "segmentation": { + "counts": [ + 233189, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 760, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 760, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 762, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 4, + 796, + 4, + 714881 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000122:0000", + "experimental_retained_index": 0, + "ism_score": 0.4369799792766571, + "R": [ + [ + -0.8124822974205017, + -0.5608992576599121, + 0.15894517302513123 + ], + [ + -0.5828593373298645, + 0.7871904373168945, + -0.20150841772556305 + ], + [ + -0.012094184756278992, + -0.2563648819923401, + -0.9665043354034424 + ] + ], + "t": [ + -200.748779296875, + 2.1717233657836914, + 371.2986145019531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000122/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000122/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000122:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000122.png" + }, + { + "frame_id": 125, + "image_path": "/workspace/data/0008_/images/000125.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000125.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 0, + 2, + 1278, + 794 + ], + "score": 0.0327870175242424, + "time": 0.0, + "segmentation": { + "counts": [ + 33, + 766, + 32, + 768, + 32, + 768, + 20, + 780, + 20, + 780, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 368, + 2, + 426, + 4, + 368, + 2, + 426, + 4, + 364, + 8, + 424, + 4, + 364, + 8, + 424, + 4, + 362, + 12, + 422, + 4, + 362, + 12, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 358, + 16, + 422, + 4, + 358, + 16, + 422, + 4, + 356, + 18, + 422, + 4, + 356, + 18, + 422, + 4, + 352, + 22, + 422, + 4, + 352, + 22, + 422, + 4, + 350, + 24, + 422, + 4, + 350, + 24, + 422, + 4, + 350, + 22, + 424, + 4, + 350, + 22, + 424, + 4, + 348, + 24, + 424, + 4, + 348, + 24, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 344, + 28, + 424, + 4, + 344, + 28, + 424, + 4, + 342, + 28, + 426, + 4, + 342, + 28, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 28, + 428, + 4, + 340, + 28, + 428, + 4, + 338, + 30, + 428, + 4, + 338, + 30, + 428, + 4, + 336, + 32, + 76, + 10, + 342, + 4, + 336, + 32, + 76, + 10, + 342, + 4, + 336, + 32, + 74, + 12, + 342, + 4, + 336, + 32, + 74, + 12, + 342, + 4, + 334, + 32, + 74, + 16, + 340, + 4, + 334, + 32, + 74, + 16, + 340, + 4, + 334, + 32, + 72, + 18, + 340, + 4, + 334, + 32, + 72, + 18, + 340, + 4, + 332, + 34, + 72, + 18, + 340, + 4, + 332, + 34, + 72, + 18, + 340, + 4, + 332, + 32, + 72, + 20, + 340, + 4, + 332, + 32, + 72, + 20, + 340, + 4, + 330, + 34, + 70, + 22, + 340, + 4, + 330, + 34, + 70, + 22, + 340, + 4, + 330, + 32, + 70, + 22, + 342, + 4, + 330, + 32, + 70, + 22, + 342, + 4, + 328, + 34, + 70, + 22, + 342, + 4, + 328, + 34, + 70, + 22, + 342, + 4, + 328, + 32, + 70, + 24, + 342, + 4, + 328, + 32, + 70, + 24, + 342, + 4, + 326, + 34, + 68, + 26, + 342, + 4, + 326, + 34, + 68, + 26, + 342, + 4, + 324, + 34, + 70, + 26, + 342, + 4, + 324, + 34, + 70, + 26, + 342, + 4, + 324, + 34, + 68, + 28, + 342, + 4, + 324, + 34, + 68, + 28, + 342, + 4, + 324, + 32, + 70, + 28, + 342, + 4, + 324, + 32, + 70, + 28, + 342, + 4, + 324, + 30, + 72, + 28, + 342, + 4, + 324, + 30, + 72, + 28, + 342, + 4, + 322, + 32, + 70, + 30, + 342, + 4, + 322, + 32, + 70, + 30, + 342, + 4, + 320, + 34, + 68, + 30, + 344, + 4, + 320, + 34, + 68, + 30, + 344, + 4, + 320, + 32, + 70, + 30, + 344, + 4, + 320, + 32, + 70, + 30, + 344, + 4, + 320, + 32, + 68, + 32, + 344, + 4, + 320, + 32, + 68, + 32, + 344, + 4, + 318, + 34, + 68, + 32, + 344, + 4, + 318, + 34, + 68, + 32, + 344, + 4, + 316, + 34, + 70, + 32, + 344, + 4, + 316, + 34, + 70, + 32, + 344, + 4, + 314, + 36, + 68, + 32, + 346, + 4, + 314, + 36, + 68, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 312, + 34, + 72, + 32, + 346, + 4, + 312, + 34, + 72, + 32, + 346, + 4, + 310, + 36, + 70, + 34, + 346, + 4, + 310, + 36, + 70, + 34, + 346, + 4, + 310, + 34, + 72, + 32, + 66, + 10, + 272, + 4, + 310, + 34, + 72, + 32, + 66, + 10, + 272, + 4, + 310, + 34, + 70, + 34, + 62, + 14, + 272, + 4, + 310, + 34, + 70, + 34, + 62, + 14, + 272, + 4, + 308, + 34, + 72, + 34, + 58, + 18, + 178, + 58, + 36, + 4, + 308, + 34, + 72, + 34, + 58, + 18, + 178, + 58, + 36, + 4, + 308, + 34, + 70, + 34, + 56, + 24, + 60, + 176, + 34, + 4, + 308, + 34, + 70, + 34, + 56, + 24, + 60, + 176, + 34, + 4, + 306, + 34, + 72, + 34, + 52, + 28, + 50, + 186, + 34, + 4, + 306, + 34, + 72, + 34, + 52, + 28, + 50, + 186, + 34, + 4, + 306, + 32, + 72, + 34, + 46, + 38, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 46, + 38, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 44, + 40, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 44, + 40, + 46, + 188, + 34, + 4, + 306, + 30, + 74, + 34, + 40, + 44, + 46, + 188, + 34, + 4, + 306, + 30, + 74, + 34, + 40, + 44, + 46, + 188, + 34, + 4, + 304, + 32, + 72, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 304, + 32, + 72, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 302, + 32, + 74, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 302, + 32, + 74, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 300, + 34, + 74, + 34, + 40, + 48, + 42, + 188, + 36, + 4, + 300, + 34, + 74, + 34, + 40, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 76, + 32, + 42, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 76, + 32, + 42, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 74, + 34, + 42, + 50, + 40, + 188, + 36, + 4, + 300, + 32, + 74, + 34, + 42, + 50, + 40, + 188, + 36, + 4, + 298, + 32, + 76, + 32, + 44, + 50, + 40, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 50, + 40, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 52, + 38, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 52, + 38, + 186, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 32, + 78, + 32, + 48, + 50, + 36, + 188, + 38, + 4, + 294, + 32, + 78, + 32, + 48, + 50, + 36, + 188, + 38, + 4, + 292, + 34, + 76, + 34, + 48, + 50, + 36, + 188, + 38, + 4, + 292, + 34, + 76, + 34, + 48, + 50, + 36, + 188, + 38, + 4, + 290, + 34, + 78, + 32, + 52, + 48, + 36, + 186, + 40, + 4, + 290, + 34, + 78, + 32, + 52, + 48, + 36, + 186, + 40, + 4, + 290, + 34, + 76, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 34, + 76, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 32, + 78, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 32, + 78, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 288, + 34, + 78, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 34, + 78, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 32, + 80, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 32, + 80, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 286, + 32, + 80, + 34, + 56, + 48, + 32, + 188, + 40, + 4, + 286, + 32, + 80, + 34, + 56, + 48, + 32, + 188, + 40, + 4, + 284, + 34, + 80, + 34, + 56, + 50, + 30, + 186, + 42, + 4, + 284, + 34, + 80, + 34, + 56, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 82, + 32, + 58, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 82, + 32, + 58, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 284, + 32, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 34, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 34, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 32, + 82, + 32, + 62, + 50, + 28, + 186, + 42, + 4, + 282, + 32, + 82, + 32, + 62, + 50, + 28, + 186, + 42, + 4, + 280, + 34, + 80, + 34, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 34, + 80, + 34, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 32, + 80, + 36, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 32, + 80, + 36, + 62, + 52, + 24, + 188, + 42, + 4, + 278, + 34, + 80, + 34, + 66, + 50, + 24, + 188, + 42, + 4, + 278, + 34, + 80, + 34, + 66, + 50, + 24, + 188, + 42, + 4, + 278, + 32, + 82, + 34, + 66, + 52, + 22, + 188, + 42, + 4, + 278, + 32, + 82, + 34, + 66, + 52, + 22, + 188, + 42, + 4, + 274, + 34, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 274, + 34, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 72, + 48, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 72, + 48, + 22, + 186, + 44, + 4, + 268, + 40, + 80, + 36, + 72, + 50, + 20, + 186, + 44, + 4, + 268, + 40, + 80, + 36, + 72, + 50, + 20, + 186, + 44, + 4, + 266, + 40, + 82, + 36, + 72, + 50, + 20, + 184, + 46, + 4, + 266, + 40, + 82, + 36, + 72, + 50, + 20, + 184, + 46, + 4, + 266, + 40, + 48, + 4, + 30, + 36, + 74, + 48, + 18, + 186, + 46, + 4, + 266, + 40, + 48, + 4, + 30, + 36, + 74, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 44, + 22, + 14, + 36, + 76, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 44, + 22, + 14, + 36, + 76, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 42, + 72, + 78, + 50, + 18, + 184, + 46, + 4, + 264, + 42, + 42, + 72, + 78, + 50, + 18, + 184, + 46, + 4, + 264, + 40, + 44, + 72, + 78, + 50, + 18, + 182, + 48, + 4, + 264, + 40, + 44, + 72, + 78, + 50, + 18, + 182, + 48, + 4, + 266, + 38, + 42, + 74, + 78, + 52, + 20, + 176, + 50, + 4, + 266, + 38, + 42, + 74, + 78, + 52, + 20, + 176, + 50, + 4, + 266, + 38, + 40, + 76, + 80, + 50, + 26, + 170, + 50, + 4, + 266, + 38, + 40, + 76, + 80, + 50, + 26, + 170, + 50, + 4, + 268, + 34, + 40, + 80, + 78, + 52, + 56, + 134, + 54, + 4, + 268, + 34, + 40, + 80, + 78, + 52, + 56, + 134, + 54, + 4, + 270, + 32, + 40, + 80, + 78, + 52, + 130, + 58, + 56, + 4, + 270, + 32, + 40, + 80, + 78, + 52, + 130, + 58, + 56, + 4, + 272, + 28, + 40, + 90, + 70, + 52, + 170, + 8, + 66, + 4, + 272, + 28, + 40, + 90, + 70, + 52, + 170, + 8, + 66, + 4, + 276, + 24, + 40, + 96, + 64, + 52, + 244, + 4, + 276, + 24, + 40, + 96, + 64, + 52, + 244, + 4, + 280, + 16, + 44, + 106, + 54, + 54, + 242, + 4, + 280, + 16, + 44, + 106, + 54, + 54, + 242, + 4, + 286, + 8, + 44, + 118, + 44, + 54, + 242, + 4, + 286, + 8, + 44, + 118, + 44, + 54, + 242, + 4, + 338, + 124, + 38, + 54, + 242, + 4, + 338, + 124, + 38, + 54, + 242, + 4, + 338, + 130, + 34, + 52, + 242, + 4, + 338, + 130, + 34, + 52, + 242, + 4, + 336, + 136, + 30, + 52, + 242, + 4, + 336, + 136, + 30, + 52, + 242, + 4, + 130, + 24, + 182, + 138, + 30, + 50, + 242, + 4, + 130, + 24, + 182, + 138, + 30, + 50, + 242, + 4, + 126, + 38, + 172, + 138, + 30, + 50, + 242, + 4, + 126, + 38, + 172, + 138, + 30, + 50, + 242, + 4, + 124, + 44, + 168, + 138, + 32, + 48, + 242, + 4, + 124, + 44, + 168, + 138, + 32, + 48, + 242, + 4, + 122, + 48, + 166, + 138, + 32, + 48, + 242, + 4, + 122, + 48, + 166, + 138, + 32, + 48, + 242, + 4, + 120, + 94, + 122, + 138, + 32, + 50, + 240, + 4, + 120, + 94, + 122, + 138, + 32, + 50, + 240, + 4, + 118, + 136, + 80, + 140, + 32, + 50, + 240, + 4, + 118, + 136, + 80, + 140, + 32, + 50, + 240, + 4, + 118, + 152, + 64, + 140, + 32, + 50, + 240, + 4, + 118, + 152, + 64, + 140, + 32, + 50, + 240, + 4, + 116, + 156, + 62, + 138, + 36, + 48, + 240, + 4, + 116, + 156, + 62, + 138, + 36, + 48, + 240, + 4, + 114, + 160, + 60, + 138, + 36, + 48, + 240, + 4, + 114, + 160, + 60, + 138, + 36, + 48, + 240, + 4, + 114, + 162, + 58, + 136, + 38, + 48, + 240, + 4, + 114, + 162, + 58, + 136, + 38, + 48, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 46, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 46, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 42, + 244, + 4, + 112, + 166, + 54, + 138, + 40, + 42, + 244, + 4, + 112, + 168, + 52, + 138, + 40, + 38, + 248, + 4, + 112, + 168, + 52, + 138, + 40, + 38, + 248, + 4, + 112, + 168, + 52, + 136, + 42, + 32, + 254, + 4, + 112, + 168, + 52, + 136, + 42, + 32, + 254, + 4, + 112, + 168, + 52, + 136, + 42, + 26, + 260, + 4, + 112, + 168, + 52, + 136, + 42, + 26, + 260, + 4, + 112, + 170, + 48, + 138, + 44, + 16, + 268, + 4, + 112, + 170, + 48, + 138, + 44, + 16, + 268, + 4, + 112, + 170, + 48, + 138, + 46, + 8, + 274, + 4, + 112, + 170, + 48, + 138, + 46, + 8, + 274, + 4, + 110, + 172, + 48, + 138, + 328, + 4, + 110, + 172, + 48, + 138, + 328, + 4, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 168, + 50, + 136, + 328, + 6, + 112, + 168, + 50, + 136, + 328, + 6, + 112, + 168, + 48, + 136, + 330, + 6, + 112, + 168, + 48, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 116, + 160, + 52, + 136, + 330, + 6, + 116, + 160, + 52, + 136, + 330, + 6, + 116, + 158, + 54, + 136, + 330, + 6, + 116, + 158, + 54, + 136, + 330, + 6, + 118, + 152, + 58, + 136, + 330, + 6, + 118, + 152, + 58, + 136, + 330, + 6, + 118, + 138, + 72, + 134, + 144, + 8, + 180, + 6, + 118, + 138, + 72, + 134, + 144, + 8, + 180, + 6, + 120, + 102, + 106, + 134, + 140, + 14, + 178, + 6, + 120, + 102, + 106, + 134, + 140, + 14, + 178, + 6, + 120, + 64, + 142, + 136, + 138, + 20, + 174, + 6, + 120, + 64, + 142, + 136, + 138, + 20, + 174, + 6, + 124, + 50, + 152, + 134, + 138, + 26, + 170, + 6, + 124, + 50, + 152, + 134, + 138, + 26, + 170, + 6, + 126, + 46, + 154, + 134, + 136, + 30, + 168, + 6, + 126, + 46, + 154, + 134, + 136, + 30, + 168, + 6, + 128, + 42, + 156, + 134, + 136, + 32, + 166, + 6, + 128, + 42, + 156, + 134, + 136, + 32, + 166, + 6, + 130, + 36, + 160, + 134, + 136, + 32, + 166, + 6, + 130, + 36, + 160, + 134, + 136, + 32, + 166, + 6, + 138, + 24, + 164, + 132, + 138, + 34, + 164, + 6, + 138, + 24, + 164, + 132, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 322, + 134, + 142, + 30, + 166, + 6, + 322, + 134, + 142, + 30, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 132, + 150, + 24, + 166, + 6, + 322, + 132, + 150, + 24, + 166, + 6, + 322, + 132, + 154, + 16, + 170, + 6, + 322, + 132, + 154, + 16, + 170, + 6, + 320, + 134, + 164, + 2, + 174, + 6, + 320, + 134, + 164, + 2, + 174, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 72, + 10, + 258, + 6, + 320, + 134, + 72, + 10, + 258, + 6, + 320, + 132, + 70, + 16, + 256, + 6, + 320, + 132, + 70, + 16, + 256, + 6, + 318, + 134, + 68, + 20, + 254, + 6, + 318, + 134, + 68, + 20, + 254, + 6, + 318, + 134, + 62, + 28, + 252, + 6, + 318, + 134, + 62, + 28, + 252, + 6, + 318, + 132, + 60, + 34, + 250, + 6, + 318, + 132, + 60, + 34, + 250, + 6, + 318, + 132, + 56, + 40, + 248, + 6, + 318, + 132, + 56, + 40, + 248, + 6, + 318, + 132, + 54, + 44, + 246, + 6, + 318, + 132, + 54, + 44, + 246, + 6, + 318, + 132, + 52, + 48, + 244, + 6, + 318, + 132, + 52, + 48, + 244, + 6, + 268, + 6, + 44, + 130, + 52, + 54, + 240, + 6, + 268, + 6, + 44, + 130, + 52, + 54, + 240, + 6, + 258, + 22, + 36, + 132, + 50, + 58, + 238, + 6, + 258, + 22, + 36, + 132, + 50, + 58, + 238, + 6, + 252, + 28, + 36, + 132, + 50, + 60, + 236, + 6, + 252, + 28, + 36, + 132, + 50, + 60, + 236, + 6, + 246, + 34, + 36, + 130, + 50, + 64, + 234, + 6, + 246, + 34, + 36, + 130, + 50, + 64, + 234, + 6, + 238, + 42, + 36, + 130, + 48, + 70, + 230, + 6, + 238, + 42, + 36, + 130, + 48, + 70, + 230, + 6, + 228, + 54, + 34, + 130, + 46, + 74, + 228, + 6, + 228, + 54, + 34, + 130, + 46, + 74, + 228, + 6, + 208, + 74, + 34, + 128, + 46, + 80, + 224, + 6, + 208, + 74, + 34, + 128, + 46, + 80, + 224, + 4, + 204, + 80, + 32, + 130, + 46, + 82, + 222, + 4, + 204, + 80, + 32, + 130, + 46, + 82, + 222, + 4, + 194, + 90, + 32, + 130, + 44, + 86, + 220, + 4, + 194, + 90, + 32, + 130, + 44, + 86, + 220, + 6, + 190, + 92, + 32, + 130, + 42, + 90, + 218, + 6, + 190, + 92, + 32, + 130, + 42, + 90, + 218, + 6, + 188, + 94, + 32, + 130, + 40, + 94, + 216, + 6, + 188, + 94, + 32, + 130, + 40, + 94, + 216, + 4, + 190, + 96, + 30, + 128, + 40, + 98, + 214, + 4, + 190, + 96, + 30, + 128, + 40, + 98, + 214, + 4, + 190, + 96, + 28, + 130, + 40, + 100, + 212, + 4, + 190, + 96, + 28, + 130, + 40, + 100, + 212, + 4, + 190, + 96, + 28, + 130, + 38, + 104, + 210, + 4, + 190, + 96, + 28, + 130, + 38, + 104, + 210, + 4, + 190, + 96, + 28, + 130, + 36, + 108, + 208, + 4, + 190, + 96, + 28, + 130, + 36, + 108, + 208, + 4, + 192, + 94, + 28, + 128, + 36, + 114, + 204, + 4, + 192, + 94, + 28, + 128, + 36, + 114, + 204, + 4, + 192, + 96, + 26, + 128, + 36, + 118, + 200, + 4, + 192, + 96, + 26, + 128, + 36, + 118, + 200, + 4, + 192, + 96, + 26, + 128, + 34, + 120, + 200, + 4, + 192, + 96, + 26, + 128, + 34, + 120, + 200, + 4, + 192, + 96, + 26, + 128, + 32, + 124, + 198, + 4, + 192, + 96, + 26, + 128, + 32, + 124, + 198, + 4, + 194, + 94, + 28, + 124, + 32, + 128, + 196, + 4, + 194, + 94, + 28, + 124, + 32, + 128, + 196, + 6, + 192, + 94, + 28, + 124, + 30, + 132, + 194, + 6, + 192, + 94, + 28, + 124, + 30, + 132, + 194, + 6, + 192, + 96, + 28, + 122, + 28, + 138, + 190, + 6, + 192, + 96, + 28, + 122, + 28, + 138, + 190, + 6, + 192, + 96, + 30, + 118, + 30, + 140, + 188, + 6, + 192, + 96, + 30, + 118, + 30, + 140, + 188, + 6, + 194, + 94, + 32, + 116, + 28, + 144, + 186, + 6, + 194, + 94, + 32, + 116, + 28, + 144, + 186, + 8, + 192, + 94, + 34, + 114, + 26, + 148, + 184, + 8, + 192, + 94, + 34, + 114, + 26, + 148, + 184, + 8, + 192, + 94, + 38, + 110, + 24, + 154, + 180, + 8, + 192, + 94, + 38, + 110, + 24, + 154, + 180, + 10, + 192, + 92, + 40, + 108, + 22, + 158, + 178, + 10, + 192, + 92, + 40, + 108, + 22, + 158, + 178, + 12, + 190, + 94, + 44, + 100, + 24, + 158, + 178, + 12, + 190, + 94, + 44, + 100, + 24, + 158, + 178, + 12, + 190, + 94, + 50, + 94, + 22, + 164, + 174, + 12, + 190, + 94, + 50, + 94, + 22, + 164, + 174, + 14, + 188, + 94, + 56, + 88, + 20, + 168, + 172, + 14, + 188, + 94, + 56, + 88, + 20, + 168, + 172, + 16, + 186, + 94, + 60, + 84, + 18, + 172, + 172, + 14, + 186, + 94, + 60, + 84, + 18, + 172, + 172, + 14, + 188, + 94, + 64, + 78, + 16, + 178, + 168, + 14, + 188, + 94, + 64, + 78, + 16, + 178, + 168, + 16, + 186, + 94, + 70, + 70, + 18, + 180, + 164, + 18, + 186, + 94, + 70, + 70, + 18, + 180, + 164, + 20, + 184, + 94, + 74, + 66, + 16, + 184, + 162, + 20, + 184, + 94, + 74, + 66, + 16, + 184, + 162, + 22, + 182, + 94, + 84, + 56, + 14, + 188, + 160, + 22, + 182, + 94, + 84, + 56, + 14, + 188, + 160, + 22, + 182, + 94, + 88, + 52, + 12, + 192, + 158, + 22, + 182, + 94, + 88, + 52, + 12, + 192, + 158, + 24, + 182, + 92, + 94, + 44, + 12, + 196, + 156, + 24, + 182, + 92, + 94, + 44, + 12, + 196, + 156, + 26, + 180, + 94, + 44, + 4, + 48, + 40, + 10, + 202, + 152, + 26, + 180, + 94, + 44, + 4, + 48, + 40, + 10, + 202, + 152, + 28, + 178, + 94, + 38, + 16, + 50, + 32, + 8, + 206, + 150, + 28, + 178, + 94, + 38, + 16, + 50, + 32, + 8, + 206, + 150, + 30, + 176, + 94, + 34, + 24, + 52, + 28, + 4, + 210, + 148, + 30, + 176, + 94, + 34, + 24, + 52, + 28, + 4, + 210, + 148, + 30, + 174, + 96, + 28, + 34, + 54, + 240, + 144, + 30, + 174, + 96, + 28, + 34, + 54, + 240, + 144, + 32, + 168, + 102, + 24, + 38, + 60, + 2, + 6, + 226, + 142, + 32, + 168, + 102, + 24, + 38, + 60, + 2, + 6, + 226, + 142, + 34, + 160, + 108, + 20, + 44, + 70, + 222, + 142, + 34, + 160, + 108, + 20, + 44, + 70, + 222, + 142, + 34, + 160, + 108, + 14, + 50, + 70, + 222, + 142, + 34, + 160, + 108, + 14, + 50, + 70, + 222, + 142, + 36, + 158, + 110, + 8, + 54, + 68, + 224, + 142, + 36, + 158, + 110, + 8, + 54, + 68, + 224, + 142, + 38, + 162, + 166, + 68, + 224, + 142, + 38, + 162, + 166, + 68, + 224, + 142, + 40, + 168, + 160, + 64, + 224, + 144, + 40, + 168, + 160, + 64, + 224, + 144, + 40, + 170, + 158, + 62, + 226, + 144, + 40, + 170, + 158, + 62, + 226, + 144, + 42, + 168, + 158, + 62, + 226, + 144, + 42, + 168, + 158, + 62, + 226, + 144, + 44, + 166, + 158, + 60, + 228, + 144, + 44, + 166, + 158, + 60, + 228, + 144, + 44, + 168, + 156, + 58, + 230, + 144, + 44, + 168, + 156, + 58, + 230, + 144, + 46, + 166, + 156, + 56, + 232, + 144, + 46, + 166, + 156, + 56, + 232, + 144, + 48, + 164, + 154, + 56, + 234, + 144, + 48, + 164, + 154, + 56, + 234, + 144, + 50, + 162, + 154, + 54, + 236, + 144, + 50, + 162, + 154, + 54, + 236, + 144, + 50, + 162, + 152, + 54, + 238, + 144, + 50, + 162, + 152, + 54, + 238, + 144, + 52, + 160, + 150, + 54, + 240, + 144, + 52, + 160, + 150, + 54, + 240, + 144, + 54, + 160, + 144, + 58, + 238, + 146, + 54, + 160, + 144, + 58, + 238, + 146, + 56, + 158, + 142, + 58, + 238, + 148, + 56, + 158, + 142, + 58, + 238, + 148, + 58, + 156, + 140, + 58, + 238, + 150, + 58, + 156, + 140, + 58, + 238, + 150, + 60, + 154, + 138, + 60, + 236, + 152, + 60, + 154, + 138, + 60, + 236, + 152, + 60, + 154, + 134, + 60, + 238, + 154, + 60, + 154, + 134, + 60, + 238, + 154, + 60, + 156, + 128, + 62, + 238, + 156, + 60, + 156, + 128, + 62, + 238, + 156, + 62, + 154, + 124, + 66, + 236, + 158, + 62, + 154, + 124, + 66, + 236, + 158, + 64, + 152, + 120, + 68, + 236, + 160, + 64, + 152, + 120, + 68, + 236, + 160, + 64, + 154, + 116, + 68, + 236, + 162, + 64, + 154, + 116, + 68, + 236, + 162, + 66, + 156, + 108, + 70, + 236, + 164, + 66, + 156, + 108, + 70, + 236, + 164, + 68, + 154, + 106, + 72, + 234, + 166, + 68, + 154, + 106, + 72, + 234, + 166, + 70, + 152, + 102, + 74, + 234, + 168, + 70, + 152, + 102, + 74, + 234, + 168, + 72, + 150, + 100, + 74, + 234, + 170, + 72, + 150, + 100, + 74, + 234, + 170, + 74, + 148, + 96, + 76, + 232, + 174, + 74, + 148, + 96, + 76, + 232, + 174, + 74, + 148, + 92, + 78, + 232, + 176, + 74, + 148, + 92, + 78, + 232, + 176, + 76, + 146, + 88, + 80, + 234, + 176, + 76, + 146, + 88, + 80, + 234, + 176, + 78, + 144, + 84, + 82, + 234, + 178, + 78, + 144, + 84, + 82, + 234, + 178, + 80, + 142, + 82, + 84, + 232, + 180, + 80, + 142, + 82, + 84, + 232, + 180, + 80, + 142, + 80, + 84, + 230, + 184, + 80, + 142, + 80, + 84, + 230, + 184, + 82, + 140, + 78, + 84, + 230, + 186, + 82, + 140, + 78, + 84, + 230, + 186, + 84, + 140, + 72, + 86, + 230, + 188, + 84, + 140, + 72, + 86, + 230, + 188, + 84, + 140, + 68, + 88, + 230, + 190, + 84, + 140, + 68, + 88, + 230, + 190, + 86, + 138, + 66, + 90, + 228, + 192, + 86, + 138, + 66, + 90, + 228, + 192, + 88, + 136, + 64, + 90, + 228, + 194, + 88, + 136, + 64, + 90, + 228, + 194, + 88, + 138, + 62, + 88, + 228, + 196, + 88, + 138, + 62, + 88, + 228, + 196, + 90, + 136, + 58, + 90, + 228, + 198, + 90, + 136, + 58, + 90, + 228, + 198, + 92, + 136, + 56, + 88, + 228, + 200, + 92, + 136, + 56, + 88, + 228, + 200, + 94, + 136, + 52, + 88, + 228, + 202, + 94, + 136, + 52, + 88, + 228, + 202, + 94, + 138, + 48, + 88, + 226, + 206, + 94, + 138, + 48, + 88, + 226, + 206, + 96, + 138, + 42, + 92, + 224, + 208, + 96, + 138, + 42, + 92, + 224, + 208, + 98, + 138, + 38, + 92, + 226, + 208, + 98, + 138, + 38, + 92, + 226, + 208, + 100, + 138, + 32, + 94, + 226, + 210, + 100, + 138, + 32, + 94, + 226, + 210, + 100, + 142, + 24, + 96, + 224, + 214, + 100, + 142, + 24, + 96, + 224, + 214, + 102, + 148, + 12, + 98, + 224, + 216, + 102, + 148, + 12, + 98, + 224, + 216, + 104, + 254, + 224, + 220, + 102, + 254, + 224, + 220, + 104, + 250, + 226, + 220, + 104, + 250, + 226, + 220, + 104, + 250, + 224, + 220, + 106, + 250, + 224, + 220, + 108, + 246, + 222, + 224, + 108, + 246, + 222, + 224, + 110, + 242, + 222, + 226, + 110, + 242, + 222, + 226, + 110, + 242, + 220, + 228, + 110, + 242, + 220, + 228, + 112, + 238, + 220, + 230, + 112, + 238, + 220, + 230, + 114, + 234, + 220, + 232, + 114, + 234, + 220, + 232, + 116, + 232, + 216, + 236, + 116, + 232, + 216, + 236, + 116, + 230, + 218, + 238, + 114, + 230, + 218, + 238, + 116, + 228, + 216, + 240, + 116, + 228, + 216, + 240, + 118, + 228, + 212, + 242, + 118, + 228, + 212, + 242, + 118, + 228, + 210, + 242, + 120, + 228, + 210, + 242, + 122, + 228, + 204, + 246, + 122, + 228, + 204, + 246, + 124, + 228, + 200, + 248, + 124, + 228, + 200, + 248, + 124, + 230, + 196, + 250, + 124, + 230, + 196, + 250, + 126, + 230, + 192, + 252, + 126, + 230, + 192, + 252, + 128, + 228, + 190, + 254, + 128, + 228, + 190, + 254, + 130, + 230, + 184, + 256, + 130, + 230, + 184, + 256, + 132, + 230, + 180, + 260, + 130, + 230, + 180, + 260, + 130, + 232, + 178, + 260, + 130, + 232, + 178, + 260, + 132, + 230, + 176, + 262, + 132, + 230, + 176, + 262, + 134, + 230, + 172, + 262, + 136, + 230, + 172, + 262, + 136, + 232, + 166, + 266, + 136, + 232, + 166, + 266, + 138, + 234, + 160, + 268, + 138, + 234, + 160, + 268, + 140, + 234, + 156, + 270, + 140, + 234, + 156, + 270, + 142, + 232, + 154, + 272, + 142, + 232, + 154, + 272, + 142, + 234, + 150, + 274, + 142, + 234, + 150, + 274, + 144, + 236, + 144, + 276, + 144, + 236, + 144, + 276, + 146, + 236, + 140, + 278, + 146, + 236, + 140, + 278, + 146, + 238, + 138, + 278, + 146, + 238, + 138, + 278, + 148, + 238, + 134, + 280, + 148, + 238, + 134, + 280, + 150, + 236, + 132, + 282, + 150, + 236, + 132, + 282, + 152, + 236, + 126, + 286, + 152, + 236, + 126, + 286, + 152, + 240, + 120, + 288, + 152, + 240, + 120, + 288, + 154, + 240, + 116, + 290, + 154, + 240, + 116, + 290, + 156, + 240, + 112, + 292, + 156, + 240, + 112, + 292, + 158, + 240, + 108, + 294, + 158, + 240, + 108, + 294, + 160, + 242, + 102, + 296, + 160, + 242, + 102, + 296, + 160, + 244, + 98, + 298, + 160, + 244, + 98, + 298, + 162, + 242, + 96, + 300, + 162, + 242, + 96, + 300, + 164, + 242, + 94, + 300, + 164, + 242, + 94, + 300, + 166, + 240, + 90, + 304, + 166, + 240, + 90, + 304, + 166, + 244, + 84, + 306, + 166, + 244, + 84, + 306, + 168, + 246, + 78, + 308, + 168, + 246, + 78, + 308, + 170, + 246, + 74, + 310, + 170, + 246, + 74, + 310, + 172, + 244, + 72, + 312, + 172, + 244, + 72, + 312, + 174, + 244, + 68, + 314, + 174, + 244, + 68, + 314, + 174, + 244, + 66, + 316, + 174, + 244, + 66, + 316, + 176, + 242, + 64, + 318, + 176, + 242, + 64, + 318, + 178, + 238, + 64, + 320, + 178, + 238, + 64, + 320, + 178, + 236, + 64, + 322, + 178, + 236, + 64, + 322, + 180, + 232, + 64, + 324, + 180, + 232, + 64, + 324, + 182, + 228, + 64, + 326, + 182, + 228, + 64, + 326, + 182, + 226, + 64, + 328, + 182, + 226, + 64, + 328, + 184, + 222, + 64, + 330, + 184, + 222, + 64, + 330, + 186, + 220, + 62, + 332, + 186, + 220, + 62, + 332, + 188, + 216, + 62, + 334, + 188, + 216, + 62, + 334, + 188, + 216, + 60, + 336, + 188, + 216, + 60, + 336, + 190, + 212, + 36, + 6, + 18, + 338, + 190, + 212, + 36, + 6, + 18, + 338, + 192, + 210, + 32, + 14, + 12, + 340, + 192, + 210, + 32, + 14, + 12, + 340, + 194, + 208, + 32, + 16, + 6, + 344, + 194, + 208, + 32, + 16, + 6, + 344, + 196, + 208, + 28, + 368, + 196, + 208, + 28, + 368, + 196, + 210, + 24, + 370, + 196, + 210, + 24, + 370, + 198, + 214, + 16, + 372, + 198, + 214, + 16, + 372, + 200, + 216, + 8, + 376, + 200, + 216, + 8, + 376, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 222, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 318, + 482, + 318, + 482, + 320, + 480, + 320, + 480, + 322, + 478, + 322, + 478, + 324, + 476, + 324, + 476, + 326, + 474, + 326, + 474, + 328, + 472, + 328, + 472, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 340, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 358, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 306, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000125:0000", + "experimental_retained_index": 0, + "ism_score": 0.3617877960205078, + "R": [ + [ + -0.9054731130599976, + -0.4123067855834961, + 0.10060828924179077 + ], + [ + -0.3434373140335083, + 0.572572648525238, + -0.7444533109664917 + ], + [ + 0.24933724105358124, + -0.7086352109909058, + -0.6600508689880371 + ] + ], + "t": [ + -55.61817169189453, + -31.47434425354004, + 404.42266845703125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 0, + 2, + 1278, + 794 + ], + "score": 0.0327870175242424, + "time": 0.0, + "segmentation": { + "counts": [ + 33, + 766, + 32, + 768, + 32, + 768, + 20, + 780, + 20, + 780, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 368, + 2, + 426, + 4, + 368, + 2, + 426, + 4, + 364, + 8, + 424, + 4, + 364, + 8, + 424, + 4, + 362, + 12, + 422, + 4, + 362, + 12, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 360, + 14, + 422, + 4, + 358, + 16, + 422, + 4, + 358, + 16, + 422, + 4, + 356, + 18, + 422, + 4, + 356, + 18, + 422, + 4, + 352, + 22, + 422, + 4, + 352, + 22, + 422, + 4, + 350, + 24, + 422, + 4, + 350, + 24, + 422, + 4, + 350, + 22, + 424, + 4, + 350, + 22, + 424, + 4, + 348, + 24, + 424, + 4, + 348, + 24, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 346, + 26, + 424, + 4, + 344, + 28, + 424, + 4, + 344, + 28, + 424, + 4, + 342, + 28, + 426, + 4, + 342, + 28, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 30, + 426, + 4, + 340, + 28, + 428, + 4, + 340, + 28, + 428, + 4, + 338, + 30, + 428, + 4, + 338, + 30, + 428, + 4, + 336, + 32, + 76, + 10, + 342, + 4, + 336, + 32, + 76, + 10, + 342, + 4, + 336, + 32, + 74, + 12, + 342, + 4, + 336, + 32, + 74, + 12, + 342, + 4, + 334, + 32, + 74, + 16, + 340, + 4, + 334, + 32, + 74, + 16, + 340, + 4, + 334, + 32, + 72, + 18, + 340, + 4, + 334, + 32, + 72, + 18, + 340, + 4, + 332, + 34, + 72, + 18, + 340, + 4, + 332, + 34, + 72, + 18, + 340, + 4, + 332, + 32, + 72, + 20, + 340, + 4, + 332, + 32, + 72, + 20, + 340, + 4, + 330, + 34, + 70, + 22, + 340, + 4, + 330, + 34, + 70, + 22, + 340, + 4, + 330, + 32, + 70, + 22, + 342, + 4, + 330, + 32, + 70, + 22, + 342, + 4, + 328, + 34, + 70, + 22, + 342, + 4, + 328, + 34, + 70, + 22, + 342, + 4, + 328, + 32, + 70, + 24, + 342, + 4, + 328, + 32, + 70, + 24, + 342, + 4, + 326, + 34, + 68, + 26, + 342, + 4, + 326, + 34, + 68, + 26, + 342, + 4, + 324, + 34, + 70, + 26, + 342, + 4, + 324, + 34, + 70, + 26, + 342, + 4, + 324, + 34, + 68, + 28, + 342, + 4, + 324, + 34, + 68, + 28, + 342, + 4, + 324, + 32, + 70, + 28, + 342, + 4, + 324, + 32, + 70, + 28, + 342, + 4, + 324, + 30, + 72, + 28, + 342, + 4, + 324, + 30, + 72, + 28, + 342, + 4, + 322, + 32, + 70, + 30, + 342, + 4, + 322, + 32, + 70, + 30, + 342, + 4, + 320, + 34, + 68, + 30, + 344, + 4, + 320, + 34, + 68, + 30, + 344, + 4, + 320, + 32, + 70, + 30, + 344, + 4, + 320, + 32, + 70, + 30, + 344, + 4, + 320, + 32, + 68, + 32, + 344, + 4, + 320, + 32, + 68, + 32, + 344, + 4, + 318, + 34, + 68, + 32, + 344, + 4, + 318, + 34, + 68, + 32, + 344, + 4, + 316, + 34, + 70, + 32, + 344, + 4, + 316, + 34, + 70, + 32, + 344, + 4, + 314, + 36, + 68, + 32, + 346, + 4, + 314, + 36, + 68, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 314, + 34, + 70, + 32, + 346, + 4, + 312, + 34, + 72, + 32, + 346, + 4, + 312, + 34, + 72, + 32, + 346, + 4, + 310, + 36, + 70, + 34, + 346, + 4, + 310, + 36, + 70, + 34, + 346, + 4, + 310, + 34, + 72, + 32, + 66, + 10, + 272, + 4, + 310, + 34, + 72, + 32, + 66, + 10, + 272, + 4, + 310, + 34, + 70, + 34, + 62, + 14, + 272, + 4, + 310, + 34, + 70, + 34, + 62, + 14, + 272, + 4, + 308, + 34, + 72, + 34, + 58, + 18, + 178, + 58, + 36, + 4, + 308, + 34, + 72, + 34, + 58, + 18, + 178, + 58, + 36, + 4, + 308, + 34, + 70, + 34, + 56, + 24, + 60, + 176, + 34, + 4, + 308, + 34, + 70, + 34, + 56, + 24, + 60, + 176, + 34, + 4, + 306, + 34, + 72, + 34, + 52, + 28, + 50, + 186, + 34, + 4, + 306, + 34, + 72, + 34, + 52, + 28, + 50, + 186, + 34, + 4, + 306, + 32, + 72, + 34, + 46, + 38, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 46, + 38, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 44, + 40, + 46, + 188, + 34, + 4, + 306, + 32, + 72, + 34, + 44, + 40, + 46, + 188, + 34, + 4, + 306, + 30, + 74, + 34, + 40, + 44, + 46, + 188, + 34, + 4, + 306, + 30, + 74, + 34, + 40, + 44, + 46, + 188, + 34, + 4, + 304, + 32, + 72, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 304, + 32, + 72, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 302, + 32, + 74, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 302, + 32, + 74, + 36, + 38, + 48, + 42, + 188, + 36, + 4, + 300, + 34, + 74, + 34, + 40, + 48, + 42, + 188, + 36, + 4, + 300, + 34, + 74, + 34, + 40, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 76, + 32, + 42, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 76, + 32, + 42, + 48, + 42, + 188, + 36, + 4, + 300, + 32, + 74, + 34, + 42, + 50, + 40, + 188, + 36, + 4, + 300, + 32, + 74, + 34, + 42, + 50, + 40, + 188, + 36, + 4, + 298, + 32, + 76, + 32, + 44, + 50, + 40, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 50, + 40, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 52, + 38, + 186, + 38, + 4, + 298, + 32, + 76, + 32, + 44, + 52, + 38, + 186, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 34, + 76, + 34, + 46, + 50, + 36, + 188, + 38, + 4, + 294, + 32, + 78, + 32, + 48, + 50, + 36, + 188, + 38, + 4, + 294, + 32, + 78, + 32, + 48, + 50, + 36, + 188, + 38, + 4, + 292, + 34, + 76, + 34, + 48, + 50, + 36, + 188, + 38, + 4, + 292, + 34, + 76, + 34, + 48, + 50, + 36, + 188, + 38, + 4, + 290, + 34, + 78, + 32, + 52, + 48, + 36, + 186, + 40, + 4, + 290, + 34, + 78, + 32, + 52, + 48, + 36, + 186, + 40, + 4, + 290, + 34, + 76, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 34, + 76, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 32, + 78, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 290, + 32, + 78, + 34, + 52, + 50, + 34, + 186, + 40, + 4, + 288, + 34, + 78, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 34, + 78, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 32, + 80, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 288, + 32, + 80, + 34, + 54, + 48, + 32, + 188, + 40, + 4, + 286, + 32, + 80, + 34, + 56, + 48, + 32, + 188, + 40, + 4, + 286, + 32, + 80, + 34, + 56, + 48, + 32, + 188, + 40, + 4, + 284, + 34, + 80, + 34, + 56, + 50, + 30, + 186, + 42, + 4, + 284, + 34, + 80, + 34, + 56, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 82, + 32, + 58, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 82, + 32, + 58, + 50, + 30, + 186, + 42, + 4, + 284, + 32, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 284, + 32, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 34, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 34, + 80, + 34, + 58, + 52, + 28, + 186, + 42, + 4, + 282, + 32, + 82, + 32, + 62, + 50, + 28, + 186, + 42, + 4, + 282, + 32, + 82, + 32, + 62, + 50, + 28, + 186, + 42, + 4, + 280, + 34, + 80, + 34, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 34, + 80, + 34, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 32, + 80, + 36, + 62, + 52, + 24, + 188, + 42, + 4, + 280, + 32, + 80, + 36, + 62, + 52, + 24, + 188, + 42, + 4, + 278, + 34, + 80, + 34, + 66, + 50, + 24, + 188, + 42, + 4, + 278, + 34, + 80, + 34, + 66, + 50, + 24, + 188, + 42, + 4, + 278, + 32, + 82, + 34, + 66, + 52, + 22, + 188, + 42, + 4, + 278, + 32, + 82, + 34, + 66, + 52, + 22, + 188, + 42, + 4, + 274, + 34, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 274, + 34, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 70, + 50, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 72, + 48, + 22, + 186, + 44, + 4, + 268, + 40, + 82, + 34, + 72, + 48, + 22, + 186, + 44, + 4, + 268, + 40, + 80, + 36, + 72, + 50, + 20, + 186, + 44, + 4, + 268, + 40, + 80, + 36, + 72, + 50, + 20, + 186, + 44, + 4, + 266, + 40, + 82, + 36, + 72, + 50, + 20, + 184, + 46, + 4, + 266, + 40, + 82, + 36, + 72, + 50, + 20, + 184, + 46, + 4, + 266, + 40, + 48, + 4, + 30, + 36, + 74, + 48, + 18, + 186, + 46, + 4, + 266, + 40, + 48, + 4, + 30, + 36, + 74, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 44, + 22, + 14, + 36, + 76, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 44, + 22, + 14, + 36, + 76, + 48, + 18, + 186, + 46, + 4, + 264, + 42, + 42, + 72, + 78, + 50, + 18, + 184, + 46, + 4, + 264, + 42, + 42, + 72, + 78, + 50, + 18, + 184, + 46, + 4, + 264, + 40, + 44, + 72, + 78, + 50, + 18, + 182, + 48, + 4, + 264, + 40, + 44, + 72, + 78, + 50, + 18, + 182, + 48, + 4, + 266, + 38, + 42, + 74, + 78, + 52, + 20, + 176, + 50, + 4, + 266, + 38, + 42, + 74, + 78, + 52, + 20, + 176, + 50, + 4, + 266, + 38, + 40, + 76, + 80, + 50, + 26, + 170, + 50, + 4, + 266, + 38, + 40, + 76, + 80, + 50, + 26, + 170, + 50, + 4, + 268, + 34, + 40, + 80, + 78, + 52, + 56, + 134, + 54, + 4, + 268, + 34, + 40, + 80, + 78, + 52, + 56, + 134, + 54, + 4, + 270, + 32, + 40, + 80, + 78, + 52, + 130, + 58, + 56, + 4, + 270, + 32, + 40, + 80, + 78, + 52, + 130, + 58, + 56, + 4, + 272, + 28, + 40, + 90, + 70, + 52, + 170, + 8, + 66, + 4, + 272, + 28, + 40, + 90, + 70, + 52, + 170, + 8, + 66, + 4, + 276, + 24, + 40, + 96, + 64, + 52, + 244, + 4, + 276, + 24, + 40, + 96, + 64, + 52, + 244, + 4, + 280, + 16, + 44, + 106, + 54, + 54, + 242, + 4, + 280, + 16, + 44, + 106, + 54, + 54, + 242, + 4, + 286, + 8, + 44, + 118, + 44, + 54, + 242, + 4, + 286, + 8, + 44, + 118, + 44, + 54, + 242, + 4, + 338, + 124, + 38, + 54, + 242, + 4, + 338, + 124, + 38, + 54, + 242, + 4, + 338, + 130, + 34, + 52, + 242, + 4, + 338, + 130, + 34, + 52, + 242, + 4, + 336, + 136, + 30, + 52, + 242, + 4, + 336, + 136, + 30, + 52, + 242, + 4, + 130, + 24, + 182, + 138, + 30, + 50, + 242, + 4, + 130, + 24, + 182, + 138, + 30, + 50, + 242, + 4, + 126, + 38, + 172, + 138, + 30, + 50, + 242, + 4, + 126, + 38, + 172, + 138, + 30, + 50, + 242, + 4, + 124, + 44, + 168, + 138, + 32, + 48, + 242, + 4, + 124, + 44, + 168, + 138, + 32, + 48, + 242, + 4, + 122, + 48, + 166, + 138, + 32, + 48, + 242, + 4, + 122, + 48, + 166, + 138, + 32, + 48, + 242, + 4, + 120, + 94, + 122, + 138, + 32, + 50, + 240, + 4, + 120, + 94, + 122, + 138, + 32, + 50, + 240, + 4, + 118, + 136, + 80, + 140, + 32, + 50, + 240, + 4, + 118, + 136, + 80, + 140, + 32, + 50, + 240, + 4, + 118, + 152, + 64, + 140, + 32, + 50, + 240, + 4, + 118, + 152, + 64, + 140, + 32, + 50, + 240, + 4, + 116, + 156, + 62, + 138, + 36, + 48, + 240, + 4, + 116, + 156, + 62, + 138, + 36, + 48, + 240, + 4, + 114, + 160, + 60, + 138, + 36, + 48, + 240, + 4, + 114, + 160, + 60, + 138, + 36, + 48, + 240, + 4, + 114, + 162, + 58, + 136, + 38, + 48, + 240, + 4, + 114, + 162, + 58, + 136, + 38, + 48, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 46, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 46, + 240, + 4, + 112, + 166, + 54, + 138, + 40, + 42, + 244, + 4, + 112, + 166, + 54, + 138, + 40, + 42, + 244, + 4, + 112, + 168, + 52, + 138, + 40, + 38, + 248, + 4, + 112, + 168, + 52, + 138, + 40, + 38, + 248, + 4, + 112, + 168, + 52, + 136, + 42, + 32, + 254, + 4, + 112, + 168, + 52, + 136, + 42, + 32, + 254, + 4, + 112, + 168, + 52, + 136, + 42, + 26, + 260, + 4, + 112, + 168, + 52, + 136, + 42, + 26, + 260, + 4, + 112, + 170, + 48, + 138, + 44, + 16, + 268, + 4, + 112, + 170, + 48, + 138, + 44, + 16, + 268, + 4, + 112, + 170, + 48, + 138, + 46, + 8, + 274, + 4, + 112, + 170, + 48, + 138, + 46, + 8, + 274, + 4, + 110, + 172, + 48, + 138, + 328, + 4, + 110, + 172, + 48, + 138, + 328, + 4, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 170, + 48, + 136, + 328, + 6, + 112, + 168, + 50, + 136, + 328, + 6, + 112, + 168, + 50, + 136, + 328, + 6, + 112, + 168, + 48, + 136, + 330, + 6, + 112, + 168, + 48, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 114, + 164, + 50, + 136, + 330, + 6, + 116, + 160, + 52, + 136, + 330, + 6, + 116, + 160, + 52, + 136, + 330, + 6, + 116, + 158, + 54, + 136, + 330, + 6, + 116, + 158, + 54, + 136, + 330, + 6, + 118, + 152, + 58, + 136, + 330, + 6, + 118, + 152, + 58, + 136, + 330, + 6, + 118, + 138, + 72, + 134, + 144, + 8, + 180, + 6, + 118, + 138, + 72, + 134, + 144, + 8, + 180, + 6, + 120, + 102, + 106, + 134, + 140, + 14, + 178, + 6, + 120, + 102, + 106, + 134, + 140, + 14, + 178, + 6, + 120, + 64, + 142, + 136, + 138, + 20, + 174, + 6, + 120, + 64, + 142, + 136, + 138, + 20, + 174, + 6, + 124, + 50, + 152, + 134, + 138, + 26, + 170, + 6, + 124, + 50, + 152, + 134, + 138, + 26, + 170, + 6, + 126, + 46, + 154, + 134, + 136, + 30, + 168, + 6, + 126, + 46, + 154, + 134, + 136, + 30, + 168, + 6, + 128, + 42, + 156, + 134, + 136, + 32, + 166, + 6, + 128, + 42, + 156, + 134, + 136, + 32, + 166, + 6, + 130, + 36, + 160, + 134, + 136, + 32, + 166, + 6, + 130, + 36, + 160, + 134, + 136, + 32, + 166, + 6, + 138, + 24, + 164, + 132, + 138, + 34, + 164, + 6, + 138, + 24, + 164, + 132, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 134, + 138, + 34, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 324, + 132, + 142, + 32, + 164, + 6, + 322, + 134, + 142, + 30, + 166, + 6, + 322, + 134, + 142, + 30, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 134, + 144, + 28, + 166, + 6, + 322, + 132, + 150, + 24, + 166, + 6, + 322, + 132, + 150, + 24, + 166, + 6, + 322, + 132, + 154, + 16, + 170, + 6, + 322, + 132, + 154, + 16, + 170, + 6, + 320, + 134, + 164, + 2, + 174, + 6, + 320, + 134, + 164, + 2, + 174, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 340, + 6, + 320, + 134, + 72, + 10, + 258, + 6, + 320, + 134, + 72, + 10, + 258, + 6, + 320, + 132, + 70, + 16, + 256, + 6, + 320, + 132, + 70, + 16, + 256, + 6, + 318, + 134, + 68, + 20, + 254, + 6, + 318, + 134, + 68, + 20, + 254, + 6, + 318, + 134, + 62, + 28, + 252, + 6, + 318, + 134, + 62, + 28, + 252, + 6, + 318, + 132, + 60, + 34, + 250, + 6, + 318, + 132, + 60, + 34, + 250, + 6, + 318, + 132, + 56, + 40, + 248, + 6, + 318, + 132, + 56, + 40, + 248, + 6, + 318, + 132, + 54, + 44, + 246, + 6, + 318, + 132, + 54, + 44, + 246, + 6, + 318, + 132, + 52, + 48, + 244, + 6, + 318, + 132, + 52, + 48, + 244, + 6, + 268, + 6, + 44, + 130, + 52, + 54, + 240, + 6, + 268, + 6, + 44, + 130, + 52, + 54, + 240, + 6, + 258, + 22, + 36, + 132, + 50, + 58, + 238, + 6, + 258, + 22, + 36, + 132, + 50, + 58, + 238, + 6, + 252, + 28, + 36, + 132, + 50, + 60, + 236, + 6, + 252, + 28, + 36, + 132, + 50, + 60, + 236, + 6, + 246, + 34, + 36, + 130, + 50, + 64, + 234, + 6, + 246, + 34, + 36, + 130, + 50, + 64, + 234, + 6, + 238, + 42, + 36, + 130, + 48, + 70, + 230, + 6, + 238, + 42, + 36, + 130, + 48, + 70, + 230, + 6, + 228, + 54, + 34, + 130, + 46, + 74, + 228, + 6, + 228, + 54, + 34, + 130, + 46, + 74, + 228, + 6, + 208, + 74, + 34, + 128, + 46, + 80, + 224, + 6, + 208, + 74, + 34, + 128, + 46, + 80, + 224, + 4, + 204, + 80, + 32, + 130, + 46, + 82, + 222, + 4, + 204, + 80, + 32, + 130, + 46, + 82, + 222, + 4, + 194, + 90, + 32, + 130, + 44, + 86, + 220, + 4, + 194, + 90, + 32, + 130, + 44, + 86, + 220, + 6, + 190, + 92, + 32, + 130, + 42, + 90, + 218, + 6, + 190, + 92, + 32, + 130, + 42, + 90, + 218, + 6, + 188, + 94, + 32, + 130, + 40, + 94, + 216, + 6, + 188, + 94, + 32, + 130, + 40, + 94, + 216, + 4, + 190, + 96, + 30, + 128, + 40, + 98, + 214, + 4, + 190, + 96, + 30, + 128, + 40, + 98, + 214, + 4, + 190, + 96, + 28, + 130, + 40, + 100, + 212, + 4, + 190, + 96, + 28, + 130, + 40, + 100, + 212, + 4, + 190, + 96, + 28, + 130, + 38, + 104, + 210, + 4, + 190, + 96, + 28, + 130, + 38, + 104, + 210, + 4, + 190, + 96, + 28, + 130, + 36, + 108, + 208, + 4, + 190, + 96, + 28, + 130, + 36, + 108, + 208, + 4, + 192, + 94, + 28, + 128, + 36, + 114, + 204, + 4, + 192, + 94, + 28, + 128, + 36, + 114, + 204, + 4, + 192, + 96, + 26, + 128, + 36, + 118, + 200, + 4, + 192, + 96, + 26, + 128, + 36, + 118, + 200, + 4, + 192, + 96, + 26, + 128, + 34, + 120, + 200, + 4, + 192, + 96, + 26, + 128, + 34, + 120, + 200, + 4, + 192, + 96, + 26, + 128, + 32, + 124, + 198, + 4, + 192, + 96, + 26, + 128, + 32, + 124, + 198, + 4, + 194, + 94, + 28, + 124, + 32, + 128, + 196, + 4, + 194, + 94, + 28, + 124, + 32, + 128, + 196, + 6, + 192, + 94, + 28, + 124, + 30, + 132, + 194, + 6, + 192, + 94, + 28, + 124, + 30, + 132, + 194, + 6, + 192, + 96, + 28, + 122, + 28, + 138, + 190, + 6, + 192, + 96, + 28, + 122, + 28, + 138, + 190, + 6, + 192, + 96, + 30, + 118, + 30, + 140, + 188, + 6, + 192, + 96, + 30, + 118, + 30, + 140, + 188, + 6, + 194, + 94, + 32, + 116, + 28, + 144, + 186, + 6, + 194, + 94, + 32, + 116, + 28, + 144, + 186, + 8, + 192, + 94, + 34, + 114, + 26, + 148, + 184, + 8, + 192, + 94, + 34, + 114, + 26, + 148, + 184, + 8, + 192, + 94, + 38, + 110, + 24, + 154, + 180, + 8, + 192, + 94, + 38, + 110, + 24, + 154, + 180, + 10, + 192, + 92, + 40, + 108, + 22, + 158, + 178, + 10, + 192, + 92, + 40, + 108, + 22, + 158, + 178, + 12, + 190, + 94, + 44, + 100, + 24, + 158, + 178, + 12, + 190, + 94, + 44, + 100, + 24, + 158, + 178, + 12, + 190, + 94, + 50, + 94, + 22, + 164, + 174, + 12, + 190, + 94, + 50, + 94, + 22, + 164, + 174, + 14, + 188, + 94, + 56, + 88, + 20, + 168, + 172, + 14, + 188, + 94, + 56, + 88, + 20, + 168, + 172, + 16, + 186, + 94, + 60, + 84, + 18, + 172, + 172, + 14, + 186, + 94, + 60, + 84, + 18, + 172, + 172, + 14, + 188, + 94, + 64, + 78, + 16, + 178, + 168, + 14, + 188, + 94, + 64, + 78, + 16, + 178, + 168, + 16, + 186, + 94, + 70, + 70, + 18, + 180, + 164, + 18, + 186, + 94, + 70, + 70, + 18, + 180, + 164, + 20, + 184, + 94, + 74, + 66, + 16, + 184, + 162, + 20, + 184, + 94, + 74, + 66, + 16, + 184, + 162, + 22, + 182, + 94, + 84, + 56, + 14, + 188, + 160, + 22, + 182, + 94, + 84, + 56, + 14, + 188, + 160, + 22, + 182, + 94, + 88, + 52, + 12, + 192, + 158, + 22, + 182, + 94, + 88, + 52, + 12, + 192, + 158, + 24, + 182, + 92, + 94, + 44, + 12, + 196, + 156, + 24, + 182, + 92, + 94, + 44, + 12, + 196, + 156, + 26, + 180, + 94, + 44, + 4, + 48, + 40, + 10, + 202, + 152, + 26, + 180, + 94, + 44, + 4, + 48, + 40, + 10, + 202, + 152, + 28, + 178, + 94, + 38, + 16, + 50, + 32, + 8, + 206, + 150, + 28, + 178, + 94, + 38, + 16, + 50, + 32, + 8, + 206, + 150, + 30, + 176, + 94, + 34, + 24, + 52, + 28, + 4, + 210, + 148, + 30, + 176, + 94, + 34, + 24, + 52, + 28, + 4, + 210, + 148, + 30, + 174, + 96, + 28, + 34, + 54, + 240, + 144, + 30, + 174, + 96, + 28, + 34, + 54, + 240, + 144, + 32, + 168, + 102, + 24, + 38, + 60, + 2, + 6, + 226, + 142, + 32, + 168, + 102, + 24, + 38, + 60, + 2, + 6, + 226, + 142, + 34, + 160, + 108, + 20, + 44, + 70, + 222, + 142, + 34, + 160, + 108, + 20, + 44, + 70, + 222, + 142, + 34, + 160, + 108, + 14, + 50, + 70, + 222, + 142, + 34, + 160, + 108, + 14, + 50, + 70, + 222, + 142, + 36, + 158, + 110, + 8, + 54, + 68, + 224, + 142, + 36, + 158, + 110, + 8, + 54, + 68, + 224, + 142, + 38, + 162, + 166, + 68, + 224, + 142, + 38, + 162, + 166, + 68, + 224, + 142, + 40, + 168, + 160, + 64, + 224, + 144, + 40, + 168, + 160, + 64, + 224, + 144, + 40, + 170, + 158, + 62, + 226, + 144, + 40, + 170, + 158, + 62, + 226, + 144, + 42, + 168, + 158, + 62, + 226, + 144, + 42, + 168, + 158, + 62, + 226, + 144, + 44, + 166, + 158, + 60, + 228, + 144, + 44, + 166, + 158, + 60, + 228, + 144, + 44, + 168, + 156, + 58, + 230, + 144, + 44, + 168, + 156, + 58, + 230, + 144, + 46, + 166, + 156, + 56, + 232, + 144, + 46, + 166, + 156, + 56, + 232, + 144, + 48, + 164, + 154, + 56, + 234, + 144, + 48, + 164, + 154, + 56, + 234, + 144, + 50, + 162, + 154, + 54, + 236, + 144, + 50, + 162, + 154, + 54, + 236, + 144, + 50, + 162, + 152, + 54, + 238, + 144, + 50, + 162, + 152, + 54, + 238, + 144, + 52, + 160, + 150, + 54, + 240, + 144, + 52, + 160, + 150, + 54, + 240, + 144, + 54, + 160, + 144, + 58, + 238, + 146, + 54, + 160, + 144, + 58, + 238, + 146, + 56, + 158, + 142, + 58, + 238, + 148, + 56, + 158, + 142, + 58, + 238, + 148, + 58, + 156, + 140, + 58, + 238, + 150, + 58, + 156, + 140, + 58, + 238, + 150, + 60, + 154, + 138, + 60, + 236, + 152, + 60, + 154, + 138, + 60, + 236, + 152, + 60, + 154, + 134, + 60, + 238, + 154, + 60, + 154, + 134, + 60, + 238, + 154, + 60, + 156, + 128, + 62, + 238, + 156, + 60, + 156, + 128, + 62, + 238, + 156, + 62, + 154, + 124, + 66, + 236, + 158, + 62, + 154, + 124, + 66, + 236, + 158, + 64, + 152, + 120, + 68, + 236, + 160, + 64, + 152, + 120, + 68, + 236, + 160, + 64, + 154, + 116, + 68, + 236, + 162, + 64, + 154, + 116, + 68, + 236, + 162, + 66, + 156, + 108, + 70, + 236, + 164, + 66, + 156, + 108, + 70, + 236, + 164, + 68, + 154, + 106, + 72, + 234, + 166, + 68, + 154, + 106, + 72, + 234, + 166, + 70, + 152, + 102, + 74, + 234, + 168, + 70, + 152, + 102, + 74, + 234, + 168, + 72, + 150, + 100, + 74, + 234, + 170, + 72, + 150, + 100, + 74, + 234, + 170, + 74, + 148, + 96, + 76, + 232, + 174, + 74, + 148, + 96, + 76, + 232, + 174, + 74, + 148, + 92, + 78, + 232, + 176, + 74, + 148, + 92, + 78, + 232, + 176, + 76, + 146, + 88, + 80, + 234, + 176, + 76, + 146, + 88, + 80, + 234, + 176, + 78, + 144, + 84, + 82, + 234, + 178, + 78, + 144, + 84, + 82, + 234, + 178, + 80, + 142, + 82, + 84, + 232, + 180, + 80, + 142, + 82, + 84, + 232, + 180, + 80, + 142, + 80, + 84, + 230, + 184, + 80, + 142, + 80, + 84, + 230, + 184, + 82, + 140, + 78, + 84, + 230, + 186, + 82, + 140, + 78, + 84, + 230, + 186, + 84, + 140, + 72, + 86, + 230, + 188, + 84, + 140, + 72, + 86, + 230, + 188, + 84, + 140, + 68, + 88, + 230, + 190, + 84, + 140, + 68, + 88, + 230, + 190, + 86, + 138, + 66, + 90, + 228, + 192, + 86, + 138, + 66, + 90, + 228, + 192, + 88, + 136, + 64, + 90, + 228, + 194, + 88, + 136, + 64, + 90, + 228, + 194, + 88, + 138, + 62, + 88, + 228, + 196, + 88, + 138, + 62, + 88, + 228, + 196, + 90, + 136, + 58, + 90, + 228, + 198, + 90, + 136, + 58, + 90, + 228, + 198, + 92, + 136, + 56, + 88, + 228, + 200, + 92, + 136, + 56, + 88, + 228, + 200, + 94, + 136, + 52, + 88, + 228, + 202, + 94, + 136, + 52, + 88, + 228, + 202, + 94, + 138, + 48, + 88, + 226, + 206, + 94, + 138, + 48, + 88, + 226, + 206, + 96, + 138, + 42, + 92, + 224, + 208, + 96, + 138, + 42, + 92, + 224, + 208, + 98, + 138, + 38, + 92, + 226, + 208, + 98, + 138, + 38, + 92, + 226, + 208, + 100, + 138, + 32, + 94, + 226, + 210, + 100, + 138, + 32, + 94, + 226, + 210, + 100, + 142, + 24, + 96, + 224, + 214, + 100, + 142, + 24, + 96, + 224, + 214, + 102, + 148, + 12, + 98, + 224, + 216, + 102, + 148, + 12, + 98, + 224, + 216, + 104, + 254, + 224, + 220, + 102, + 254, + 224, + 220, + 104, + 250, + 226, + 220, + 104, + 250, + 226, + 220, + 104, + 250, + 224, + 220, + 106, + 250, + 224, + 220, + 108, + 246, + 222, + 224, + 108, + 246, + 222, + 224, + 110, + 242, + 222, + 226, + 110, + 242, + 222, + 226, + 110, + 242, + 220, + 228, + 110, + 242, + 220, + 228, + 112, + 238, + 220, + 230, + 112, + 238, + 220, + 230, + 114, + 234, + 220, + 232, + 114, + 234, + 220, + 232, + 116, + 232, + 216, + 236, + 116, + 232, + 216, + 236, + 116, + 230, + 218, + 238, + 114, + 230, + 218, + 238, + 116, + 228, + 216, + 240, + 116, + 228, + 216, + 240, + 118, + 228, + 212, + 242, + 118, + 228, + 212, + 242, + 118, + 228, + 210, + 242, + 120, + 228, + 210, + 242, + 122, + 228, + 204, + 246, + 122, + 228, + 204, + 246, + 124, + 228, + 200, + 248, + 124, + 228, + 200, + 248, + 124, + 230, + 196, + 250, + 124, + 230, + 196, + 250, + 126, + 230, + 192, + 252, + 126, + 230, + 192, + 252, + 128, + 228, + 190, + 254, + 128, + 228, + 190, + 254, + 130, + 230, + 184, + 256, + 130, + 230, + 184, + 256, + 132, + 230, + 180, + 260, + 130, + 230, + 180, + 260, + 130, + 232, + 178, + 260, + 130, + 232, + 178, + 260, + 132, + 230, + 176, + 262, + 132, + 230, + 176, + 262, + 134, + 230, + 172, + 262, + 136, + 230, + 172, + 262, + 136, + 232, + 166, + 266, + 136, + 232, + 166, + 266, + 138, + 234, + 160, + 268, + 138, + 234, + 160, + 268, + 140, + 234, + 156, + 270, + 140, + 234, + 156, + 270, + 142, + 232, + 154, + 272, + 142, + 232, + 154, + 272, + 142, + 234, + 150, + 274, + 142, + 234, + 150, + 274, + 144, + 236, + 144, + 276, + 144, + 236, + 144, + 276, + 146, + 236, + 140, + 278, + 146, + 236, + 140, + 278, + 146, + 238, + 138, + 278, + 146, + 238, + 138, + 278, + 148, + 238, + 134, + 280, + 148, + 238, + 134, + 280, + 150, + 236, + 132, + 282, + 150, + 236, + 132, + 282, + 152, + 236, + 126, + 286, + 152, + 236, + 126, + 286, + 152, + 240, + 120, + 288, + 152, + 240, + 120, + 288, + 154, + 240, + 116, + 290, + 154, + 240, + 116, + 290, + 156, + 240, + 112, + 292, + 156, + 240, + 112, + 292, + 158, + 240, + 108, + 294, + 158, + 240, + 108, + 294, + 160, + 242, + 102, + 296, + 160, + 242, + 102, + 296, + 160, + 244, + 98, + 298, + 160, + 244, + 98, + 298, + 162, + 242, + 96, + 300, + 162, + 242, + 96, + 300, + 164, + 242, + 94, + 300, + 164, + 242, + 94, + 300, + 166, + 240, + 90, + 304, + 166, + 240, + 90, + 304, + 166, + 244, + 84, + 306, + 166, + 244, + 84, + 306, + 168, + 246, + 78, + 308, + 168, + 246, + 78, + 308, + 170, + 246, + 74, + 310, + 170, + 246, + 74, + 310, + 172, + 244, + 72, + 312, + 172, + 244, + 72, + 312, + 174, + 244, + 68, + 314, + 174, + 244, + 68, + 314, + 174, + 244, + 66, + 316, + 174, + 244, + 66, + 316, + 176, + 242, + 64, + 318, + 176, + 242, + 64, + 318, + 178, + 238, + 64, + 320, + 178, + 238, + 64, + 320, + 178, + 236, + 64, + 322, + 178, + 236, + 64, + 322, + 180, + 232, + 64, + 324, + 180, + 232, + 64, + 324, + 182, + 228, + 64, + 326, + 182, + 228, + 64, + 326, + 182, + 226, + 64, + 328, + 182, + 226, + 64, + 328, + 184, + 222, + 64, + 330, + 184, + 222, + 64, + 330, + 186, + 220, + 62, + 332, + 186, + 220, + 62, + 332, + 188, + 216, + 62, + 334, + 188, + 216, + 62, + 334, + 188, + 216, + 60, + 336, + 188, + 216, + 60, + 336, + 190, + 212, + 36, + 6, + 18, + 338, + 190, + 212, + 36, + 6, + 18, + 338, + 192, + 210, + 32, + 14, + 12, + 340, + 192, + 210, + 32, + 14, + 12, + 340, + 194, + 208, + 32, + 16, + 6, + 344, + 194, + 208, + 32, + 16, + 6, + 344, + 196, + 208, + 28, + 368, + 196, + 208, + 28, + 368, + 196, + 210, + 24, + 370, + 196, + 210, + 24, + 370, + 198, + 214, + 16, + 372, + 198, + 214, + 16, + 372, + 200, + 216, + 8, + 376, + 200, + 216, + 8, + 376, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 222, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 318, + 482, + 318, + 482, + 320, + 480, + 320, + 480, + 322, + 478, + 322, + 478, + 324, + 476, + 324, + 476, + 326, + 474, + 326, + 474, + 328, + 472, + 328, + 472, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 340, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 358, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 410, + 390, + 410, + 390, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 482, + 318, + 482, + 318, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 306, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000125:0000", + "experimental_retained_index": 0, + "ism_score": 0.3617877960205078, + "R": [ + [ + -0.9054731130599976, + -0.4123067855834961, + 0.10060828924179077 + ], + [ + -0.3434373140335083, + 0.572572648525238, + -0.7444533109664917 + ], + [ + 0.24933724105358124, + -0.7086352109909058, + -0.6600508689880371 + ] + ], + "t": [ + -55.61817169189453, + -31.47434425354004, + 404.42266845703125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000125/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000125/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000125:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000125.png" + }, + { + "frame_id": 127, + "image_path": "/workspace/data/0008_/images/000127.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000127.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000127/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 139, + "image_path": "/workspace/data/0008_/images/000139.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000139.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000139/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 142, + "image_path": "/workspace/data/0008_/images/000142.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000142.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000142/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 145, + "image_path": "/workspace/data/0008_/images/000145.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000145.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000145/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 150, + "image_path": "/workspace/data/0008_/images/000150.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000150.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000150/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 155, + "image_path": "/workspace/data/0008_/images/000155.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000155.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000155/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 170, + "image_path": "/workspace/data/0008_/images/000170.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000170.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000170/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 172, + "image_path": "/workspace/data/0008_/images/000172.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000172.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000172/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 176, + "image_path": "/workspace/data/0008_/images/000176.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000176.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 498, + 260, + 180, + 94 + ], + "score": 0.3557603359222412, + "time": 0.0, + "segmentation": { + "counts": [ + 397947, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 780, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 788, + 8, + 792, + 8, + 479713 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000176:0001", + "experimental_retained_index": 0, + "ism_score": 0.42164188623428345, + "R": [ + [ + -0.07670444250106812, + -0.8613637685775757, + 0.502606213092804 + ], + [ + -0.35921424627304077, + 0.4940337538719177, + 0.7919866442680359 + ], + [ + -0.9302500486373901, + -0.11975695192813873, + -0.34713268280029297 + ] + ], + "t": [ + -75.89826965332031, + -23.933856964111328, + 400.5950622558594 + ] + }, + { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 838, + 0, + 440, + 288 + ], + "score": 0.18766295909881592, + "time": 0.0, + "segmentation": { + "counts": [ + 669600, + 3, + 797, + 3, + 797, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000176:0000", + "experimental_retained_index": 1, + "ism_score": 0.4057577848434448, + "R": [ + [ + 0.7304394841194153, + -0.682414710521698, + 0.030050724744796753 + ], + [ + -0.6012989282608032, + -0.6633515954017639, + -0.44521647691726685 + ], + [ + 0.32352763414382935, + 0.3074064552783966, + -0.894777238368988 + ] + ], + "t": [ + 356.0545959472656, + -243.03268432617188, + 533.1586303710938 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 498, + 260, + 180, + 94 + ], + "score": 0.3557603359222412, + "time": 0.0, + "segmentation": { + "counts": [ + 397947, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 780, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 788, + 8, + 792, + 8, + 479713 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000176:0001", + "experimental_retained_index": 0, + "ism_score": 0.42164188623428345, + "R": [ + [ + -0.07670444250106812, + -0.8613637685775757, + 0.502606213092804 + ], + [ + -0.35921424627304077, + 0.4940337538719177, + 0.7919866442680359 + ], + [ + -0.9302500486373901, + -0.11975695192813873, + -0.34713268280029297 + ] + ], + "t": [ + -75.89826965332031, + -23.933856964111328, + 400.5950622558594 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000176/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000176/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000176:0001", + "Tube:000176:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000176.png" + }, + { + "frame_id": 178, + "image_path": "/workspace/data/0008_/images/000178.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000178.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000178/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 180, + "image_path": "/workspace/data/0008_/images/000180.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000180.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000180/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 182, + "image_path": "/workspace/data/0008_/images/000182.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000182.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 402, + 448, + 80, + 98 + ], + "score": 0.4054456651210785, + "time": 0.0, + "segmentation": { + "counts": [ + 321325, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 746, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 748, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 748, + 50, + 750, + 50, + 748, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 46, + 754, + 46, + 750, + 48, + 752, + 48, + 750, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 750, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 10, + 790, + 10, + 636331 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000182:0000", + "experimental_retained_index": 0, + "ism_score": 0.4054456651210785, + "R": [ + [ + 0.06515234708786011, + 0.3621351718902588, + -0.9298456907272339 + ], + [ + -0.7291961908340454, + -0.6188291311264038, + -0.2921009063720703 + ], + [ + -0.6811959743499756, + 0.6970708966255188, + 0.2237495481967926 + ] + ], + "t": [ + -104.09589385986328, + 41.640594482421875, + 409.7138366699219 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 402, + 448, + 80, + 98 + ], + "score": 0.4054456651210785, + "time": 0.0, + "segmentation": { + "counts": [ + 321325, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 746, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 748, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 748, + 50, + 750, + 50, + 748, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 46, + 754, + 46, + 750, + 48, + 752, + 48, + 750, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 750, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 10, + 790, + 10, + 636331 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000182:0000", + "experimental_retained_index": 0, + "ism_score": 0.4054456651210785, + "R": [ + [ + 0.06515234708786011, + 0.3621351718902588, + -0.9298456907272339 + ], + [ + -0.7291961908340454, + -0.6188291311264038, + -0.2921009063720703 + ], + [ + -0.6811959743499756, + 0.6970708966255188, + 0.2237495481967926 + ] + ], + "t": [ + -104.09589385986328, + 41.640594482421875, + 409.7138366699219 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000182/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000182/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000182:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000182.png" + }, + { + "frame_id": 184, + "image_path": "/workspace/data/0008_/images/000184.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000184.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 392, + 442, + 72, + 102 + ], + "score": 0.4484257102012634, + "time": 0.0, + "segmentation": { + "counts": [ + 313335, + 4, + 796, + 4, + 792, + 8, + 792, + 8, + 788, + 12, + 788, + 12, + 784, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 732, + 64, + 736, + 64, + 732, + 64, + 736, + 64, + 734, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 736, + 60, + 740, + 60, + 740, + 56, + 744, + 56, + 744, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 24, + 776, + 24, + 778, + 16, + 784, + 16, + 790, + 6, + 794, + 6, + 650739 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000184:0000", + "experimental_retained_index": 0, + "ism_score": 0.4484257102012634, + "R": [ + [ + -0.19271084666252136, + 0.17907598614692688, + -0.9647769927978516 + ], + [ + -0.7764601111412048, + -0.6289990544319153, + 0.03834480047225952 + ], + [ + -0.5999770760536194, + 0.7565003037452698, + 0.2602602243423462 + ] + ], + "t": [ + -116.75438690185547, + 38.0444450378418, + 401.5836181640625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 392, + 442, + 72, + 102 + ], + "score": 0.4484257102012634, + "time": 0.0, + "segmentation": { + "counts": [ + 313335, + 4, + 796, + 4, + 792, + 8, + 792, + 8, + 788, + 12, + 788, + 12, + 784, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 734, + 62, + 738, + 62, + 732, + 64, + 736, + 64, + 732, + 64, + 736, + 64, + 734, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 736, + 60, + 740, + 60, + 740, + 56, + 744, + 56, + 744, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 24, + 776, + 24, + 778, + 16, + 784, + 16, + 790, + 6, + 794, + 6, + 650739 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000184:0000", + "experimental_retained_index": 0, + "ism_score": 0.4484257102012634, + "R": [ + [ + -0.19271084666252136, + 0.17907598614692688, + -0.9647769927978516 + ], + [ + -0.7764601111412048, + -0.6289990544319153, + 0.03834480047225952 + ], + [ + -0.5999770760536194, + 0.7565003037452698, + 0.2602602243423462 + ] + ], + "t": [ + -116.75438690185547, + 38.0444450378418, + 401.5836181640625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000184/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000184/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000184:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000184.png" + }, + { + "frame_id": 188, + "image_path": "/workspace/data/0008_/images/000188.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000188.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 902, + 0, + 182, + 60 + ], + "score": 0.05614728108048439, + "time": 0.0, + "segmentation": { + "counts": [ + 720827, + 18, + 782, + 18, + 770, + 30, + 770, + 30, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 31, + 769, + 31, + 769, + 23, + 777, + 23, + 777, + 17, + 783, + 17, + 783, + 9, + 791, + 9, + 155191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000188:0000", + "experimental_retained_index": 0, + "ism_score": 0.41784021258354187, + "R": [ + [ + 0.6016572713851929, + 0.7648811936378479, + -0.229840949177742 + ], + [ + 0.15334993600845337, + 0.17181211709976196, + 0.9731018543243408 + ], + [ + 0.784011960029602, + -0.6207809448242188, + -0.01393049955368042 + ] + ], + "t": [ + 756.6007080078125, + -606.4010009765625, + 1084.0418701171875 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 444, + 0, + 230, + 46 + ], + "score": 0.05972282961010933, + "time": 0.0, + "segmentation": { + "counts": [ + 354400, + 7, + 793, + 7, + 793, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 29, + 771, + 29, + 771, + 25, + 775, + 25, + 775, + 21, + 779, + 21, + 779, + 15, + 785, + 15, + 785, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 483191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000188:0001", + "experimental_retained_index": 1, + "ism_score": 0.3822261095046997, + "R": [ + [ + 0.42960986495018005, + -0.46394163370132446, + 0.774736762046814 + ], + [ + -0.7351287007331848, + 0.3184489905834198, + 0.5982595682144165 + ], + [ + -0.5242935419082642, + -0.8268433809280396, + -0.2043360471725464 + ] + ], + "t": [ + -21.372648239135742, + -394.29644775390625, + 688.2298583984375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 444, + 0, + 230, + 46 + ], + "score": 0.05972282961010933, + "time": 0.0, + "segmentation": { + "counts": [ + 354400, + 7, + 793, + 7, + 793, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 29, + 771, + 29, + 771, + 25, + 775, + 25, + 775, + 21, + 779, + 21, + 779, + 15, + 785, + 15, + 785, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 483191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000188:0001", + "experimental_retained_index": 1, + "ism_score": 0.3822261095046997, + "R": [ + [ + 0.42960986495018005, + -0.46394163370132446, + 0.774736762046814 + ], + [ + -0.7351287007331848, + 0.3184489905834198, + 0.5982595682144165 + ], + [ + -0.5242935419082642, + -0.8268433809280396, + -0.2043360471725464 + ] + ], + "t": [ + -21.372648239135742, + -394.29644775390625, + 688.2298583984375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000188/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000188/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000188:0000", + "Tube:000188:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000188.png" + }, + { + "frame_id": 198, + "image_path": "/workspace/data/0008_/images/000198.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000198.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000198/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 202, + "image_path": "/workspace/data/0008_/images/000202.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000202.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000202/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 207, + "image_path": "/workspace/data/0008_/images/000207.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000207.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000207/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 211, + "image_path": "/workspace/data/0008_/images/000211.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000211.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000211/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 219, + "image_path": "/workspace/data/0008_/images/000219.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000219.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000219/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 222, + "image_path": "/workspace/data/0008_/images/000222.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000222.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000222/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 227, + "image_path": "/workspace/data/0008_/images/000227.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000227.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000227/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 230, + "image_path": "/workspace/data/0008_/images/000230.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000230.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 244, + 570, + 96, + 114 + ], + "score": 0.414043664932251, + "time": 0.0, + "segmentation": { + "counts": [ + 194979, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 788, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 764, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 749725 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000230:0000", + "experimental_retained_index": 0, + "ism_score": 0.414043664932251, + "R": [ + [ + -0.5673017501831055, + 0.6542080640792847, + -0.5001802444458008 + ], + [ + 0.6287400126457214, + 0.7363401651382446, + 0.2499777376651764 + ], + [ + 0.5318401455879211, + -0.1726706475019455, + -0.8290541768074036 + ] + ], + "t": [ + -167.66065979003906, + 156.59103393554688, + 340.82977294921875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 244, + 570, + 96, + 114 + ], + "score": 0.414043664932251, + "time": 0.0, + "segmentation": { + "counts": [ + 194979, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 788, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 764, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 760, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 749725 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000230:0000", + "experimental_retained_index": 0, + "ism_score": 0.414043664932251, + "R": [ + [ + -0.5673017501831055, + 0.6542080640792847, + -0.5001802444458008 + ], + [ + 0.6287400126457214, + 0.7363401651382446, + 0.2499777376651764 + ], + [ + 0.5318401455879211, + -0.1726706475019455, + -0.8290541768074036 + ] + ], + "t": [ + -167.66065979003906, + 156.59103393554688, + 340.82977294921875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000230/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000230/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000230:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000230.png" + }, + { + "frame_id": 234, + "image_path": "/workspace/data/0008_/images/000234.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000234.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 310, + 216, + 104, + 156 + ], + "score": 0.3682343661785126, + "time": 0.0, + "segmentation": { + "counts": [ + 247435, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 712, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 692, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 124, + 676, + 124, + 676, + 130, + 670, + 130, + 672, + 136, + 664, + 136, + 666, + 138, + 662, + 138, + 664, + 140, + 660, + 140, + 664, + 138, + 662, + 138, + 666, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 674, + 128, + 672, + 128, + 692, + 108, + 692, + 108, + 698, + 104, + 696, + 104, + 700, + 100, + 700, + 100, + 706, + 94, + 706, + 94, + 712, + 88, + 712, + 88, + 718, + 82, + 718, + 82, + 722, + 78, + 722, + 78, + 728, + 70, + 730, + 70, + 734, + 66, + 734, + 66, + 740, + 60, + 740, + 60, + 746, + 52, + 748, + 52, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 764, + 34, + 766, + 34, + 772, + 26, + 774, + 26, + 780, + 16, + 784, + 16, + 690839 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000234:0000", + "experimental_retained_index": 0, + "ism_score": 0.3994406759738922, + "R": [ + [ + -0.2147490382194519, + 0.10159467160701752, + -0.971371054649353 + ], + [ + 0.8659016489982605, + -0.4402488172054291, + -0.23747706413269043 + ], + [ + -0.4517713189125061, + -0.8921096324920654, + 0.006571978330612183 + ] + ], + "t": [ + -151.27285766601562, + -82.10726928710938, + 334.9712219238281 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 310, + 216, + 104, + 156 + ], + "score": 0.3682343661785126, + "time": 0.0, + "segmentation": { + "counts": [ + 247435, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 712, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 692, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 124, + 676, + 124, + 676, + 130, + 670, + 130, + 672, + 136, + 664, + 136, + 666, + 138, + 662, + 138, + 664, + 140, + 660, + 140, + 664, + 138, + 662, + 138, + 666, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 674, + 128, + 672, + 128, + 692, + 108, + 692, + 108, + 698, + 104, + 696, + 104, + 700, + 100, + 700, + 100, + 706, + 94, + 706, + 94, + 712, + 88, + 712, + 88, + 718, + 82, + 718, + 82, + 722, + 78, + 722, + 78, + 728, + 70, + 730, + 70, + 734, + 66, + 734, + 66, + 740, + 60, + 740, + 60, + 746, + 52, + 748, + 52, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 764, + 34, + 766, + 34, + 772, + 26, + 774, + 26, + 780, + 16, + 784, + 16, + 690839 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000234:0000", + "experimental_retained_index": 0, + "ism_score": 0.3994406759738922, + "R": [ + [ + -0.2147490382194519, + 0.10159467160701752, + -0.971371054649353 + ], + [ + 0.8659016489982605, + -0.4402488172054291, + -0.23747706413269043 + ], + [ + -0.4517713189125061, + -0.8921096324920654, + 0.006571978330612183 + ] + ], + "t": [ + -151.27285766601562, + -82.10726928710938, + 334.9712219238281 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000234/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000234/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000234:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000234.png" + }, + { + "frame_id": 238, + "image_path": "/workspace/data/0008_/images/000238.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000238.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000238/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 243, + "image_path": "/workspace/data/0008_/images/000243.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000243.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000243/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 248, + "image_path": "/workspace/data/0008_/images/000248.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000248.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 0, + 0, + 1278, + 796 + ], + "score": 0.006303979549556971, + "time": 0.0, + "segmentation": { + "counts": [ + 15, + 784, + 16, + 784, + 16, + 784, + 6, + 794, + 6, + 794, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 4, + 796, + 4, + 796, + 2, + 798, + 2, + 798, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 388, + 8, + 398, + 6, + 388, + 8, + 398, + 6, + 386, + 12, + 396, + 6, + 386, + 12, + 396, + 6, + 386, + 14, + 394, + 6, + 386, + 14, + 394, + 6, + 382, + 18, + 394, + 6, + 382, + 18, + 394, + 6, + 380, + 20, + 394, + 6, + 380, + 20, + 394, + 6, + 378, + 22, + 394, + 6, + 378, + 22, + 394, + 6, + 376, + 24, + 394, + 6, + 376, + 24, + 394, + 6, + 374, + 24, + 396, + 6, + 374, + 24, + 396, + 6, + 372, + 26, + 396, + 6, + 372, + 26, + 396, + 6, + 370, + 26, + 398, + 6, + 370, + 26, + 398, + 6, + 368, + 26, + 400, + 6, + 368, + 26, + 400, + 6, + 366, + 28, + 400, + 6, + 366, + 28, + 400, + 6, + 364, + 28, + 402, + 6, + 364, + 28, + 402, + 6, + 362, + 30, + 402, + 6, + 362, + 30, + 402, + 6, + 360, + 30, + 404, + 6, + 360, + 30, + 404, + 6, + 358, + 32, + 404, + 6, + 358, + 32, + 404, + 6, + 358, + 30, + 406, + 6, + 358, + 30, + 406, + 6, + 356, + 32, + 406, + 6, + 356, + 32, + 406, + 6, + 354, + 34, + 406, + 6, + 354, + 34, + 406, + 6, + 354, + 32, + 408, + 6, + 354, + 32, + 408, + 6, + 352, + 34, + 408, + 6, + 352, + 34, + 408, + 6, + 352, + 34, + 408, + 6, + 352, + 34, + 408, + 6, + 350, + 34, + 410, + 6, + 350, + 34, + 410, + 6, + 348, + 36, + 410, + 6, + 348, + 36, + 410, + 6, + 348, + 34, + 412, + 6, + 348, + 34, + 412, + 6, + 346, + 36, + 412, + 6, + 346, + 36, + 412, + 6, + 346, + 34, + 414, + 6, + 346, + 34, + 414, + 6, + 344, + 34, + 80, + 10, + 326, + 6, + 344, + 34, + 80, + 10, + 326, + 6, + 342, + 34, + 78, + 16, + 324, + 6, + 342, + 34, + 78, + 16, + 324, + 6, + 340, + 34, + 78, + 18, + 324, + 6, + 340, + 34, + 78, + 18, + 324, + 6, + 338, + 34, + 78, + 20, + 324, + 6, + 338, + 34, + 78, + 20, + 324, + 6, + 338, + 34, + 76, + 22, + 324, + 6, + 338, + 34, + 76, + 22, + 324, + 6, + 336, + 34, + 78, + 22, + 324, + 6, + 336, + 34, + 78, + 22, + 324, + 6, + 334, + 36, + 76, + 24, + 324, + 6, + 334, + 36, + 76, + 24, + 324, + 6, + 334, + 34, + 76, + 26, + 324, + 6, + 334, + 34, + 76, + 26, + 324, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 330, + 36, + 72, + 30, + 326, + 6, + 330, + 36, + 72, + 30, + 326, + 6, + 328, + 36, + 72, + 30, + 328, + 6, + 328, + 36, + 72, + 30, + 328, + 6, + 326, + 36, + 70, + 32, + 330, + 6, + 326, + 36, + 70, + 32, + 330, + 6, + 326, + 36, + 68, + 34, + 330, + 6, + 326, + 36, + 68, + 34, + 330, + 6, + 326, + 34, + 70, + 34, + 330, + 6, + 326, + 34, + 70, + 34, + 330, + 6, + 324, + 34, + 70, + 34, + 332, + 6, + 324, + 34, + 70, + 34, + 332, + 6, + 322, + 34, + 70, + 36, + 332, + 6, + 322, + 34, + 70, + 36, + 332, + 6, + 320, + 36, + 68, + 36, + 334, + 6, + 320, + 36, + 68, + 36, + 334, + 6, + 320, + 34, + 70, + 36, + 334, + 6, + 320, + 34, + 70, + 36, + 334, + 6, + 318, + 34, + 70, + 38, + 334, + 6, + 318, + 34, + 70, + 38, + 334, + 6, + 316, + 34, + 72, + 38, + 334, + 6, + 316, + 34, + 72, + 38, + 334, + 6, + 314, + 36, + 70, + 38, + 336, + 6, + 314, + 36, + 70, + 38, + 336, + 6, + 314, + 34, + 70, + 38, + 338, + 6, + 314, + 34, + 70, + 38, + 338, + 6, + 312, + 36, + 70, + 38, + 338, + 6, + 312, + 36, + 70, + 38, + 338, + 6, + 312, + 34, + 70, + 40, + 338, + 6, + 312, + 34, + 70, + 40, + 338, + 6, + 310, + 36, + 70, + 40, + 338, + 6, + 310, + 36, + 70, + 40, + 338, + 6, + 308, + 36, + 70, + 40, + 340, + 6, + 308, + 36, + 70, + 40, + 340, + 6, + 308, + 34, + 70, + 40, + 342, + 6, + 308, + 34, + 70, + 40, + 342, + 6, + 306, + 34, + 70, + 42, + 342, + 6, + 306, + 34, + 70, + 42, + 342, + 6, + 306, + 34, + 70, + 40, + 344, + 6, + 306, + 34, + 70, + 40, + 344, + 6, + 304, + 34, + 70, + 42, + 344, + 6, + 304, + 34, + 70, + 42, + 344, + 6, + 302, + 34, + 72, + 40, + 346, + 6, + 302, + 34, + 72, + 40, + 346, + 6, + 300, + 34, + 72, + 40, + 348, + 6, + 300, + 34, + 72, + 40, + 348, + 6, + 298, + 34, + 74, + 40, + 348, + 6, + 298, + 34, + 74, + 40, + 348, + 6, + 298, + 32, + 74, + 42, + 348, + 6, + 298, + 32, + 74, + 42, + 348, + 6, + 296, + 34, + 74, + 40, + 350, + 6, + 296, + 34, + 74, + 40, + 350, + 6, + 294, + 34, + 74, + 42, + 350, + 6, + 294, + 34, + 74, + 42, + 350, + 6, + 294, + 34, + 74, + 40, + 66, + 20, + 266, + 6, + 294, + 34, + 74, + 40, + 66, + 20, + 266, + 6, + 292, + 34, + 74, + 40, + 58, + 30, + 266, + 6, + 292, + 34, + 74, + 40, + 58, + 30, + 266, + 6, + 290, + 36, + 72, + 42, + 50, + 38, + 266, + 6, + 290, + 36, + 72, + 42, + 50, + 38, + 266, + 6, + 290, + 34, + 74, + 40, + 46, + 46, + 264, + 6, + 290, + 34, + 74, + 40, + 46, + 46, + 264, + 6, + 288, + 34, + 74, + 40, + 46, + 48, + 264, + 6, + 288, + 34, + 74, + 40, + 46, + 48, + 264, + 6, + 286, + 34, + 74, + 42, + 44, + 48, + 266, + 6, + 286, + 34, + 74, + 42, + 44, + 48, + 266, + 6, + 286, + 34, + 74, + 40, + 46, + 48, + 266, + 6, + 286, + 34, + 74, + 40, + 46, + 48, + 266, + 6, + 286, + 32, + 76, + 40, + 46, + 48, + 266, + 6, + 286, + 32, + 76, + 40, + 46, + 48, + 266, + 6, + 282, + 36, + 74, + 40, + 48, + 50, + 264, + 6, + 282, + 36, + 74, + 40, + 48, + 50, + 264, + 8, + 274, + 40, + 74, + 42, + 48, + 50, + 264, + 8, + 274, + 40, + 74, + 42, + 48, + 50, + 264, + 8, + 270, + 42, + 76, + 40, + 50, + 50, + 264, + 8, + 270, + 42, + 76, + 40, + 50, + 50, + 264, + 8, + 268, + 42, + 76, + 40, + 52, + 50, + 264, + 8, + 268, + 42, + 76, + 40, + 52, + 50, + 264, + 10, + 264, + 42, + 76, + 42, + 52, + 52, + 262, + 10, + 264, + 42, + 76, + 42, + 52, + 52, + 262, + 10, + 264, + 42, + 76, + 40, + 54, + 62, + 252, + 10, + 264, + 42, + 76, + 40, + 54, + 62, + 252, + 10, + 262, + 42, + 76, + 42, + 54, + 70, + 244, + 10, + 262, + 42, + 76, + 42, + 54, + 70, + 244, + 12, + 258, + 44, + 76, + 40, + 56, + 84, + 230, + 12, + 258, + 44, + 76, + 40, + 56, + 84, + 230, + 12, + 258, + 42, + 78, + 38, + 58, + 92, + 222, + 12, + 258, + 42, + 78, + 38, + 58, + 92, + 222, + 14, + 256, + 42, + 76, + 40, + 58, + 96, + 218, + 14, + 256, + 42, + 76, + 40, + 58, + 96, + 218, + 14, + 90, + 14, + 152, + 42, + 76, + 38, + 60, + 104, + 210, + 14, + 90, + 14, + 152, + 42, + 76, + 38, + 60, + 104, + 210, + 14, + 84, + 26, + 146, + 40, + 76, + 38, + 62, + 110, + 204, + 14, + 84, + 26, + 146, + 40, + 76, + 38, + 62, + 110, + 204, + 16, + 78, + 38, + 140, + 38, + 74, + 38, + 64, + 124, + 190, + 16, + 78, + 38, + 140, + 38, + 74, + 38, + 64, + 124, + 190, + 16, + 78, + 42, + 136, + 38, + 72, + 40, + 64, + 136, + 178, + 16, + 78, + 42, + 136, + 38, + 72, + 40, + 64, + 136, + 178, + 16, + 76, + 46, + 136, + 36, + 72, + 40, + 64, + 144, + 170, + 16, + 76, + 46, + 136, + 36, + 72, + 40, + 64, + 144, + 170, + 16, + 76, + 48, + 134, + 34, + 46, + 2, + 24, + 40, + 66, + 148, + 168, + 14, + 76, + 48, + 134, + 34, + 46, + 2, + 24, + 40, + 66, + 148, + 168, + 16, + 72, + 52, + 134, + 32, + 42, + 14, + 14, + 40, + 68, + 154, + 162, + 16, + 72, + 52, + 134, + 32, + 42, + 14, + 14, + 40, + 68, + 154, + 162, + 16, + 72, + 68, + 122, + 26, + 42, + 24, + 4, + 42, + 68, + 168, + 148, + 16, + 72, + 68, + 122, + 26, + 42, + 24, + 4, + 42, + 68, + 168, + 148, + 18, + 68, + 88, + 108, + 22, + 38, + 72, + 70, + 178, + 136, + 20, + 68, + 88, + 108, + 22, + 38, + 72, + 70, + 178, + 136, + 20, + 68, + 98, + 102, + 14, + 40, + 74, + 70, + 186, + 128, + 20, + 68, + 98, + 102, + 14, + 40, + 74, + 70, + 186, + 128, + 20, + 68, + 110, + 142, + 74, + 72, + 192, + 122, + 20, + 68, + 110, + 142, + 74, + 72, + 192, + 122, + 22, + 64, + 126, + 124, + 78, + 72, + 198, + 116, + 22, + 64, + 126, + 124, + 78, + 72, + 198, + 116, + 22, + 64, + 144, + 104, + 78, + 74, + 212, + 102, + 22, + 64, + 144, + 104, + 78, + 74, + 212, + 102, + 22, + 64, + 162, + 86, + 78, + 74, + 226, + 88, + 22, + 64, + 162, + 86, + 78, + 74, + 226, + 88, + 22, + 64, + 170, + 76, + 78, + 78, + 232, + 80, + 22, + 64, + 170, + 76, + 78, + 78, + 232, + 80, + 24, + 60, + 186, + 62, + 78, + 78, + 236, + 78, + 22, + 60, + 186, + 62, + 78, + 78, + 236, + 78, + 22, + 60, + 192, + 54, + 80, + 78, + 244, + 70, + 22, + 60, + 192, + 54, + 80, + 78, + 244, + 70, + 22, + 60, + 194, + 52, + 80, + 78, + 252, + 62, + 22, + 60, + 194, + 52, + 80, + 78, + 252, + 62, + 24, + 58, + 196, + 50, + 80, + 78, + 256, + 58, + 24, + 58, + 196, + 50, + 80, + 78, + 256, + 58, + 24, + 60, + 194, + 50, + 80, + 78, + 258, + 56, + 24, + 60, + 194, + 50, + 80, + 78, + 258, + 56, + 24, + 60, + 196, + 48, + 82, + 76, + 262, + 52, + 24, + 60, + 196, + 48, + 82, + 76, + 262, + 52, + 26, + 58, + 196, + 46, + 88, + 72, + 264, + 50, + 26, + 58, + 196, + 46, + 88, + 72, + 264, + 50, + 26, + 58, + 196, + 46, + 92, + 68, + 266, + 46, + 28, + 58, + 196, + 46, + 92, + 68, + 266, + 46, + 28, + 58, + 196, + 46, + 94, + 66, + 266, + 46, + 28, + 58, + 196, + 46, + 94, + 66, + 266, + 46, + 30, + 56, + 196, + 44, + 100, + 62, + 266, + 48, + 28, + 56, + 196, + 44, + 100, + 62, + 266, + 48, + 28, + 58, + 194, + 44, + 104, + 58, + 266, + 48, + 28, + 58, + 194, + 44, + 104, + 58, + 266, + 48, + 28, + 58, + 196, + 40, + 108, + 56, + 266, + 48, + 28, + 58, + 196, + 40, + 108, + 56, + 266, + 48, + 30, + 58, + 194, + 40, + 110, + 54, + 266, + 48, + 30, + 58, + 194, + 40, + 110, + 54, + 266, + 48, + 30, + 60, + 190, + 42, + 116, + 48, + 266, + 48, + 30, + 60, + 190, + 42, + 116, + 48, + 266, + 48, + 32, + 58, + 190, + 40, + 122, + 44, + 266, + 48, + 32, + 58, + 190, + 40, + 122, + 44, + 266, + 48, + 32, + 58, + 190, + 40, + 124, + 42, + 268, + 46, + 32, + 58, + 190, + 40, + 124, + 42, + 268, + 46, + 32, + 60, + 188, + 38, + 130, + 38, + 270, + 44, + 32, + 60, + 188, + 38, + 130, + 38, + 270, + 44, + 34, + 58, + 186, + 40, + 134, + 36, + 270, + 42, + 34, + 58, + 186, + 40, + 134, + 36, + 270, + 42, + 34, + 60, + 184, + 40, + 138, + 32, + 270, + 40, + 36, + 60, + 184, + 40, + 138, + 32, + 270, + 40, + 36, + 64, + 42, + 32, + 104, + 42, + 140, + 30, + 270, + 42, + 34, + 64, + 42, + 32, + 104, + 42, + 140, + 30, + 270, + 42, + 34, + 68, + 34, + 62, + 2, + 8, + 66, + 42, + 142, + 28, + 272, + 42, + 34, + 68, + 34, + 62, + 2, + 8, + 66, + 42, + 142, + 28, + 272, + 42, + 36, + 76, + 14, + 126, + 20, + 44, + 142, + 28, + 272, + 42, + 36, + 76, + 14, + 126, + 20, + 44, + 142, + 28, + 272, + 42, + 38, + 278, + 142, + 28, + 270, + 44, + 38, + 278, + 142, + 28, + 270, + 44, + 38, + 276, + 144, + 28, + 270, + 44, + 38, + 276, + 144, + 28, + 270, + 44, + 38, + 276, + 142, + 30, + 270, + 44, + 38, + 276, + 142, + 30, + 270, + 44, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 266, + 48, + 40, + 272, + 140, + 34, + 266, + 48, + 40, + 270, + 142, + 34, + 266, + 46, + 42, + 270, + 142, + 34, + 266, + 46, + 44, + 268, + 140, + 36, + 50, + 8, + 208, + 48, + 42, + 268, + 140, + 36, + 50, + 8, + 208, + 48, + 42, + 268, + 140, + 36, + 50, + 16, + 198, + 50, + 42, + 268, + 140, + 36, + 50, + 16, + 198, + 50, + 42, + 268, + 140, + 38, + 48, + 24, + 190, + 50, + 42, + 268, + 140, + 38, + 48, + 24, + 190, + 50, + 44, + 264, + 140, + 40, + 48, + 32, + 180, + 52, + 44, + 264, + 140, + 40, + 48, + 32, + 180, + 52, + 44, + 264, + 140, + 40, + 48, + 36, + 174, + 54, + 44, + 264, + 140, + 40, + 48, + 36, + 174, + 54, + 46, + 262, + 140, + 40, + 46, + 46, + 166, + 54, + 46, + 262, + 140, + 40, + 46, + 46, + 166, + 54, + 46, + 262, + 140, + 40, + 46, + 50, + 160, + 56, + 46, + 262, + 140, + 40, + 46, + 50, + 160, + 56, + 46, + 260, + 140, + 42, + 46, + 54, + 154, + 58, + 46, + 260, + 140, + 42, + 46, + 54, + 154, + 58, + 48, + 258, + 138, + 44, + 48, + 62, + 144, + 56, + 50, + 258, + 138, + 44, + 48, + 62, + 144, + 56, + 50, + 256, + 140, + 44, + 48, + 68, + 138, + 56, + 50, + 256, + 140, + 44, + 48, + 68, + 138, + 56, + 50, + 256, + 138, + 46, + 48, + 74, + 130, + 58, + 50, + 256, + 138, + 46, + 48, + 74, + 130, + 58, + 50, + 256, + 138, + 46, + 48, + 80, + 124, + 60, + 48, + 256, + 138, + 46, + 48, + 80, + 124, + 60, + 48, + 254, + 138, + 48, + 48, + 88, + 116, + 60, + 48, + 254, + 138, + 48, + 48, + 88, + 116, + 60, + 50, + 252, + 138, + 48, + 46, + 96, + 108, + 62, + 50, + 252, + 138, + 48, + 46, + 96, + 108, + 62, + 52, + 248, + 138, + 50, + 44, + 108, + 96, + 62, + 54, + 248, + 138, + 50, + 44, + 108, + 96, + 62, + 54, + 248, + 138, + 54, + 20, + 130, + 90, + 66, + 54, + 248, + 138, + 54, + 20, + 130, + 90, + 66, + 56, + 244, + 140, + 208, + 76, + 76, + 56, + 244, + 140, + 208, + 76, + 76, + 56, + 244, + 140, + 218, + 64, + 78, + 56, + 244, + 140, + 218, + 64, + 78, + 56, + 244, + 138, + 226, + 58, + 78, + 56, + 244, + 138, + 226, + 58, + 78, + 56, + 242, + 138, + 232, + 54, + 78, + 56, + 242, + 138, + 232, + 54, + 78, + 56, + 242, + 136, + 240, + 46, + 80, + 56, + 242, + 136, + 240, + 46, + 80, + 58, + 240, + 136, + 246, + 38, + 84, + 56, + 240, + 136, + 246, + 38, + 84, + 56, + 108, + 14, + 54, + 22, + 42, + 134, + 256, + 26, + 88, + 56, + 108, + 14, + 54, + 22, + 42, + 134, + 256, + 26, + 88, + 58, + 104, + 98, + 34, + 136, + 262, + 6, + 102, + 58, + 104, + 98, + 34, + 136, + 262, + 6, + 102, + 58, + 104, + 102, + 30, + 136, + 368, + 60, + 104, + 102, + 30, + 136, + 368, + 60, + 102, + 108, + 24, + 136, + 370, + 60, + 102, + 108, + 24, + 136, + 370, + 60, + 102, + 108, + 24, + 136, + 370, + 60, + 102, + 108, + 24, + 136, + 370, + 62, + 100, + 108, + 24, + 136, + 370, + 62, + 100, + 108, + 24, + 136, + 370, + 62, + 100, + 108, + 24, + 134, + 372, + 62, + 100, + 108, + 24, + 134, + 372, + 62, + 100, + 108, + 22, + 136, + 372, + 62, + 100, + 108, + 22, + 136, + 372, + 62, + 100, + 106, + 24, + 134, + 374, + 62, + 100, + 106, + 24, + 134, + 374, + 64, + 98, + 106, + 24, + 132, + 376, + 64, + 98, + 106, + 24, + 132, + 376, + 64, + 98, + 106, + 22, + 134, + 376, + 64, + 98, + 106, + 22, + 134, + 376, + 64, + 98, + 106, + 22, + 132, + 378, + 64, + 98, + 106, + 22, + 132, + 378, + 66, + 96, + 106, + 22, + 132, + 378, + 66, + 96, + 106, + 22, + 132, + 378, + 66, + 96, + 106, + 20, + 134, + 378, + 66, + 96, + 106, + 20, + 134, + 378, + 66, + 96, + 106, + 20, + 132, + 380, + 66, + 96, + 106, + 20, + 132, + 380, + 68, + 94, + 106, + 20, + 132, + 380, + 68, + 94, + 106, + 20, + 132, + 380, + 68, + 94, + 106, + 18, + 134, + 380, + 68, + 94, + 106, + 18, + 134, + 380, + 70, + 92, + 106, + 18, + 132, + 152, + 12, + 218, + 70, + 92, + 106, + 18, + 132, + 152, + 12, + 218, + 70, + 92, + 106, + 18, + 130, + 152, + 18, + 214, + 70, + 92, + 106, + 18, + 130, + 152, + 18, + 214, + 70, + 92, + 106, + 16, + 130, + 152, + 22, + 212, + 70, + 92, + 106, + 16, + 130, + 152, + 22, + 212, + 70, + 92, + 106, + 16, + 130, + 150, + 26, + 210, + 70, + 92, + 106, + 16, + 130, + 150, + 26, + 210, + 72, + 90, + 106, + 16, + 130, + 150, + 28, + 208, + 72, + 90, + 106, + 16, + 130, + 150, + 28, + 208, + 74, + 88, + 106, + 16, + 130, + 146, + 34, + 206, + 74, + 88, + 106, + 16, + 130, + 146, + 34, + 206, + 74, + 88, + 106, + 16, + 130, + 142, + 38, + 206, + 74, + 88, + 106, + 16, + 130, + 142, + 38, + 206, + 76, + 86, + 106, + 16, + 128, + 142, + 42, + 204, + 76, + 86, + 106, + 16, + 128, + 142, + 42, + 204, + 76, + 86, + 106, + 16, + 126, + 142, + 44, + 204, + 76, + 86, + 106, + 16, + 126, + 142, + 44, + 204, + 76, + 86, + 106, + 16, + 126, + 138, + 50, + 202, + 76, + 86, + 106, + 16, + 126, + 138, + 50, + 202, + 78, + 84, + 106, + 16, + 124, + 76, + 10, + 50, + 54, + 202, + 78, + 84, + 106, + 16, + 124, + 76, + 10, + 50, + 54, + 202, + 78, + 84, + 106, + 18, + 122, + 70, + 20, + 46, + 56, + 200, + 78, + 84, + 106, + 18, + 122, + 70, + 20, + 46, + 56, + 200, + 78, + 84, + 104, + 20, + 120, + 62, + 30, + 44, + 56, + 202, + 78, + 84, + 104, + 20, + 120, + 62, + 30, + 44, + 56, + 202, + 78, + 82, + 106, + 22, + 116, + 60, + 36, + 40, + 58, + 202, + 78, + 82, + 106, + 22, + 116, + 60, + 36, + 40, + 58, + 202, + 80, + 74, + 114, + 24, + 112, + 46, + 52, + 38, + 58, + 202, + 80, + 74, + 114, + 24, + 112, + 46, + 52, + 38, + 58, + 202, + 80, + 66, + 122, + 24, + 112, + 32, + 66, + 38, + 58, + 202, + 80, + 66, + 122, + 24, + 112, + 32, + 66, + 38, + 58, + 202, + 80, + 62, + 126, + 26, + 110, + 28, + 70, + 38, + 58, + 202, + 80, + 62, + 126, + 26, + 110, + 28, + 70, + 38, + 58, + 202, + 82, + 60, + 126, + 28, + 106, + 30, + 70, + 40, + 54, + 204, + 82, + 60, + 126, + 28, + 106, + 30, + 70, + 40, + 54, + 204, + 82, + 60, + 126, + 30, + 104, + 28, + 74, + 40, + 52, + 204, + 82, + 60, + 126, + 30, + 104, + 28, + 74, + 40, + 52, + 204, + 82, + 62, + 124, + 34, + 98, + 26, + 82, + 40, + 46, + 206, + 82, + 62, + 124, + 34, + 98, + 26, + 82, + 40, + 46, + 206, + 84, + 62, + 122, + 36, + 96, + 24, + 86, + 58, + 24, + 208, + 84, + 62, + 122, + 36, + 96, + 24, + 86, + 58, + 24, + 208, + 84, + 66, + 118, + 38, + 94, + 22, + 90, + 62, + 16, + 210, + 84, + 66, + 118, + 38, + 94, + 22, + 90, + 62, + 16, + 210, + 84, + 70, + 112, + 42, + 90, + 22, + 92, + 288, + 84, + 70, + 112, + 42, + 90, + 22, + 92, + 288, + 86, + 70, + 110, + 44, + 86, + 22, + 94, + 288, + 86, + 70, + 110, + 44, + 86, + 22, + 94, + 288, + 86, + 74, + 106, + 46, + 84, + 20, + 96, + 288, + 86, + 74, + 106, + 46, + 84, + 20, + 96, + 288, + 86, + 76, + 104, + 48, + 82, + 16, + 102, + 286, + 86, + 76, + 104, + 48, + 82, + 16, + 102, + 286, + 88, + 74, + 104, + 50, + 78, + 16, + 106, + 284, + 88, + 74, + 104, + 50, + 78, + 16, + 106, + 284, + 88, + 74, + 104, + 52, + 76, + 14, + 110, + 282, + 88, + 74, + 104, + 52, + 76, + 14, + 110, + 282, + 88, + 74, + 106, + 28, + 6, + 20, + 72, + 14, + 112, + 280, + 88, + 74, + 106, + 28, + 6, + 20, + 72, + 14, + 112, + 280, + 90, + 72, + 110, + 10, + 30, + 12, + 68, + 10, + 120, + 278, + 90, + 72, + 110, + 10, + 30, + 12, + 68, + 10, + 120, + 278, + 90, + 72, + 152, + 10, + 68, + 6, + 124, + 278, + 90, + 72, + 152, + 10, + 68, + 6, + 124, + 278, + 90, + 72, + 152, + 14, + 194, + 278, + 90, + 72, + 152, + 14, + 194, + 278, + 92, + 70, + 152, + 16, + 192, + 278, + 92, + 70, + 152, + 16, + 192, + 278, + 92, + 70, + 154, + 16, + 192, + 276, + 92, + 70, + 154, + 16, + 192, + 276, + 92, + 70, + 154, + 18, + 192, + 274, + 92, + 70, + 154, + 18, + 192, + 274, + 94, + 68, + 156, + 18, + 194, + 270, + 94, + 68, + 156, + 18, + 194, + 270, + 96, + 66, + 156, + 20, + 194, + 268, + 96, + 66, + 156, + 20, + 194, + 268, + 96, + 60, + 164, + 20, + 192, + 268, + 96, + 60, + 164, + 20, + 192, + 268, + 96, + 58, + 166, + 24, + 188, + 268, + 96, + 58, + 166, + 24, + 188, + 268, + 98, + 44, + 178, + 28, + 186, + 266, + 98, + 44, + 178, + 28, + 186, + 266, + 98, + 40, + 182, + 30, + 186, + 264, + 98, + 40, + 182, + 30, + 186, + 264, + 98, + 38, + 184, + 32, + 186, + 262, + 98, + 38, + 184, + 32, + 186, + 262, + 100, + 34, + 186, + 36, + 182, + 262, + 100, + 34, + 186, + 36, + 182, + 262, + 100, + 34, + 184, + 40, + 182, + 260, + 100, + 34, + 184, + 40, + 182, + 260, + 100, + 34, + 184, + 42, + 180, + 260, + 100, + 34, + 184, + 42, + 180, + 260, + 100, + 32, + 186, + 42, + 182, + 258, + 100, + 32, + 186, + 42, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 182, + 46, + 184, + 256, + 102, + 30, + 182, + 46, + 184, + 256, + 102, + 28, + 180, + 46, + 190, + 254, + 102, + 28, + 180, + 46, + 190, + 254, + 104, + 26, + 176, + 48, + 196, + 250, + 104, + 26, + 176, + 48, + 196, + 250, + 104, + 26, + 172, + 50, + 198, + 250, + 104, + 26, + 172, + 50, + 198, + 250, + 104, + 26, + 164, + 56, + 202, + 248, + 104, + 26, + 164, + 56, + 202, + 248, + 106, + 24, + 154, + 64, + 204, + 248, + 106, + 24, + 154, + 64, + 204, + 248, + 106, + 24, + 146, + 70, + 206, + 248, + 106, + 24, + 146, + 70, + 206, + 248, + 108, + 22, + 136, + 76, + 212, + 246, + 108, + 22, + 136, + 76, + 212, + 246, + 108, + 22, + 132, + 78, + 216, + 244, + 108, + 22, + 132, + 78, + 216, + 244, + 108, + 22, + 124, + 84, + 220, + 242, + 108, + 22, + 124, + 84, + 220, + 242, + 108, + 22, + 114, + 92, + 224, + 240, + 108, + 22, + 114, + 92, + 224, + 240, + 110, + 22, + 108, + 94, + 228, + 238, + 110, + 22, + 108, + 94, + 228, + 238, + 110, + 22, + 102, + 96, + 232, + 238, + 110, + 22, + 102, + 96, + 232, + 238, + 110, + 22, + 96, + 100, + 234, + 238, + 110, + 22, + 96, + 100, + 234, + 238, + 110, + 22, + 88, + 106, + 238, + 236, + 110, + 22, + 88, + 106, + 238, + 236, + 110, + 24, + 76, + 114, + 240, + 236, + 110, + 24, + 76, + 114, + 240, + 236, + 112, + 22, + 68, + 120, + 244, + 234, + 112, + 22, + 68, + 120, + 244, + 234, + 114, + 20, + 62, + 120, + 254, + 230, + 114, + 20, + 62, + 120, + 254, + 230, + 116, + 20, + 56, + 122, + 258, + 228, + 116, + 20, + 56, + 122, + 258, + 228, + 116, + 22, + 52, + 122, + 260, + 228, + 116, + 22, + 52, + 122, + 260, + 228, + 116, + 24, + 46, + 126, + 260, + 228, + 116, + 24, + 46, + 126, + 260, + 228, + 118, + 24, + 40, + 126, + 266, + 226, + 118, + 24, + 40, + 126, + 266, + 226, + 118, + 26, + 34, + 126, + 270, + 224, + 120, + 26, + 34, + 126, + 270, + 224, + 120, + 28, + 28, + 130, + 272, + 224, + 118, + 28, + 28, + 130, + 272, + 224, + 120, + 32, + 12, + 138, + 276, + 222, + 120, + 32, + 12, + 138, + 276, + 222, + 120, + 180, + 280, + 220, + 120, + 180, + 280, + 220, + 120, + 176, + 284, + 220, + 120, + 176, + 284, + 220, + 122, + 170, + 290, + 218, + 122, + 170, + 290, + 218, + 122, + 168, + 292, + 218, + 122, + 168, + 292, + 218, + 122, + 166, + 294, + 218, + 122, + 166, + 294, + 218, + 122, + 166, + 296, + 216, + 122, + 166, + 296, + 216, + 122, + 162, + 300, + 216, + 122, + 162, + 300, + 216, + 124, + 156, + 310, + 210, + 124, + 156, + 310, + 210, + 124, + 154, + 314, + 208, + 124, + 154, + 314, + 208, + 126, + 150, + 316, + 208, + 126, + 150, + 316, + 208, + 126, + 148, + 316, + 210, + 126, + 148, + 316, + 210, + 126, + 146, + 318, + 210, + 126, + 146, + 318, + 210, + 128, + 138, + 324, + 210, + 128, + 138, + 324, + 210, + 130, + 134, + 326, + 210, + 130, + 134, + 326, + 210, + 130, + 134, + 320, + 216, + 130, + 134, + 320, + 216, + 130, + 132, + 320, + 218, + 130, + 132, + 320, + 218, + 130, + 130, + 322, + 218, + 130, + 130, + 322, + 218, + 132, + 124, + 324, + 218, + 134, + 124, + 324, + 218, + 134, + 124, + 320, + 224, + 132, + 124, + 320, + 224, + 132, + 124, + 316, + 228, + 132, + 124, + 316, + 228, + 132, + 124, + 314, + 230, + 132, + 124, + 314, + 230, + 134, + 122, + 308, + 236, + 134, + 122, + 308, + 236, + 136, + 122, + 304, + 238, + 136, + 122, + 304, + 238, + 136, + 122, + 304, + 238, + 136, + 122, + 304, + 238, + 136, + 124, + 300, + 240, + 136, + 124, + 300, + 240, + 138, + 122, + 300, + 240, + 138, + 122, + 300, + 240, + 138, + 124, + 292, + 246, + 138, + 124, + 292, + 246, + 140, + 122, + 290, + 246, + 142, + 122, + 290, + 246, + 142, + 122, + 288, + 250, + 140, + 122, + 288, + 250, + 140, + 124, + 284, + 252, + 140, + 124, + 284, + 252, + 140, + 124, + 278, + 258, + 140, + 124, + 278, + 258, + 142, + 122, + 276, + 260, + 142, + 122, + 276, + 260, + 142, + 124, + 270, + 264, + 142, + 124, + 270, + 264, + 142, + 124, + 268, + 266, + 142, + 124, + 268, + 266, + 142, + 126, + 264, + 268, + 142, + 126, + 264, + 268, + 144, + 124, + 256, + 276, + 144, + 124, + 256, + 276, + 144, + 126, + 252, + 278, + 144, + 126, + 252, + 278, + 146, + 126, + 248, + 278, + 148, + 126, + 248, + 278, + 148, + 126, + 242, + 286, + 146, + 126, + 242, + 286, + 146, + 128, + 236, + 290, + 146, + 128, + 236, + 290, + 146, + 128, + 230, + 296, + 146, + 128, + 230, + 296, + 148, + 128, + 226, + 298, + 148, + 128, + 226, + 298, + 150, + 126, + 224, + 300, + 150, + 126, + 224, + 300, + 150, + 128, + 218, + 304, + 150, + 128, + 218, + 304, + 152, + 126, + 214, + 308, + 152, + 126, + 214, + 308, + 152, + 128, + 204, + 316, + 152, + 128, + 204, + 316, + 152, + 130, + 200, + 318, + 152, + 130, + 200, + 318, + 152, + 130, + 200, + 316, + 154, + 130, + 200, + 316, + 156, + 130, + 192, + 324, + 154, + 130, + 192, + 324, + 154, + 130, + 188, + 328, + 154, + 130, + 188, + 328, + 154, + 130, + 182, + 334, + 154, + 130, + 182, + 334, + 156, + 128, + 178, + 338, + 156, + 128, + 178, + 338, + 156, + 130, + 176, + 338, + 156, + 130, + 176, + 338, + 158, + 128, + 174, + 340, + 158, + 128, + 174, + 340, + 158, + 130, + 164, + 348, + 158, + 130, + 164, + 348, + 158, + 132, + 160, + 350, + 158, + 132, + 160, + 350, + 160, + 132, + 152, + 356, + 160, + 132, + 152, + 356, + 160, + 132, + 150, + 356, + 162, + 132, + 150, + 356, + 162, + 134, + 144, + 362, + 160, + 134, + 144, + 362, + 160, + 134, + 138, + 368, + 160, + 134, + 138, + 368, + 160, + 136, + 134, + 370, + 160, + 136, + 134, + 370, + 162, + 134, + 128, + 376, + 162, + 134, + 128, + 376, + 162, + 136, + 124, + 378, + 162, + 136, + 124, + 378, + 162, + 138, + 120, + 380, + 162, + 138, + 120, + 380, + 162, + 138, + 114, + 386, + 162, + 138, + 114, + 386, + 164, + 136, + 112, + 388, + 164, + 136, + 112, + 388, + 164, + 136, + 110, + 390, + 164, + 136, + 110, + 390, + 166, + 134, + 104, + 394, + 168, + 134, + 104, + 394, + 168, + 134, + 102, + 398, + 166, + 134, + 102, + 398, + 166, + 132, + 100, + 402, + 166, + 132, + 100, + 402, + 166, + 130, + 96, + 408, + 166, + 130, + 96, + 408, + 168, + 126, + 96, + 410, + 168, + 126, + 96, + 410, + 170, + 106, + 112, + 412, + 170, + 106, + 112, + 412, + 170, + 104, + 108, + 418, + 170, + 104, + 108, + 418, + 172, + 100, + 110, + 418, + 172, + 100, + 110, + 418, + 172, + 100, + 102, + 426, + 172, + 100, + 102, + 426, + 172, + 96, + 104, + 428, + 172, + 96, + 104, + 428, + 172, + 94, + 104, + 428, + 174, + 94, + 104, + 428, + 176, + 92, + 100, + 434, + 174, + 92, + 100, + 434, + 174, + 92, + 96, + 438, + 174, + 92, + 96, + 438, + 174, + 92, + 92, + 442, + 174, + 92, + 92, + 442, + 176, + 90, + 88, + 446, + 176, + 90, + 88, + 446, + 178, + 88, + 42, + 8, + 36, + 448, + 178, + 88, + 42, + 8, + 36, + 448, + 178, + 88, + 36, + 18, + 30, + 450, + 178, + 88, + 36, + 18, + 30, + 450, + 178, + 90, + 32, + 22, + 20, + 458, + 178, + 90, + 32, + 22, + 20, + 458, + 180, + 90, + 30, + 24, + 18, + 458, + 180, + 90, + 30, + 24, + 18, + 458, + 180, + 92, + 24, + 28, + 14, + 462, + 180, + 92, + 24, + 28, + 14, + 462, + 182, + 90, + 22, + 32, + 6, + 466, + 184, + 90, + 22, + 32, + 6, + 466, + 184, + 92, + 16, + 510, + 182, + 92, + 16, + 510, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 188, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 210, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 238, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 254, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 266, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 272, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 286, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 506, + 294, + 506, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 304, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.3362122178077698, + "R": [ + [ + -0.3509126603603363, + 0.29603251814842224, + 0.8883838653564453 + ], + [ + -0.9363298416137695, + -0.09868817776441574, + -0.3369666039943695 + ], + [ + -0.012080155313014984, + -0.9500662088394165, + 0.3118157982826233 + ] + ], + "t": [ + -7.468719482421875, + -1.721563458442688, + 331.64599609375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 0, + 0, + 1278, + 796 + ], + "score": 0.006303979549556971, + "time": 0.0, + "segmentation": { + "counts": [ + 15, + 784, + 16, + 784, + 16, + 784, + 6, + 794, + 6, + 794, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 4, + 796, + 4, + 796, + 2, + 798, + 2, + 798, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 388, + 8, + 398, + 6, + 388, + 8, + 398, + 6, + 386, + 12, + 396, + 6, + 386, + 12, + 396, + 6, + 386, + 14, + 394, + 6, + 386, + 14, + 394, + 6, + 382, + 18, + 394, + 6, + 382, + 18, + 394, + 6, + 380, + 20, + 394, + 6, + 380, + 20, + 394, + 6, + 378, + 22, + 394, + 6, + 378, + 22, + 394, + 6, + 376, + 24, + 394, + 6, + 376, + 24, + 394, + 6, + 374, + 24, + 396, + 6, + 374, + 24, + 396, + 6, + 372, + 26, + 396, + 6, + 372, + 26, + 396, + 6, + 370, + 26, + 398, + 6, + 370, + 26, + 398, + 6, + 368, + 26, + 400, + 6, + 368, + 26, + 400, + 6, + 366, + 28, + 400, + 6, + 366, + 28, + 400, + 6, + 364, + 28, + 402, + 6, + 364, + 28, + 402, + 6, + 362, + 30, + 402, + 6, + 362, + 30, + 402, + 6, + 360, + 30, + 404, + 6, + 360, + 30, + 404, + 6, + 358, + 32, + 404, + 6, + 358, + 32, + 404, + 6, + 358, + 30, + 406, + 6, + 358, + 30, + 406, + 6, + 356, + 32, + 406, + 6, + 356, + 32, + 406, + 6, + 354, + 34, + 406, + 6, + 354, + 34, + 406, + 6, + 354, + 32, + 408, + 6, + 354, + 32, + 408, + 6, + 352, + 34, + 408, + 6, + 352, + 34, + 408, + 6, + 352, + 34, + 408, + 6, + 352, + 34, + 408, + 6, + 350, + 34, + 410, + 6, + 350, + 34, + 410, + 6, + 348, + 36, + 410, + 6, + 348, + 36, + 410, + 6, + 348, + 34, + 412, + 6, + 348, + 34, + 412, + 6, + 346, + 36, + 412, + 6, + 346, + 36, + 412, + 6, + 346, + 34, + 414, + 6, + 346, + 34, + 414, + 6, + 344, + 34, + 80, + 10, + 326, + 6, + 344, + 34, + 80, + 10, + 326, + 6, + 342, + 34, + 78, + 16, + 324, + 6, + 342, + 34, + 78, + 16, + 324, + 6, + 340, + 34, + 78, + 18, + 324, + 6, + 340, + 34, + 78, + 18, + 324, + 6, + 338, + 34, + 78, + 20, + 324, + 6, + 338, + 34, + 78, + 20, + 324, + 6, + 338, + 34, + 76, + 22, + 324, + 6, + 338, + 34, + 76, + 22, + 324, + 6, + 336, + 34, + 78, + 22, + 324, + 6, + 336, + 34, + 78, + 22, + 324, + 6, + 334, + 36, + 76, + 24, + 324, + 6, + 334, + 36, + 76, + 24, + 324, + 6, + 334, + 34, + 76, + 26, + 324, + 6, + 334, + 34, + 76, + 26, + 324, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 332, + 36, + 72, + 28, + 326, + 6, + 330, + 36, + 72, + 30, + 326, + 6, + 330, + 36, + 72, + 30, + 326, + 6, + 328, + 36, + 72, + 30, + 328, + 6, + 328, + 36, + 72, + 30, + 328, + 6, + 326, + 36, + 70, + 32, + 330, + 6, + 326, + 36, + 70, + 32, + 330, + 6, + 326, + 36, + 68, + 34, + 330, + 6, + 326, + 36, + 68, + 34, + 330, + 6, + 326, + 34, + 70, + 34, + 330, + 6, + 326, + 34, + 70, + 34, + 330, + 6, + 324, + 34, + 70, + 34, + 332, + 6, + 324, + 34, + 70, + 34, + 332, + 6, + 322, + 34, + 70, + 36, + 332, + 6, + 322, + 34, + 70, + 36, + 332, + 6, + 320, + 36, + 68, + 36, + 334, + 6, + 320, + 36, + 68, + 36, + 334, + 6, + 320, + 34, + 70, + 36, + 334, + 6, + 320, + 34, + 70, + 36, + 334, + 6, + 318, + 34, + 70, + 38, + 334, + 6, + 318, + 34, + 70, + 38, + 334, + 6, + 316, + 34, + 72, + 38, + 334, + 6, + 316, + 34, + 72, + 38, + 334, + 6, + 314, + 36, + 70, + 38, + 336, + 6, + 314, + 36, + 70, + 38, + 336, + 6, + 314, + 34, + 70, + 38, + 338, + 6, + 314, + 34, + 70, + 38, + 338, + 6, + 312, + 36, + 70, + 38, + 338, + 6, + 312, + 36, + 70, + 38, + 338, + 6, + 312, + 34, + 70, + 40, + 338, + 6, + 312, + 34, + 70, + 40, + 338, + 6, + 310, + 36, + 70, + 40, + 338, + 6, + 310, + 36, + 70, + 40, + 338, + 6, + 308, + 36, + 70, + 40, + 340, + 6, + 308, + 36, + 70, + 40, + 340, + 6, + 308, + 34, + 70, + 40, + 342, + 6, + 308, + 34, + 70, + 40, + 342, + 6, + 306, + 34, + 70, + 42, + 342, + 6, + 306, + 34, + 70, + 42, + 342, + 6, + 306, + 34, + 70, + 40, + 344, + 6, + 306, + 34, + 70, + 40, + 344, + 6, + 304, + 34, + 70, + 42, + 344, + 6, + 304, + 34, + 70, + 42, + 344, + 6, + 302, + 34, + 72, + 40, + 346, + 6, + 302, + 34, + 72, + 40, + 346, + 6, + 300, + 34, + 72, + 40, + 348, + 6, + 300, + 34, + 72, + 40, + 348, + 6, + 298, + 34, + 74, + 40, + 348, + 6, + 298, + 34, + 74, + 40, + 348, + 6, + 298, + 32, + 74, + 42, + 348, + 6, + 298, + 32, + 74, + 42, + 348, + 6, + 296, + 34, + 74, + 40, + 350, + 6, + 296, + 34, + 74, + 40, + 350, + 6, + 294, + 34, + 74, + 42, + 350, + 6, + 294, + 34, + 74, + 42, + 350, + 6, + 294, + 34, + 74, + 40, + 66, + 20, + 266, + 6, + 294, + 34, + 74, + 40, + 66, + 20, + 266, + 6, + 292, + 34, + 74, + 40, + 58, + 30, + 266, + 6, + 292, + 34, + 74, + 40, + 58, + 30, + 266, + 6, + 290, + 36, + 72, + 42, + 50, + 38, + 266, + 6, + 290, + 36, + 72, + 42, + 50, + 38, + 266, + 6, + 290, + 34, + 74, + 40, + 46, + 46, + 264, + 6, + 290, + 34, + 74, + 40, + 46, + 46, + 264, + 6, + 288, + 34, + 74, + 40, + 46, + 48, + 264, + 6, + 288, + 34, + 74, + 40, + 46, + 48, + 264, + 6, + 286, + 34, + 74, + 42, + 44, + 48, + 266, + 6, + 286, + 34, + 74, + 42, + 44, + 48, + 266, + 6, + 286, + 34, + 74, + 40, + 46, + 48, + 266, + 6, + 286, + 34, + 74, + 40, + 46, + 48, + 266, + 6, + 286, + 32, + 76, + 40, + 46, + 48, + 266, + 6, + 286, + 32, + 76, + 40, + 46, + 48, + 266, + 6, + 282, + 36, + 74, + 40, + 48, + 50, + 264, + 6, + 282, + 36, + 74, + 40, + 48, + 50, + 264, + 8, + 274, + 40, + 74, + 42, + 48, + 50, + 264, + 8, + 274, + 40, + 74, + 42, + 48, + 50, + 264, + 8, + 270, + 42, + 76, + 40, + 50, + 50, + 264, + 8, + 270, + 42, + 76, + 40, + 50, + 50, + 264, + 8, + 268, + 42, + 76, + 40, + 52, + 50, + 264, + 8, + 268, + 42, + 76, + 40, + 52, + 50, + 264, + 10, + 264, + 42, + 76, + 42, + 52, + 52, + 262, + 10, + 264, + 42, + 76, + 42, + 52, + 52, + 262, + 10, + 264, + 42, + 76, + 40, + 54, + 62, + 252, + 10, + 264, + 42, + 76, + 40, + 54, + 62, + 252, + 10, + 262, + 42, + 76, + 42, + 54, + 70, + 244, + 10, + 262, + 42, + 76, + 42, + 54, + 70, + 244, + 12, + 258, + 44, + 76, + 40, + 56, + 84, + 230, + 12, + 258, + 44, + 76, + 40, + 56, + 84, + 230, + 12, + 258, + 42, + 78, + 38, + 58, + 92, + 222, + 12, + 258, + 42, + 78, + 38, + 58, + 92, + 222, + 14, + 256, + 42, + 76, + 40, + 58, + 96, + 218, + 14, + 256, + 42, + 76, + 40, + 58, + 96, + 218, + 14, + 90, + 14, + 152, + 42, + 76, + 38, + 60, + 104, + 210, + 14, + 90, + 14, + 152, + 42, + 76, + 38, + 60, + 104, + 210, + 14, + 84, + 26, + 146, + 40, + 76, + 38, + 62, + 110, + 204, + 14, + 84, + 26, + 146, + 40, + 76, + 38, + 62, + 110, + 204, + 16, + 78, + 38, + 140, + 38, + 74, + 38, + 64, + 124, + 190, + 16, + 78, + 38, + 140, + 38, + 74, + 38, + 64, + 124, + 190, + 16, + 78, + 42, + 136, + 38, + 72, + 40, + 64, + 136, + 178, + 16, + 78, + 42, + 136, + 38, + 72, + 40, + 64, + 136, + 178, + 16, + 76, + 46, + 136, + 36, + 72, + 40, + 64, + 144, + 170, + 16, + 76, + 46, + 136, + 36, + 72, + 40, + 64, + 144, + 170, + 16, + 76, + 48, + 134, + 34, + 46, + 2, + 24, + 40, + 66, + 148, + 168, + 14, + 76, + 48, + 134, + 34, + 46, + 2, + 24, + 40, + 66, + 148, + 168, + 16, + 72, + 52, + 134, + 32, + 42, + 14, + 14, + 40, + 68, + 154, + 162, + 16, + 72, + 52, + 134, + 32, + 42, + 14, + 14, + 40, + 68, + 154, + 162, + 16, + 72, + 68, + 122, + 26, + 42, + 24, + 4, + 42, + 68, + 168, + 148, + 16, + 72, + 68, + 122, + 26, + 42, + 24, + 4, + 42, + 68, + 168, + 148, + 18, + 68, + 88, + 108, + 22, + 38, + 72, + 70, + 178, + 136, + 20, + 68, + 88, + 108, + 22, + 38, + 72, + 70, + 178, + 136, + 20, + 68, + 98, + 102, + 14, + 40, + 74, + 70, + 186, + 128, + 20, + 68, + 98, + 102, + 14, + 40, + 74, + 70, + 186, + 128, + 20, + 68, + 110, + 142, + 74, + 72, + 192, + 122, + 20, + 68, + 110, + 142, + 74, + 72, + 192, + 122, + 22, + 64, + 126, + 124, + 78, + 72, + 198, + 116, + 22, + 64, + 126, + 124, + 78, + 72, + 198, + 116, + 22, + 64, + 144, + 104, + 78, + 74, + 212, + 102, + 22, + 64, + 144, + 104, + 78, + 74, + 212, + 102, + 22, + 64, + 162, + 86, + 78, + 74, + 226, + 88, + 22, + 64, + 162, + 86, + 78, + 74, + 226, + 88, + 22, + 64, + 170, + 76, + 78, + 78, + 232, + 80, + 22, + 64, + 170, + 76, + 78, + 78, + 232, + 80, + 24, + 60, + 186, + 62, + 78, + 78, + 236, + 78, + 22, + 60, + 186, + 62, + 78, + 78, + 236, + 78, + 22, + 60, + 192, + 54, + 80, + 78, + 244, + 70, + 22, + 60, + 192, + 54, + 80, + 78, + 244, + 70, + 22, + 60, + 194, + 52, + 80, + 78, + 252, + 62, + 22, + 60, + 194, + 52, + 80, + 78, + 252, + 62, + 24, + 58, + 196, + 50, + 80, + 78, + 256, + 58, + 24, + 58, + 196, + 50, + 80, + 78, + 256, + 58, + 24, + 60, + 194, + 50, + 80, + 78, + 258, + 56, + 24, + 60, + 194, + 50, + 80, + 78, + 258, + 56, + 24, + 60, + 196, + 48, + 82, + 76, + 262, + 52, + 24, + 60, + 196, + 48, + 82, + 76, + 262, + 52, + 26, + 58, + 196, + 46, + 88, + 72, + 264, + 50, + 26, + 58, + 196, + 46, + 88, + 72, + 264, + 50, + 26, + 58, + 196, + 46, + 92, + 68, + 266, + 46, + 28, + 58, + 196, + 46, + 92, + 68, + 266, + 46, + 28, + 58, + 196, + 46, + 94, + 66, + 266, + 46, + 28, + 58, + 196, + 46, + 94, + 66, + 266, + 46, + 30, + 56, + 196, + 44, + 100, + 62, + 266, + 48, + 28, + 56, + 196, + 44, + 100, + 62, + 266, + 48, + 28, + 58, + 194, + 44, + 104, + 58, + 266, + 48, + 28, + 58, + 194, + 44, + 104, + 58, + 266, + 48, + 28, + 58, + 196, + 40, + 108, + 56, + 266, + 48, + 28, + 58, + 196, + 40, + 108, + 56, + 266, + 48, + 30, + 58, + 194, + 40, + 110, + 54, + 266, + 48, + 30, + 58, + 194, + 40, + 110, + 54, + 266, + 48, + 30, + 60, + 190, + 42, + 116, + 48, + 266, + 48, + 30, + 60, + 190, + 42, + 116, + 48, + 266, + 48, + 32, + 58, + 190, + 40, + 122, + 44, + 266, + 48, + 32, + 58, + 190, + 40, + 122, + 44, + 266, + 48, + 32, + 58, + 190, + 40, + 124, + 42, + 268, + 46, + 32, + 58, + 190, + 40, + 124, + 42, + 268, + 46, + 32, + 60, + 188, + 38, + 130, + 38, + 270, + 44, + 32, + 60, + 188, + 38, + 130, + 38, + 270, + 44, + 34, + 58, + 186, + 40, + 134, + 36, + 270, + 42, + 34, + 58, + 186, + 40, + 134, + 36, + 270, + 42, + 34, + 60, + 184, + 40, + 138, + 32, + 270, + 40, + 36, + 60, + 184, + 40, + 138, + 32, + 270, + 40, + 36, + 64, + 42, + 32, + 104, + 42, + 140, + 30, + 270, + 42, + 34, + 64, + 42, + 32, + 104, + 42, + 140, + 30, + 270, + 42, + 34, + 68, + 34, + 62, + 2, + 8, + 66, + 42, + 142, + 28, + 272, + 42, + 34, + 68, + 34, + 62, + 2, + 8, + 66, + 42, + 142, + 28, + 272, + 42, + 36, + 76, + 14, + 126, + 20, + 44, + 142, + 28, + 272, + 42, + 36, + 76, + 14, + 126, + 20, + 44, + 142, + 28, + 272, + 42, + 38, + 278, + 142, + 28, + 270, + 44, + 38, + 278, + 142, + 28, + 270, + 44, + 38, + 276, + 144, + 28, + 270, + 44, + 38, + 276, + 144, + 28, + 270, + 44, + 38, + 276, + 142, + 30, + 270, + 44, + 38, + 276, + 142, + 30, + 270, + 44, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 268, + 46, + 40, + 272, + 140, + 34, + 266, + 48, + 40, + 272, + 140, + 34, + 266, + 48, + 40, + 270, + 142, + 34, + 266, + 46, + 42, + 270, + 142, + 34, + 266, + 46, + 44, + 268, + 140, + 36, + 50, + 8, + 208, + 48, + 42, + 268, + 140, + 36, + 50, + 8, + 208, + 48, + 42, + 268, + 140, + 36, + 50, + 16, + 198, + 50, + 42, + 268, + 140, + 36, + 50, + 16, + 198, + 50, + 42, + 268, + 140, + 38, + 48, + 24, + 190, + 50, + 42, + 268, + 140, + 38, + 48, + 24, + 190, + 50, + 44, + 264, + 140, + 40, + 48, + 32, + 180, + 52, + 44, + 264, + 140, + 40, + 48, + 32, + 180, + 52, + 44, + 264, + 140, + 40, + 48, + 36, + 174, + 54, + 44, + 264, + 140, + 40, + 48, + 36, + 174, + 54, + 46, + 262, + 140, + 40, + 46, + 46, + 166, + 54, + 46, + 262, + 140, + 40, + 46, + 46, + 166, + 54, + 46, + 262, + 140, + 40, + 46, + 50, + 160, + 56, + 46, + 262, + 140, + 40, + 46, + 50, + 160, + 56, + 46, + 260, + 140, + 42, + 46, + 54, + 154, + 58, + 46, + 260, + 140, + 42, + 46, + 54, + 154, + 58, + 48, + 258, + 138, + 44, + 48, + 62, + 144, + 56, + 50, + 258, + 138, + 44, + 48, + 62, + 144, + 56, + 50, + 256, + 140, + 44, + 48, + 68, + 138, + 56, + 50, + 256, + 140, + 44, + 48, + 68, + 138, + 56, + 50, + 256, + 138, + 46, + 48, + 74, + 130, + 58, + 50, + 256, + 138, + 46, + 48, + 74, + 130, + 58, + 50, + 256, + 138, + 46, + 48, + 80, + 124, + 60, + 48, + 256, + 138, + 46, + 48, + 80, + 124, + 60, + 48, + 254, + 138, + 48, + 48, + 88, + 116, + 60, + 48, + 254, + 138, + 48, + 48, + 88, + 116, + 60, + 50, + 252, + 138, + 48, + 46, + 96, + 108, + 62, + 50, + 252, + 138, + 48, + 46, + 96, + 108, + 62, + 52, + 248, + 138, + 50, + 44, + 108, + 96, + 62, + 54, + 248, + 138, + 50, + 44, + 108, + 96, + 62, + 54, + 248, + 138, + 54, + 20, + 130, + 90, + 66, + 54, + 248, + 138, + 54, + 20, + 130, + 90, + 66, + 56, + 244, + 140, + 208, + 76, + 76, + 56, + 244, + 140, + 208, + 76, + 76, + 56, + 244, + 140, + 218, + 64, + 78, + 56, + 244, + 140, + 218, + 64, + 78, + 56, + 244, + 138, + 226, + 58, + 78, + 56, + 244, + 138, + 226, + 58, + 78, + 56, + 242, + 138, + 232, + 54, + 78, + 56, + 242, + 138, + 232, + 54, + 78, + 56, + 242, + 136, + 240, + 46, + 80, + 56, + 242, + 136, + 240, + 46, + 80, + 58, + 240, + 136, + 246, + 38, + 84, + 56, + 240, + 136, + 246, + 38, + 84, + 56, + 108, + 14, + 54, + 22, + 42, + 134, + 256, + 26, + 88, + 56, + 108, + 14, + 54, + 22, + 42, + 134, + 256, + 26, + 88, + 58, + 104, + 98, + 34, + 136, + 262, + 6, + 102, + 58, + 104, + 98, + 34, + 136, + 262, + 6, + 102, + 58, + 104, + 102, + 30, + 136, + 368, + 60, + 104, + 102, + 30, + 136, + 368, + 60, + 102, + 108, + 24, + 136, + 370, + 60, + 102, + 108, + 24, + 136, + 370, + 60, + 102, + 108, + 24, + 136, + 370, + 60, + 102, + 108, + 24, + 136, + 370, + 62, + 100, + 108, + 24, + 136, + 370, + 62, + 100, + 108, + 24, + 136, + 370, + 62, + 100, + 108, + 24, + 134, + 372, + 62, + 100, + 108, + 24, + 134, + 372, + 62, + 100, + 108, + 22, + 136, + 372, + 62, + 100, + 108, + 22, + 136, + 372, + 62, + 100, + 106, + 24, + 134, + 374, + 62, + 100, + 106, + 24, + 134, + 374, + 64, + 98, + 106, + 24, + 132, + 376, + 64, + 98, + 106, + 24, + 132, + 376, + 64, + 98, + 106, + 22, + 134, + 376, + 64, + 98, + 106, + 22, + 134, + 376, + 64, + 98, + 106, + 22, + 132, + 378, + 64, + 98, + 106, + 22, + 132, + 378, + 66, + 96, + 106, + 22, + 132, + 378, + 66, + 96, + 106, + 22, + 132, + 378, + 66, + 96, + 106, + 20, + 134, + 378, + 66, + 96, + 106, + 20, + 134, + 378, + 66, + 96, + 106, + 20, + 132, + 380, + 66, + 96, + 106, + 20, + 132, + 380, + 68, + 94, + 106, + 20, + 132, + 380, + 68, + 94, + 106, + 20, + 132, + 380, + 68, + 94, + 106, + 18, + 134, + 380, + 68, + 94, + 106, + 18, + 134, + 380, + 70, + 92, + 106, + 18, + 132, + 152, + 12, + 218, + 70, + 92, + 106, + 18, + 132, + 152, + 12, + 218, + 70, + 92, + 106, + 18, + 130, + 152, + 18, + 214, + 70, + 92, + 106, + 18, + 130, + 152, + 18, + 214, + 70, + 92, + 106, + 16, + 130, + 152, + 22, + 212, + 70, + 92, + 106, + 16, + 130, + 152, + 22, + 212, + 70, + 92, + 106, + 16, + 130, + 150, + 26, + 210, + 70, + 92, + 106, + 16, + 130, + 150, + 26, + 210, + 72, + 90, + 106, + 16, + 130, + 150, + 28, + 208, + 72, + 90, + 106, + 16, + 130, + 150, + 28, + 208, + 74, + 88, + 106, + 16, + 130, + 146, + 34, + 206, + 74, + 88, + 106, + 16, + 130, + 146, + 34, + 206, + 74, + 88, + 106, + 16, + 130, + 142, + 38, + 206, + 74, + 88, + 106, + 16, + 130, + 142, + 38, + 206, + 76, + 86, + 106, + 16, + 128, + 142, + 42, + 204, + 76, + 86, + 106, + 16, + 128, + 142, + 42, + 204, + 76, + 86, + 106, + 16, + 126, + 142, + 44, + 204, + 76, + 86, + 106, + 16, + 126, + 142, + 44, + 204, + 76, + 86, + 106, + 16, + 126, + 138, + 50, + 202, + 76, + 86, + 106, + 16, + 126, + 138, + 50, + 202, + 78, + 84, + 106, + 16, + 124, + 76, + 10, + 50, + 54, + 202, + 78, + 84, + 106, + 16, + 124, + 76, + 10, + 50, + 54, + 202, + 78, + 84, + 106, + 18, + 122, + 70, + 20, + 46, + 56, + 200, + 78, + 84, + 106, + 18, + 122, + 70, + 20, + 46, + 56, + 200, + 78, + 84, + 104, + 20, + 120, + 62, + 30, + 44, + 56, + 202, + 78, + 84, + 104, + 20, + 120, + 62, + 30, + 44, + 56, + 202, + 78, + 82, + 106, + 22, + 116, + 60, + 36, + 40, + 58, + 202, + 78, + 82, + 106, + 22, + 116, + 60, + 36, + 40, + 58, + 202, + 80, + 74, + 114, + 24, + 112, + 46, + 52, + 38, + 58, + 202, + 80, + 74, + 114, + 24, + 112, + 46, + 52, + 38, + 58, + 202, + 80, + 66, + 122, + 24, + 112, + 32, + 66, + 38, + 58, + 202, + 80, + 66, + 122, + 24, + 112, + 32, + 66, + 38, + 58, + 202, + 80, + 62, + 126, + 26, + 110, + 28, + 70, + 38, + 58, + 202, + 80, + 62, + 126, + 26, + 110, + 28, + 70, + 38, + 58, + 202, + 82, + 60, + 126, + 28, + 106, + 30, + 70, + 40, + 54, + 204, + 82, + 60, + 126, + 28, + 106, + 30, + 70, + 40, + 54, + 204, + 82, + 60, + 126, + 30, + 104, + 28, + 74, + 40, + 52, + 204, + 82, + 60, + 126, + 30, + 104, + 28, + 74, + 40, + 52, + 204, + 82, + 62, + 124, + 34, + 98, + 26, + 82, + 40, + 46, + 206, + 82, + 62, + 124, + 34, + 98, + 26, + 82, + 40, + 46, + 206, + 84, + 62, + 122, + 36, + 96, + 24, + 86, + 58, + 24, + 208, + 84, + 62, + 122, + 36, + 96, + 24, + 86, + 58, + 24, + 208, + 84, + 66, + 118, + 38, + 94, + 22, + 90, + 62, + 16, + 210, + 84, + 66, + 118, + 38, + 94, + 22, + 90, + 62, + 16, + 210, + 84, + 70, + 112, + 42, + 90, + 22, + 92, + 288, + 84, + 70, + 112, + 42, + 90, + 22, + 92, + 288, + 86, + 70, + 110, + 44, + 86, + 22, + 94, + 288, + 86, + 70, + 110, + 44, + 86, + 22, + 94, + 288, + 86, + 74, + 106, + 46, + 84, + 20, + 96, + 288, + 86, + 74, + 106, + 46, + 84, + 20, + 96, + 288, + 86, + 76, + 104, + 48, + 82, + 16, + 102, + 286, + 86, + 76, + 104, + 48, + 82, + 16, + 102, + 286, + 88, + 74, + 104, + 50, + 78, + 16, + 106, + 284, + 88, + 74, + 104, + 50, + 78, + 16, + 106, + 284, + 88, + 74, + 104, + 52, + 76, + 14, + 110, + 282, + 88, + 74, + 104, + 52, + 76, + 14, + 110, + 282, + 88, + 74, + 106, + 28, + 6, + 20, + 72, + 14, + 112, + 280, + 88, + 74, + 106, + 28, + 6, + 20, + 72, + 14, + 112, + 280, + 90, + 72, + 110, + 10, + 30, + 12, + 68, + 10, + 120, + 278, + 90, + 72, + 110, + 10, + 30, + 12, + 68, + 10, + 120, + 278, + 90, + 72, + 152, + 10, + 68, + 6, + 124, + 278, + 90, + 72, + 152, + 10, + 68, + 6, + 124, + 278, + 90, + 72, + 152, + 14, + 194, + 278, + 90, + 72, + 152, + 14, + 194, + 278, + 92, + 70, + 152, + 16, + 192, + 278, + 92, + 70, + 152, + 16, + 192, + 278, + 92, + 70, + 154, + 16, + 192, + 276, + 92, + 70, + 154, + 16, + 192, + 276, + 92, + 70, + 154, + 18, + 192, + 274, + 92, + 70, + 154, + 18, + 192, + 274, + 94, + 68, + 156, + 18, + 194, + 270, + 94, + 68, + 156, + 18, + 194, + 270, + 96, + 66, + 156, + 20, + 194, + 268, + 96, + 66, + 156, + 20, + 194, + 268, + 96, + 60, + 164, + 20, + 192, + 268, + 96, + 60, + 164, + 20, + 192, + 268, + 96, + 58, + 166, + 24, + 188, + 268, + 96, + 58, + 166, + 24, + 188, + 268, + 98, + 44, + 178, + 28, + 186, + 266, + 98, + 44, + 178, + 28, + 186, + 266, + 98, + 40, + 182, + 30, + 186, + 264, + 98, + 40, + 182, + 30, + 186, + 264, + 98, + 38, + 184, + 32, + 186, + 262, + 98, + 38, + 184, + 32, + 186, + 262, + 100, + 34, + 186, + 36, + 182, + 262, + 100, + 34, + 186, + 36, + 182, + 262, + 100, + 34, + 184, + 40, + 182, + 260, + 100, + 34, + 184, + 40, + 182, + 260, + 100, + 34, + 184, + 42, + 180, + 260, + 100, + 34, + 184, + 42, + 180, + 260, + 100, + 32, + 186, + 42, + 182, + 258, + 100, + 32, + 186, + 42, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 184, + 44, + 182, + 258, + 102, + 30, + 182, + 46, + 184, + 256, + 102, + 30, + 182, + 46, + 184, + 256, + 102, + 28, + 180, + 46, + 190, + 254, + 102, + 28, + 180, + 46, + 190, + 254, + 104, + 26, + 176, + 48, + 196, + 250, + 104, + 26, + 176, + 48, + 196, + 250, + 104, + 26, + 172, + 50, + 198, + 250, + 104, + 26, + 172, + 50, + 198, + 250, + 104, + 26, + 164, + 56, + 202, + 248, + 104, + 26, + 164, + 56, + 202, + 248, + 106, + 24, + 154, + 64, + 204, + 248, + 106, + 24, + 154, + 64, + 204, + 248, + 106, + 24, + 146, + 70, + 206, + 248, + 106, + 24, + 146, + 70, + 206, + 248, + 108, + 22, + 136, + 76, + 212, + 246, + 108, + 22, + 136, + 76, + 212, + 246, + 108, + 22, + 132, + 78, + 216, + 244, + 108, + 22, + 132, + 78, + 216, + 244, + 108, + 22, + 124, + 84, + 220, + 242, + 108, + 22, + 124, + 84, + 220, + 242, + 108, + 22, + 114, + 92, + 224, + 240, + 108, + 22, + 114, + 92, + 224, + 240, + 110, + 22, + 108, + 94, + 228, + 238, + 110, + 22, + 108, + 94, + 228, + 238, + 110, + 22, + 102, + 96, + 232, + 238, + 110, + 22, + 102, + 96, + 232, + 238, + 110, + 22, + 96, + 100, + 234, + 238, + 110, + 22, + 96, + 100, + 234, + 238, + 110, + 22, + 88, + 106, + 238, + 236, + 110, + 22, + 88, + 106, + 238, + 236, + 110, + 24, + 76, + 114, + 240, + 236, + 110, + 24, + 76, + 114, + 240, + 236, + 112, + 22, + 68, + 120, + 244, + 234, + 112, + 22, + 68, + 120, + 244, + 234, + 114, + 20, + 62, + 120, + 254, + 230, + 114, + 20, + 62, + 120, + 254, + 230, + 116, + 20, + 56, + 122, + 258, + 228, + 116, + 20, + 56, + 122, + 258, + 228, + 116, + 22, + 52, + 122, + 260, + 228, + 116, + 22, + 52, + 122, + 260, + 228, + 116, + 24, + 46, + 126, + 260, + 228, + 116, + 24, + 46, + 126, + 260, + 228, + 118, + 24, + 40, + 126, + 266, + 226, + 118, + 24, + 40, + 126, + 266, + 226, + 118, + 26, + 34, + 126, + 270, + 224, + 120, + 26, + 34, + 126, + 270, + 224, + 120, + 28, + 28, + 130, + 272, + 224, + 118, + 28, + 28, + 130, + 272, + 224, + 120, + 32, + 12, + 138, + 276, + 222, + 120, + 32, + 12, + 138, + 276, + 222, + 120, + 180, + 280, + 220, + 120, + 180, + 280, + 220, + 120, + 176, + 284, + 220, + 120, + 176, + 284, + 220, + 122, + 170, + 290, + 218, + 122, + 170, + 290, + 218, + 122, + 168, + 292, + 218, + 122, + 168, + 292, + 218, + 122, + 166, + 294, + 218, + 122, + 166, + 294, + 218, + 122, + 166, + 296, + 216, + 122, + 166, + 296, + 216, + 122, + 162, + 300, + 216, + 122, + 162, + 300, + 216, + 124, + 156, + 310, + 210, + 124, + 156, + 310, + 210, + 124, + 154, + 314, + 208, + 124, + 154, + 314, + 208, + 126, + 150, + 316, + 208, + 126, + 150, + 316, + 208, + 126, + 148, + 316, + 210, + 126, + 148, + 316, + 210, + 126, + 146, + 318, + 210, + 126, + 146, + 318, + 210, + 128, + 138, + 324, + 210, + 128, + 138, + 324, + 210, + 130, + 134, + 326, + 210, + 130, + 134, + 326, + 210, + 130, + 134, + 320, + 216, + 130, + 134, + 320, + 216, + 130, + 132, + 320, + 218, + 130, + 132, + 320, + 218, + 130, + 130, + 322, + 218, + 130, + 130, + 322, + 218, + 132, + 124, + 324, + 218, + 134, + 124, + 324, + 218, + 134, + 124, + 320, + 224, + 132, + 124, + 320, + 224, + 132, + 124, + 316, + 228, + 132, + 124, + 316, + 228, + 132, + 124, + 314, + 230, + 132, + 124, + 314, + 230, + 134, + 122, + 308, + 236, + 134, + 122, + 308, + 236, + 136, + 122, + 304, + 238, + 136, + 122, + 304, + 238, + 136, + 122, + 304, + 238, + 136, + 122, + 304, + 238, + 136, + 124, + 300, + 240, + 136, + 124, + 300, + 240, + 138, + 122, + 300, + 240, + 138, + 122, + 300, + 240, + 138, + 124, + 292, + 246, + 138, + 124, + 292, + 246, + 140, + 122, + 290, + 246, + 142, + 122, + 290, + 246, + 142, + 122, + 288, + 250, + 140, + 122, + 288, + 250, + 140, + 124, + 284, + 252, + 140, + 124, + 284, + 252, + 140, + 124, + 278, + 258, + 140, + 124, + 278, + 258, + 142, + 122, + 276, + 260, + 142, + 122, + 276, + 260, + 142, + 124, + 270, + 264, + 142, + 124, + 270, + 264, + 142, + 124, + 268, + 266, + 142, + 124, + 268, + 266, + 142, + 126, + 264, + 268, + 142, + 126, + 264, + 268, + 144, + 124, + 256, + 276, + 144, + 124, + 256, + 276, + 144, + 126, + 252, + 278, + 144, + 126, + 252, + 278, + 146, + 126, + 248, + 278, + 148, + 126, + 248, + 278, + 148, + 126, + 242, + 286, + 146, + 126, + 242, + 286, + 146, + 128, + 236, + 290, + 146, + 128, + 236, + 290, + 146, + 128, + 230, + 296, + 146, + 128, + 230, + 296, + 148, + 128, + 226, + 298, + 148, + 128, + 226, + 298, + 150, + 126, + 224, + 300, + 150, + 126, + 224, + 300, + 150, + 128, + 218, + 304, + 150, + 128, + 218, + 304, + 152, + 126, + 214, + 308, + 152, + 126, + 214, + 308, + 152, + 128, + 204, + 316, + 152, + 128, + 204, + 316, + 152, + 130, + 200, + 318, + 152, + 130, + 200, + 318, + 152, + 130, + 200, + 316, + 154, + 130, + 200, + 316, + 156, + 130, + 192, + 324, + 154, + 130, + 192, + 324, + 154, + 130, + 188, + 328, + 154, + 130, + 188, + 328, + 154, + 130, + 182, + 334, + 154, + 130, + 182, + 334, + 156, + 128, + 178, + 338, + 156, + 128, + 178, + 338, + 156, + 130, + 176, + 338, + 156, + 130, + 176, + 338, + 158, + 128, + 174, + 340, + 158, + 128, + 174, + 340, + 158, + 130, + 164, + 348, + 158, + 130, + 164, + 348, + 158, + 132, + 160, + 350, + 158, + 132, + 160, + 350, + 160, + 132, + 152, + 356, + 160, + 132, + 152, + 356, + 160, + 132, + 150, + 356, + 162, + 132, + 150, + 356, + 162, + 134, + 144, + 362, + 160, + 134, + 144, + 362, + 160, + 134, + 138, + 368, + 160, + 134, + 138, + 368, + 160, + 136, + 134, + 370, + 160, + 136, + 134, + 370, + 162, + 134, + 128, + 376, + 162, + 134, + 128, + 376, + 162, + 136, + 124, + 378, + 162, + 136, + 124, + 378, + 162, + 138, + 120, + 380, + 162, + 138, + 120, + 380, + 162, + 138, + 114, + 386, + 162, + 138, + 114, + 386, + 164, + 136, + 112, + 388, + 164, + 136, + 112, + 388, + 164, + 136, + 110, + 390, + 164, + 136, + 110, + 390, + 166, + 134, + 104, + 394, + 168, + 134, + 104, + 394, + 168, + 134, + 102, + 398, + 166, + 134, + 102, + 398, + 166, + 132, + 100, + 402, + 166, + 132, + 100, + 402, + 166, + 130, + 96, + 408, + 166, + 130, + 96, + 408, + 168, + 126, + 96, + 410, + 168, + 126, + 96, + 410, + 170, + 106, + 112, + 412, + 170, + 106, + 112, + 412, + 170, + 104, + 108, + 418, + 170, + 104, + 108, + 418, + 172, + 100, + 110, + 418, + 172, + 100, + 110, + 418, + 172, + 100, + 102, + 426, + 172, + 100, + 102, + 426, + 172, + 96, + 104, + 428, + 172, + 96, + 104, + 428, + 172, + 94, + 104, + 428, + 174, + 94, + 104, + 428, + 176, + 92, + 100, + 434, + 174, + 92, + 100, + 434, + 174, + 92, + 96, + 438, + 174, + 92, + 96, + 438, + 174, + 92, + 92, + 442, + 174, + 92, + 92, + 442, + 176, + 90, + 88, + 446, + 176, + 90, + 88, + 446, + 178, + 88, + 42, + 8, + 36, + 448, + 178, + 88, + 42, + 8, + 36, + 448, + 178, + 88, + 36, + 18, + 30, + 450, + 178, + 88, + 36, + 18, + 30, + 450, + 178, + 90, + 32, + 22, + 20, + 458, + 178, + 90, + 32, + 22, + 20, + 458, + 180, + 90, + 30, + 24, + 18, + 458, + 180, + 90, + 30, + 24, + 18, + 458, + 180, + 92, + 24, + 28, + 14, + 462, + 180, + 92, + 24, + 28, + 14, + 462, + 182, + 90, + 22, + 32, + 6, + 466, + 184, + 90, + 22, + 32, + 6, + 466, + 184, + 92, + 16, + 510, + 182, + 92, + 16, + 510, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 188, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 210, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 238, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 254, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 266, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 272, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 286, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 506, + 294, + 506, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 304, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.3362122178077698, + "R": [ + [ + -0.3509126603603363, + 0.29603251814842224, + 0.8883838653564453 + ], + [ + -0.9363298416137695, + -0.09868817776441574, + -0.3369666039943695 + ], + [ + -0.012080155313014984, + -0.9500662088394165, + 0.3118157982826233 + ] + ], + "t": [ + -7.468719482421875, + -1.721563458442688, + 331.64599609375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000248/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000248/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000248:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000248.png" + }, + { + "frame_id": 249, + "image_path": "/workspace/data/0008_/images/000249.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000249.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 440, + 0, + 838, + 334 + ], + "score": 0.042006537318229675, + "time": 0.0, + "segmentation": { + "counts": [ + 351200, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 680, + 122, + 678, + 122, + 672, + 128, + 672, + 128, + 666, + 136, + 664, + 136, + 660, + 140, + 660, + 140, + 656, + 144, + 656, + 144, + 650, + 152, + 648, + 152, + 642, + 158, + 642, + 158, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 618, + 182, + 618, + 182, + 614, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 605, + 195, + 605, + 195, + 605, + 197, + 603, + 197, + 603, + 197, + 603, + 197, + 603, + 199, + 601, + 199, + 601, + 199, + 601, + 199, + 601, + 111, + 8, + 82, + 599, + 111, + 8, + 82, + 599, + 107, + 14, + 80, + 599, + 107, + 14, + 80, + 599, + 105, + 16, + 80, + 599, + 105, + 16, + 80, + 599, + 101, + 20, + 82, + 597, + 101, + 20, + 82, + 597, + 99, + 24, + 80, + 597, + 99, + 24, + 80, + 597, + 95, + 28, + 82, + 595, + 95, + 28, + 82, + 595, + 91, + 34, + 80, + 595, + 91, + 34, + 80, + 595, + 89, + 36, + 80, + 595, + 89, + 36, + 80, + 595, + 85, + 40, + 82, + 593, + 85, + 40, + 82, + 593, + 79, + 48, + 82, + 591, + 79, + 48, + 82, + 591, + 75, + 52, + 82, + 591, + 75, + 52, + 82, + 591, + 71, + 56, + 84, + 589, + 71, + 56, + 84, + 589, + 69, + 60, + 82, + 589, + 69, + 60, + 82, + 589, + 65, + 64, + 82, + 589, + 65, + 64, + 82, + 589, + 63, + 66, + 84, + 587, + 63, + 66, + 84, + 587, + 59, + 72, + 82, + 587, + 59, + 72, + 82, + 587, + 53, + 78, + 82, + 587, + 53, + 78, + 82, + 587, + 21, + 12, + 16, + 82, + 84, + 585, + 21, + 12, + 16, + 82, + 84, + 585, + 17, + 22, + 4, + 90, + 82, + 585, + 17, + 22, + 4, + 90, + 82, + 585, + 13, + 120, + 84, + 583, + 13, + 120, + 84, + 583, + 5, + 130, + 82, + 583, + 5, + 130, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 650, + 60, + 14, + 76, + 650, + 60, + 14, + 76, + 650, + 48, + 34, + 68, + 650, + 48, + 34, + 68, + 654, + 28, + 54, + 66, + 652, + 28, + 54, + 66, + 738, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 56, + 744, + 56, + 580, + 18, + 146, + 56, + 580, + 18, + 146, + 56, + 570, + 30, + 146, + 56, + 568, + 30, + 146, + 56, + 568, + 30, + 146, + 56, + 568, + 30, + 146, + 56, + 568, + 28, + 150, + 54, + 568, + 28, + 150, + 54, + 566, + 28, + 152, + 56, + 564, + 28, + 152, + 56, + 562, + 28, + 156, + 56, + 560, + 28, + 156, + 56, + 558, + 28, + 158, + 56, + 558, + 28, + 158, + 56, + 558, + 26, + 162, + 54, + 558, + 26, + 162, + 54, + 558, + 24, + 164, + 56, + 556, + 24, + 164, + 56, + 552, + 28, + 164, + 56, + 552, + 28, + 164, + 56, + 542, + 34, + 168, + 58, + 540, + 34, + 168, + 58, + 534, + 34, + 176, + 56, + 534, + 34, + 176, + 56, + 534, + 34, + 176, + 56, + 534, + 34, + 176, + 56, + 534, + 32, + 180, + 56, + 532, + 32, + 180, + 56, + 530, + 32, + 182, + 56, + 530, + 32, + 182, + 56, + 528, + 32, + 184, + 58, + 526, + 32, + 184, + 58, + 526, + 28, + 190, + 56, + 526, + 28, + 190, + 56, + 526, + 26, + 192, + 58, + 524, + 26, + 192, + 58, + 524, + 24, + 194, + 58, + 524, + 24, + 194, + 58, + 524, + 24, + 196, + 56, + 524, + 24, + 196, + 56, + 524, + 18, + 202, + 58, + 522, + 18, + 202, + 58, + 522, + 16, + 206, + 56, + 522, + 16, + 206, + 56, + 522, + 14, + 208, + 56, + 522, + 14, + 208, + 56, + 522, + 12, + 212, + 56, + 520, + 12, + 212, + 56, + 520, + 10, + 214, + 56, + 520, + 10, + 214, + 56, + 522, + 4, + 220, + 54, + 522, + 4, + 220, + 54, + 746, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 52, + 463 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000249:0001", + "experimental_retained_index": 0, + "ism_score": 0.37339144945144653, + "R": [ + [ + 0.6617536544799805, + -0.08748232573270798, + -0.7443413734436035 + ], + [ + 0.6170289516448975, + 0.6279336810112, + 0.4746665358543396 + ], + [ + 0.42620450258255005, + -0.7733820676803589, + 0.46958014369010925 + ] + ], + "t": [ + 269.74267578125, + -251.44114685058594, + 564.0496826171875 + ] + }, + { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 0, + 0, + 1278, + 796 + ], + "score": 0.0032893128227442503, + "time": 0.0, + "segmentation": { + "counts": [ + 29, + 770, + 22, + 778, + 22, + 778, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 2, + 798, + 2, + 798, + 1, + 799, + 1, + 799, + 1, + 799, + 1, + 799, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 4, + 796, + 4, + 796, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 2, + 798, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 370, + 6, + 420, + 4, + 370, + 6, + 420, + 4, + 366, + 12, + 418, + 4, + 366, + 12, + 418, + 4, + 364, + 16, + 416, + 4, + 364, + 16, + 416, + 4, + 362, + 18, + 416, + 4, + 362, + 18, + 416, + 4, + 362, + 18, + 416, + 4, + 362, + 18, + 416, + 4, + 360, + 20, + 416, + 4, + 360, + 20, + 416, + 4, + 358, + 22, + 416, + 4, + 358, + 22, + 416, + 4, + 356, + 24, + 416, + 4, + 356, + 24, + 416, + 4, + 354, + 24, + 418, + 4, + 354, + 24, + 418, + 4, + 352, + 26, + 418, + 4, + 352, + 26, + 418, + 4, + 350, + 26, + 420, + 4, + 350, + 26, + 420, + 4, + 348, + 28, + 420, + 4, + 348, + 28, + 420, + 4, + 346, + 30, + 420, + 4, + 346, + 30, + 420, + 4, + 346, + 28, + 422, + 4, + 346, + 28, + 422, + 4, + 344, + 30, + 422, + 4, + 344, + 30, + 422, + 4, + 342, + 32, + 422, + 4, + 342, + 32, + 422, + 4, + 340, + 34, + 422, + 4, + 340, + 34, + 422, + 4, + 340, + 32, + 424, + 4, + 340, + 32, + 424, + 4, + 340, + 32, + 424, + 4, + 340, + 32, + 424, + 4, + 338, + 32, + 426, + 4, + 338, + 32, + 426, + 4, + 338, + 32, + 426, + 4, + 338, + 32, + 426, + 4, + 336, + 34, + 426, + 4, + 336, + 34, + 426, + 4, + 334, + 34, + 72, + 8, + 348, + 4, + 334, + 34, + 72, + 8, + 348, + 4, + 334, + 34, + 68, + 14, + 346, + 4, + 334, + 34, + 68, + 14, + 346, + 4, + 332, + 34, + 68, + 18, + 344, + 4, + 332, + 34, + 68, + 18, + 344, + 4, + 330, + 36, + 66, + 20, + 344, + 4, + 330, + 36, + 66, + 20, + 344, + 4, + 330, + 34, + 66, + 22, + 344, + 4, + 330, + 34, + 66, + 22, + 344, + 4, + 328, + 36, + 64, + 24, + 344, + 4, + 328, + 36, + 64, + 24, + 344, + 4, + 328, + 34, + 66, + 24, + 344, + 4, + 328, + 34, + 66, + 24, + 344, + 4, + 328, + 32, + 66, + 26, + 344, + 4, + 328, + 32, + 66, + 26, + 344, + 4, + 326, + 34, + 64, + 26, + 346, + 4, + 326, + 34, + 64, + 26, + 346, + 4, + 324, + 34, + 64, + 28, + 346, + 4, + 324, + 34, + 64, + 28, + 346, + 4, + 324, + 34, + 64, + 28, + 346, + 4, + 324, + 34, + 64, + 28, + 346, + 4, + 322, + 34, + 64, + 28, + 348, + 4, + 322, + 34, + 64, + 28, + 348, + 4, + 322, + 34, + 62, + 30, + 348, + 4, + 322, + 34, + 62, + 30, + 348, + 4, + 320, + 34, + 62, + 30, + 350, + 4, + 320, + 34, + 62, + 30, + 350, + 4, + 320, + 34, + 60, + 32, + 350, + 4, + 320, + 34, + 60, + 32, + 350, + 4, + 318, + 36, + 60, + 32, + 350, + 4, + 318, + 36, + 60, + 32, + 350, + 4, + 318, + 34, + 60, + 34, + 350, + 4, + 318, + 34, + 60, + 34, + 350, + 4, + 316, + 34, + 60, + 34, + 352, + 4, + 316, + 34, + 60, + 34, + 352, + 4, + 316, + 32, + 60, + 36, + 352, + 4, + 316, + 32, + 60, + 36, + 352, + 4, + 314, + 34, + 60, + 36, + 352, + 4, + 314, + 34, + 60, + 36, + 352, + 4, + 312, + 34, + 60, + 38, + 352, + 4, + 312, + 34, + 60, + 38, + 352, + 4, + 310, + 36, + 60, + 36, + 354, + 4, + 310, + 36, + 60, + 36, + 354, + 4, + 310, + 34, + 62, + 36, + 354, + 4, + 310, + 34, + 62, + 36, + 354, + 4, + 308, + 36, + 60, + 36, + 356, + 4, + 308, + 36, + 60, + 36, + 356, + 4, + 308, + 34, + 60, + 38, + 356, + 4, + 308, + 34, + 60, + 38, + 356, + 4, + 306, + 34, + 60, + 40, + 356, + 4, + 306, + 34, + 60, + 40, + 356, + 4, + 306, + 34, + 60, + 38, + 358, + 4, + 306, + 34, + 60, + 38, + 358, + 4, + 306, + 32, + 62, + 36, + 360, + 4, + 306, + 32, + 62, + 36, + 360, + 4, + 304, + 32, + 62, + 38, + 360, + 4, + 304, + 32, + 62, + 38, + 360, + 4, + 304, + 32, + 62, + 36, + 362, + 4, + 304, + 32, + 62, + 36, + 362, + 4, + 302, + 32, + 62, + 38, + 362, + 4, + 302, + 32, + 62, + 38, + 362, + 4, + 300, + 34, + 62, + 38, + 362, + 4, + 300, + 34, + 62, + 38, + 362, + 4, + 300, + 34, + 60, + 40, + 70, + 6, + 286, + 4, + 300, + 34, + 60, + 40, + 70, + 6, + 286, + 4, + 300, + 32, + 62, + 38, + 66, + 14, + 284, + 4, + 300, + 32, + 62, + 38, + 66, + 14, + 284, + 2, + 300, + 32, + 62, + 40, + 58, + 22, + 284, + 2, + 300, + 32, + 62, + 40, + 58, + 22, + 284, + 2, + 300, + 32, + 60, + 40, + 52, + 32, + 282, + 2, + 300, + 32, + 60, + 40, + 52, + 32, + 282, + 4, + 296, + 32, + 62, + 40, + 50, + 34, + 282, + 4, + 296, + 32, + 62, + 40, + 50, + 34, + 282, + 4, + 294, + 32, + 64, + 38, + 48, + 38, + 282, + 4, + 294, + 32, + 64, + 38, + 48, + 38, + 282, + 2, + 294, + 34, + 62, + 40, + 42, + 44, + 282, + 2, + 294, + 34, + 62, + 40, + 42, + 44, + 282, + 2, + 292, + 34, + 64, + 38, + 42, + 46, + 282, + 2, + 292, + 34, + 64, + 38, + 42, + 46, + 282, + 2, + 292, + 34, + 62, + 40, + 40, + 48, + 282, + 2, + 292, + 34, + 62, + 40, + 40, + 48, + 282, + 4, + 288, + 34, + 64, + 38, + 42, + 50, + 280, + 4, + 288, + 34, + 64, + 38, + 42, + 50, + 280, + 4, + 288, + 32, + 66, + 38, + 42, + 70, + 260, + 4, + 288, + 32, + 66, + 38, + 42, + 70, + 260, + 2, + 288, + 32, + 66, + 38, + 44, + 86, + 244, + 2, + 288, + 32, + 66, + 38, + 44, + 86, + 244, + 2, + 288, + 32, + 64, + 40, + 44, + 108, + 222, + 2, + 288, + 32, + 64, + 40, + 44, + 108, + 222, + 2, + 286, + 32, + 66, + 38, + 46, + 118, + 212, + 2, + 286, + 32, + 66, + 38, + 46, + 118, + 212, + 4, + 282, + 34, + 64, + 40, + 46, + 130, + 200, + 4, + 282, + 34, + 64, + 40, + 46, + 130, + 200, + 4, + 282, + 32, + 66, + 38, + 50, + 140, + 188, + 4, + 282, + 32, + 66, + 38, + 50, + 140, + 188, + 4, + 280, + 34, + 66, + 36, + 52, + 158, + 170, + 4, + 280, + 34, + 66, + 36, + 52, + 158, + 170, + 4, + 280, + 34, + 64, + 38, + 52, + 180, + 148, + 4, + 280, + 34, + 64, + 38, + 52, + 180, + 148, + 4, + 278, + 34, + 66, + 36, + 54, + 202, + 126, + 4, + 278, + 34, + 66, + 36, + 54, + 202, + 126, + 4, + 276, + 34, + 68, + 36, + 54, + 212, + 116, + 4, + 276, + 34, + 68, + 36, + 54, + 212, + 116, + 4, + 274, + 36, + 66, + 38, + 54, + 230, + 98, + 4, + 274, + 36, + 66, + 38, + 54, + 230, + 98, + 4, + 270, + 38, + 66, + 38, + 56, + 246, + 82, + 4, + 270, + 38, + 66, + 38, + 56, + 246, + 82, + 4, + 268, + 38, + 66, + 40, + 56, + 248, + 80, + 4, + 268, + 38, + 66, + 40, + 56, + 248, + 80, + 6, + 262, + 42, + 66, + 38, + 58, + 250, + 78, + 6, + 262, + 42, + 66, + 38, + 58, + 250, + 78, + 6, + 262, + 42, + 64, + 40, + 58, + 252, + 76, + 6, + 262, + 42, + 64, + 40, + 58, + 252, + 76, + 6, + 262, + 40, + 66, + 38, + 60, + 256, + 72, + 6, + 262, + 40, + 66, + 38, + 60, + 256, + 72, + 8, + 258, + 42, + 66, + 36, + 62, + 260, + 68, + 8, + 258, + 42, + 66, + 36, + 62, + 260, + 68, + 8, + 258, + 40, + 66, + 38, + 62, + 260, + 68, + 8, + 258, + 40, + 66, + 38, + 62, + 260, + 68, + 8, + 256, + 42, + 66, + 36, + 64, + 262, + 66, + 8, + 256, + 42, + 66, + 36, + 64, + 262, + 66, + 10, + 254, + 42, + 64, + 38, + 66, + 260, + 66, + 10, + 254, + 42, + 64, + 38, + 66, + 260, + 66, + 10, + 254, + 42, + 64, + 38, + 66, + 262, + 64, + 10, + 254, + 42, + 64, + 38, + 66, + 262, + 64, + 12, + 252, + 40, + 64, + 38, + 68, + 262, + 64, + 12, + 252, + 40, + 64, + 38, + 68, + 262, + 64, + 12, + 254, + 38, + 38, + 14, + 10, + 38, + 70, + 262, + 64, + 12, + 254, + 38, + 38, + 14, + 10, + 38, + 70, + 262, + 64, + 14, + 254, + 36, + 36, + 64, + 70, + 262, + 64, + 14, + 254, + 36, + 36, + 64, + 70, + 262, + 64, + 14, + 256, + 34, + 34, + 66, + 70, + 262, + 64, + 14, + 256, + 34, + 34, + 66, + 70, + 262, + 64, + 14, + 90, + 18, + 150, + 30, + 34, + 66, + 74, + 262, + 62, + 14, + 90, + 18, + 150, + 30, + 34, + 66, + 74, + 262, + 62, + 14, + 84, + 32, + 144, + 26, + 34, + 66, + 76, + 264, + 60, + 14, + 84, + 32, + 144, + 26, + 34, + 66, + 76, + 264, + 60, + 16, + 80, + 38, + 142, + 22, + 32, + 70, + 76, + 266, + 58, + 16, + 80, + 38, + 142, + 22, + 32, + 70, + 76, + 266, + 58, + 18, + 76, + 44, + 144, + 12, + 34, + 72, + 76, + 268, + 56, + 18, + 76, + 44, + 144, + 12, + 34, + 72, + 76, + 268, + 56, + 18, + 76, + 46, + 188, + 70, + 78, + 268, + 56, + 18, + 76, + 46, + 188, + 70, + 78, + 268, + 56, + 18, + 74, + 58, + 178, + 70, + 78, + 268, + 56, + 18, + 74, + 58, + 178, + 70, + 78, + 268, + 56, + 18, + 74, + 80, + 154, + 74, + 78, + 266, + 56, + 18, + 74, + 80, + 154, + 74, + 78, + 266, + 56, + 20, + 72, + 94, + 138, + 78, + 76, + 266, + 56, + 20, + 72, + 94, + 138, + 78, + 76, + 266, + 56, + 20, + 70, + 130, + 104, + 80, + 74, + 266, + 56, + 20, + 70, + 130, + 104, + 80, + 74, + 266, + 56, + 22, + 68, + 150, + 84, + 84, + 70, + 266, + 56, + 22, + 68, + 150, + 84, + 84, + 70, + 266, + 56, + 22, + 68, + 168, + 66, + 88, + 66, + 264, + 58, + 22, + 68, + 168, + 66, + 88, + 66, + 264, + 58, + 24, + 66, + 184, + 50, + 94, + 60, + 262, + 60, + 24, + 66, + 184, + 50, + 94, + 60, + 262, + 60, + 24, + 64, + 188, + 46, + 100, + 58, + 260, + 60, + 24, + 64, + 188, + 46, + 100, + 58, + 260, + 60, + 24, + 64, + 190, + 44, + 106, + 52, + 260, + 60, + 24, + 64, + 190, + 44, + 106, + 52, + 260, + 60, + 26, + 62, + 190, + 44, + 108, + 50, + 260, + 60, + 26, + 62, + 190, + 44, + 108, + 50, + 260, + 60, + 26, + 62, + 190, + 44, + 114, + 44, + 260, + 60, + 26, + 62, + 190, + 44, + 114, + 44, + 260, + 60, + 28, + 60, + 192, + 42, + 118, + 40, + 258, + 62, + 28, + 60, + 192, + 42, + 118, + 40, + 258, + 62, + 28, + 60, + 192, + 40, + 124, + 36, + 258, + 62, + 28, + 60, + 192, + 40, + 124, + 36, + 258, + 62, + 28, + 60, + 192, + 40, + 128, + 32, + 258, + 62, + 28, + 60, + 192, + 40, + 128, + 32, + 258, + 62, + 28, + 60, + 192, + 40, + 130, + 30, + 258, + 62, + 28, + 60, + 192, + 40, + 130, + 30, + 258, + 62, + 30, + 60, + 190, + 38, + 134, + 28, + 256, + 64, + 30, + 60, + 190, + 38, + 134, + 28, + 256, + 64, + 32, + 58, + 190, + 38, + 134, + 28, + 254, + 66, + 32, + 58, + 190, + 38, + 134, + 28, + 254, + 66, + 32, + 58, + 190, + 38, + 134, + 30, + 48, + 12, + 192, + 66, + 32, + 58, + 190, + 38, + 134, + 30, + 48, + 12, + 192, + 66, + 34, + 56, + 190, + 38, + 136, + 28, + 48, + 20, + 184, + 66, + 34, + 56, + 190, + 38, + 136, + 28, + 48, + 20, + 184, + 66, + 34, + 58, + 188, + 36, + 136, + 30, + 46, + 32, + 174, + 66, + 34, + 58, + 188, + 36, + 136, + 30, + 46, + 32, + 174, + 66, + 34, + 58, + 188, + 36, + 136, + 30, + 46, + 42, + 162, + 68, + 34, + 58, + 188, + 36, + 136, + 30, + 46, + 42, + 162, + 68, + 34, + 58, + 188, + 36, + 134, + 32, + 46, + 52, + 152, + 68, + 34, + 58, + 188, + 36, + 134, + 32, + 46, + 52, + 152, + 68, + 36, + 58, + 184, + 36, + 136, + 32, + 46, + 58, + 144, + 70, + 36, + 58, + 184, + 36, + 136, + 32, + 46, + 58, + 144, + 70, + 36, + 58, + 184, + 36, + 136, + 32, + 46, + 66, + 136, + 70, + 36, + 58, + 184, + 36, + 136, + 32, + 46, + 66, + 136, + 70, + 38, + 58, + 182, + 36, + 136, + 32, + 48, + 76, + 122, + 72, + 38, + 58, + 182, + 36, + 136, + 32, + 48, + 76, + 122, + 72, + 38, + 60, + 178, + 38, + 134, + 34, + 48, + 90, + 100, + 80, + 38, + 60, + 178, + 38, + 134, + 34, + 48, + 90, + 100, + 80, + 38, + 62, + 40, + 114, + 18, + 40, + 136, + 34, + 48, + 100, + 82, + 88, + 38, + 62, + 40, + 114, + 18, + 40, + 136, + 34, + 48, + 100, + 82, + 88, + 40, + 64, + 34, + 174, + 134, + 36, + 48, + 110, + 70, + 90, + 40, + 64, + 34, + 174, + 134, + 36, + 48, + 110, + 70, + 90, + 40, + 70, + 24, + 178, + 134, + 38, + 46, + 118, + 62, + 90, + 40, + 70, + 24, + 178, + 134, + 38, + 46, + 118, + 62, + 90, + 42, + 84, + 2, + 184, + 132, + 40, + 46, + 126, + 52, + 92, + 42, + 84, + 2, + 184, + 132, + 40, + 46, + 126, + 52, + 92, + 42, + 268, + 134, + 40, + 46, + 134, + 44, + 92, + 42, + 268, + 134, + 40, + 46, + 134, + 44, + 92, + 44, + 266, + 134, + 40, + 46, + 142, + 34, + 94, + 44, + 266, + 134, + 40, + 46, + 142, + 34, + 94, + 44, + 266, + 132, + 42, + 46, + 152, + 20, + 98, + 44, + 266, + 132, + 42, + 46, + 152, + 20, + 98, + 44, + 264, + 134, + 42, + 46, + 270, + 44, + 264, + 134, + 42, + 46, + 270, + 46, + 262, + 134, + 42, + 44, + 272, + 46, + 262, + 134, + 42, + 44, + 272, + 46, + 262, + 132, + 44, + 34, + 282, + 46, + 262, + 132, + 44, + 34, + 282, + 46, + 262, + 132, + 46, + 22, + 292, + 46, + 262, + 132, + 46, + 22, + 292, + 48, + 260, + 132, + 48, + 2, + 310, + 48, + 260, + 132, + 48, + 2, + 310, + 48, + 258, + 134, + 360, + 48, + 258, + 134, + 360, + 48, + 258, + 132, + 362, + 48, + 258, + 132, + 362, + 50, + 256, + 132, + 362, + 50, + 256, + 132, + 362, + 50, + 256, + 132, + 362, + 50, + 256, + 132, + 362, + 52, + 252, + 134, + 362, + 52, + 252, + 134, + 362, + 52, + 252, + 132, + 364, + 52, + 252, + 132, + 364, + 54, + 250, + 130, + 366, + 54, + 250, + 130, + 366, + 54, + 250, + 130, + 366, + 54, + 250, + 130, + 366, + 54, + 248, + 132, + 366, + 54, + 248, + 132, + 366, + 54, + 248, + 130, + 366, + 56, + 248, + 130, + 366, + 58, + 246, + 130, + 368, + 56, + 246, + 130, + 368, + 56, + 244, + 132, + 368, + 56, + 244, + 132, + 368, + 58, + 242, + 130, + 370, + 58, + 242, + 130, + 370, + 58, + 242, + 130, + 370, + 58, + 242, + 130, + 370, + 60, + 240, + 128, + 370, + 62, + 240, + 128, + 370, + 62, + 238, + 130, + 370, + 62, + 238, + 130, + 370, + 64, + 236, + 130, + 370, + 64, + 236, + 130, + 370, + 64, + 236, + 130, + 370, + 64, + 236, + 130, + 370, + 66, + 170, + 36, + 28, + 128, + 372, + 66, + 170, + 36, + 28, + 128, + 372, + 66, + 150, + 58, + 24, + 128, + 374, + 66, + 150, + 58, + 24, + 128, + 374, + 66, + 106, + 102, + 24, + 128, + 146, + 12, + 216, + 66, + 106, + 102, + 24, + 128, + 146, + 12, + 216, + 66, + 106, + 102, + 24, + 128, + 142, + 18, + 216, + 64, + 106, + 102, + 24, + 128, + 142, + 18, + 216, + 66, + 102, + 104, + 22, + 128, + 142, + 24, + 212, + 66, + 102, + 104, + 22, + 128, + 142, + 24, + 212, + 66, + 102, + 104, + 22, + 128, + 142, + 26, + 210, + 66, + 102, + 104, + 22, + 128, + 142, + 26, + 210, + 68, + 100, + 104, + 22, + 128, + 140, + 30, + 206, + 70, + 100, + 104, + 22, + 128, + 140, + 30, + 206, + 70, + 100, + 104, + 22, + 126, + 138, + 36, + 204, + 70, + 100, + 104, + 22, + 126, + 138, + 36, + 204, + 70, + 100, + 104, + 20, + 128, + 136, + 38, + 204, + 70, + 100, + 104, + 20, + 128, + 136, + 38, + 204, + 72, + 98, + 104, + 20, + 128, + 132, + 42, + 204, + 72, + 98, + 104, + 20, + 128, + 132, + 42, + 204, + 72, + 98, + 106, + 18, + 126, + 132, + 46, + 202, + 72, + 98, + 106, + 18, + 126, + 132, + 46, + 202, + 74, + 96, + 106, + 16, + 128, + 128, + 50, + 202, + 74, + 96, + 106, + 16, + 128, + 128, + 50, + 202, + 74, + 96, + 106, + 16, + 128, + 126, + 52, + 202, + 74, + 96, + 106, + 16, + 128, + 126, + 52, + 202, + 76, + 94, + 106, + 16, + 128, + 124, + 54, + 204, + 74, + 94, + 106, + 16, + 128, + 124, + 54, + 204, + 74, + 94, + 106, + 16, + 126, + 124, + 56, + 204, + 74, + 94, + 106, + 16, + 126, + 124, + 56, + 204, + 74, + 94, + 106, + 14, + 128, + 72, + 6, + 46, + 56, + 204, + 74, + 94, + 106, + 14, + 128, + 72, + 6, + 46, + 56, + 204, + 74, + 94, + 106, + 14, + 126, + 68, + 16, + 42, + 56, + 202, + 76, + 94, + 106, + 14, + 126, + 68, + 16, + 42, + 56, + 202, + 78, + 94, + 104, + 14, + 126, + 58, + 26, + 44, + 54, + 202, + 78, + 94, + 104, + 14, + 126, + 58, + 26, + 44, + 54, + 202, + 78, + 94, + 104, + 14, + 124, + 52, + 36, + 44, + 50, + 204, + 78, + 94, + 104, + 14, + 124, + 52, + 36, + 44, + 50, + 204, + 80, + 92, + 104, + 14, + 124, + 44, + 44, + 52, + 40, + 206, + 80, + 92, + 104, + 14, + 124, + 44, + 44, + 52, + 40, + 206, + 80, + 92, + 104, + 14, + 124, + 28, + 62, + 76, + 12, + 208, + 80, + 92, + 104, + 14, + 124, + 28, + 62, + 76, + 12, + 208, + 80, + 92, + 104, + 14, + 124, + 24, + 68, + 80, + 2, + 212, + 80, + 92, + 104, + 14, + 124, + 24, + 68, + 80, + 2, + 212, + 82, + 90, + 104, + 14, + 122, + 24, + 72, + 292, + 82, + 90, + 104, + 14, + 122, + 24, + 72, + 292, + 82, + 90, + 104, + 14, + 122, + 22, + 76, + 290, + 82, + 90, + 104, + 14, + 122, + 22, + 76, + 290, + 84, + 88, + 104, + 14, + 120, + 22, + 78, + 290, + 84, + 88, + 104, + 14, + 120, + 22, + 78, + 290, + 84, + 88, + 104, + 16, + 118, + 20, + 82, + 288, + 84, + 88, + 104, + 16, + 118, + 20, + 82, + 288, + 86, + 86, + 104, + 16, + 118, + 18, + 86, + 286, + 86, + 86, + 104, + 16, + 118, + 18, + 86, + 286, + 86, + 86, + 104, + 18, + 116, + 16, + 90, + 284, + 86, + 86, + 104, + 18, + 116, + 16, + 90, + 284, + 86, + 86, + 104, + 20, + 114, + 14, + 92, + 284, + 86, + 86, + 104, + 20, + 114, + 14, + 92, + 284, + 88, + 84, + 104, + 22, + 110, + 14, + 96, + 282, + 88, + 84, + 104, + 22, + 110, + 14, + 96, + 282, + 88, + 84, + 104, + 24, + 106, + 14, + 100, + 280, + 88, + 84, + 104, + 24, + 106, + 14, + 100, + 280, + 88, + 84, + 104, + 26, + 104, + 12, + 104, + 278, + 88, + 84, + 104, + 26, + 104, + 12, + 104, + 278, + 90, + 82, + 104, + 30, + 100, + 10, + 106, + 278, + 90, + 82, + 104, + 30, + 100, + 10, + 106, + 278, + 90, + 76, + 110, + 32, + 98, + 8, + 110, + 276, + 90, + 76, + 110, + 32, + 98, + 8, + 110, + 276, + 90, + 66, + 120, + 36, + 96, + 4, + 114, + 274, + 90, + 66, + 120, + 36, + 96, + 4, + 114, + 274, + 92, + 62, + 122, + 38, + 214, + 272, + 92, + 62, + 122, + 38, + 214, + 272, + 92, + 60, + 124, + 40, + 214, + 270, + 92, + 60, + 124, + 40, + 214, + 270, + 94, + 60, + 124, + 40, + 212, + 270, + 94, + 60, + 124, + 40, + 212, + 270, + 94, + 64, + 120, + 42, + 212, + 268, + 94, + 64, + 120, + 42, + 212, + 268, + 96, + 66, + 114, + 46, + 212, + 266, + 96, + 66, + 114, + 46, + 212, + 266, + 96, + 70, + 110, + 50, + 210, + 264, + 96, + 70, + 110, + 50, + 210, + 264, + 96, + 72, + 108, + 52, + 210, + 262, + 96, + 72, + 108, + 52, + 210, + 262, + 98, + 74, + 104, + 28, + 12, + 16, + 208, + 260, + 98, + 74, + 104, + 28, + 12, + 16, + 208, + 260, + 98, + 76, + 104, + 22, + 20, + 14, + 206, + 260, + 98, + 76, + 104, + 22, + 20, + 14, + 206, + 260, + 100, + 74, + 104, + 16, + 28, + 18, + 202, + 258, + 100, + 74, + 104, + 16, + 28, + 18, + 202, + 258, + 100, + 74, + 150, + 18, + 202, + 256, + 100, + 74, + 150, + 18, + 202, + 256, + 100, + 74, + 152, + 18, + 200, + 256, + 100, + 74, + 152, + 18, + 200, + 256, + 102, + 72, + 154, + 20, + 198, + 254, + 102, + 72, + 154, + 20, + 198, + 254, + 102, + 72, + 154, + 22, + 198, + 252, + 102, + 72, + 154, + 22, + 198, + 252, + 104, + 70, + 154, + 26, + 196, + 250, + 104, + 70, + 154, + 26, + 196, + 250, + 104, + 72, + 154, + 26, + 194, + 250, + 104, + 72, + 154, + 26, + 194, + 250, + 104, + 72, + 154, + 28, + 194, + 248, + 104, + 72, + 154, + 28, + 194, + 248, + 106, + 70, + 154, + 30, + 196, + 244, + 106, + 70, + 154, + 30, + 196, + 244, + 106, + 68, + 156, + 34, + 192, + 244, + 106, + 68, + 156, + 34, + 192, + 244, + 106, + 66, + 158, + 36, + 192, + 242, + 106, + 66, + 158, + 36, + 192, + 242, + 108, + 56, + 166, + 38, + 192, + 240, + 108, + 56, + 166, + 38, + 192, + 240, + 108, + 48, + 174, + 38, + 194, + 238, + 108, + 48, + 174, + 38, + 194, + 238, + 110, + 42, + 178, + 38, + 194, + 238, + 110, + 42, + 178, + 38, + 194, + 238, + 110, + 42, + 176, + 40, + 196, + 236, + 110, + 42, + 176, + 40, + 196, + 236, + 110, + 40, + 178, + 38, + 198, + 236, + 110, + 40, + 178, + 38, + 198, + 236, + 112, + 36, + 178, + 38, + 202, + 234, + 112, + 36, + 178, + 38, + 202, + 234, + 112, + 34, + 180, + 36, + 208, + 230, + 112, + 34, + 180, + 36, + 208, + 230, + 114, + 32, + 176, + 38, + 212, + 228, + 114, + 32, + 176, + 38, + 212, + 228, + 114, + 32, + 172, + 40, + 214, + 228, + 114, + 32, + 172, + 40, + 214, + 228, + 116, + 28, + 168, + 44, + 218, + 226, + 116, + 28, + 168, + 44, + 218, + 226, + 116, + 28, + 162, + 50, + 220, + 224, + 116, + 28, + 162, + 50, + 220, + 224, + 116, + 28, + 158, + 52, + 224, + 222, + 116, + 28, + 158, + 52, + 224, + 222, + 118, + 26, + 148, + 58, + 230, + 220, + 118, + 26, + 148, + 58, + 230, + 220, + 118, + 26, + 142, + 64, + 230, + 220, + 118, + 26, + 142, + 64, + 230, + 220, + 120, + 24, + 134, + 70, + 234, + 218, + 120, + 24, + 134, + 70, + 234, + 218, + 120, + 24, + 130, + 72, + 236, + 218, + 120, + 24, + 130, + 72, + 236, + 218, + 120, + 24, + 124, + 76, + 240, + 216, + 120, + 24, + 124, + 76, + 240, + 216, + 122, + 22, + 118, + 80, + 244, + 214, + 122, + 22, + 118, + 80, + 244, + 214, + 122, + 22, + 112, + 82, + 248, + 214, + 122, + 22, + 112, + 82, + 248, + 214, + 122, + 24, + 102, + 88, + 252, + 212, + 122, + 24, + 102, + 88, + 252, + 212, + 124, + 22, + 96, + 94, + 254, + 210, + 124, + 22, + 96, + 94, + 254, + 210, + 124, + 22, + 90, + 96, + 260, + 208, + 124, + 22, + 90, + 96, + 260, + 208, + 126, + 20, + 82, + 102, + 264, + 206, + 126, + 20, + 82, + 102, + 264, + 206, + 126, + 22, + 74, + 106, + 266, + 206, + 126, + 22, + 74, + 106, + 266, + 206, + 126, + 22, + 68, + 110, + 270, + 204, + 126, + 22, + 68, + 110, + 270, + 204, + 128, + 22, + 58, + 116, + 274, + 202, + 128, + 22, + 58, + 116, + 274, + 202, + 128, + 22, + 54, + 118, + 278, + 200, + 128, + 22, + 54, + 118, + 278, + 200, + 128, + 24, + 48, + 120, + 282, + 198, + 128, + 24, + 48, + 120, + 282, + 198, + 130, + 24, + 44, + 120, + 284, + 198, + 130, + 24, + 44, + 120, + 284, + 198, + 130, + 24, + 42, + 120, + 286, + 198, + 130, + 24, + 42, + 120, + 286, + 198, + 130, + 26, + 36, + 122, + 288, + 198, + 130, + 26, + 36, + 122, + 288, + 198, + 132, + 26, + 32, + 122, + 290, + 198, + 132, + 26, + 32, + 122, + 290, + 198, + 132, + 30, + 20, + 128, + 290, + 200, + 132, + 30, + 20, + 128, + 290, + 200, + 132, + 38, + 4, + 134, + 292, + 200, + 132, + 38, + 4, + 134, + 292, + 200, + 134, + 172, + 288, + 206, + 134, + 172, + 288, + 206, + 134, + 170, + 288, + 208, + 134, + 170, + 288, + 208, + 136, + 166, + 288, + 210, + 136, + 166, + 288, + 210, + 136, + 164, + 286, + 214, + 136, + 164, + 286, + 214, + 136, + 162, + 286, + 216, + 136, + 162, + 286, + 216, + 138, + 158, + 286, + 218, + 138, + 158, + 286, + 218, + 138, + 156, + 286, + 220, + 138, + 156, + 286, + 220, + 140, + 152, + 286, + 222, + 140, + 152, + 286, + 222, + 140, + 150, + 286, + 224, + 140, + 150, + 286, + 224, + 142, + 146, + 286, + 226, + 142, + 146, + 286, + 226, + 142, + 144, + 284, + 230, + 142, + 144, + 284, + 230, + 142, + 142, + 282, + 234, + 142, + 142, + 282, + 234, + 144, + 138, + 282, + 236, + 144, + 138, + 282, + 236, + 144, + 136, + 282, + 238, + 144, + 136, + 282, + 238, + 146, + 132, + 284, + 238, + 146, + 132, + 284, + 238, + 146, + 130, + 282, + 242, + 146, + 130, + 282, + 242, + 146, + 130, + 278, + 246, + 146, + 130, + 278, + 246, + 148, + 128, + 276, + 248, + 148, + 128, + 276, + 248, + 148, + 128, + 272, + 252, + 148, + 128, + 272, + 252, + 150, + 126, + 270, + 254, + 150, + 126, + 270, + 254, + 150, + 126, + 266, + 258, + 150, + 126, + 266, + 258, + 150, + 126, + 264, + 260, + 150, + 126, + 264, + 260, + 152, + 126, + 258, + 264, + 152, + 126, + 258, + 264, + 152, + 126, + 256, + 266, + 152, + 126, + 256, + 266, + 154, + 126, + 252, + 268, + 154, + 126, + 252, + 268, + 154, + 128, + 246, + 272, + 154, + 128, + 246, + 272, + 156, + 126, + 242, + 276, + 156, + 126, + 242, + 276, + 156, + 128, + 238, + 278, + 156, + 128, + 238, + 278, + 156, + 128, + 234, + 282, + 156, + 128, + 234, + 282, + 158, + 128, + 230, + 284, + 158, + 128, + 230, + 284, + 158, + 128, + 226, + 288, + 158, + 128, + 226, + 288, + 160, + 128, + 222, + 290, + 160, + 128, + 222, + 290, + 160, + 128, + 218, + 294, + 160, + 128, + 218, + 294, + 162, + 128, + 214, + 296, + 162, + 128, + 214, + 296, + 162, + 128, + 212, + 298, + 162, + 128, + 212, + 298, + 164, + 128, + 206, + 302, + 164, + 128, + 206, + 302, + 164, + 130, + 200, + 306, + 164, + 130, + 200, + 306, + 166, + 128, + 198, + 308, + 166, + 128, + 198, + 308, + 166, + 130, + 194, + 310, + 166, + 130, + 194, + 310, + 166, + 130, + 190, + 314, + 166, + 130, + 190, + 314, + 168, + 130, + 184, + 318, + 168, + 130, + 184, + 318, + 168, + 132, + 180, + 320, + 168, + 132, + 180, + 320, + 168, + 132, + 178, + 322, + 168, + 132, + 178, + 322, + 170, + 132, + 174, + 324, + 170, + 132, + 174, + 324, + 170, + 134, + 168, + 328, + 170, + 134, + 168, + 328, + 170, + 134, + 164, + 332, + 170, + 134, + 164, + 332, + 170, + 136, + 160, + 334, + 170, + 136, + 160, + 334, + 172, + 134, + 156, + 338, + 172, + 134, + 156, + 338, + 174, + 132, + 154, + 340, + 174, + 132, + 154, + 340, + 174, + 134, + 148, + 344, + 174, + 134, + 148, + 344, + 174, + 136, + 142, + 348, + 174, + 136, + 142, + 348, + 176, + 136, + 138, + 350, + 176, + 136, + 138, + 350, + 176, + 136, + 136, + 352, + 176, + 136, + 136, + 352, + 176, + 136, + 132, + 356, + 176, + 136, + 132, + 356, + 178, + 136, + 128, + 358, + 178, + 136, + 128, + 358, + 178, + 136, + 126, + 360, + 178, + 136, + 126, + 360, + 180, + 136, + 120, + 364, + 180, + 136, + 120, + 364, + 180, + 136, + 118, + 366, + 180, + 136, + 118, + 366, + 180, + 138, + 114, + 368, + 180, + 138, + 114, + 368, + 182, + 138, + 110, + 370, + 182, + 138, + 110, + 370, + 182, + 140, + 102, + 376, + 182, + 140, + 102, + 376, + 184, + 138, + 100, + 378, + 184, + 138, + 100, + 378, + 184, + 140, + 96, + 380, + 184, + 140, + 96, + 380, + 184, + 140, + 94, + 382, + 184, + 140, + 94, + 382, + 186, + 138, + 90, + 386, + 186, + 138, + 90, + 386, + 186, + 138, + 88, + 388, + 186, + 138, + 88, + 388, + 188, + 136, + 84, + 392, + 188, + 136, + 84, + 392, + 188, + 132, + 86, + 394, + 188, + 132, + 86, + 394, + 190, + 126, + 86, + 398, + 190, + 126, + 86, + 398, + 190, + 122, + 88, + 400, + 190, + 122, + 88, + 400, + 190, + 116, + 90, + 404, + 190, + 116, + 90, + 404, + 192, + 108, + 94, + 406, + 192, + 108, + 94, + 406, + 192, + 104, + 96, + 408, + 192, + 104, + 96, + 408, + 192, + 102, + 94, + 412, + 192, + 102, + 94, + 412, + 194, + 100, + 90, + 416, + 194, + 100, + 90, + 416, + 194, + 98, + 90, + 418, + 194, + 98, + 90, + 418, + 194, + 98, + 88, + 420, + 194, + 98, + 88, + 420, + 196, + 94, + 88, + 422, + 196, + 94, + 88, + 422, + 196, + 94, + 84, + 426, + 196, + 94, + 84, + 426, + 198, + 94, + 36, + 16, + 28, + 428, + 198, + 94, + 36, + 16, + 28, + 428, + 198, + 94, + 32, + 20, + 24, + 432, + 198, + 94, + 32, + 20, + 24, + 432, + 200, + 94, + 28, + 24, + 18, + 436, + 200, + 94, + 28, + 24, + 18, + 436, + 200, + 96, + 22, + 30, + 14, + 438, + 200, + 96, + 22, + 30, + 14, + 438, + 200, + 96, + 18, + 36, + 10, + 440, + 200, + 96, + 18, + 36, + 10, + 440, + 200, + 100, + 12, + 488, + 200, + 100, + 12, + 488, + 202, + 102, + 4, + 492, + 202, + 102, + 4, + 492, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 298, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 484, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000249:0000", + "experimental_retained_index": 1, + "ism_score": 0.35086002945899963, + "R": [ + [ + -0.017297476530075073, + 0.03996971249580383, + -0.9989510178565979 + ], + [ + 0.18879738450050354, + 0.9812002182006836, + 0.03603573516011238 + ], + [ + 0.9817471504211426, + -0.1880892515182495, + -0.024495109915733337 + ] + ], + "t": [ + -29.031879425048828, + 22.430086135864258, + 438.7797546386719 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 440, + 0, + 838, + 334 + ], + "score": 0.042006537318229675, + "time": 0.0, + "segmentation": { + "counts": [ + 351200, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 680, + 122, + 678, + 122, + 672, + 128, + 672, + 128, + 666, + 136, + 664, + 136, + 660, + 140, + 660, + 140, + 656, + 144, + 656, + 144, + 650, + 152, + 648, + 152, + 642, + 158, + 642, + 158, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 618, + 182, + 618, + 182, + 614, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 605, + 195, + 605, + 195, + 605, + 197, + 603, + 197, + 603, + 197, + 603, + 197, + 603, + 199, + 601, + 199, + 601, + 199, + 601, + 199, + 601, + 111, + 8, + 82, + 599, + 111, + 8, + 82, + 599, + 107, + 14, + 80, + 599, + 107, + 14, + 80, + 599, + 105, + 16, + 80, + 599, + 105, + 16, + 80, + 599, + 101, + 20, + 82, + 597, + 101, + 20, + 82, + 597, + 99, + 24, + 80, + 597, + 99, + 24, + 80, + 597, + 95, + 28, + 82, + 595, + 95, + 28, + 82, + 595, + 91, + 34, + 80, + 595, + 91, + 34, + 80, + 595, + 89, + 36, + 80, + 595, + 89, + 36, + 80, + 595, + 85, + 40, + 82, + 593, + 85, + 40, + 82, + 593, + 79, + 48, + 82, + 591, + 79, + 48, + 82, + 591, + 75, + 52, + 82, + 591, + 75, + 52, + 82, + 591, + 71, + 56, + 84, + 589, + 71, + 56, + 84, + 589, + 69, + 60, + 82, + 589, + 69, + 60, + 82, + 589, + 65, + 64, + 82, + 589, + 65, + 64, + 82, + 589, + 63, + 66, + 84, + 587, + 63, + 66, + 84, + 587, + 59, + 72, + 82, + 587, + 59, + 72, + 82, + 587, + 53, + 78, + 82, + 587, + 53, + 78, + 82, + 587, + 21, + 12, + 16, + 82, + 84, + 585, + 21, + 12, + 16, + 82, + 84, + 585, + 17, + 22, + 4, + 90, + 82, + 585, + 17, + 22, + 4, + 90, + 82, + 585, + 13, + 120, + 84, + 583, + 13, + 120, + 84, + 583, + 5, + 130, + 82, + 583, + 5, + 130, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 650, + 60, + 14, + 76, + 650, + 60, + 14, + 76, + 650, + 48, + 34, + 68, + 650, + 48, + 34, + 68, + 654, + 28, + 54, + 66, + 652, + 28, + 54, + 66, + 738, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 56, + 744, + 56, + 580, + 18, + 146, + 56, + 580, + 18, + 146, + 56, + 570, + 30, + 146, + 56, + 568, + 30, + 146, + 56, + 568, + 30, + 146, + 56, + 568, + 30, + 146, + 56, + 568, + 28, + 150, + 54, + 568, + 28, + 150, + 54, + 566, + 28, + 152, + 56, + 564, + 28, + 152, + 56, + 562, + 28, + 156, + 56, + 560, + 28, + 156, + 56, + 558, + 28, + 158, + 56, + 558, + 28, + 158, + 56, + 558, + 26, + 162, + 54, + 558, + 26, + 162, + 54, + 558, + 24, + 164, + 56, + 556, + 24, + 164, + 56, + 552, + 28, + 164, + 56, + 552, + 28, + 164, + 56, + 542, + 34, + 168, + 58, + 540, + 34, + 168, + 58, + 534, + 34, + 176, + 56, + 534, + 34, + 176, + 56, + 534, + 34, + 176, + 56, + 534, + 34, + 176, + 56, + 534, + 32, + 180, + 56, + 532, + 32, + 180, + 56, + 530, + 32, + 182, + 56, + 530, + 32, + 182, + 56, + 528, + 32, + 184, + 58, + 526, + 32, + 184, + 58, + 526, + 28, + 190, + 56, + 526, + 28, + 190, + 56, + 526, + 26, + 192, + 58, + 524, + 26, + 192, + 58, + 524, + 24, + 194, + 58, + 524, + 24, + 194, + 58, + 524, + 24, + 196, + 56, + 524, + 24, + 196, + 56, + 524, + 18, + 202, + 58, + 522, + 18, + 202, + 58, + 522, + 16, + 206, + 56, + 522, + 16, + 206, + 56, + 522, + 14, + 208, + 56, + 522, + 14, + 208, + 56, + 522, + 12, + 212, + 56, + 520, + 12, + 212, + 56, + 520, + 10, + 214, + 56, + 520, + 10, + 214, + 56, + 522, + 4, + 220, + 54, + 522, + 4, + 220, + 54, + 746, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 52, + 463 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "Tube:000249:0001", + "experimental_retained_index": 0, + "ism_score": 0.37339144945144653, + "R": [ + [ + 0.6617536544799805, + -0.08748232573270798, + -0.7443413734436035 + ], + [ + 0.6170289516448975, + 0.6279336810112, + 0.4746665358543396 + ], + [ + 0.42620450258255005, + -0.7733820676803589, + 0.46958014369010925 + ] + ], + "t": [ + 269.74267578125, + -251.44114685058594, + 564.0496826171875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000249/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/frames/000249/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "Tube:000249:0001", + "Tube:000249:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/Tube/visualizations/000249.png" + } + ] +} diff --git a/0008_/experimental_multi_instance/pem/TubeHolder/TubeHolder_poses_per_frame.json b/0008_/experimental_multi_instance/pem/TubeHolder/TubeHolder_poses_per_frame.json new file mode 100644 index 0000000000000000000000000000000000000000..8f00c3e03463d5958182262234aee55559c46558 --- /dev/null +++ b/0008_/experimental_multi_instance/pem/TubeHolder/TubeHolder_poses_per_frame.json @@ -0,0 +1,105863 @@ +{ + "format": "label_factory_experimental_multi_instance_poses_per_frame_v1", + "experimental": true, + "changes_current_pipeline": false, + "object_name": "TubeHolder", + "object_identity": { + "object_name": "TubeHolder", + "cad_path": "/workspace/data/0008_/objects/stl/TubeHolder.stl", + "cad_sha256": "c6ad60c6c97a7c7cfb3cf6d9cf6e4a09fea19865821bb5f4a37c5f53e746d3d4", + "templates_identity": "c6ad60c6c97a7c7cfb3cf6d9cf6e4a09fea19865821bb5f4a37c5f53e746d3d4" + }, + "config_path": "/workspace/scripts/configs/default.yaml", + "dataset_dir": "/workspace/data/0008_", + "cad_path": "/workspace/data/0008_/objects/stl/TubeHolder.stl", + "camera_path": "/workspace/data/0008_/sam6d_sequences/TubeHolder/camera_depth_mm.json", + "depth_unit": "millimetre", + "source_audit": "/workspace/data/0008_/experimental_multi_instance/ism_candidate_audit/summary.json", + "experimental_pem_manifest": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/experimental_pem_manifest.json", + "statistics": { + "frames": 57, + "frames_with_candidates": 57, + "frames_with_poses": 57, + "input_candidates": 89, + "pose_candidates": 89, + "candidates_without_pose": 0 + }, + "frames": [ + { + "frame_id": 0, + "image_path": "/workspace/data/0008_/images/000000.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000000.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 0, + "category_id": 1, + "bbox": [ + 610, + 222, + 204, + 272 + ], + "score": 0.3933851420879364, + "time": 0.0, + "segmentation": { + "counts": [ + 487601, + 22, + 14, + 18, + 746, + 22, + 14, + 18, + 742, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 692, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 682, + 120, + 680, + 120, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 666, + 136, + 664, + 136, + 660, + 140, + 660, + 140, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 644, + 156, + 644, + 156, + 640, + 162, + 638, + 162, + 634, + 166, + 634, + 166, + 630, + 170, + 630, + 170, + 624, + 176, + 624, + 176, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 610, + 190, + 610, + 190, + 602, + 200, + 600, + 200, + 594, + 206, + 594, + 206, + 590, + 212, + 588, + 212, + 584, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 574, + 228, + 572, + 228, + 566, + 234, + 566, + 234, + 562, + 238, + 562, + 238, + 556, + 244, + 556, + 244, + 552, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 550, + 244, + 556, + 244, + 558, + 236, + 564, + 236, + 564, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 586, + 208, + 592, + 208, + 592, + 196, + 604, + 196, + 606, + 188, + 612, + 188, + 612, + 176, + 624, + 176, + 622, + 170, + 630, + 170, + 630, + 156, + 644, + 156, + 644, + 146, + 654, + 146, + 654, + 138, + 662, + 138, + 662, + 128, + 672, + 128, + 674, + 118, + 682, + 118, + 682, + 108, + 692, + 108, + 692, + 98, + 702, + 98, + 706, + 86, + 714, + 86, + 714, + 76, + 724, + 76, + 724, + 68, + 732, + 68, + 734, + 56, + 744, + 56, + 744, + 44, + 756, + 44, + 756, + 36, + 764, + 36, + 766, + 28, + 772, + 28, + 772, + 18, + 782, + 18, + 784, + 8, + 792, + 8, + 370941 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000000:0000", + "experimental_retained_index": 0, + "ism_score": 0.4140896201133728, + "R": [ + [ + -0.3255073130130768, + -0.0325874425470829, + 0.9449098706245422 + ], + [ + 0.7801750302314758, + 0.5550859570503235, + 0.2878236770629883 + ], + [ + -0.534147322177887, + 0.8312546610832214, + -0.155280202627182 + ] + ], + "t": [ + 130.06809997558594, + -72.6003189086914, + 469.0681457519531 + ] + }, + { + "scene_id": 0, + "image_id": 0, + "category_id": 1, + "bbox": [ + 416, + 280, + 214, + 174 + ], + "score": 0.016697503626346588, + "time": 0.0, + "segmentation": { + "counts": [ + 332377, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 754, + 46, + 32, + 10, + 712, + 46, + 32, + 10, + 710, + 46, + 32, + 12, + 710, + 46, + 32, + 12, + 710, + 44, + 32, + 16, + 708, + 44, + 32, + 16, + 706, + 44, + 32, + 20, + 704, + 44, + 32, + 20, + 702, + 44, + 32, + 24, + 700, + 44, + 32, + 24, + 700, + 42, + 32, + 28, + 698, + 42, + 32, + 28, + 696, + 44, + 30, + 32, + 694, + 44, + 30, + 32, + 692, + 28, + 10, + 4, + 32, + 36, + 690, + 28, + 10, + 4, + 32, + 36, + 690, + 26, + 46, + 38, + 690, + 26, + 46, + 38, + 688, + 26, + 46, + 42, + 686, + 26, + 46, + 42, + 684, + 26, + 44, + 48, + 682, + 26, + 44, + 48, + 682, + 26, + 42, + 52, + 680, + 26, + 42, + 52, + 678, + 28, + 40, + 56, + 676, + 28, + 40, + 56, + 674, + 30, + 38, + 60, + 672, + 30, + 38, + 60, + 672, + 32, + 36, + 62, + 670, + 32, + 36, + 62, + 668, + 36, + 32, + 66, + 666, + 36, + 32, + 66, + 664, + 38, + 30, + 70, + 662, + 38, + 30, + 70, + 662, + 40, + 28, + 70, + 662, + 40, + 28, + 70, + 660, + 44, + 24, + 74, + 658, + 44, + 24, + 74, + 656, + 48, + 20, + 78, + 654, + 48, + 20, + 78, + 652, + 52, + 16, + 80, + 652, + 52, + 16, + 80, + 650, + 56, + 14, + 80, + 650, + 56, + 14, + 80, + 650, + 58, + 10, + 82, + 650, + 58, + 10, + 82, + 648, + 62, + 2, + 88, + 648, + 62, + 2, + 88, + 648, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 780, + 16, + 784, + 16, + 518053 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000000:0001", + "experimental_retained_index": 1, + "ism_score": 0.381657212972641, + "R": [ + [ + 0.4891391694545746, + 0.20754604041576385, + 0.8468906283378601 + ], + [ + -0.42031538486480713, + -0.7947539687156677, + 0.4375295639038086 + ], + [ + 0.764351487159729, + -0.5701879262924194, + -0.3016853928565979 + ] + ], + "t": [ + -58.95158004760742, + -2.0528364181518555, + 295.29119873046875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 0, + "category_id": 1, + "bbox": [ + 610, + 222, + 204, + 272 + ], + "score": 0.3933851420879364, + "time": 0.0, + "segmentation": { + "counts": [ + 487601, + 22, + 14, + 18, + 746, + 22, + 14, + 18, + 742, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 692, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 682, + 120, + 680, + 120, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 666, + 136, + 664, + 136, + 660, + 140, + 660, + 140, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 644, + 156, + 644, + 156, + 640, + 162, + 638, + 162, + 634, + 166, + 634, + 166, + 630, + 170, + 630, + 170, + 624, + 176, + 624, + 176, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 610, + 190, + 610, + 190, + 602, + 200, + 600, + 200, + 594, + 206, + 594, + 206, + 590, + 212, + 588, + 212, + 584, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 574, + 228, + 572, + 228, + 566, + 234, + 566, + 234, + 562, + 238, + 562, + 238, + 556, + 244, + 556, + 244, + 552, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 550, + 244, + 556, + 244, + 558, + 236, + 564, + 236, + 564, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 586, + 208, + 592, + 208, + 592, + 196, + 604, + 196, + 606, + 188, + 612, + 188, + 612, + 176, + 624, + 176, + 622, + 170, + 630, + 170, + 630, + 156, + 644, + 156, + 644, + 146, + 654, + 146, + 654, + 138, + 662, + 138, + 662, + 128, + 672, + 128, + 674, + 118, + 682, + 118, + 682, + 108, + 692, + 108, + 692, + 98, + 702, + 98, + 706, + 86, + 714, + 86, + 714, + 76, + 724, + 76, + 724, + 68, + 732, + 68, + 734, + 56, + 744, + 56, + 744, + 44, + 756, + 44, + 756, + 36, + 764, + 36, + 766, + 28, + 772, + 28, + 772, + 18, + 782, + 18, + 784, + 8, + 792, + 8, + 370941 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000000:0000", + "experimental_retained_index": 0, + "ism_score": 0.4140896201133728, + "R": [ + [ + -0.3255073130130768, + -0.0325874425470829, + 0.9449098706245422 + ], + [ + 0.7801750302314758, + 0.5550859570503235, + 0.2878236770629883 + ], + [ + -0.534147322177887, + 0.8312546610832214, + -0.155280202627182 + ] + ], + "t": [ + 130.06809997558594, + -72.6003189086914, + 469.0681457519531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000000/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000000/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000000:0000", + "TubeHolder:000000:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000000.png" + }, + { + "frame_id": 5, + "image_path": "/workspace/data/0008_/images/000005.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000005.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 5, + "category_id": 1, + "bbox": [ + 640, + 214, + 192, + 252 + ], + "score": 0.3913787603378296, + "time": 0.0, + "segmentation": { + "counts": [ + 511619, + 10, + 790, + 10, + 748, + 54, + 746, + 54, + 740, + 62, + 738, + 62, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 672, + 130, + 670, + 130, + 666, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 638, + 164, + 636, + 164, + 628, + 172, + 628, + 172, + 624, + 176, + 624, + 176, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 602, + 198, + 602, + 198, + 598, + 204, + 596, + 204, + 590, + 210, + 590, + 210, + 584, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 564, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 558, + 238, + 562, + 238, + 562, + 234, + 566, + 234, + 568, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 580, + 212, + 588, + 212, + 588, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 192, + 608, + 192, + 610, + 182, + 618, + 182, + 618, + 172, + 628, + 172, + 628, + 164, + 636, + 164, + 636, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 654, + 138, + 662, + 138, + 662, + 126, + 674, + 126, + 674, + 118, + 682, + 118, + 684, + 108, + 692, + 108, + 692, + 100, + 700, + 100, + 700, + 92, + 708, + 92, + 710, + 80, + 720, + 80, + 720, + 74, + 726, + 74, + 726, + 64, + 736, + 64, + 738, + 54, + 746, + 54, + 746, + 46, + 754, + 46, + 754, + 36, + 764, + 36, + 764, + 30, + 770, + 30, + 772, + 20, + 780, + 20, + 782, + 8, + 792, + 8, + 356551 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000005:0000", + "experimental_retained_index": 0, + "ism_score": 0.4106268882751465, + "R": [ + [ + -0.3200610280036926, + 0.0003137439489364624, + 0.9472085237503052 + ], + [ + 0.7847901582717896, + 0.5601398348808289, + 0.2650265395641327 + ], + [ + -0.5307208299636841, + 0.8285619020462036, + -0.17954474687576294 + ] + ], + "t": [ + 149.91180419921875, + -89.23942565917969, + 498.6741027832031 + ] + }, + { + "scene_id": 0, + "image_id": 5, + "category_id": 1, + "bbox": [ + 462, + 270, + 198, + 160 + ], + "score": 0.3759828209877014, + "time": 0.0, + "segmentation": { + "counts": [ + 369159, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 758, + 40, + 32, + 4, + 724, + 40, + 32, + 4, + 724, + 38, + 32, + 8, + 722, + 38, + 32, + 8, + 720, + 40, + 30, + 12, + 718, + 40, + 30, + 12, + 716, + 40, + 30, + 16, + 714, + 40, + 30, + 16, + 712, + 38, + 32, + 18, + 712, + 38, + 32, + 18, + 712, + 36, + 32, + 22, + 710, + 36, + 32, + 22, + 708, + 36, + 32, + 26, + 706, + 36, + 32, + 26, + 706, + 32, + 34, + 30, + 704, + 32, + 34, + 30, + 702, + 24, + 40, + 36, + 700, + 24, + 40, + 36, + 698, + 24, + 42, + 38, + 696, + 24, + 42, + 38, + 696, + 22, + 40, + 42, + 696, + 22, + 40, + 42, + 694, + 22, + 40, + 46, + 692, + 22, + 40, + 46, + 690, + 24, + 38, + 50, + 688, + 24, + 38, + 50, + 686, + 26, + 36, + 54, + 684, + 26, + 36, + 54, + 684, + 28, + 34, + 56, + 682, + 28, + 34, + 56, + 680, + 30, + 32, + 60, + 678, + 30, + 32, + 60, + 676, + 34, + 28, + 64, + 674, + 34, + 28, + 64, + 674, + 36, + 26, + 66, + 672, + 36, + 26, + 66, + 670, + 40, + 22, + 70, + 668, + 40, + 22, + 70, + 666, + 44, + 18, + 72, + 666, + 44, + 18, + 72, + 664, + 48, + 14, + 76, + 662, + 48, + 14, + 76, + 662, + 50, + 12, + 76, + 662, + 50, + 12, + 76, + 660, + 54, + 6, + 80, + 660, + 54, + 6, + 80, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 494069 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000005:0001", + "experimental_retained_index": 1, + "ism_score": 0.3807421028614044, + "R": [ + [ + -0.7042894959449768, + 0.17169198393821716, + 0.688831627368927 + ], + [ + 0.5730960369110107, + 0.710297167301178, + 0.40880176424980164 + ], + [ + -0.4189213812351227, + 0.6827539205551147, + -0.5984717607498169 + ] + ], + "t": [ + 63.71603775024414, + -66.74396514892578, + 503.8563537597656 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 5, + "category_id": 1, + "bbox": [ + 640, + 214, + 192, + 252 + ], + "score": 0.3913787603378296, + "time": 0.0, + "segmentation": { + "counts": [ + 511619, + 10, + 790, + 10, + 748, + 54, + 746, + 54, + 740, + 62, + 738, + 62, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 672, + 130, + 670, + 130, + 666, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 638, + 164, + 636, + 164, + 628, + 172, + 628, + 172, + 624, + 176, + 624, + 176, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 602, + 198, + 602, + 198, + 598, + 204, + 596, + 204, + 590, + 210, + 590, + 210, + 584, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 564, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 558, + 238, + 562, + 238, + 562, + 234, + 566, + 234, + 568, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 580, + 212, + 588, + 212, + 588, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 192, + 608, + 192, + 610, + 182, + 618, + 182, + 618, + 172, + 628, + 172, + 628, + 164, + 636, + 164, + 636, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 654, + 138, + 662, + 138, + 662, + 126, + 674, + 126, + 674, + 118, + 682, + 118, + 684, + 108, + 692, + 108, + 692, + 100, + 700, + 100, + 700, + 92, + 708, + 92, + 710, + 80, + 720, + 80, + 720, + 74, + 726, + 74, + 726, + 64, + 736, + 64, + 738, + 54, + 746, + 54, + 746, + 46, + 754, + 46, + 754, + 36, + 764, + 36, + 764, + 30, + 770, + 30, + 772, + 20, + 780, + 20, + 782, + 8, + 792, + 8, + 356551 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000005:0000", + "experimental_retained_index": 0, + "ism_score": 0.4106268882751465, + "R": [ + [ + -0.3200610280036926, + 0.0003137439489364624, + 0.9472085237503052 + ], + [ + 0.7847901582717896, + 0.5601398348808289, + 0.2650265395641327 + ], + [ + -0.5307208299636841, + 0.8285619020462036, + -0.17954474687576294 + ] + ], + "t": [ + 149.91180419921875, + -89.23942565917969, + 498.6741027832031 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000005/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000005/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000005:0000", + "TubeHolder:000005:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000005.png" + }, + { + "frame_id": 11, + "image_path": "/workspace/data/0008_/images/000011.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000011.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 11, + "category_id": 1, + "bbox": [ + 622, + 86, + 278, + 340 + ], + "score": 0.43235835433006287, + "time": 0.0, + "segmentation": { + "counts": [ + 496959, + 8, + 792, + 8, + 790, + 14, + 786, + 14, + 784, + 68, + 732, + 68, + 732, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 722, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 650, + 156, + 644, + 156, + 644, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 166, + 634, + 166, + 634, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 624, + 50, + 4, + 126, + 620, + 50, + 4, + 126, + 620, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 32, + 2, + 160, + 606, + 32, + 2, + 160, + 604, + 30, + 10, + 14, + 6, + 142, + 598, + 30, + 10, + 14, + 6, + 142, + 598, + 24, + 18, + 6, + 12, + 146, + 594, + 24, + 18, + 6, + 12, + 146, + 594, + 24, + 36, + 150, + 590, + 24, + 36, + 150, + 590, + 24, + 36, + 152, + 588, + 24, + 36, + 152, + 588, + 24, + 36, + 158, + 582, + 24, + 36, + 158, + 580, + 26, + 34, + 164, + 576, + 26, + 34, + 164, + 576, + 26, + 34, + 168, + 572, + 26, + 34, + 168, + 570, + 28, + 30, + 176, + 566, + 28, + 30, + 176, + 566, + 32, + 12, + 6, + 4, + 182, + 564, + 32, + 12, + 6, + 4, + 182, + 564, + 244, + 556, + 244, + 556, + 248, + 552, + 248, + 550, + 254, + 546, + 254, + 546, + 258, + 542, + 258, + 542, + 264, + 536, + 264, + 536, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 526, + 278, + 522, + 278, + 522, + 282, + 518, + 282, + 518, + 286, + 514, + 286, + 514, + 290, + 510, + 290, + 508, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 456, + 6, + 38, + 300, + 456, + 6, + 38, + 300, + 456, + 6, + 38, + 300, + 456, + 6, + 38, + 300, + 498, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 460, + 4, + 38, + 296, + 462, + 4, + 38, + 296, + 462, + 4, + 38, + 296, + 462, + 4, + 38, + 296, + 504, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 498, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 504, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 510, + 290, + 510, + 290, + 512, + 286, + 514, + 286, + 518, + 282, + 518, + 282, + 522, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 534, + 264, + 536, + 264, + 540, + 260, + 540, + 260, + 544, + 24, + 8, + 224, + 544, + 24, + 8, + 224, + 548, + 20, + 6, + 224, + 550, + 20, + 6, + 224, + 550, + 20, + 6, + 224, + 550, + 20, + 6, + 224, + 550, + 24, + 4, + 222, + 550, + 24, + 4, + 222, + 550, + 24, + 4, + 222, + 550, + 24, + 4, + 222, + 550, + 24, + 2, + 222, + 552, + 24, + 2, + 222, + 552, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 26, + 2, + 216, + 556, + 26, + 2, + 216, + 556, + 24, + 6, + 214, + 556, + 24, + 6, + 214, + 556, + 16, + 16, + 212, + 556, + 16, + 16, + 212, + 556, + 16, + 16, + 212, + 556, + 16, + 16, + 212, + 558, + 12, + 20, + 208, + 560, + 12, + 20, + 208, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 200, + 600, + 200, + 604, + 196, + 604, + 196, + 608, + 192, + 608, + 192, + 612, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 626, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 636, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 648, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 704, + 96, + 704, + 96, + 706, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 734, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 746, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 36, + 764, + 36, + 768, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 6, + 794, + 6, + 302069 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000011:0000", + "experimental_retained_index": 0, + "ism_score": 0.44344446063041687, + "R": [ + [ + 0.3308109641075134, + 0.04684768617153168, + 0.9425329566001892 + ], + [ + 0.8314546942710876, + 0.4579508900642395, + -0.3145858943462372 + ], + [ + -0.44637152552604675, + 0.8877421617507935, + 0.11254365742206573 + ] + ], + "t": [ + 85.5237045288086, + -152.7427215576172, + 439.1539306640625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 11, + "category_id": 1, + "bbox": [ + 622, + 86, + 278, + 340 + ], + "score": 0.43235835433006287, + "time": 0.0, + "segmentation": { + "counts": [ + 496959, + 8, + 792, + 8, + 790, + 14, + 786, + 14, + 784, + 68, + 732, + 68, + 732, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 722, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 650, + 156, + 644, + 156, + 644, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 166, + 634, + 166, + 634, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 624, + 50, + 4, + 126, + 620, + 50, + 4, + 126, + 620, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 32, + 2, + 160, + 606, + 32, + 2, + 160, + 604, + 30, + 10, + 14, + 6, + 142, + 598, + 30, + 10, + 14, + 6, + 142, + 598, + 24, + 18, + 6, + 12, + 146, + 594, + 24, + 18, + 6, + 12, + 146, + 594, + 24, + 36, + 150, + 590, + 24, + 36, + 150, + 590, + 24, + 36, + 152, + 588, + 24, + 36, + 152, + 588, + 24, + 36, + 158, + 582, + 24, + 36, + 158, + 580, + 26, + 34, + 164, + 576, + 26, + 34, + 164, + 576, + 26, + 34, + 168, + 572, + 26, + 34, + 168, + 570, + 28, + 30, + 176, + 566, + 28, + 30, + 176, + 566, + 32, + 12, + 6, + 4, + 182, + 564, + 32, + 12, + 6, + 4, + 182, + 564, + 244, + 556, + 244, + 556, + 248, + 552, + 248, + 550, + 254, + 546, + 254, + 546, + 258, + 542, + 258, + 542, + 264, + 536, + 264, + 536, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 526, + 278, + 522, + 278, + 522, + 282, + 518, + 282, + 518, + 286, + 514, + 286, + 514, + 290, + 510, + 290, + 508, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 456, + 6, + 38, + 300, + 456, + 6, + 38, + 300, + 456, + 6, + 38, + 300, + 456, + 6, + 38, + 300, + 498, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 460, + 4, + 38, + 296, + 462, + 4, + 38, + 296, + 462, + 4, + 38, + 296, + 462, + 4, + 38, + 296, + 504, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 498, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 504, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 510, + 290, + 510, + 290, + 512, + 286, + 514, + 286, + 518, + 282, + 518, + 282, + 522, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 534, + 264, + 536, + 264, + 540, + 260, + 540, + 260, + 544, + 24, + 8, + 224, + 544, + 24, + 8, + 224, + 548, + 20, + 6, + 224, + 550, + 20, + 6, + 224, + 550, + 20, + 6, + 224, + 550, + 20, + 6, + 224, + 550, + 24, + 4, + 222, + 550, + 24, + 4, + 222, + 550, + 24, + 4, + 222, + 550, + 24, + 4, + 222, + 550, + 24, + 2, + 222, + 552, + 24, + 2, + 222, + 552, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 26, + 2, + 216, + 556, + 26, + 2, + 216, + 556, + 24, + 6, + 214, + 556, + 24, + 6, + 214, + 556, + 16, + 16, + 212, + 556, + 16, + 16, + 212, + 556, + 16, + 16, + 212, + 556, + 16, + 16, + 212, + 558, + 12, + 20, + 208, + 560, + 12, + 20, + 208, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 200, + 600, + 200, + 604, + 196, + 604, + 196, + 608, + 192, + 608, + 192, + 612, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 626, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 636, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 648, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 704, + 96, + 704, + 96, + 706, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 734, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 746, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 36, + 764, + 36, + 768, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 6, + 794, + 6, + 302069 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000011:0000", + "experimental_retained_index": 0, + "ism_score": 0.44344446063041687, + "R": [ + [ + 0.3308109641075134, + 0.04684768617153168, + 0.9425329566001892 + ], + [ + 0.8314546942710876, + 0.4579508900642395, + -0.3145858943462372 + ], + [ + -0.44637152552604675, + 0.8877421617507935, + 0.11254365742206573 + ] + ], + "t": [ + 85.5237045288086, + -152.7427215576172, + 439.1539306640625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000011/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000011/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000011:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000011.png" + }, + { + "frame_id": 17, + "image_path": "/workspace/data/0008_/images/000017.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000017.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 470, + 44, + 472, + 358 + ], + "score": 0.5172796249389648, + "time": 0.0, + "segmentation": { + "counts": [ + 375353, + 14, + 786, + 14, + 786, + 18, + 782, + 18, + 780, + 26, + 774, + 26, + 772, + 34, + 766, + 34, + 764, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 58, + 742, + 58, + 740, + 66, + 734, + 66, + 732, + 78, + 722, + 78, + 720, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 610, + 4, + 48, + 138, + 610, + 4, + 48, + 138, + 608, + 10, + 42, + 142, + 606, + 10, + 42, + 142, + 606, + 10, + 42, + 142, + 606, + 10, + 42, + 142, + 606, + 12, + 38, + 146, + 604, + 12, + 38, + 146, + 604, + 12, + 38, + 146, + 604, + 12, + 38, + 146, + 602, + 16, + 34, + 150, + 600, + 16, + 34, + 150, + 598, + 24, + 28, + 152, + 596, + 24, + 28, + 152, + 596, + 34, + 16, + 156, + 594, + 34, + 16, + 156, + 592, + 42, + 8, + 158, + 592, + 42, + 8, + 158, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 14, + 2, + 196, + 588, + 14, + 2, + 196, + 592, + 4, + 16, + 188, + 592, + 4, + 16, + 188, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 602, + 6, + 2, + 192, + 600, + 6, + 2, + 192, + 598, + 12, + 2, + 188, + 598, + 12, + 2, + 188, + 596, + 14, + 6, + 186, + 594, + 14, + 6, + 186, + 592, + 18, + 6, + 184, + 592, + 18, + 6, + 184, + 590, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 26, + 8, + 192, + 574, + 26, + 8, + 192, + 576, + 12, + 24, + 190, + 574, + 12, + 24, + 190, + 576, + 8, + 26, + 190, + 576, + 8, + 26, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 634, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 680, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 716, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 726, + 68, + 732, + 68, + 734, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 24, + 776, + 24, + 780, + 12, + 788, + 12, + 116214, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 268395 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000017:0001", + "experimental_retained_index": 0, + "ism_score": 0.5356941223144531, + "R": [ + [ + 0.8091741800308228, + 0.04977656900882721, + 0.5854566693305969 + ], + [ + 0.493820458650589, + 0.4823331832885742, + -0.7235307693481445 + ], + [ + -0.3183998763561249, + 0.87457275390625, + 0.3657105267047882 + ] + ], + "t": [ + -43.8059196472168, + -190.7542724609375, + 459.0292663574219 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 470, + 44, + 472, + 358 + ], + "score": 0.5172796249389648, + "time": 0.0, + "segmentation": { + "counts": [ + 375353, + 14, + 786, + 14, + 786, + 18, + 782, + 18, + 780, + 26, + 774, + 26, + 772, + 34, + 766, + 34, + 764, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 58, + 742, + 58, + 740, + 66, + 734, + 66, + 732, + 78, + 722, + 78, + 720, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 610, + 4, + 48, + 138, + 610, + 4, + 48, + 138, + 608, + 10, + 42, + 142, + 606, + 10, + 42, + 142, + 606, + 10, + 42, + 142, + 606, + 10, + 42, + 142, + 606, + 12, + 38, + 146, + 604, + 12, + 38, + 146, + 604, + 12, + 38, + 146, + 604, + 12, + 38, + 146, + 602, + 16, + 34, + 150, + 600, + 16, + 34, + 150, + 598, + 24, + 28, + 152, + 596, + 24, + 28, + 152, + 596, + 34, + 16, + 156, + 594, + 34, + 16, + 156, + 592, + 42, + 8, + 158, + 592, + 42, + 8, + 158, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 14, + 2, + 196, + 588, + 14, + 2, + 196, + 592, + 4, + 16, + 188, + 592, + 4, + 16, + 188, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 602, + 6, + 2, + 192, + 600, + 6, + 2, + 192, + 598, + 12, + 2, + 188, + 598, + 12, + 2, + 188, + 596, + 14, + 6, + 186, + 594, + 14, + 6, + 186, + 592, + 18, + 6, + 184, + 592, + 18, + 6, + 184, + 590, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 26, + 8, + 192, + 574, + 26, + 8, + 192, + 576, + 12, + 24, + 190, + 574, + 12, + 24, + 190, + 576, + 8, + 26, + 190, + 576, + 8, + 26, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 634, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 680, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 716, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 726, + 68, + 732, + 68, + 734, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 24, + 776, + 24, + 780, + 12, + 788, + 12, + 116214, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 268395 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000017:0001", + "experimental_retained_index": 0, + "ism_score": 0.5356941223144531, + "R": [ + [ + 0.8091741800308228, + 0.04977656900882721, + 0.5854566693305969 + ], + [ + 0.493820458650589, + 0.4823331832885742, + -0.7235307693481445 + ], + [ + -0.3183998763561249, + 0.87457275390625, + 0.3657105267047882 + ] + ], + "t": [ + -43.8059196472168, + -190.7542724609375, + 459.0292663574219 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000017/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000017/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000017:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000017.png" + }, + { + "frame_id": 29, + "image_path": "/workspace/data/0008_/images/000029.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000029.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 416, + 98, + 474, + 534 + ], + "score": 0.4586825370788574, + "time": 0.0, + "segmentation": { + "counts": [ + 332275, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 72762, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 744, + 62, + 738, + 62, + 734, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 716, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 698, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 600, + 6, + 48, + 146, + 600, + 6, + 48, + 146, + 596, + 12, + 44, + 150, + 594, + 12, + 44, + 150, + 592, + 16, + 40, + 152, + 592, + 16, + 40, + 152, + 592, + 16, + 38, + 156, + 590, + 16, + 38, + 156, + 590, + 18, + 32, + 160, + 590, + 18, + 32, + 160, + 588, + 22, + 28, + 164, + 586, + 22, + 28, + 164, + 586, + 24, + 22, + 168, + 586, + 24, + 22, + 168, + 586, + 28, + 16, + 172, + 584, + 28, + 16, + 172, + 582, + 30, + 14, + 176, + 580, + 30, + 14, + 176, + 580, + 34, + 6, + 182, + 578, + 34, + 6, + 182, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 576, + 224, + 576, + 224, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 278, + 4, + 298, + 220, + 278, + 4, + 298, + 222, + 276, + 4, + 298, + 222, + 276, + 4, + 300, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 558, + 6, + 6, + 232, + 556, + 6, + 6, + 232, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 582, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 606, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 686, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 772, + 24, + 776, + 24, + 778, + 18, + 782, + 18, + 784, + 14, + 786, + 14, + 788, + 8, + 792, + 8, + 310127 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000029:0002", + "experimental_retained_index": 0, + "ism_score": 0.479667991399765, + "R": [ + [ + 0.8220041394233704, + -0.11101284623146057, + -0.5582929253578186 + ], + [ + 0.5335634350776672, + -0.19073770940303802, + 0.8239567875862122 + ], + [ + -0.19794487953186035, + -0.9754770994186401, + -0.09760603308677673 + ] + ], + "t": [ + -65.51399230957031, + -76.85736846923828, + 330.8318176269531 + ] + }, + { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 506, + 368, + 246, + 280 + ], + "score": 0.05831208452582359, + "time": 0.0, + "segmentation": { + "counts": [ + 404445, + 12, + 788, + 12, + 786, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 746, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 722, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 152, + 648, + 152, + 646, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 610, + 194, + 606, + 194, + 606, + 200, + 600, + 200, + 598, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 572, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 240, + 560, + 240, + 558, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 548, + 258, + 542, + 258, + 540, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 520, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 528, + 270, + 530, + 270, + 532, + 178, + 10, + 80, + 532, + 178, + 10, + 80, + 536, + 172, + 14, + 76, + 538, + 172, + 14, + 76, + 540, + 168, + 20, + 70, + 542, + 168, + 20, + 70, + 546, + 162, + 24, + 68, + 546, + 162, + 24, + 68, + 548, + 158, + 30, + 62, + 550, + 158, + 30, + 62, + 554, + 152, + 32, + 60, + 556, + 152, + 32, + 60, + 558, + 148, + 36, + 56, + 560, + 148, + 36, + 56, + 564, + 144, + 38, + 54, + 564, + 144, + 38, + 54, + 566, + 140, + 42, + 50, + 568, + 140, + 42, + 50, + 572, + 134, + 48, + 44, + 574, + 134, + 48, + 44, + 576, + 132, + 48, + 44, + 576, + 132, + 48, + 44, + 580, + 126, + 50, + 42, + 582, + 126, + 50, + 42, + 584, + 124, + 54, + 36, + 586, + 124, + 54, + 36, + 590, + 118, + 60, + 32, + 590, + 118, + 60, + 32, + 594, + 114, + 62, + 28, + 596, + 114, + 62, + 28, + 598, + 112, + 64, + 26, + 598, + 112, + 64, + 26, + 600, + 110, + 68, + 20, + 602, + 110, + 68, + 20, + 606, + 108, + 68, + 16, + 608, + 108, + 68, + 16, + 610, + 106, + 70, + 12, + 612, + 106, + 70, + 12, + 616, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 698, + 106, + 694, + 106, + 696, + 108, + 692, + 108, + 696, + 112, + 688, + 112, + 690, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 114, + 686, + 114, + 688, + 116, + 684, + 116, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 690, + 114, + 686, + 114, + 688, + 116, + 684, + 116, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 690, + 112, + 688, + 112, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 420233 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000029:0001", + "experimental_retained_index": 1, + "ism_score": 0.42408788204193115, + "R": [ + [ + -0.9471367001533508, + 0.30209270119667053, + -0.10960009694099426 + ], + [ + 0.32057449221611023, + 0.9114377498626709, + -0.2575322687625885 + ], + [ + 0.022092267870903015, + -0.2789642810821533, + -0.9600041508674622 + ] + ], + "t": [ + 61.724796295166016, + -10.233322143554688, + 256.854248046875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 416, + 98, + 474, + 534 + ], + "score": 0.4586825370788574, + "time": 0.0, + "segmentation": { + "counts": [ + 332275, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 72762, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 744, + 62, + 738, + 62, + 734, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 716, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 698, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 600, + 6, + 48, + 146, + 600, + 6, + 48, + 146, + 596, + 12, + 44, + 150, + 594, + 12, + 44, + 150, + 592, + 16, + 40, + 152, + 592, + 16, + 40, + 152, + 592, + 16, + 38, + 156, + 590, + 16, + 38, + 156, + 590, + 18, + 32, + 160, + 590, + 18, + 32, + 160, + 588, + 22, + 28, + 164, + 586, + 22, + 28, + 164, + 586, + 24, + 22, + 168, + 586, + 24, + 22, + 168, + 586, + 28, + 16, + 172, + 584, + 28, + 16, + 172, + 582, + 30, + 14, + 176, + 580, + 30, + 14, + 176, + 580, + 34, + 6, + 182, + 578, + 34, + 6, + 182, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 576, + 224, + 576, + 224, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 278, + 4, + 298, + 220, + 278, + 4, + 298, + 222, + 276, + 4, + 298, + 222, + 276, + 4, + 300, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 558, + 6, + 6, + 232, + 556, + 6, + 6, + 232, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 582, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 606, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 686, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 772, + 24, + 776, + 24, + 778, + 18, + 782, + 18, + 784, + 14, + 786, + 14, + 788, + 8, + 792, + 8, + 310127 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000029:0002", + "experimental_retained_index": 0, + "ism_score": 0.479667991399765, + "R": [ + [ + 0.8220041394233704, + -0.11101284623146057, + -0.5582929253578186 + ], + [ + 0.5335634350776672, + -0.19073770940303802, + 0.8239567875862122 + ], + [ + -0.19794487953186035, + -0.9754770994186401, + -0.09760603308677673 + ] + ], + "t": [ + -65.51399230957031, + -76.85736846923828, + 330.8318176269531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000029/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000029/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000029:0002", + "TubeHolder:000029:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000029.png" + }, + { + "frame_id": 34, + "image_path": "/workspace/data/0008_/images/000034.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000034.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 454, + 174, + 504, + 622 + ], + "score": 0.43728798627853394, + "time": 0.0, + "segmentation": { + "counts": [ + 362695, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 50412, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 7220, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 47132, + 8, + 792, + 8, + 790, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 780, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 770, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 50, + 750, + 50, + 750, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 728, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 718, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 710, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 104, + 696, + 104, + 694, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 654, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 646, + 158, + 642, + 158, + 642, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 172, + 384, + 4, + 240, + 172, + 384, + 4, + 240, + 176, + 368, + 8, + 4, + 4, + 240, + 176, + 368, + 8, + 4, + 4, + 240, + 178, + 364, + 12, + 2, + 4, + 240, + 178, + 364, + 12, + 2, + 4, + 238, + 184, + 358, + 14, + 2, + 4, + 238, + 184, + 358, + 14, + 2, + 4, + 236, + 192, + 346, + 20, + 242, + 192, + 346, + 20, + 240, + 198, + 342, + 20, + 2, + 4, + 234, + 198, + 342, + 20, + 2, + 4, + 234, + 200, + 332, + 34, + 234, + 200, + 332, + 34, + 232, + 204, + 328, + 36, + 232, + 204, + 328, + 36, + 232, + 210, + 322, + 36, + 232, + 210, + 322, + 36, + 230, + 216, + 318, + 36, + 230, + 216, + 318, + 36, + 230, + 220, + 316, + 34, + 230, + 220, + 316, + 34, + 228, + 226, + 312, + 6, + 4, + 24, + 228, + 226, + 312, + 6, + 4, + 24, + 228, + 228, + 306, + 4, + 10, + 24, + 228, + 228, + 306, + 4, + 10, + 24, + 226, + 236, + 300, + 6, + 8, + 24, + 226, + 236, + 300, + 6, + 8, + 24, + 226, + 240, + 296, + 10, + 4, + 24, + 226, + 240, + 296, + 10, + 4, + 24, + 224, + 246, + 292, + 10, + 4, + 24, + 224, + 246, + 292, + 10, + 4, + 24, + 222, + 252, + 288, + 8, + 6, + 24, + 222, + 252, + 288, + 8, + 6, + 24, + 222, + 254, + 300, + 24, + 222, + 254, + 300, + 24, + 222, + 260, + 296, + 22, + 222, + 260, + 296, + 22, + 220, + 266, + 292, + 22, + 220, + 266, + 292, + 22, + 220, + 272, + 288, + 20, + 220, + 272, + 288, + 20, + 220, + 274, + 286, + 20, + 220, + 274, + 286, + 20, + 218, + 278, + 284, + 20, + 218, + 278, + 284, + 20, + 216, + 286, + 280, + 18, + 216, + 286, + 280, + 18, + 216, + 290, + 188, + 8, + 78, + 20, + 216, + 290, + 188, + 8, + 78, + 20, + 214, + 296, + 184, + 8, + 78, + 20, + 214, + 296, + 184, + 8, + 78, + 20, + 178, + 8, + 28, + 298, + 182, + 8, + 80, + 18, + 178, + 8, + 28, + 298, + 182, + 8, + 80, + 18, + 174, + 18, + 20, + 304, + 170, + 6, + 90, + 18, + 174, + 18, + 20, + 304, + 170, + 6, + 90, + 18, + 174, + 26, + 12, + 308, + 166, + 6, + 88, + 18, + 176, + 26, + 12, + 308, + 166, + 6, + 88, + 18, + 176, + 28, + 8, + 316, + 150, + 4, + 6, + 4, + 90, + 14, + 180, + 28, + 8, + 316, + 150, + 4, + 6, + 4, + 90, + 14, + 180, + 356, + 146, + 4, + 100, + 12, + 182, + 356, + 146, + 4, + 100, + 12, + 182, + 360, + 142, + 4, + 100, + 10, + 184, + 360, + 142, + 4, + 100, + 10, + 184, + 364, + 242, + 8, + 186, + 364, + 242, + 8, + 186, + 368, + 238, + 6, + 188, + 368, + 238, + 6, + 188, + 372, + 172, + 8, + 248, + 372, + 172, + 8, + 248, + 376, + 168, + 8, + 248, + 376, + 168, + 8, + 248, + 380, + 166, + 6, + 248, + 380, + 166, + 6, + 248, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 394, + 178, + 4, + 224, + 394, + 178, + 4, + 226, + 396, + 174, + 4, + 226, + 396, + 174, + 4, + 228, + 398, + 402, + 398, + 404, + 400, + 400, + 400, + 402, + 400, + 400, + 400, + 402, + 402, + 398, + 402, + 402, + 402, + 398, + 402, + 402, + 400, + 400, + 400, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 402, + 398, + 402, + 398, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 412, + 388, + 412, + 388, + 414, + 384, + 416, + 384, + 420, + 380, + 420, + 380, + 422, + 376, + 424, + 376, + 428, + 372, + 428, + 372, + 432, + 368, + 432, + 368, + 434, + 364, + 436, + 364, + 440, + 360, + 440, + 360, + 442, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 452, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 460, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 468, + 330, + 470, + 330, + 474, + 326, + 474, + 326, + 476, + 322, + 478, + 322, + 482, + 318, + 482, + 318, + 486, + 314, + 486, + 314, + 488, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 496, + 302, + 498, + 302, + 502, + 296, + 504, + 296, + 508, + 292, + 508, + 292, + 510, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 526, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 538, + 260, + 540, + 260, + 550, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 560, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 576, + 224, + 576, + 224, + 580, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 604, + 194, + 606, + 194, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 626, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 652, + 146, + 654, + 146, + 658, + 142, + 658, + 142, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 672, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 680, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 740, + 60, + 740, + 60, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 255495 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000034:0001", + "experimental_retained_index": 0, + "ism_score": 0.47115200757980347, + "R": [ + [ + -0.44301965832710266, + 0.1385381817817688, + -0.8858640193939209 + ], + [ + -0.8524463176727295, + 0.24018226563930511, + 0.4640907347202301 + ], + [ + 0.2769218683242798, + 0.9607901573181152, + 0.011724846437573433 + ] + ], + "t": [ + 68.07550048828125, + 98.19768524169922, + 317.1066589355469 + ] + }, + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 502, + 440, + 168, + 252 + ], + "score": 0.10179644823074341, + "time": 0.0, + "segmentation": { + "counts": [ + 401355, + 122, + 678, + 122, + 584, + 226, + 574, + 226, + 570, + 236, + 564, + 236, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 196, + 6, + 48, + 550, + 196, + 6, + 48, + 550, + 182, + 24, + 44, + 550, + 182, + 24, + 44, + 548, + 182, + 30, + 40, + 548, + 182, + 30, + 40, + 548, + 180, + 34, + 38, + 548, + 180, + 34, + 38, + 548, + 180, + 36, + 36, + 548, + 180, + 36, + 36, + 550, + 176, + 50, + 22, + 552, + 176, + 50, + 22, + 552, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 182, + 28, + 4, + 586, + 182, + 28, + 4, + 586, + 188, + 18, + 32, + 562, + 188, + 18, + 32, + 562, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 550, + 250, + 550, + 250, + 588, + 212, + 588, + 212, + 664, + 136, + 664, + 136, + 694, + 104, + 696, + 104, + 730, + 70, + 730, + 70, + 768, + 30, + 770, + 30, + 485709 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000034:0002", + "experimental_retained_index": 1, + "ism_score": 0.38779595494270325, + "R": [ + [ + 0.15440373122692108, + -0.9816014170646667, + -0.1123996376991272 + ], + [ + -0.9484641551971436, + -0.11539709568023682, + -0.29473909735679626 + ], + [ + 0.27629825472831726, + 0.15219280123710632, + -0.9488590955734253 + ] + ], + "t": [ + -60.659637451171875, + 111.79652404785156, + 228.8344268798828 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 454, + 174, + 504, + 622 + ], + "score": 0.43728798627853394, + "time": 0.0, + "segmentation": { + "counts": [ + 362695, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 50412, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 7220, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 47132, + 8, + 792, + 8, + 790, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 780, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 770, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 50, + 750, + 50, + 750, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 728, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 718, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 710, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 104, + 696, + 104, + 694, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 654, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 646, + 158, + 642, + 158, + 642, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 172, + 384, + 4, + 240, + 172, + 384, + 4, + 240, + 176, + 368, + 8, + 4, + 4, + 240, + 176, + 368, + 8, + 4, + 4, + 240, + 178, + 364, + 12, + 2, + 4, + 240, + 178, + 364, + 12, + 2, + 4, + 238, + 184, + 358, + 14, + 2, + 4, + 238, + 184, + 358, + 14, + 2, + 4, + 236, + 192, + 346, + 20, + 242, + 192, + 346, + 20, + 240, + 198, + 342, + 20, + 2, + 4, + 234, + 198, + 342, + 20, + 2, + 4, + 234, + 200, + 332, + 34, + 234, + 200, + 332, + 34, + 232, + 204, + 328, + 36, + 232, + 204, + 328, + 36, + 232, + 210, + 322, + 36, + 232, + 210, + 322, + 36, + 230, + 216, + 318, + 36, + 230, + 216, + 318, + 36, + 230, + 220, + 316, + 34, + 230, + 220, + 316, + 34, + 228, + 226, + 312, + 6, + 4, + 24, + 228, + 226, + 312, + 6, + 4, + 24, + 228, + 228, + 306, + 4, + 10, + 24, + 228, + 228, + 306, + 4, + 10, + 24, + 226, + 236, + 300, + 6, + 8, + 24, + 226, + 236, + 300, + 6, + 8, + 24, + 226, + 240, + 296, + 10, + 4, + 24, + 226, + 240, + 296, + 10, + 4, + 24, + 224, + 246, + 292, + 10, + 4, + 24, + 224, + 246, + 292, + 10, + 4, + 24, + 222, + 252, + 288, + 8, + 6, + 24, + 222, + 252, + 288, + 8, + 6, + 24, + 222, + 254, + 300, + 24, + 222, + 254, + 300, + 24, + 222, + 260, + 296, + 22, + 222, + 260, + 296, + 22, + 220, + 266, + 292, + 22, + 220, + 266, + 292, + 22, + 220, + 272, + 288, + 20, + 220, + 272, + 288, + 20, + 220, + 274, + 286, + 20, + 220, + 274, + 286, + 20, + 218, + 278, + 284, + 20, + 218, + 278, + 284, + 20, + 216, + 286, + 280, + 18, + 216, + 286, + 280, + 18, + 216, + 290, + 188, + 8, + 78, + 20, + 216, + 290, + 188, + 8, + 78, + 20, + 214, + 296, + 184, + 8, + 78, + 20, + 214, + 296, + 184, + 8, + 78, + 20, + 178, + 8, + 28, + 298, + 182, + 8, + 80, + 18, + 178, + 8, + 28, + 298, + 182, + 8, + 80, + 18, + 174, + 18, + 20, + 304, + 170, + 6, + 90, + 18, + 174, + 18, + 20, + 304, + 170, + 6, + 90, + 18, + 174, + 26, + 12, + 308, + 166, + 6, + 88, + 18, + 176, + 26, + 12, + 308, + 166, + 6, + 88, + 18, + 176, + 28, + 8, + 316, + 150, + 4, + 6, + 4, + 90, + 14, + 180, + 28, + 8, + 316, + 150, + 4, + 6, + 4, + 90, + 14, + 180, + 356, + 146, + 4, + 100, + 12, + 182, + 356, + 146, + 4, + 100, + 12, + 182, + 360, + 142, + 4, + 100, + 10, + 184, + 360, + 142, + 4, + 100, + 10, + 184, + 364, + 242, + 8, + 186, + 364, + 242, + 8, + 186, + 368, + 238, + 6, + 188, + 368, + 238, + 6, + 188, + 372, + 172, + 8, + 248, + 372, + 172, + 8, + 248, + 376, + 168, + 8, + 248, + 376, + 168, + 8, + 248, + 380, + 166, + 6, + 248, + 380, + 166, + 6, + 248, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 394, + 178, + 4, + 224, + 394, + 178, + 4, + 226, + 396, + 174, + 4, + 226, + 396, + 174, + 4, + 228, + 398, + 402, + 398, + 404, + 400, + 400, + 400, + 402, + 400, + 400, + 400, + 402, + 402, + 398, + 402, + 402, + 402, + 398, + 402, + 402, + 400, + 400, + 400, + 402, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 398, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 402, + 398, + 402, + 398, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 412, + 388, + 412, + 388, + 414, + 384, + 416, + 384, + 420, + 380, + 420, + 380, + 422, + 376, + 424, + 376, + 428, + 372, + 428, + 372, + 432, + 368, + 432, + 368, + 434, + 364, + 436, + 364, + 440, + 360, + 440, + 360, + 442, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 452, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 460, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 468, + 330, + 470, + 330, + 474, + 326, + 474, + 326, + 476, + 322, + 478, + 322, + 482, + 318, + 482, + 318, + 486, + 314, + 486, + 314, + 488, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 496, + 302, + 498, + 302, + 502, + 296, + 504, + 296, + 508, + 292, + 508, + 292, + 510, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 526, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 538, + 260, + 540, + 260, + 550, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 560, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 576, + 224, + 576, + 224, + 580, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 604, + 194, + 606, + 194, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 626, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 652, + 146, + 654, + 146, + 658, + 142, + 658, + 142, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 672, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 680, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 740, + 60, + 740, + 60, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 255495 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000034:0001", + "experimental_retained_index": 0, + "ism_score": 0.47115200757980347, + "R": [ + [ + -0.44301965832710266, + 0.1385381817817688, + -0.8858640193939209 + ], + [ + -0.8524463176727295, + 0.24018226563930511, + 0.4640907347202301 + ], + [ + 0.2769218683242798, + 0.9607901573181152, + 0.011724846437573433 + ] + ], + "t": [ + 68.07550048828125, + 98.19768524169922, + 317.1066589355469 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000034/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000034/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000034:0001", + "TubeHolder:000034:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000034.png" + }, + { + "frame_id": 36, + "image_path": "/workspace/data/0008_/images/000036.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000036.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 152, + 170, + 694, + 484 + ], + "score": 0.48853760957717896, + "time": 0.0, + "segmentation": { + "counts": [ + 121195, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 3986, + 6, + 12, + 18, + 764, + 6, + 12, + 18, + 764, + 6, + 12, + 18, + 764, + 6, + 12, + 18, + 788, + 10, + 790, + 10, + 790, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 794, + 6, + 794, + 6, + 5586, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 192602, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 790, + 10, + 790, + 10, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 40, + 760, + 40, + 760, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 44, + 4, + 6, + 746, + 44, + 4, + 6, + 746, + 42, + 6, + 6, + 746, + 42, + 6, + 6, + 746, + 42, + 8, + 4, + 746, + 42, + 8, + 4, + 746, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 762, + 44, + 6, + 4, + 746, + 44, + 6, + 4, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 40, + 2, + 8, + 750, + 40, + 2, + 8, + 752, + 36, + 4, + 8, + 752, + 36, + 4, + 8, + 754, + 48, + 752, + 48, + 756, + 44, + 756, + 44, + 762, + 38, + 762, + 38, + 768, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 72796, + 10, + 790, + 10, + 788, + 28, + 772, + 28, + 770, + 40, + 760, + 40, + 760, + 58, + 742, + 58, + 742, + 68, + 732, + 68, + 730, + 80, + 720, + 80, + 720, + 100, + 700, + 100, + 700, + 108, + 692, + 108, + 692, + 124, + 676, + 124, + 674, + 138, + 662, + 138, + 662, + 148, + 652, + 148, + 652, + 164, + 636, + 164, + 636, + 178, + 622, + 178, + 622, + 190, + 610, + 190, + 608, + 206, + 594, + 206, + 592, + 220, + 580, + 220, + 580, + 240, + 560, + 240, + 560, + 250, + 550, + 250, + 550, + 268, + 532, + 268, + 532, + 282, + 518, + 282, + 516, + 292, + 508, + 292, + 508, + 312, + 488, + 312, + 488, + 326, + 474, + 326, + 474, + 340, + 460, + 340, + 458, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 354, + 446, + 354, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 354, + 78, + 10, + 358, + 354, + 78, + 10, + 358, + 354, + 78, + 12, + 356, + 354, + 78, + 12, + 356, + 354, + 70, + 6, + 2, + 14, + 354, + 354, + 70, + 6, + 2, + 14, + 354, + 354, + 70, + 6, + 4, + 12, + 354, + 354, + 70, + 6, + 4, + 12, + 352, + 354, + 72, + 6, + 6, + 8, + 354, + 354, + 72, + 6, + 6, + 8, + 354, + 354, + 72, + 6, + 368, + 354, + 72, + 6, + 332, + 22, + 14, + 354, + 72, + 6, + 332, + 22, + 14, + 354, + 72, + 6, + 330, + 28, + 10, + 354, + 70, + 8, + 330, + 28, + 10, + 354, + 70, + 8, + 330, + 32, + 4, + 356, + 70, + 8, + 330, + 32, + 4, + 356, + 70, + 8, + 328, + 394, + 72, + 4, + 330, + 394, + 72, + 4, + 330, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 84, + 4, + 320, + 392, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 422, + 376, + 424, + 376, + 432, + 8, + 6, + 354, + 432, + 8, + 6, + 354, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 454, + 346, + 454, + 346, + 462, + 338, + 462, + 338, + 470, + 328, + 472, + 328, + 480, + 320, + 480, + 320, + 488, + 312, + 488, + 312, + 498, + 302, + 498, + 302, + 504, + 296, + 504, + 296, + 512, + 288, + 512, + 288, + 522, + 276, + 524, + 276, + 532, + 268, + 532, + 268, + 540, + 260, + 540, + 260, + 548, + 252, + 548, + 252, + 554, + 246, + 554, + 246, + 560, + 240, + 560, + 240, + 572, + 228, + 572, + 228, + 580, + 218, + 582, + 218, + 590, + 210, + 590, + 210, + 598, + 202, + 598, + 202, + 608, + 192, + 608, + 192, + 614, + 184, + 616, + 184, + 624, + 176, + 624, + 176, + 630, + 170, + 630, + 170, + 638, + 162, + 638, + 162, + 646, + 154, + 646, + 154, + 654, + 144, + 656, + 144, + 664, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 680, + 120, + 680, + 120, + 688, + 110, + 690, + 110, + 696, + 104, + 696, + 104, + 706, + 94, + 706, + 94, + 712, + 88, + 712, + 88, + 718, + 80, + 720, + 80, + 728, + 72, + 728, + 72, + 736, + 62, + 738, + 62, + 748, + 52, + 748, + 52, + 754, + 46, + 754, + 46, + 762, + 36, + 764, + 36, + 772, + 28, + 772, + 28, + 780, + 18, + 782, + 18, + 792, + 6, + 794, + 6, + 345067 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000036:0001", + "experimental_retained_index": 0, + "ism_score": 0.5059289336204529, + "R": [ + [ + 0.14044232666492462, + -0.09982556104660034, + -0.985044002532959 + ], + [ + 0.9506785273551941, + -0.26431071758270264, + 0.16232845187187195 + ], + [ + -0.27656233310699463, + -0.9592578411102295, + 0.0577818937599659 + ] + ], + "t": [ + -20.050350189208984, + -83.75806427001953, + 328.2781982421875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 152, + 170, + 694, + 484 + ], + "score": 0.48853760957717896, + "time": 0.0, + "segmentation": { + "counts": [ + 121195, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 3986, + 6, + 12, + 18, + 764, + 6, + 12, + 18, + 764, + 6, + 12, + 18, + 764, + 6, + 12, + 18, + 788, + 10, + 790, + 10, + 790, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 794, + 6, + 794, + 6, + 5586, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 192602, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 790, + 10, + 790, + 10, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 40, + 760, + 40, + 760, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 44, + 4, + 6, + 746, + 44, + 4, + 6, + 746, + 42, + 6, + 6, + 746, + 42, + 6, + 6, + 746, + 42, + 8, + 4, + 746, + 42, + 8, + 4, + 746, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 762, + 44, + 6, + 4, + 746, + 44, + 6, + 4, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 40, + 2, + 8, + 750, + 40, + 2, + 8, + 752, + 36, + 4, + 8, + 752, + 36, + 4, + 8, + 754, + 48, + 752, + 48, + 756, + 44, + 756, + 44, + 762, + 38, + 762, + 38, + 768, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 72796, + 10, + 790, + 10, + 788, + 28, + 772, + 28, + 770, + 40, + 760, + 40, + 760, + 58, + 742, + 58, + 742, + 68, + 732, + 68, + 730, + 80, + 720, + 80, + 720, + 100, + 700, + 100, + 700, + 108, + 692, + 108, + 692, + 124, + 676, + 124, + 674, + 138, + 662, + 138, + 662, + 148, + 652, + 148, + 652, + 164, + 636, + 164, + 636, + 178, + 622, + 178, + 622, + 190, + 610, + 190, + 608, + 206, + 594, + 206, + 592, + 220, + 580, + 220, + 580, + 240, + 560, + 240, + 560, + 250, + 550, + 250, + 550, + 268, + 532, + 268, + 532, + 282, + 518, + 282, + 516, + 292, + 508, + 292, + 508, + 312, + 488, + 312, + 488, + 326, + 474, + 326, + 474, + 340, + 460, + 340, + 458, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 354, + 446, + 354, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 354, + 78, + 10, + 358, + 354, + 78, + 10, + 358, + 354, + 78, + 12, + 356, + 354, + 78, + 12, + 356, + 354, + 70, + 6, + 2, + 14, + 354, + 354, + 70, + 6, + 2, + 14, + 354, + 354, + 70, + 6, + 4, + 12, + 354, + 354, + 70, + 6, + 4, + 12, + 352, + 354, + 72, + 6, + 6, + 8, + 354, + 354, + 72, + 6, + 6, + 8, + 354, + 354, + 72, + 6, + 368, + 354, + 72, + 6, + 332, + 22, + 14, + 354, + 72, + 6, + 332, + 22, + 14, + 354, + 72, + 6, + 330, + 28, + 10, + 354, + 70, + 8, + 330, + 28, + 10, + 354, + 70, + 8, + 330, + 32, + 4, + 356, + 70, + 8, + 330, + 32, + 4, + 356, + 70, + 8, + 328, + 394, + 72, + 4, + 330, + 394, + 72, + 4, + 330, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 84, + 4, + 320, + 392, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 84, + 4, + 322, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 422, + 376, + 424, + 376, + 432, + 8, + 6, + 354, + 432, + 8, + 6, + 354, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 454, + 346, + 454, + 346, + 462, + 338, + 462, + 338, + 470, + 328, + 472, + 328, + 480, + 320, + 480, + 320, + 488, + 312, + 488, + 312, + 498, + 302, + 498, + 302, + 504, + 296, + 504, + 296, + 512, + 288, + 512, + 288, + 522, + 276, + 524, + 276, + 532, + 268, + 532, + 268, + 540, + 260, + 540, + 260, + 548, + 252, + 548, + 252, + 554, + 246, + 554, + 246, + 560, + 240, + 560, + 240, + 572, + 228, + 572, + 228, + 580, + 218, + 582, + 218, + 590, + 210, + 590, + 210, + 598, + 202, + 598, + 202, + 608, + 192, + 608, + 192, + 614, + 184, + 616, + 184, + 624, + 176, + 624, + 176, + 630, + 170, + 630, + 170, + 638, + 162, + 638, + 162, + 646, + 154, + 646, + 154, + 654, + 144, + 656, + 144, + 664, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 680, + 120, + 680, + 120, + 688, + 110, + 690, + 110, + 696, + 104, + 696, + 104, + 706, + 94, + 706, + 94, + 712, + 88, + 712, + 88, + 718, + 80, + 720, + 80, + 728, + 72, + 728, + 72, + 736, + 62, + 738, + 62, + 748, + 52, + 748, + 52, + 754, + 46, + 754, + 46, + 762, + 36, + 764, + 36, + 772, + 28, + 772, + 28, + 780, + 18, + 782, + 18, + 792, + 6, + 794, + 6, + 345067 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000036:0001", + "experimental_retained_index": 0, + "ism_score": 0.5059289336204529, + "R": [ + [ + 0.14044232666492462, + -0.09982556104660034, + -0.985044002532959 + ], + [ + 0.9506785273551941, + -0.26431071758270264, + 0.16232845187187195 + ], + [ + -0.27656233310699463, + -0.9592578411102295, + 0.0577818937599659 + ] + ], + "t": [ + -20.050350189208984, + -83.75806427001953, + 328.2781982421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000036/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000036/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000036:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000036.png" + }, + { + "frame_id": 38, + "image_path": "/workspace/data/0008_/images/000038.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000038.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 38, + "category_id": 1, + "bbox": [ + 376, + 136, + 438, + 380 + ], + "score": 0.4466124176979065, + "time": 0.0, + "segmentation": { + "counts": [ + 300411, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 5622, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 154412, + 14, + 786, + 14, + 594, + 4, + 178, + 26, + 592, + 4, + 178, + 26, + 592, + 4, + 168, + 38, + 590, + 4, + 168, + 38, + 754, + 50, + 750, + 50, + 742, + 60, + 740, + 60, + 728, + 76, + 724, + 76, + 716, + 86, + 714, + 86, + 704, + 98, + 702, + 98, + 694, + 108, + 692, + 108, + 684, + 118, + 682, + 118, + 672, + 128, + 672, + 128, + 664, + 136, + 664, + 136, + 654, + 148, + 652, + 148, + 642, + 158, + 642, + 158, + 632, + 168, + 632, + 168, + 622, + 180, + 620, + 180, + 610, + 190, + 610, + 190, + 604, + 196, + 604, + 196, + 594, + 206, + 594, + 206, + 586, + 214, + 586, + 214, + 572, + 228, + 572, + 228, + 564, + 236, + 564, + 236, + 552, + 250, + 550, + 250, + 540, + 260, + 540, + 260, + 532, + 268, + 532, + 268, + 520, + 280, + 520, + 280, + 510, + 290, + 510, + 290, + 500, + 300, + 500, + 300, + 490, + 312, + 488, + 312, + 480, + 320, + 480, + 320, + 470, + 330, + 470, + 330, + 468, + 332, + 468, + 332, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 464, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 432, + 6, + 8, + 354, + 432, + 6, + 8, + 354, + 424, + 374, + 426, + 374, + 418, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 374, + 426, + 374, + 426, + 372, + 428, + 372, + 428, + 26, + 2, + 340, + 432, + 26, + 2, + 340, + 434, + 4, + 28, + 334, + 434, + 4, + 28, + 334, + 462, + 6, + 4, + 324, + 466, + 6, + 4, + 324, + 466, + 6, + 4, + 312, + 478, + 6, + 4, + 312, + 490, + 290, + 510, + 290, + 510, + 270, + 530, + 270, + 526, + 250, + 550, + 250, + 550, + 232, + 568, + 232, + 568, + 204, + 596, + 204, + 598, + 190, + 610, + 190, + 612, + 166, + 634, + 166, + 634, + 144, + 656, + 144, + 656, + 132, + 668, + 132, + 668, + 110, + 690, + 110, + 690, + 92, + 708, + 92, + 710, + 70, + 730, + 70, + 730, + 56, + 744, + 56, + 744, + 38, + 762, + 38, + 370983 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000038:0001", + "experimental_retained_index": 0, + "ism_score": 0.46857696771621704, + "R": [ + [ + -0.18370965123176575, + 0.10345153510570526, + 0.9775217771530151 + ], + [ + 0.9380542635917664, + 0.31565508246421814, + 0.1428864300251007 + ], + [ + -0.293777734041214, + 0.9432177543640137, + -0.1550319492816925 + ] + ], + "t": [ + 103.97877502441406, + -99.18448638916016, + 376.33343505859375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 38, + "category_id": 1, + "bbox": [ + 376, + 136, + 438, + 380 + ], + "score": 0.4466124176979065, + "time": 0.0, + "segmentation": { + "counts": [ + 300411, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 5622, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 154412, + 14, + 786, + 14, + 594, + 4, + 178, + 26, + 592, + 4, + 178, + 26, + 592, + 4, + 168, + 38, + 590, + 4, + 168, + 38, + 754, + 50, + 750, + 50, + 742, + 60, + 740, + 60, + 728, + 76, + 724, + 76, + 716, + 86, + 714, + 86, + 704, + 98, + 702, + 98, + 694, + 108, + 692, + 108, + 684, + 118, + 682, + 118, + 672, + 128, + 672, + 128, + 664, + 136, + 664, + 136, + 654, + 148, + 652, + 148, + 642, + 158, + 642, + 158, + 632, + 168, + 632, + 168, + 622, + 180, + 620, + 180, + 610, + 190, + 610, + 190, + 604, + 196, + 604, + 196, + 594, + 206, + 594, + 206, + 586, + 214, + 586, + 214, + 572, + 228, + 572, + 228, + 564, + 236, + 564, + 236, + 552, + 250, + 550, + 250, + 540, + 260, + 540, + 260, + 532, + 268, + 532, + 268, + 520, + 280, + 520, + 280, + 510, + 290, + 510, + 290, + 500, + 300, + 500, + 300, + 490, + 312, + 488, + 312, + 480, + 320, + 480, + 320, + 470, + 330, + 470, + 330, + 468, + 332, + 468, + 332, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 464, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 432, + 6, + 8, + 354, + 432, + 6, + 8, + 354, + 424, + 374, + 426, + 374, + 418, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 374, + 426, + 374, + 426, + 372, + 428, + 372, + 428, + 26, + 2, + 340, + 432, + 26, + 2, + 340, + 434, + 4, + 28, + 334, + 434, + 4, + 28, + 334, + 462, + 6, + 4, + 324, + 466, + 6, + 4, + 324, + 466, + 6, + 4, + 312, + 478, + 6, + 4, + 312, + 490, + 290, + 510, + 290, + 510, + 270, + 530, + 270, + 526, + 250, + 550, + 250, + 550, + 232, + 568, + 232, + 568, + 204, + 596, + 204, + 598, + 190, + 610, + 190, + 612, + 166, + 634, + 166, + 634, + 144, + 656, + 144, + 656, + 132, + 668, + 132, + 668, + 110, + 690, + 110, + 690, + 92, + 708, + 92, + 710, + 70, + 730, + 70, + 730, + 56, + 744, + 56, + 744, + 38, + 762, + 38, + 370983 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000038:0001", + "experimental_retained_index": 0, + "ism_score": 0.46857696771621704, + "R": [ + [ + -0.18370965123176575, + 0.10345153510570526, + 0.9775217771530151 + ], + [ + 0.9380542635917664, + 0.31565508246421814, + 0.1428864300251007 + ], + [ + -0.293777734041214, + 0.9432177543640137, + -0.1550319492816925 + ] + ], + "t": [ + 103.97877502441406, + -99.18448638916016, + 376.33343505859375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000038/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000038/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000038:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000038.png" + }, + { + "frame_id": 40, + "image_path": "/workspace/data/0008_/images/000040.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000040.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 40, + "category_id": 1, + "bbox": [ + 316, + 146, + 554, + 364 + ], + "score": 0.47713905572891235, + "time": 0.0, + "segmentation": { + "counts": [ + 252483, + 8, + 792, + 8, + 784, + 6, + 2, + 8, + 784, + 6, + 2, + 8, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 16, + 784, + 16, + 782, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 782, + 6, + 4, + 4, + 786, + 6, + 4, + 4, + 786, + 6, + 794, + 6, + 195940, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 772, + 34, + 766, + 34, + 764, + 42, + 758, + 42, + 754, + 52, + 748, + 52, + 744, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 730, + 72, + 728, + 72, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 660, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 636, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 174, + 626, + 174, + 622, + 178, + 622, + 178, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 604, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 206, + 594, + 206, + 590, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 566, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 550, + 252, + 548, + 252, + 542, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 524, + 276, + 524, + 276, + 520, + 282, + 518, + 282, + 514, + 286, + 514, + 286, + 510, + 290, + 510, + 290, + 508, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 500, + 300, + 500, + 300, + 494, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 482, + 320, + 480, + 320, + 476, + 324, + 476, + 324, + 472, + 330, + 470, + 330, + 466, + 334, + 466, + 334, + 464, + 338, + 462, + 338, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 456, + 340, + 460, + 340, + 460, + 336, + 464, + 336, + 464, + 332, + 468, + 332, + 470, + 324, + 476, + 324, + 476, + 318, + 482, + 318, + 482, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 492, + 302, + 498, + 302, + 498, + 298, + 502, + 298, + 502, + 292, + 508, + 292, + 510, + 284, + 516, + 284, + 516, + 280, + 520, + 280, + 522, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 262, + 538, + 262, + 538, + 256, + 544, + 256, + 544, + 252, + 548, + 252, + 550, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 560, + 234, + 566, + 234, + 568, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 204, + 596, + 204, + 596, + 198, + 602, + 198, + 602, + 194, + 606, + 194, + 606, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 178, + 622, + 178, + 622, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 632, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 136, + 664, + 136, + 662, + 132, + 668, + 132, + 636, + 162, + 638, + 162, + 636, + 158, + 642, + 158, + 640, + 154, + 646, + 154, + 642, + 154, + 646, + 154, + 646, + 148, + 652, + 148, + 652, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 662, + 46, + 2, + 86, + 666, + 46, + 2, + 86, + 666, + 46, + 2, + 82, + 670, + 46, + 2, + 82, + 674, + 42, + 2, + 76, + 680, + 42, + 2, + 76, + 680, + 36, + 8, + 72, + 684, + 36, + 8, + 72, + 686, + 18, + 24, + 66, + 692, + 18, + 24, + 66, + 692, + 16, + 26, + 60, + 698, + 16, + 26, + 60, + 702, + 8, + 32, + 54, + 706, + 8, + 32, + 54, + 746, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 760, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 768, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 780, + 14, + 786, + 14, + 788, + 8, + 792, + 8, + 326191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000040:0001", + "experimental_retained_index": 0, + "ism_score": 0.5228921175003052, + "R": [ + [ + -0.41927772760391235, + 0.09994982182979584, + 0.9023392796516418 + ], + [ + 0.8531547784805298, + 0.38317641615867615, + 0.3539808392524719 + ], + [ + -0.3103744685649872, + 0.9182515144348145, + -0.24593009054660797 + ] + ], + "t": [ + 135.8189697265625, + -86.95281982421875, + 381.8327941894531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 40, + "category_id": 1, + "bbox": [ + 316, + 146, + 554, + 364 + ], + "score": 0.47713905572891235, + "time": 0.0, + "segmentation": { + "counts": [ + 252483, + 8, + 792, + 8, + 784, + 6, + 2, + 8, + 784, + 6, + 2, + 8, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 16, + 784, + 16, + 782, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 782, + 6, + 4, + 4, + 786, + 6, + 4, + 4, + 786, + 6, + 794, + 6, + 195940, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 772, + 34, + 766, + 34, + 764, + 42, + 758, + 42, + 754, + 52, + 748, + 52, + 744, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 730, + 72, + 728, + 72, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 660, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 636, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 174, + 626, + 174, + 622, + 178, + 622, + 178, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 604, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 206, + 594, + 206, + 590, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 566, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 550, + 252, + 548, + 252, + 542, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 524, + 276, + 524, + 276, + 520, + 282, + 518, + 282, + 514, + 286, + 514, + 286, + 510, + 290, + 510, + 290, + 508, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 500, + 300, + 500, + 300, + 494, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 482, + 320, + 480, + 320, + 476, + 324, + 476, + 324, + 472, + 330, + 470, + 330, + 466, + 334, + 466, + 334, + 464, + 338, + 462, + 338, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 456, + 340, + 460, + 340, + 460, + 336, + 464, + 336, + 464, + 332, + 468, + 332, + 470, + 324, + 476, + 324, + 476, + 318, + 482, + 318, + 482, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 492, + 302, + 498, + 302, + 498, + 298, + 502, + 298, + 502, + 292, + 508, + 292, + 510, + 284, + 516, + 284, + 516, + 280, + 520, + 280, + 522, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 262, + 538, + 262, + 538, + 256, + 544, + 256, + 544, + 252, + 548, + 252, + 550, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 560, + 234, + 566, + 234, + 568, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 204, + 596, + 204, + 596, + 198, + 602, + 198, + 602, + 194, + 606, + 194, + 606, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 178, + 622, + 178, + 622, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 632, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 136, + 664, + 136, + 662, + 132, + 668, + 132, + 636, + 162, + 638, + 162, + 636, + 158, + 642, + 158, + 640, + 154, + 646, + 154, + 642, + 154, + 646, + 154, + 646, + 148, + 652, + 148, + 652, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 662, + 46, + 2, + 86, + 666, + 46, + 2, + 86, + 666, + 46, + 2, + 82, + 670, + 46, + 2, + 82, + 674, + 42, + 2, + 76, + 680, + 42, + 2, + 76, + 680, + 36, + 8, + 72, + 684, + 36, + 8, + 72, + 686, + 18, + 24, + 66, + 692, + 18, + 24, + 66, + 692, + 16, + 26, + 60, + 698, + 16, + 26, + 60, + 702, + 8, + 32, + 54, + 706, + 8, + 32, + 54, + 746, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 760, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 768, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 780, + 14, + 786, + 14, + 788, + 8, + 792, + 8, + 326191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000040:0001", + "experimental_retained_index": 0, + "ism_score": 0.5228921175003052, + "R": [ + [ + -0.41927772760391235, + 0.09994982182979584, + 0.9023392796516418 + ], + [ + 0.8531547784805298, + 0.38317641615867615, + 0.3539808392524719 + ], + [ + -0.3103744685649872, + 0.9182515144348145, + -0.24593009054660797 + ] + ], + "t": [ + 135.8189697265625, + -86.95281982421875, + 381.8327941894531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000040/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000040/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000040:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000040.png" + }, + { + "frame_id": 43, + "image_path": "/workspace/data/0008_/images/000043.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000043.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 276, + 72, + 572, + 352 + ], + "score": 0.11342920362949371, + "time": 0.0, + "segmentation": { + "counts": [ + 220373, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 221518, + 12, + 788, + 12, + 784, + 26, + 774, + 26, + 772, + 40, + 760, + 40, + 756, + 64, + 736, + 64, + 734, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 656, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 638, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 630, + 172, + 628, + 172, + 624, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 606, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 204, + 596, + 204, + 592, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 576, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 234, + 566, + 234, + 562, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 552, + 248, + 552, + 248, + 548, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 540, + 260, + 540, + 260, + 538, + 264, + 536, + 264, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 526, + 276, + 524, + 276, + 520, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 502, + 300, + 500, + 300, + 486, + 8, + 6, + 300, + 486, + 8, + 6, + 300, + 484, + 316, + 484, + 316, + 482, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 478, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 326, + 474, + 326, + 474, + 324, + 476, + 324, + 478, + 318, + 482, + 318, + 482, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 304, + 496, + 304, + 496, + 300, + 500, + 300, + 500, + 294, + 506, + 294, + 508, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 518, + 278, + 522, + 278, + 524, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 264, + 536, + 264, + 536, + 260, + 540, + 260, + 540, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 554, + 240, + 560, + 240, + 560, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 600, + 196, + 604, + 196, + 604, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 172, + 628, + 172, + 628, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 664, + 132, + 668, + 132, + 658, + 140, + 660, + 140, + 636, + 10, + 2, + 148, + 640, + 10, + 2, + 148, + 638, + 158, + 642, + 158, + 640, + 154, + 646, + 154, + 644, + 152, + 648, + 152, + 646, + 150, + 650, + 150, + 648, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 128, + 672, + 128, + 674, + 50, + 6, + 64, + 680, + 50, + 6, + 64, + 680, + 38, + 18, + 60, + 684, + 38, + 18, + 60, + 686, + 28, + 26, + 52, + 694, + 28, + 26, + 52, + 696, + 18, + 36, + 46, + 700, + 18, + 36, + 46, + 702, + 8, + 44, + 42, + 706, + 8, + 44, + 42, + 760, + 34, + 766, + 34, + 766, + 28, + 772, + 28, + 772, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 343853 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000043:0003", + "experimental_retained_index": 0, + "ism_score": 0.4972238838672638, + "R": [ + [ + 0.2912178933620453, + -0.6783679723739624, + -0.6747440099716187 + ], + [ + -0.9562264084815979, + -0.1870715618133545, + -0.22489427030086517 + ], + [ + 0.026314884424209595, + 0.7103601098060608, + -0.7030047178268433 + ] + ], + "t": [ + -32.640106201171875, + -16.089818954467773, + 294.4159240722656 + ] + }, + { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 366, + 154, + 244, + 194 + ], + "score": 0.2553693652153015, + "time": 0.0, + "segmentation": { + "counts": [ + 292255, + 6, + 794, + 6, + 786, + 18, + 782, + 18, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 764, + 34, + 44, + 8, + 714, + 34, + 44, + 8, + 712, + 34, + 44, + 12, + 710, + 34, + 44, + 12, + 710, + 32, + 44, + 18, + 706, + 32, + 44, + 18, + 704, + 34, + 40, + 24, + 702, + 34, + 40, + 24, + 702, + 32, + 42, + 26, + 700, + 32, + 42, + 26, + 698, + 30, + 44, + 30, + 696, + 30, + 44, + 30, + 696, + 28, + 44, + 34, + 694, + 28, + 44, + 34, + 692, + 28, + 44, + 40, + 688, + 28, + 44, + 40, + 686, + 24, + 48, + 44, + 684, + 24, + 48, + 44, + 684, + 20, + 52, + 46, + 682, + 20, + 52, + 46, + 680, + 20, + 52, + 50, + 678, + 20, + 52, + 50, + 678, + 18, + 52, + 54, + 676, + 18, + 52, + 54, + 674, + 20, + 50, + 58, + 672, + 20, + 50, + 58, + 672, + 18, + 50, + 62, + 670, + 18, + 50, + 62, + 668, + 20, + 48, + 68, + 664, + 20, + 48, + 68, + 664, + 20, + 46, + 72, + 662, + 20, + 46, + 72, + 660, + 24, + 42, + 76, + 658, + 24, + 42, + 76, + 658, + 26, + 38, + 82, + 654, + 26, + 38, + 82, + 652, + 30, + 34, + 86, + 650, + 30, + 34, + 86, + 650, + 32, + 32, + 88, + 648, + 32, + 32, + 88, + 646, + 36, + 30, + 88, + 646, + 36, + 30, + 88, + 646, + 38, + 26, + 90, + 646, + 38, + 26, + 90, + 644, + 42, + 24, + 90, + 644, + 42, + 24, + 90, + 642, + 46, + 20, + 92, + 642, + 46, + 20, + 92, + 642, + 48, + 18, + 92, + 642, + 48, + 18, + 92, + 640, + 52, + 14, + 94, + 640, + 52, + 14, + 94, + 640, + 56, + 8, + 94, + 642, + 56, + 8, + 94, + 640, + 60, + 2, + 96, + 642, + 60, + 2, + 96, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 4, + 796, + 4, + 534181 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000043:0001", + "experimental_retained_index": 1, + "ism_score": 0.39287593960762024, + "R": [ + [ + -0.826025664806366, + 0.5218657851219177, + 0.21176806092262268 + ], + [ + 0.47382816672325134, + 0.8474581837654114, + -0.2399674355983734 + ], + [ + -0.3046906888484955, + -0.09794598817825317, + -0.9472552537918091 + ] + ], + "t": [ + 3.2248735427856445, + -143.08206176757812, + 314.1644287109375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 366, + 154, + 244, + 194 + ], + "score": 0.2553693652153015, + "time": 0.0, + "segmentation": { + "counts": [ + 292255, + 6, + 794, + 6, + 786, + 18, + 782, + 18, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 764, + 34, + 44, + 8, + 714, + 34, + 44, + 8, + 712, + 34, + 44, + 12, + 710, + 34, + 44, + 12, + 710, + 32, + 44, + 18, + 706, + 32, + 44, + 18, + 704, + 34, + 40, + 24, + 702, + 34, + 40, + 24, + 702, + 32, + 42, + 26, + 700, + 32, + 42, + 26, + 698, + 30, + 44, + 30, + 696, + 30, + 44, + 30, + 696, + 28, + 44, + 34, + 694, + 28, + 44, + 34, + 692, + 28, + 44, + 40, + 688, + 28, + 44, + 40, + 686, + 24, + 48, + 44, + 684, + 24, + 48, + 44, + 684, + 20, + 52, + 46, + 682, + 20, + 52, + 46, + 680, + 20, + 52, + 50, + 678, + 20, + 52, + 50, + 678, + 18, + 52, + 54, + 676, + 18, + 52, + 54, + 674, + 20, + 50, + 58, + 672, + 20, + 50, + 58, + 672, + 18, + 50, + 62, + 670, + 18, + 50, + 62, + 668, + 20, + 48, + 68, + 664, + 20, + 48, + 68, + 664, + 20, + 46, + 72, + 662, + 20, + 46, + 72, + 660, + 24, + 42, + 76, + 658, + 24, + 42, + 76, + 658, + 26, + 38, + 82, + 654, + 26, + 38, + 82, + 652, + 30, + 34, + 86, + 650, + 30, + 34, + 86, + 650, + 32, + 32, + 88, + 648, + 32, + 32, + 88, + 646, + 36, + 30, + 88, + 646, + 36, + 30, + 88, + 646, + 38, + 26, + 90, + 646, + 38, + 26, + 90, + 644, + 42, + 24, + 90, + 644, + 42, + 24, + 90, + 642, + 46, + 20, + 92, + 642, + 46, + 20, + 92, + 642, + 48, + 18, + 92, + 642, + 48, + 18, + 92, + 640, + 52, + 14, + 94, + 640, + 52, + 14, + 94, + 640, + 56, + 8, + 94, + 642, + 56, + 8, + 94, + 640, + 60, + 2, + 96, + 642, + 60, + 2, + 96, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 4, + 796, + 4, + 534181 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000043:0001", + "experimental_retained_index": 1, + "ism_score": 0.39287593960762024, + "R": [ + [ + -0.826025664806366, + 0.5218657851219177, + 0.21176806092262268 + ], + [ + 0.47382816672325134, + 0.8474581837654114, + -0.2399674355983734 + ], + [ + -0.3046906888484955, + -0.09794598817825317, + -0.9472552537918091 + ] + ], + "t": [ + 3.2248735427856445, + -143.08206176757812, + 314.1644287109375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000043/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000043/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000043:0003", + "TubeHolder:000043:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000043.png" + }, + { + "frame_id": 51, + "image_path": "/workspace/data/0008_/images/000051.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000051.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 51, + "category_id": 1, + "bbox": [ + 652, + 152, + 264, + 298 + ], + "score": 0.39156943559646606, + "time": 0.0, + "segmentation": { + "counts": [ + 521033, + 16, + 784, + 16, + 776, + 30, + 770, + 30, + 756, + 50, + 750, + 50, + 736, + 70, + 730, + 70, + 708, + 98, + 702, + 98, + 698, + 110, + 690, + 110, + 690, + 116, + 684, + 116, + 684, + 122, + 678, + 122, + 678, + 128, + 672, + 128, + 672, + 134, + 666, + 134, + 666, + 140, + 660, + 140, + 660, + 146, + 654, + 146, + 654, + 154, + 646, + 154, + 646, + 160, + 640, + 160, + 640, + 166, + 634, + 166, + 634, + 176, + 624, + 176, + 624, + 182, + 618, + 182, + 618, + 188, + 612, + 188, + 610, + 200, + 600, + 200, + 600, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 590, + 216, + 584, + 216, + 584, + 224, + 576, + 224, + 576, + 230, + 570, + 230, + 570, + 240, + 560, + 240, + 562, + 242, + 558, + 242, + 558, + 250, + 550, + 250, + 550, + 258, + 542, + 258, + 542, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 528, + 276, + 524, + 276, + 522, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 508, + 292, + 508, + 292, + 502, + 4, + 2, + 292, + 502, + 4, + 2, + 292, + 502, + 4, + 2, + 292, + 502, + 4, + 2, + 292, + 508, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 6, + 4, + 278, + 512, + 6, + 4, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 34, + 6, + 210, + 550, + 34, + 6, + 210, + 552, + 18, + 24, + 206, + 552, + 18, + 24, + 206, + 552, + 18, + 28, + 202, + 552, + 18, + 28, + 202, + 552, + 16, + 32, + 198, + 554, + 16, + 32, + 198, + 556, + 14, + 36, + 194, + 556, + 14, + 36, + 194, + 558, + 10, + 42, + 190, + 558, + 10, + 42, + 190, + 560, + 4, + 48, + 188, + 560, + 4, + 48, + 188, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 632, + 168, + 632, + 168, + 636, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 654, + 146, + 654, + 146, + 658, + 140, + 660, + 140, + 664, + 134, + 666, + 134, + 670, + 128, + 672, + 128, + 674, + 122, + 678, + 122, + 682, + 116, + 684, + 116, + 688, + 108, + 692, + 108, + 696, + 102, + 698, + 102, + 700, + 96, + 704, + 96, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 718, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 732, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 756, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 774, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 289219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000051:0000", + "experimental_retained_index": 0, + "ism_score": 0.4335716664791107, + "R": [ + [ + 0.19297003746032715, + -0.06106557697057724, + 0.9793024063110352 + ], + [ + 0.8019179701805115, + 0.5849404335021973, + -0.121541827917099 + ], + [ + -0.5654120445251465, + 0.8087742328643799, + 0.16184549033641815 + ] + ], + "t": [ + 104.14242553710938, + -118.63490295410156, + 438.83740234375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 51, + "category_id": 1, + "bbox": [ + 652, + 152, + 264, + 298 + ], + "score": 0.39156943559646606, + "time": 0.0, + "segmentation": { + "counts": [ + 521033, + 16, + 784, + 16, + 776, + 30, + 770, + 30, + 756, + 50, + 750, + 50, + 736, + 70, + 730, + 70, + 708, + 98, + 702, + 98, + 698, + 110, + 690, + 110, + 690, + 116, + 684, + 116, + 684, + 122, + 678, + 122, + 678, + 128, + 672, + 128, + 672, + 134, + 666, + 134, + 666, + 140, + 660, + 140, + 660, + 146, + 654, + 146, + 654, + 154, + 646, + 154, + 646, + 160, + 640, + 160, + 640, + 166, + 634, + 166, + 634, + 176, + 624, + 176, + 624, + 182, + 618, + 182, + 618, + 188, + 612, + 188, + 610, + 200, + 600, + 200, + 600, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 590, + 216, + 584, + 216, + 584, + 224, + 576, + 224, + 576, + 230, + 570, + 230, + 570, + 240, + 560, + 240, + 562, + 242, + 558, + 242, + 558, + 250, + 550, + 250, + 550, + 258, + 542, + 258, + 542, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 528, + 276, + 524, + 276, + 522, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 508, + 292, + 508, + 292, + 502, + 4, + 2, + 292, + 502, + 4, + 2, + 292, + 502, + 4, + 2, + 292, + 502, + 4, + 2, + 292, + 508, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 6, + 4, + 278, + 512, + 6, + 4, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 34, + 6, + 210, + 550, + 34, + 6, + 210, + 552, + 18, + 24, + 206, + 552, + 18, + 24, + 206, + 552, + 18, + 28, + 202, + 552, + 18, + 28, + 202, + 552, + 16, + 32, + 198, + 554, + 16, + 32, + 198, + 556, + 14, + 36, + 194, + 556, + 14, + 36, + 194, + 558, + 10, + 42, + 190, + 558, + 10, + 42, + 190, + 560, + 4, + 48, + 188, + 560, + 4, + 48, + 188, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 632, + 168, + 632, + 168, + 636, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 654, + 146, + 654, + 146, + 658, + 140, + 660, + 140, + 664, + 134, + 666, + 134, + 670, + 128, + 672, + 128, + 674, + 122, + 678, + 122, + 682, + 116, + 684, + 116, + 688, + 108, + 692, + 108, + 696, + 102, + 698, + 102, + 700, + 96, + 704, + 96, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 718, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 732, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 756, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 774, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 289219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000051:0000", + "experimental_retained_index": 0, + "ism_score": 0.4335716664791107, + "R": [ + [ + 0.19297003746032715, + -0.06106557697057724, + 0.9793024063110352 + ], + [ + 0.8019179701805115, + 0.5849404335021973, + -0.121541827917099 + ], + [ + -0.5654120445251465, + 0.8087742328643799, + 0.16184549033641815 + ] + ], + "t": [ + 104.14242553710938, + -118.63490295410156, + 438.83740234375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000051/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000051/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000051:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000051.png" + }, + { + "frame_id": 55, + "image_path": "/workspace/data/0008_/images/000055.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000055.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 394, + 134, + 380, + 588 + ], + "score": 0.4791685938835144, + "time": 0.0, + "segmentation": { + "counts": [ + 314535, + 6, + 794, + 6, + 792, + 8, + 214, + 4, + 574, + 8, + 214, + 4, + 574, + 8, + 214, + 4, + 574, + 8, + 214, + 4, + 576, + 6, + 794, + 6, + 32794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 26526, + 8, + 792, + 8, + 736, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 668, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 170, + 368, + 4, + 258, + 170, + 368, + 4, + 258, + 172, + 364, + 6, + 258, + 172, + 364, + 6, + 256, + 176, + 362, + 6, + 256, + 176, + 362, + 6, + 256, + 178, + 360, + 6, + 256, + 178, + 360, + 6, + 256, + 180, + 620, + 180, + 582, + 8, + 28, + 186, + 578, + 8, + 28, + 186, + 576, + 12, + 26, + 188, + 574, + 12, + 26, + 188, + 572, + 16, + 22, + 192, + 570, + 16, + 22, + 192, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 256, + 544, + 256, + 546, + 14, + 20, + 222, + 544, + 14, + 20, + 222, + 546, + 8, + 26, + 222, + 544, + 8, + 26, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 564, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 30, + 8, + 206, + 556, + 30, + 8, + 206, + 556, + 24, + 16, + 204, + 556, + 24, + 16, + 204, + 556, + 20, + 20, + 202, + 558, + 20, + 20, + 202, + 558, + 18, + 24, + 198, + 560, + 18, + 24, + 198, + 562, + 14, + 28, + 196, + 562, + 14, + 28, + 196, + 562, + 12, + 30, + 194, + 564, + 12, + 30, + 194, + 570, + 4, + 34, + 190, + 572, + 4, + 34, + 190, + 612, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 720, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 778, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 402869 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000055:0002", + "experimental_retained_index": 0, + "ism_score": 0.49783748388290405, + "R": [ + [ + 0.6430104374885559, + -0.16911157965660095, + 0.7469190359115601 + ], + [ + 0.6550220251083374, + 0.6267723441123962, + -0.42230361700057983 + ], + [ + -0.39661073684692383, + 0.760715663433075, + 0.5138370394706726 + ] + ], + "t": [ + -29.384626388549805, + -127.07460021972656, + 477.64794921875 + ] + }, + { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 252, + 208, + 118, + 186 + ], + "score": 0.33398643136024475, + "time": 0.0, + "segmentation": { + "counts": [ + 201071, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 776, + 32, + 768, + 32, + 766, + 48, + 20, + 12, + 720, + 48, + 20, + 12, + 718, + 92, + 708, + 92, + 704, + 100, + 700, + 100, + 698, + 108, + 692, + 108, + 690, + 116, + 684, + 116, + 682, + 124, + 676, + 124, + 644, + 4, + 24, + 136, + 636, + 4, + 24, + 136, + 634, + 14, + 14, + 144, + 628, + 14, + 14, + 144, + 626, + 20, + 8, + 150, + 622, + 20, + 8, + 150, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 646, + 150, + 650, + 150, + 650, + 144, + 656, + 144, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 692, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 56, + 10, + 30, + 704, + 56, + 10, + 30, + 706, + 10, + 20, + 20, + 750, + 10, + 20, + 20, + 782, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 726137 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000055:0001", + "experimental_retained_index": 1, + "ism_score": 0.38306689262390137, + "R": [ + [ + -0.9560557007789612, + -0.02704322338104248, + 0.29147395491600037 + ], + [ + -0.16923776268959045, + 0.8633304834365845, + -0.4756604731082916 + ], + [ + -0.23878797888755798, + -0.5039842128753662, + -0.8299328684806824 + ] + ], + "t": [ + -133.3206787109375, + -48.97080993652344, + 277.48760986328125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 394, + 134, + 380, + 588 + ], + "score": 0.4791685938835144, + "time": 0.0, + "segmentation": { + "counts": [ + 314535, + 6, + 794, + 6, + 792, + 8, + 214, + 4, + 574, + 8, + 214, + 4, + 574, + 8, + 214, + 4, + 574, + 8, + 214, + 4, + 576, + 6, + 794, + 6, + 32794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 26526, + 8, + 792, + 8, + 736, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 668, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 170, + 368, + 4, + 258, + 170, + 368, + 4, + 258, + 172, + 364, + 6, + 258, + 172, + 364, + 6, + 256, + 176, + 362, + 6, + 256, + 176, + 362, + 6, + 256, + 178, + 360, + 6, + 256, + 178, + 360, + 6, + 256, + 180, + 620, + 180, + 582, + 8, + 28, + 186, + 578, + 8, + 28, + 186, + 576, + 12, + 26, + 188, + 574, + 12, + 26, + 188, + 572, + 16, + 22, + 192, + 570, + 16, + 22, + 192, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 256, + 544, + 256, + 546, + 14, + 20, + 222, + 544, + 14, + 20, + 222, + 546, + 8, + 26, + 222, + 544, + 8, + 26, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 564, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 30, + 8, + 206, + 556, + 30, + 8, + 206, + 556, + 24, + 16, + 204, + 556, + 24, + 16, + 204, + 556, + 20, + 20, + 202, + 558, + 20, + 20, + 202, + 558, + 18, + 24, + 198, + 560, + 18, + 24, + 198, + 562, + 14, + 28, + 196, + 562, + 14, + 28, + 196, + 562, + 12, + 30, + 194, + 564, + 12, + 30, + 194, + 570, + 4, + 34, + 190, + 572, + 4, + 34, + 190, + 612, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 720, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 778, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 402869 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000055:0002", + "experimental_retained_index": 0, + "ism_score": 0.49783748388290405, + "R": [ + [ + 0.6430104374885559, + -0.16911157965660095, + 0.7469190359115601 + ], + [ + 0.6550220251083374, + 0.6267723441123962, + -0.42230361700057983 + ], + [ + -0.39661073684692383, + 0.760715663433075, + 0.5138370394706726 + ] + ], + "t": [ + -29.384626388549805, + -127.07460021972656, + 477.64794921875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000055/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000055/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000055:0002", + "TubeHolder:000055:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000055.png" + }, + { + "frame_id": 60, + "image_path": "/workspace/data/0008_/images/000060.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000060.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 494, + 142, + 276, + 222 + ], + "score": 0.4350670278072357, + "time": 0.0, + "segmentation": { + "counts": [ + 394641, + 42, + 758, + 42, + 712, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 676, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 36, + 10, + 114, + 640, + 36, + 10, + 114, + 642, + 20, + 2, + 6, + 18, + 112, + 642, + 20, + 2, + 6, + 18, + 112, + 642, + 18, + 4, + 4, + 20, + 114, + 640, + 18, + 4, + 4, + 20, + 114, + 640, + 28, + 18, + 114, + 640, + 28, + 18, + 114, + 642, + 28, + 16, + 116, + 640, + 28, + 16, + 116, + 640, + 28, + 16, + 116, + 640, + 28, + 16, + 116, + 642, + 26, + 12, + 120, + 642, + 26, + 12, + 120, + 642, + 158, + 642, + 158, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 646, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 602, + 4, + 34, + 160, + 602, + 4, + 34, + 160, + 602, + 4, + 34, + 162, + 600, + 4, + 34, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 12, + 6, + 146, + 636, + 12, + 6, + 146, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 638, + 158, + 642, + 158, + 640, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 650, + 144, + 656, + 144, + 664, + 130, + 670, + 130, + 672, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 682, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 700, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 716, + 78, + 722, + 78, + 722, + 72, + 728, + 72, + 730, + 64, + 736, + 64, + 736, + 58, + 742, + 58, + 742, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 24, + 776, + 24, + 778, + 16, + 784, + 16, + 406161 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000060:0001", + "experimental_retained_index": 0, + "ism_score": 0.4419728219509125, + "R": [ + [ + 0.9317654371261597, + -0.1563311368227005, + 0.3280826210975647 + ], + [ + 0.3492582142353058, + 0.6343824863433838, + -0.6895045042037964 + ], + [ + -0.10031658411026001, + 0.7570551037788391, + 0.6456447243690491 + ] + ], + "t": [ + -77.02635192871094, + -143.4613494873047, + 464.7713928222656 + ] + }, + { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 500, + 316, + 236, + 234 + ], + "score": 0.03827579692006111, + "time": 0.0, + "segmentation": { + "counts": [ + 399623, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 722, + 6, + 54, + 22, + 718, + 6, + 54, + 22, + 716, + 12, + 44, + 30, + 714, + 12, + 44, + 30, + 712, + 20, + 24, + 46, + 710, + 20, + 24, + 46, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 70, + 6, + 116, + 608, + 70, + 6, + 116, + 610, + 64, + 14, + 110, + 612, + 64, + 14, + 110, + 614, + 60, + 18, + 106, + 616, + 60, + 18, + 106, + 618, + 56, + 20, + 104, + 620, + 56, + 20, + 104, + 622, + 52, + 24, + 100, + 624, + 52, + 24, + 100, + 624, + 50, + 28, + 96, + 626, + 50, + 28, + 96, + 628, + 48, + 28, + 94, + 630, + 48, + 28, + 94, + 632, + 42, + 34, + 90, + 634, + 42, + 34, + 90, + 636, + 38, + 34, + 90, + 638, + 38, + 34, + 90, + 638, + 38, + 34, + 88, + 640, + 38, + 34, + 88, + 642, + 34, + 38, + 84, + 644, + 34, + 38, + 84, + 646, + 30, + 42, + 80, + 648, + 30, + 42, + 80, + 650, + 26, + 48, + 74, + 652, + 26, + 48, + 74, + 654, + 24, + 50, + 70, + 656, + 24, + 50, + 70, + 656, + 24, + 50, + 68, + 658, + 24, + 50, + 68, + 660, + 22, + 52, + 64, + 662, + 22, + 52, + 64, + 664, + 22, + 52, + 60, + 666, + 22, + 52, + 60, + 668, + 20, + 54, + 58, + 668, + 20, + 54, + 58, + 668, + 20, + 56, + 52, + 672, + 20, + 56, + 52, + 674, + 20, + 56, + 48, + 676, + 20, + 56, + 48, + 678, + 20, + 56, + 46, + 678, + 20, + 56, + 46, + 678, + 24, + 54, + 42, + 680, + 24, + 54, + 42, + 682, + 28, + 50, + 38, + 684, + 28, + 50, + 38, + 686, + 28, + 50, + 32, + 690, + 28, + 50, + 32, + 692, + 32, + 46, + 30, + 692, + 32, + 46, + 30, + 694, + 32, + 46, + 26, + 696, + 32, + 46, + 26, + 696, + 36, + 46, + 20, + 698, + 36, + 46, + 20, + 700, + 36, + 46, + 16, + 702, + 36, + 46, + 16, + 704, + 34, + 48, + 12, + 706, + 34, + 48, + 12, + 708, + 34, + 48, + 6, + 712, + 34, + 48, + 6, + 712, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 42, + 758, + 42, + 760, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 778, + 12, + 788, + 12, + 433149 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000060:0000", + "experimental_retained_index": 1, + "ism_score": 0.37115925550460815, + "R": [ + [ + 0.49626851081848145, + 0.6862095594406128, + -0.5315302014350891 + ], + [ + 0.8675832748413086, + -0.3695925176143646, + 0.3326265215873718 + ], + [ + 0.031739890575408936, + -0.6262998580932617, + -0.7789269089698792 + ] + ], + "t": [ + -61.436302185058594, + -81.50186920166016, + 291.3352966308594 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 494, + 142, + 276, + 222 + ], + "score": 0.4350670278072357, + "time": 0.0, + "segmentation": { + "counts": [ + 394641, + 42, + 758, + 42, + 712, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 676, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 36, + 10, + 114, + 640, + 36, + 10, + 114, + 642, + 20, + 2, + 6, + 18, + 112, + 642, + 20, + 2, + 6, + 18, + 112, + 642, + 18, + 4, + 4, + 20, + 114, + 640, + 18, + 4, + 4, + 20, + 114, + 640, + 28, + 18, + 114, + 640, + 28, + 18, + 114, + 642, + 28, + 16, + 116, + 640, + 28, + 16, + 116, + 640, + 28, + 16, + 116, + 640, + 28, + 16, + 116, + 642, + 26, + 12, + 120, + 642, + 26, + 12, + 120, + 642, + 158, + 642, + 158, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 646, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 602, + 4, + 34, + 160, + 602, + 4, + 34, + 160, + 602, + 4, + 34, + 162, + 600, + 4, + 34, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 12, + 6, + 146, + 636, + 12, + 6, + 146, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 638, + 158, + 642, + 158, + 640, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 650, + 144, + 656, + 144, + 664, + 130, + 670, + 130, + 672, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 682, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 700, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 716, + 78, + 722, + 78, + 722, + 72, + 728, + 72, + 730, + 64, + 736, + 64, + 736, + 58, + 742, + 58, + 742, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 24, + 776, + 24, + 778, + 16, + 784, + 16, + 406161 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000060:0001", + "experimental_retained_index": 0, + "ism_score": 0.4419728219509125, + "R": [ + [ + 0.9317654371261597, + -0.1563311368227005, + 0.3280826210975647 + ], + [ + 0.3492582142353058, + 0.6343824863433838, + -0.6895045042037964 + ], + [ + -0.10031658411026001, + 0.7570551037788391, + 0.6456447243690491 + ] + ], + "t": [ + -77.02635192871094, + -143.4613494873047, + 464.7713928222656 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000060/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000060/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000060:0001", + "TubeHolder:000060:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000060.png" + }, + { + "frame_id": 64, + "image_path": "/workspace/data/0008_/images/000064.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000064.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 392, + 190, + 312, + 170 + ], + "score": 0.44709888100624084, + "time": 0.0, + "segmentation": { + "counts": [ + 313083, + 32, + 768, + 32, + 768, + 34, + 2, + 12, + 752, + 34, + 2, + 12, + 770, + 40, + 760, + 40, + 770, + 30, + 770, + 30, + 794, + 4, + 796, + 4, + 27850, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 14, + 2, + 4, + 780, + 14, + 2, + 4, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 28, + 772, + 28, + 774, + 28, + 44, + 8, + 6, + 6, + 708, + 28, + 44, + 8, + 6, + 6, + 708, + 28, + 40, + 88, + 644, + 28, + 40, + 88, + 644, + 30, + 34, + 94, + 642, + 30, + 34, + 94, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 40, + 4, + 114, + 642, + 40, + 4, + 114, + 642, + 32, + 2, + 6, + 4, + 114, + 642, + 32, + 2, + 6, + 4, + 114, + 642, + 30, + 6, + 4, + 4, + 114, + 642, + 30, + 6, + 4, + 4, + 114, + 642, + 28, + 14, + 116, + 642, + 28, + 14, + 116, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 652, + 10, + 6, + 12, + 10, + 110, + 652, + 10, + 6, + 12, + 10, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 666, + 134, + 666, + 134, + 656, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 664, + 134, + 666, + 134, + 672, + 126, + 674, + 126, + 682, + 114, + 686, + 114, + 692, + 102, + 698, + 102, + 702, + 90, + 710, + 90, + 718, + 74, + 726, + 74, + 730, + 64, + 736, + 64, + 746, + 48, + 752, + 48, + 758, + 36, + 764, + 36, + 770, + 24, + 776, + 24, + 786, + 6, + 794, + 6, + 458899 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000064:0001", + "experimental_retained_index": 0, + "ism_score": 0.44991084933280945, + "R": [ + [ + 0.9811956882476807, + -0.16682575643062592, + -0.09765070676803589 + ], + [ + 0.03490334749221802, + 0.6496723294258118, + -0.7592852115631104 + ], + [ + 0.1900448352098465, + 0.7416476011276245, + 0.6433708667755127 + ] + ], + "t": [ + -143.69442749023438, + -99.22748565673828, + 423.3743591308594 + ] + }, + { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 476, + 356, + 266, + 206 + ], + "score": 0.07282495498657227, + "time": 0.0, + "segmentation": { + "counts": [ + 380465, + 18, + 782, + 18, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 732, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 668, + 112, + 688, + 112, + 684, + 108, + 692, + 108, + 688, + 102, + 698, + 102, + 696, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 50, + 94, + 8, + 648, + 50, + 94, + 8, + 648, + 52, + 90, + 10, + 648, + 52, + 90, + 10, + 648, + 54, + 78, + 22, + 646, + 54, + 78, + 22, + 648, + 54, + 74, + 26, + 646, + 54, + 74, + 26, + 646, + 56, + 68, + 30, + 646, + 56, + 68, + 30, + 646, + 58, + 62, + 34, + 646, + 58, + 62, + 34, + 648, + 60, + 50, + 44, + 646, + 60, + 50, + 44, + 646, + 64, + 40, + 50, + 646, + 64, + 40, + 50, + 646, + 70, + 26, + 58, + 646, + 70, + 26, + 58, + 648, + 76, + 8, + 70, + 646, + 76, + 8, + 70, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 154, + 646, + 154, + 646, + 44, + 10, + 100, + 646, + 44, + 10, + 100, + 648, + 34, + 22, + 98, + 646, + 34, + 22, + 98, + 646, + 30, + 26, + 98, + 646, + 30, + 26, + 98, + 646, + 28, + 30, + 96, + 646, + 28, + 30, + 96, + 646, + 24, + 34, + 98, + 644, + 24, + 34, + 98, + 646, + 20, + 36, + 98, + 646, + 20, + 36, + 98, + 646, + 18, + 40, + 96, + 646, + 18, + 40, + 96, + 648, + 14, + 42, + 98, + 646, + 14, + 42, + 98, + 646, + 12, + 46, + 96, + 646, + 12, + 46, + 96, + 648, + 10, + 46, + 96, + 648, + 10, + 46, + 96, + 648, + 12, + 42, + 100, + 646, + 12, + 42, + 100, + 648, + 10, + 42, + 100, + 648, + 10, + 42, + 100, + 648, + 10, + 44, + 100, + 646, + 10, + 44, + 100, + 648, + 8, + 44, + 100, + 648, + 8, + 44, + 100, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 100, + 646, + 10, + 44, + 100, + 646, + 12, + 44, + 98, + 646, + 12, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 12, + 42, + 98, + 648, + 12, + 42, + 98, + 650, + 14, + 40, + 96, + 650, + 14, + 40, + 96, + 650, + 16, + 38, + 96, + 650, + 16, + 38, + 96, + 650, + 16, + 40, + 92, + 652, + 16, + 40, + 92, + 654, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 18, + 38, + 76, + 668, + 18, + 38, + 76, + 668, + 20, + 38, + 64, + 678, + 20, + 38, + 64, + 680, + 20, + 38, + 56, + 686, + 20, + 38, + 56, + 686, + 22, + 36, + 50, + 692, + 22, + 36, + 50, + 692, + 22, + 36, + 40, + 702, + 22, + 36, + 40, + 702, + 22, + 36, + 30, + 712, + 22, + 36, + 30, + 714, + 22, + 36, + 20, + 722, + 22, + 36, + 20, + 722, + 22, + 40, + 6, + 732, + 22, + 40, + 6, + 732, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 428357 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000064:0000", + "experimental_retained_index": 1, + "ism_score": 0.4161425530910492, + "R": [ + [ + 0.5117430686950684, + -0.3917471170425415, + 0.7645922899246216 + ], + [ + -0.8366649150848389, + -0.4286309778690338, + 0.34057551622390747 + ], + [ + 0.19455870985984802, + -0.8139383792877197, + -0.547439694404602 + ] + ], + "t": [ + 14.59097671508789, + 63.894309997558594, + 251.39376831054688 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 392, + 190, + 312, + 170 + ], + "score": 0.44709888100624084, + "time": 0.0, + "segmentation": { + "counts": [ + 313083, + 32, + 768, + 32, + 768, + 34, + 2, + 12, + 752, + 34, + 2, + 12, + 770, + 40, + 760, + 40, + 770, + 30, + 770, + 30, + 794, + 4, + 796, + 4, + 27850, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 14, + 2, + 4, + 780, + 14, + 2, + 4, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 28, + 772, + 28, + 774, + 28, + 44, + 8, + 6, + 6, + 708, + 28, + 44, + 8, + 6, + 6, + 708, + 28, + 40, + 88, + 644, + 28, + 40, + 88, + 644, + 30, + 34, + 94, + 642, + 30, + 34, + 94, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 40, + 4, + 114, + 642, + 40, + 4, + 114, + 642, + 32, + 2, + 6, + 4, + 114, + 642, + 32, + 2, + 6, + 4, + 114, + 642, + 30, + 6, + 4, + 4, + 114, + 642, + 30, + 6, + 4, + 4, + 114, + 642, + 28, + 14, + 116, + 642, + 28, + 14, + 116, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 652, + 10, + 6, + 12, + 10, + 110, + 652, + 10, + 6, + 12, + 10, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 666, + 134, + 666, + 134, + 656, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 664, + 134, + 666, + 134, + 672, + 126, + 674, + 126, + 682, + 114, + 686, + 114, + 692, + 102, + 698, + 102, + 702, + 90, + 710, + 90, + 718, + 74, + 726, + 74, + 730, + 64, + 736, + 64, + 746, + 48, + 752, + 48, + 758, + 36, + 764, + 36, + 770, + 24, + 776, + 24, + 786, + 6, + 794, + 6, + 458899 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000064:0001", + "experimental_retained_index": 0, + "ism_score": 0.44991084933280945, + "R": [ + [ + 0.9811956882476807, + -0.16682575643062592, + -0.09765070676803589 + ], + [ + 0.03490334749221802, + 0.6496723294258118, + -0.7592852115631104 + ], + [ + 0.1900448352098465, + 0.7416476011276245, + 0.6433708667755127 + ] + ], + "t": [ + -143.69442749023438, + -99.22748565673828, + 423.3743591308594 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000064/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000064/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000064:0001", + "TubeHolder:000064:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000064.png" + }, + { + "frame_id": 70, + "image_path": "/workspace/data/0008_/images/000070.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000070.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 70, + "category_id": 1, + "bbox": [ + 536, + 144, + 330, + 232 + ], + "score": 0.4515165090560913, + "time": 0.0, + "segmentation": { + "counts": [ + 428319, + 8, + 792, + 8, + 778, + 26, + 774, + 26, + 758, + 42, + 758, + 42, + 746, + 56, + 744, + 56, + 732, + 68, + 732, + 68, + 716, + 84, + 716, + 84, + 702, + 98, + 702, + 98, + 688, + 112, + 688, + 112, + 674, + 126, + 674, + 126, + 662, + 140, + 660, + 140, + 650, + 150, + 650, + 150, + 640, + 160, + 640, + 160, + 630, + 170, + 630, + 170, + 616, + 184, + 616, + 184, + 610, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 620, + 8, + 4, + 140, + 16, + 4, + 628, + 8, + 4, + 140, + 16, + 4, + 642, + 132, + 668, + 132, + 670, + 122, + 678, + 122, + 678, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 96, + 704, + 96, + 706, + 90, + 710, + 90, + 710, + 88, + 90, + 8, + 614, + 88, + 90, + 8, + 614, + 78, + 2, + 6, + 88, + 14, + 612, + 78, + 2, + 6, + 88, + 14, + 612, + 60, + 48, + 8, + 54, + 18, + 612, + 60, + 48, + 8, + 54, + 18, + 614, + 54, + 50, + 12, + 48, + 24, + 612, + 54, + 50, + 12, + 48, + 24, + 612, + 54, + 46, + 20, + 42, + 26, + 612, + 54, + 46, + 20, + 42, + 26, + 612, + 48, + 48, + 28, + 34, + 30, + 612, + 48, + 48, + 28, + 34, + 30, + 612, + 46, + 46, + 38, + 22, + 36, + 612, + 46, + 46, + 38, + 22, + 36, + 614, + 44, + 44, + 50, + 4, + 46, + 612, + 44, + 44, + 50, + 4, + 46, + 612, + 44, + 40, + 104, + 612, + 44, + 40, + 104, + 612, + 44, + 38, + 106, + 612, + 44, + 38, + 106, + 612, + 44, + 32, + 112, + 612, + 44, + 32, + 112, + 614, + 42, + 26, + 118, + 614, + 42, + 26, + 118, + 614, + 42, + 24, + 120, + 614, + 42, + 24, + 120, + 614, + 44, + 20, + 124, + 612, + 44, + 20, + 124, + 614, + 44, + 18, + 124, + 614, + 44, + 18, + 124, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 630, + 170, + 630, + 170, + 626, + 174, + 626, + 174, + 622, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 60, + 2, + 116, + 622, + 60, + 2, + 116, + 622, + 58, + 4, + 114, + 624, + 58, + 4, + 114, + 624, + 52, + 6, + 116, + 626, + 52, + 6, + 116, + 628, + 48, + 2, + 120, + 630, + 48, + 2, + 120, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 670, + 128, + 672, + 128, + 688, + 110, + 690, + 110, + 694, + 104, + 696, + 104, + 706, + 94, + 706, + 94, + 722, + 76, + 724, + 76, + 742, + 56, + 744, + 56, + 762, + 38, + 762, + 38, + 772, + 26, + 774, + 26, + 792, + 4, + 796, + 4, + 329265 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000070:0000", + "experimental_retained_index": 0, + "ism_score": 0.4529319405555725, + "R": [ + [ + 0.9649350643157959, + -0.23802992701530457, + 0.1106453388929367 + ], + [ + 0.2007468193769455, + 0.3976147174835205, + -0.8953230977058411 + ], + [ + 0.16911949217319489, + 0.8861401081085205, + 0.4314560890197754 + ] + ], + "t": [ + -41.3066520690918, + -127.58484649658203, + 391.069091796875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 70, + "category_id": 1, + "bbox": [ + 536, + 144, + 330, + 232 + ], + "score": 0.4515165090560913, + "time": 0.0, + "segmentation": { + "counts": [ + 428319, + 8, + 792, + 8, + 778, + 26, + 774, + 26, + 758, + 42, + 758, + 42, + 746, + 56, + 744, + 56, + 732, + 68, + 732, + 68, + 716, + 84, + 716, + 84, + 702, + 98, + 702, + 98, + 688, + 112, + 688, + 112, + 674, + 126, + 674, + 126, + 662, + 140, + 660, + 140, + 650, + 150, + 650, + 150, + 640, + 160, + 640, + 160, + 630, + 170, + 630, + 170, + 616, + 184, + 616, + 184, + 610, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 620, + 8, + 4, + 140, + 16, + 4, + 628, + 8, + 4, + 140, + 16, + 4, + 642, + 132, + 668, + 132, + 670, + 122, + 678, + 122, + 678, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 688, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 96, + 704, + 96, + 706, + 90, + 710, + 90, + 710, + 88, + 90, + 8, + 614, + 88, + 90, + 8, + 614, + 78, + 2, + 6, + 88, + 14, + 612, + 78, + 2, + 6, + 88, + 14, + 612, + 60, + 48, + 8, + 54, + 18, + 612, + 60, + 48, + 8, + 54, + 18, + 614, + 54, + 50, + 12, + 48, + 24, + 612, + 54, + 50, + 12, + 48, + 24, + 612, + 54, + 46, + 20, + 42, + 26, + 612, + 54, + 46, + 20, + 42, + 26, + 612, + 48, + 48, + 28, + 34, + 30, + 612, + 48, + 48, + 28, + 34, + 30, + 612, + 46, + 46, + 38, + 22, + 36, + 612, + 46, + 46, + 38, + 22, + 36, + 614, + 44, + 44, + 50, + 4, + 46, + 612, + 44, + 44, + 50, + 4, + 46, + 612, + 44, + 40, + 104, + 612, + 44, + 40, + 104, + 612, + 44, + 38, + 106, + 612, + 44, + 38, + 106, + 612, + 44, + 32, + 112, + 612, + 44, + 32, + 112, + 614, + 42, + 26, + 118, + 614, + 42, + 26, + 118, + 614, + 42, + 24, + 120, + 614, + 42, + 24, + 120, + 614, + 44, + 20, + 124, + 612, + 44, + 20, + 124, + 614, + 44, + 18, + 124, + 614, + 44, + 18, + 124, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 638, + 162, + 638, + 162, + 640, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 630, + 170, + 630, + 170, + 626, + 174, + 626, + 174, + 622, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 60, + 2, + 116, + 622, + 60, + 2, + 116, + 622, + 58, + 4, + 114, + 624, + 58, + 4, + 114, + 624, + 52, + 6, + 116, + 626, + 52, + 6, + 116, + 628, + 48, + 2, + 120, + 630, + 48, + 2, + 120, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 670, + 128, + 672, + 128, + 688, + 110, + 690, + 110, + 694, + 104, + 696, + 104, + 706, + 94, + 706, + 94, + 722, + 76, + 724, + 76, + 742, + 56, + 744, + 56, + 762, + 38, + 762, + 38, + 772, + 26, + 774, + 26, + 792, + 4, + 796, + 4, + 329265 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000070:0000", + "experimental_retained_index": 0, + "ism_score": 0.4529319405555725, + "R": [ + [ + 0.9649350643157959, + -0.23802992701530457, + 0.1106453388929367 + ], + [ + 0.2007468193769455, + 0.3976147174835205, + -0.8953230977058411 + ], + [ + 0.16911949217319489, + 0.8861401081085205, + 0.4314560890197754 + ] + ], + "t": [ + -41.3066520690918, + -127.58484649658203, + 391.069091796875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000070/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000070/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000070:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000070.png" + }, + { + "frame_id": 73, + "image_path": "/workspace/data/0008_/images/000073.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000073.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 606, + 136, + 576, + 410 + ], + "score": 0.4998977780342102, + "time": 0.0, + "segmentation": { + "counts": [ + 484505, + 8, + 10, + 12, + 770, + 8, + 10, + 12, + 770, + 8, + 10, + 14, + 768, + 8, + 10, + 14, + 764, + 10, + 16, + 18, + 756, + 10, + 16, + 18, + 756, + 6, + 28, + 10, + 756, + 6, + 28, + 10, + 752, + 10, + 28, + 12, + 750, + 10, + 28, + 12, + 656, + 8, + 84, + 10, + 32, + 10, + 656, + 8, + 84, + 10, + 32, + 10, + 652, + 14, + 82, + 8, + 34, + 12, + 650, + 14, + 82, + 8, + 34, + 12, + 642, + 24, + 80, + 8, + 36, + 10, + 642, + 24, + 80, + 8, + 36, + 10, + 638, + 28, + 80, + 8, + 36, + 10, + 638, + 28, + 80, + 8, + 36, + 10, + 634, + 34, + 78, + 6, + 40, + 8, + 634, + 34, + 78, + 6, + 40, + 8, + 630, + 38, + 78, + 6, + 42, + 6, + 630, + 38, + 78, + 6, + 42, + 6, + 624, + 46, + 76, + 4, + 674, + 46, + 76, + 4, + 670, + 50, + 122, + 6, + 622, + 50, + 122, + 6, + 618, + 56, + 120, + 6, + 618, + 56, + 120, + 6, + 612, + 62, + 120, + 6, + 612, + 62, + 120, + 6, + 608, + 68, + 118, + 6, + 608, + 68, + 118, + 6, + 604, + 72, + 118, + 6, + 604, + 72, + 118, + 6, + 600, + 76, + 116, + 8, + 600, + 76, + 116, + 8, + 596, + 82, + 114, + 8, + 596, + 82, + 114, + 8, + 590, + 88, + 114, + 8, + 590, + 88, + 114, + 8, + 586, + 94, + 112, + 8, + 586, + 94, + 112, + 8, + 582, + 98, + 112, + 8, + 582, + 98, + 112, + 8, + 576, + 106, + 110, + 8, + 576, + 106, + 110, + 8, + 572, + 110, + 110, + 8, + 572, + 110, + 110, + 8, + 568, + 116, + 108, + 6, + 570, + 116, + 108, + 6, + 566, + 120, + 44, + 6, + 2, + 6, + 50, + 6, + 566, + 120, + 44, + 6, + 2, + 6, + 50, + 6, + 562, + 126, + 42, + 6, + 2, + 6, + 50, + 8, + 560, + 126, + 42, + 6, + 2, + 6, + 50, + 8, + 556, + 130, + 106, + 8, + 556, + 130, + 106, + 8, + 552, + 134, + 106, + 8, + 552, + 134, + 106, + 8, + 546, + 142, + 104, + 8, + 546, + 142, + 104, + 8, + 542, + 146, + 104, + 8, + 542, + 146, + 104, + 8, + 538, + 152, + 104, + 4, + 540, + 152, + 104, + 4, + 536, + 158, + 102, + 4, + 536, + 158, + 102, + 4, + 532, + 162, + 102, + 4, + 532, + 162, + 102, + 4, + 530, + 166, + 100, + 4, + 530, + 166, + 100, + 4, + 526, + 170, + 100, + 4, + 526, + 170, + 100, + 4, + 524, + 172, + 14, + 4, + 82, + 4, + 524, + 172, + 14, + 4, + 82, + 4, + 520, + 178, + 12, + 4, + 82, + 4, + 520, + 178, + 12, + 4, + 82, + 4, + 518, + 180, + 12, + 4, + 82, + 4, + 518, + 180, + 12, + 4, + 82, + 4, + 514, + 184, + 12, + 6, + 80, + 4, + 514, + 184, + 12, + 6, + 80, + 4, + 512, + 188, + 10, + 6, + 596, + 188, + 10, + 6, + 594, + 190, + 10, + 6, + 594, + 190, + 10, + 6, + 590, + 196, + 8, + 6, + 590, + 196, + 8, + 6, + 588, + 198, + 8, + 4, + 590, + 198, + 8, + 4, + 588, + 200, + 8, + 4, + 588, + 200, + 8, + 4, + 584, + 204, + 8, + 4, + 584, + 204, + 8, + 4, + 582, + 206, + 8, + 4, + 582, + 206, + 8, + 4, + 580, + 208, + 8, + 4, + 580, + 208, + 8, + 4, + 576, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 90, + 4, + 484, + 222, + 90, + 4, + 484, + 224, + 86, + 6, + 484, + 224, + 86, + 6, + 484, + 224, + 86, + 8, + 482, + 224, + 86, + 8, + 480, + 226, + 86, + 8, + 480, + 226, + 86, + 8, + 480, + 226, + 86, + 6, + 482, + 226, + 86, + 6, + 482, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 56, + 8, + 494, + 242, + 56, + 8, + 494, + 244, + 52, + 12, + 492, + 244, + 52, + 12, + 494, + 244, + 50, + 12, + 494, + 244, + 50, + 12, + 494, + 246, + 50, + 4, + 500, + 246, + 50, + 4, + 502, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 18, + 2, + 226, + 554, + 18, + 2, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 24, + 2, + 222, + 552, + 24, + 2, + 222, + 554, + 18, + 8, + 222, + 552, + 18, + 8, + 222, + 556, + 8, + 16, + 220, + 556, + 8, + 16, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 626, + 136, + 20, + 16, + 628, + 136, + 20, + 16, + 628, + 126, + 674, + 126, + 676, + 112, + 688, + 112, + 688, + 104, + 696, + 104, + 696, + 98, + 702, + 98, + 704, + 88, + 712, + 88, + 714, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 738, + 46, + 754, + 46, + 756, + 34, + 766, + 34, + 768, + 18, + 782, + 18, + 788, + 4, + 796, + 4, + 12132, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 141210, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 76661 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000073:0001", + "experimental_retained_index": 0, + "ism_score": 0.535007655620575, + "R": [ + [ + -0.887535810470581, + -0.23718476295471191, + -0.39519214630126953 + ], + [ + -0.44513648748397827, + 0.21871303021907806, + 0.8684731125831604 + ], + [ + -0.11948099732398987, + 0.9467135667800903, + -0.2996804714202881 + ] + ], + "t": [ + 145.30722045898438, + 84.50531005859375, + 357.0261535644531 + ] + }, + { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 600, + 276, + 298, + 520 + ], + "score": 0.018002906814217567, + "time": 0.0, + "segmentation": { + "counts": [ + 479715, + 8, + 792, + 8, + 786, + 24, + 776, + 24, + 772, + 34, + 766, + 34, + 762, + 38, + 762, + 38, + 762, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 52, + 8, + 678, + 62, + 52, + 8, + 678, + 62, + 48, + 14, + 676, + 62, + 48, + 14, + 676, + 62, + 46, + 18, + 674, + 62, + 46, + 18, + 556, + 4, + 112, + 64, + 44, + 22, + 554, + 4, + 112, + 64, + 44, + 22, + 554, + 4, + 110, + 66, + 42, + 26, + 552, + 4, + 110, + 66, + 42, + 26, + 666, + 64, + 40, + 34, + 662, + 64, + 40, + 34, + 660, + 66, + 38, + 38, + 658, + 66, + 38, + 38, + 658, + 66, + 36, + 42, + 656, + 66, + 36, + 42, + 654, + 68, + 34, + 48, + 650, + 68, + 34, + 48, + 650, + 68, + 32, + 50, + 650, + 68, + 32, + 50, + 650, + 68, + 30, + 56, + 646, + 68, + 30, + 56, + 644, + 70, + 28, + 60, + 642, + 70, + 28, + 60, + 640, + 72, + 26, + 64, + 638, + 72, + 26, + 64, + 636, + 74, + 24, + 68, + 634, + 74, + 24, + 68, + 634, + 74, + 22, + 74, + 630, + 74, + 22, + 74, + 628, + 76, + 20, + 78, + 626, + 76, + 20, + 78, + 624, + 78, + 18, + 82, + 622, + 78, + 18, + 82, + 620, + 80, + 16, + 86, + 618, + 80, + 16, + 86, + 616, + 82, + 14, + 90, + 614, + 82, + 14, + 90, + 612, + 84, + 12, + 94, + 610, + 84, + 12, + 94, + 608, + 72, + 2, + 10, + 12, + 98, + 606, + 72, + 2, + 10, + 12, + 98, + 604, + 86, + 10, + 102, + 602, + 86, + 10, + 102, + 602, + 86, + 8, + 106, + 600, + 86, + 8, + 106, + 598, + 88, + 6, + 110, + 596, + 88, + 6, + 110, + 594, + 90, + 2, + 118, + 590, + 90, + 2, + 118, + 588, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 546, + 258, + 542, + 258, + 542, + 260, + 540, + 260, + 540, + 262, + 538, + 262, + 540, + 262, + 538, + 262, + 538, + 266, + 534, + 266, + 536, + 266, + 534, + 266, + 536, + 268, + 532, + 268, + 534, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 530, + 272, + 528, + 272, + 530, + 274, + 526, + 274, + 528, + 274, + 526, + 274, + 528, + 276, + 524, + 276, + 528, + 274, + 526, + 274, + 530, + 272, + 528, + 272, + 534, + 268, + 532, + 268, + 538, + 264, + 536, + 264, + 554, + 246, + 554, + 246, + 556, + 246, + 554, + 246, + 318, + 4, + 232, + 248, + 316, + 4, + 232, + 248, + 316, + 6, + 232, + 248, + 314, + 6, + 232, + 248, + 314, + 6, + 232, + 248, + 314, + 6, + 232, + 248, + 554, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 554, + 248, + 552, + 248, + 554, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 554, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 368, + 4, + 182, + 246, + 368, + 4, + 182, + 246, + 368, + 4, + 184, + 244, + 368, + 4, + 184, + 244, + 368, + 4, + 186, + 242, + 368, + 4, + 186, + 242, + 560, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 568, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 578, + 220, + 580, + 220, + 582, + 116, + 14, + 88, + 582, + 116, + 14, + 88, + 584, + 108, + 24, + 82, + 586, + 108, + 24, + 82, + 588, + 104, + 32, + 76, + 588, + 104, + 32, + 76, + 592, + 96, + 38, + 72, + 594, + 96, + 38, + 72, + 596, + 94, + 40, + 68, + 598, + 94, + 40, + 68, + 600, + 90, + 44, + 62, + 604, + 90, + 44, + 62, + 606, + 86, + 46, + 60, + 608, + 86, + 46, + 60, + 610, + 82, + 50, + 54, + 614, + 82, + 50, + 54, + 616, + 80, + 54, + 48, + 618, + 80, + 54, + 48, + 620, + 78, + 56, + 42, + 624, + 78, + 56, + 42, + 628, + 74, + 56, + 40, + 630, + 74, + 56, + 40, + 632, + 72, + 56, + 38, + 634, + 72, + 56, + 38, + 636, + 70, + 58, + 32, + 640, + 70, + 58, + 32, + 642, + 68, + 64, + 24, + 644, + 68, + 64, + 24, + 646, + 66, + 66, + 18, + 650, + 66, + 66, + 18, + 652, + 64, + 2, + 4, + 60, + 14, + 656, + 64, + 2, + 4, + 60, + 14, + 656, + 70, + 64, + 6, + 660, + 70, + 64, + 6, + 662, + 68, + 732, + 68, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 744, + 60, + 8, + 8, + 724, + 60, + 8, + 8, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 58, + 2, + 10, + 730, + 58, + 2, + 10, + 732, + 64, + 736, + 64, + 740, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 744, + 56, + 744, + 56, + 746, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 784, + 12, + 788, + 12, + 303319 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000073:0002", + "experimental_retained_index": 1, + "ism_score": 0.3840620219707489, + "R": [ + [ + 0.9293026328086853, + -0.285345196723938, + 0.23563477396965027 + ], + [ + -0.23528122901916504, + -0.9468225240707397, + -0.21901708841323853 + ], + [ + 0.2855793237686157, + 0.14777565002441406, + -0.9469484090805054 + ] + ], + "t": [ + 18.410547256469727, + 50.124088287353516, + 225.83187866210938 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 606, + 136, + 576, + 410 + ], + "score": 0.4998977780342102, + "time": 0.0, + "segmentation": { + "counts": [ + 484505, + 8, + 10, + 12, + 770, + 8, + 10, + 12, + 770, + 8, + 10, + 14, + 768, + 8, + 10, + 14, + 764, + 10, + 16, + 18, + 756, + 10, + 16, + 18, + 756, + 6, + 28, + 10, + 756, + 6, + 28, + 10, + 752, + 10, + 28, + 12, + 750, + 10, + 28, + 12, + 656, + 8, + 84, + 10, + 32, + 10, + 656, + 8, + 84, + 10, + 32, + 10, + 652, + 14, + 82, + 8, + 34, + 12, + 650, + 14, + 82, + 8, + 34, + 12, + 642, + 24, + 80, + 8, + 36, + 10, + 642, + 24, + 80, + 8, + 36, + 10, + 638, + 28, + 80, + 8, + 36, + 10, + 638, + 28, + 80, + 8, + 36, + 10, + 634, + 34, + 78, + 6, + 40, + 8, + 634, + 34, + 78, + 6, + 40, + 8, + 630, + 38, + 78, + 6, + 42, + 6, + 630, + 38, + 78, + 6, + 42, + 6, + 624, + 46, + 76, + 4, + 674, + 46, + 76, + 4, + 670, + 50, + 122, + 6, + 622, + 50, + 122, + 6, + 618, + 56, + 120, + 6, + 618, + 56, + 120, + 6, + 612, + 62, + 120, + 6, + 612, + 62, + 120, + 6, + 608, + 68, + 118, + 6, + 608, + 68, + 118, + 6, + 604, + 72, + 118, + 6, + 604, + 72, + 118, + 6, + 600, + 76, + 116, + 8, + 600, + 76, + 116, + 8, + 596, + 82, + 114, + 8, + 596, + 82, + 114, + 8, + 590, + 88, + 114, + 8, + 590, + 88, + 114, + 8, + 586, + 94, + 112, + 8, + 586, + 94, + 112, + 8, + 582, + 98, + 112, + 8, + 582, + 98, + 112, + 8, + 576, + 106, + 110, + 8, + 576, + 106, + 110, + 8, + 572, + 110, + 110, + 8, + 572, + 110, + 110, + 8, + 568, + 116, + 108, + 6, + 570, + 116, + 108, + 6, + 566, + 120, + 44, + 6, + 2, + 6, + 50, + 6, + 566, + 120, + 44, + 6, + 2, + 6, + 50, + 6, + 562, + 126, + 42, + 6, + 2, + 6, + 50, + 8, + 560, + 126, + 42, + 6, + 2, + 6, + 50, + 8, + 556, + 130, + 106, + 8, + 556, + 130, + 106, + 8, + 552, + 134, + 106, + 8, + 552, + 134, + 106, + 8, + 546, + 142, + 104, + 8, + 546, + 142, + 104, + 8, + 542, + 146, + 104, + 8, + 542, + 146, + 104, + 8, + 538, + 152, + 104, + 4, + 540, + 152, + 104, + 4, + 536, + 158, + 102, + 4, + 536, + 158, + 102, + 4, + 532, + 162, + 102, + 4, + 532, + 162, + 102, + 4, + 530, + 166, + 100, + 4, + 530, + 166, + 100, + 4, + 526, + 170, + 100, + 4, + 526, + 170, + 100, + 4, + 524, + 172, + 14, + 4, + 82, + 4, + 524, + 172, + 14, + 4, + 82, + 4, + 520, + 178, + 12, + 4, + 82, + 4, + 520, + 178, + 12, + 4, + 82, + 4, + 518, + 180, + 12, + 4, + 82, + 4, + 518, + 180, + 12, + 4, + 82, + 4, + 514, + 184, + 12, + 6, + 80, + 4, + 514, + 184, + 12, + 6, + 80, + 4, + 512, + 188, + 10, + 6, + 596, + 188, + 10, + 6, + 594, + 190, + 10, + 6, + 594, + 190, + 10, + 6, + 590, + 196, + 8, + 6, + 590, + 196, + 8, + 6, + 588, + 198, + 8, + 4, + 590, + 198, + 8, + 4, + 588, + 200, + 8, + 4, + 588, + 200, + 8, + 4, + 584, + 204, + 8, + 4, + 584, + 204, + 8, + 4, + 582, + 206, + 8, + 4, + 582, + 206, + 8, + 4, + 580, + 208, + 8, + 4, + 580, + 208, + 8, + 4, + 576, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 90, + 4, + 484, + 222, + 90, + 4, + 484, + 224, + 86, + 6, + 484, + 224, + 86, + 6, + 484, + 224, + 86, + 8, + 482, + 224, + 86, + 8, + 480, + 226, + 86, + 8, + 480, + 226, + 86, + 8, + 480, + 226, + 86, + 6, + 482, + 226, + 86, + 6, + 482, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 56, + 8, + 494, + 242, + 56, + 8, + 494, + 244, + 52, + 12, + 492, + 244, + 52, + 12, + 494, + 244, + 50, + 12, + 494, + 244, + 50, + 12, + 494, + 246, + 50, + 4, + 500, + 246, + 50, + 4, + 502, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 18, + 2, + 226, + 554, + 18, + 2, + 226, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 24, + 2, + 222, + 552, + 24, + 2, + 222, + 554, + 18, + 8, + 222, + 552, + 18, + 8, + 222, + 556, + 8, + 16, + 220, + 556, + 8, + 16, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 626, + 136, + 20, + 16, + 628, + 136, + 20, + 16, + 628, + 126, + 674, + 126, + 676, + 112, + 688, + 112, + 688, + 104, + 696, + 104, + 696, + 98, + 702, + 98, + 704, + 88, + 712, + 88, + 714, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 738, + 46, + 754, + 46, + 756, + 34, + 766, + 34, + 768, + 18, + 782, + 18, + 788, + 4, + 796, + 4, + 12132, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 141210, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 76661 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000073:0001", + "experimental_retained_index": 0, + "ism_score": 0.535007655620575, + "R": [ + [ + -0.887535810470581, + -0.23718476295471191, + -0.39519214630126953 + ], + [ + -0.44513648748397827, + 0.21871303021907806, + 0.8684731125831604 + ], + [ + -0.11948099732398987, + 0.9467135667800903, + -0.2996804714202881 + ] + ], + "t": [ + 145.30722045898438, + 84.50531005859375, + 357.0261535644531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000073/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000073/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000073:0001", + "TubeHolder:000073:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000073.png" + }, + { + "frame_id": 77, + "image_path": "/workspace/data/0008_/images/000077.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000077.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 596, + 318, + 388, + 412 + ], + "score": 0.4306531846523285, + "time": 0.0, + "segmentation": { + "counts": [ + 476445, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 182, + 618, + 182, + 616, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 606, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 538, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 504, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 496, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 486, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 490, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 496, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 502, + 296, + 504, + 296, + 506, + 292, + 508, + 292, + 510, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 532, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 540, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 548, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 564, + 234, + 566, + 234, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 224, + 576, + 224, + 578, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 198, + 602, + 198, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 234595 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000077:0000", + "experimental_retained_index": 0, + "ism_score": 0.45331913232803345, + "R": [ + [ + 0.6545577049255371, + -0.05124340206384659, + 0.7542733550071716 + ], + [ + 0.7554068565368652, + 0.004413294605910778, + -0.6552413702011108 + ], + [ + 0.030247850343585014, + 0.9986765384674072, + 0.041598375886678696 + ] + ], + "t": [ + 51.606475830078125, + -37.63361740112305, + 333.86199951171875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 596, + 318, + 388, + 412 + ], + "score": 0.4306531846523285, + "time": 0.0, + "segmentation": { + "counts": [ + 476445, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 182, + 618, + 182, + 616, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 606, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 538, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 504, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 496, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 486, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 490, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 496, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 502, + 296, + 504, + 296, + 506, + 292, + 508, + 292, + 510, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 532, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 540, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 548, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 564, + 234, + 566, + 234, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 224, + 576, + 224, + 578, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 198, + 602, + 198, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 234595 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000077:0000", + "experimental_retained_index": 0, + "ism_score": 0.45331913232803345, + "R": [ + [ + 0.6545577049255371, + -0.05124340206384659, + 0.7542733550071716 + ], + [ + 0.7554068565368652, + 0.004413294605910778, + -0.6552413702011108 + ], + [ + 0.030247850343585014, + 0.9986765384674072, + 0.041598375886678696 + ] + ], + "t": [ + 51.606475830078125, + -37.63361740112305, + 333.86199951171875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000077/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000077/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000077:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000077.png" + }, + { + "frame_id": 80, + "image_path": "/workspace/data/0008_/images/000080.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000080.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 510, + 378, + 328, + 420 + ], + "score": 0.418654203414917, + "time": 0.0, + "segmentation": { + "counts": [ + 407645, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 28, + 772, + 28, + 772, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 760, + 48, + 752, + 48, + 750, + 54, + 746, + 54, + 746, + 62, + 738, + 62, + 738, + 66, + 734, + 66, + 732, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 700, + 106, + 694, + 106, + 694, + 112, + 688, + 112, + 688, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 128, + 672, + 128, + 670, + 136, + 664, + 136, + 664, + 144, + 656, + 144, + 656, + 150, + 650, + 150, + 648, + 158, + 642, + 158, + 642, + 164, + 636, + 164, + 634, + 170, + 630, + 170, + 630, + 176, + 624, + 176, + 624, + 180, + 620, + 180, + 618, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 606, + 202, + 598, + 202, + 596, + 210, + 590, + 210, + 590, + 214, + 586, + 214, + 584, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 572, + 234, + 566, + 234, + 564, + 242, + 558, + 242, + 558, + 248, + 552, + 248, + 550, + 256, + 544, + 256, + 544, + 262, + 538, + 262, + 538, + 268, + 532, + 268, + 530, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 520, + 288, + 512, + 288, + 510, + 296, + 504, + 296, + 504, + 302, + 498, + 302, + 496, + 310, + 490, + 310, + 490, + 316, + 484, + 316, + 482, + 324, + 476, + 324, + 476, + 330, + 470, + 330, + 468, + 338, + 462, + 338, + 462, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 450, + 358, + 442, + 358, + 442, + 364, + 436, + 364, + 436, + 370, + 430, + 370, + 428, + 376, + 424, + 376, + 424, + 382, + 418, + 382, + 416, + 392, + 408, + 392, + 408, + 396, + 404, + 396, + 402, + 400, + 400, + 400, + 394, + 408, + 392, + 408, + 390, + 410, + 390, + 410, + 388, + 412, + 388, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 411, + 389, + 411, + 389, + 411, + 389, + 411, + 387, + 413, + 387, + 413, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 383, + 417, + 383, + 417, + 383, + 417, + 383, + 417, + 381, + 419, + 381, + 419, + 381, + 419, + 381, + 419, + 381, + 418, + 382, + 418, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 384, + 416, + 384, + 416, + 388, + 412, + 388, + 412, + 394, + 406, + 394, + 406, + 400, + 400, + 400, + 400, + 406, + 394, + 406, + 394, + 410, + 390, + 410, + 390, + 416, + 384, + 416, + 384, + 420, + 380, + 420, + 380, + 426, + 374, + 426, + 374, + 430, + 370, + 430, + 370, + 436, + 364, + 436, + 364, + 442, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 456, + 344, + 456, + 344, + 460, + 340, + 460, + 340, + 466, + 332, + 468, + 332, + 472, + 328, + 472, + 328, + 476, + 324, + 476, + 324, + 482, + 316, + 484, + 316, + 490, + 310, + 490, + 310, + 496, + 304, + 496, + 304, + 500, + 300, + 500, + 300, + 506, + 292, + 508, + 292, + 514, + 286, + 514, + 286, + 518, + 280, + 520, + 280, + 526, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 536, + 262, + 538, + 262, + 542, + 258, + 542, + 258, + 548, + 252, + 548, + 252, + 554, + 244, + 556, + 244, + 560, + 240, + 560, + 240, + 566, + 234, + 566, + 234, + 572, + 228, + 572, + 228, + 576, + 222, + 578, + 222, + 584, + 216, + 584, + 216, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 600, + 198, + 602, + 198, + 606, + 194, + 606, + 194, + 610, + 190, + 610, + 190, + 616, + 182, + 618, + 182, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 634, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 646, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 676, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 688, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 710, + 90, + 710, + 90, + 714, + 86, + 714, + 86, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 732, + 68, + 732, + 68, + 738, + 60, + 740, + 60, + 744, + 56, + 744, + 56, + 750, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 766, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 776, + 22, + 778, + 22, + 784, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 351245 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000080:0000", + "experimental_retained_index": 0, + "ism_score": 0.43355774879455566, + "R": [ + [ + 0.35342252254486084, + 0.11046192795038223, + 0.9289191961288452 + ], + [ + 0.9279235601425171, + 0.08442852646112442, + -0.36308351159095764 + ], + [ + -0.11853428930044174, + 0.9902878999710083, + -0.0726613774895668 + ] + ], + "t": [ + 34.370418548583984, + -5.246260166168213, + 333.56494140625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 510, + 378, + 328, + 420 + ], + "score": 0.418654203414917, + "time": 0.0, + "segmentation": { + "counts": [ + 407645, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 28, + 772, + 28, + 772, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 760, + 48, + 752, + 48, + 750, + 54, + 746, + 54, + 746, + 62, + 738, + 62, + 738, + 66, + 734, + 66, + 732, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 700, + 106, + 694, + 106, + 694, + 112, + 688, + 112, + 688, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 128, + 672, + 128, + 670, + 136, + 664, + 136, + 664, + 144, + 656, + 144, + 656, + 150, + 650, + 150, + 648, + 158, + 642, + 158, + 642, + 164, + 636, + 164, + 634, + 170, + 630, + 170, + 630, + 176, + 624, + 176, + 624, + 180, + 620, + 180, + 618, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 606, + 202, + 598, + 202, + 596, + 210, + 590, + 210, + 590, + 214, + 586, + 214, + 584, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 572, + 234, + 566, + 234, + 564, + 242, + 558, + 242, + 558, + 248, + 552, + 248, + 550, + 256, + 544, + 256, + 544, + 262, + 538, + 262, + 538, + 268, + 532, + 268, + 530, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 520, + 288, + 512, + 288, + 510, + 296, + 504, + 296, + 504, + 302, + 498, + 302, + 496, + 310, + 490, + 310, + 490, + 316, + 484, + 316, + 482, + 324, + 476, + 324, + 476, + 330, + 470, + 330, + 468, + 338, + 462, + 338, + 462, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 450, + 358, + 442, + 358, + 442, + 364, + 436, + 364, + 436, + 370, + 430, + 370, + 428, + 376, + 424, + 376, + 424, + 382, + 418, + 382, + 416, + 392, + 408, + 392, + 408, + 396, + 404, + 396, + 402, + 400, + 400, + 400, + 394, + 408, + 392, + 408, + 390, + 410, + 390, + 410, + 388, + 412, + 388, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 411, + 389, + 411, + 389, + 411, + 389, + 411, + 387, + 413, + 387, + 413, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 383, + 417, + 383, + 417, + 383, + 417, + 383, + 417, + 381, + 419, + 381, + 419, + 381, + 419, + 381, + 419, + 381, + 418, + 382, + 418, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 384, + 416, + 384, + 416, + 388, + 412, + 388, + 412, + 394, + 406, + 394, + 406, + 400, + 400, + 400, + 400, + 406, + 394, + 406, + 394, + 410, + 390, + 410, + 390, + 416, + 384, + 416, + 384, + 420, + 380, + 420, + 380, + 426, + 374, + 426, + 374, + 430, + 370, + 430, + 370, + 436, + 364, + 436, + 364, + 442, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 456, + 344, + 456, + 344, + 460, + 340, + 460, + 340, + 466, + 332, + 468, + 332, + 472, + 328, + 472, + 328, + 476, + 324, + 476, + 324, + 482, + 316, + 484, + 316, + 490, + 310, + 490, + 310, + 496, + 304, + 496, + 304, + 500, + 300, + 500, + 300, + 506, + 292, + 508, + 292, + 514, + 286, + 514, + 286, + 518, + 280, + 520, + 280, + 526, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 536, + 262, + 538, + 262, + 542, + 258, + 542, + 258, + 548, + 252, + 548, + 252, + 554, + 244, + 556, + 244, + 560, + 240, + 560, + 240, + 566, + 234, + 566, + 234, + 572, + 228, + 572, + 228, + 576, + 222, + 578, + 222, + 584, + 216, + 584, + 216, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 600, + 198, + 602, + 198, + 606, + 194, + 606, + 194, + 610, + 190, + 610, + 190, + 616, + 182, + 618, + 182, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 634, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 646, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 676, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 688, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 710, + 90, + 710, + 90, + 714, + 86, + 714, + 86, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 732, + 68, + 732, + 68, + 738, + 60, + 740, + 60, + 744, + 56, + 744, + 56, + 750, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 766, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 776, + 22, + 778, + 22, + 784, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 351245 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000080:0000", + "experimental_retained_index": 0, + "ism_score": 0.43355774879455566, + "R": [ + [ + 0.35342252254486084, + 0.11046192795038223, + 0.9289191961288452 + ], + [ + 0.9279235601425171, + 0.08442852646112442, + -0.36308351159095764 + ], + [ + -0.11853428930044174, + 0.9902878999710083, + -0.0726613774895668 + ] + ], + "t": [ + 34.370418548583984, + -5.246260166168213, + 333.56494140625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000080/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000080/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000080:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000080.png" + }, + { + "frame_id": 82, + "image_path": "/workspace/data/0008_/images/000082.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000082.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 234, + 420, + 422, + 378 + ], + "score": 0.44990843534469604, + "time": 0.0, + "segmentation": { + "counts": [ + 186875, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 24766, + 6, + 64, + 4, + 726, + 6, + 64, + 4, + 726, + 6, + 64, + 4, + 726, + 6, + 64, + 4, + 3926, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 6, + 794, + 6, + 4064, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 11942, + 6, + 4, + 8, + 782, + 6, + 4, + 8, + 782, + 20, + 780, + 20, + 780, + 20, + 34, + 4, + 742, + 20, + 34, + 4, + 750, + 12, + 34, + 4, + 750, + 12, + 34, + 4, + 750, + 8, + 38, + 4, + 750, + 8, + 38, + 4, + 18356, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 3996, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 20006, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2400, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 18684, + 14, + 786, + 14, + 746, + 54, + 746, + 54, + 716, + 84, + 716, + 84, + 690, + 110, + 690, + 110, + 658, + 142, + 658, + 142, + 550, + 10, + 76, + 164, + 550, + 10, + 76, + 164, + 544, + 20, + 20, + 216, + 544, + 20, + 20, + 216, + 542, + 258, + 542, + 258, + 518, + 282, + 518, + 282, + 474, + 326, + 474, + 326, + 450, + 350, + 450, + 350, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 434, + 366, + 434, + 366, + 424, + 376, + 424, + 376, + 422, + 378, + 422, + 378, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 442, + 358, + 442, + 358, + 452, + 348, + 452, + 348, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 468, + 332, + 468, + 332, + 560, + 240, + 560, + 240, + 632, + 168, + 632, + 168, + 676, + 6, + 4, + 114, + 676, + 6, + 4, + 114, + 746, + 54, + 746, + 54, + 496801 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000082:0001", + "experimental_retained_index": 0, + "ism_score": 0.46292829513549805, + "R": [ + [ + -0.005732125602662563, + -0.10376480221748352, + -0.9945847988128662 + ], + [ + 0.9586195945739746, + -0.28366950154304504, + 0.024070288985967636 + ], + [ + -0.28463098406791687, + -0.9532914161682129, + 0.101096972823143 + ] + ], + "t": [ + -85.18465423583984, + -7.5218682289123535, + 322.6261901855469 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 234, + 420, + 422, + 378 + ], + "score": 0.44990843534469604, + "time": 0.0, + "segmentation": { + "counts": [ + 186875, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 24766, + 6, + 64, + 4, + 726, + 6, + 64, + 4, + 726, + 6, + 64, + 4, + 726, + 6, + 64, + 4, + 3926, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 6, + 794, + 6, + 4064, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 11942, + 6, + 4, + 8, + 782, + 6, + 4, + 8, + 782, + 20, + 780, + 20, + 780, + 20, + 34, + 4, + 742, + 20, + 34, + 4, + 750, + 12, + 34, + 4, + 750, + 12, + 34, + 4, + 750, + 8, + 38, + 4, + 750, + 8, + 38, + 4, + 18356, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 3996, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 20006, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2400, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 18684, + 14, + 786, + 14, + 746, + 54, + 746, + 54, + 716, + 84, + 716, + 84, + 690, + 110, + 690, + 110, + 658, + 142, + 658, + 142, + 550, + 10, + 76, + 164, + 550, + 10, + 76, + 164, + 544, + 20, + 20, + 216, + 544, + 20, + 20, + 216, + 542, + 258, + 542, + 258, + 518, + 282, + 518, + 282, + 474, + 326, + 474, + 326, + 450, + 350, + 450, + 350, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 441, + 359, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 434, + 366, + 434, + 366, + 424, + 376, + 424, + 376, + 422, + 378, + 422, + 378, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 442, + 358, + 442, + 358, + 452, + 348, + 452, + 348, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 468, + 332, + 468, + 332, + 560, + 240, + 560, + 240, + 632, + 168, + 632, + 168, + 676, + 6, + 4, + 114, + 676, + 6, + 4, + 114, + 746, + 54, + 746, + 54, + 496801 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000082:0001", + "experimental_retained_index": 0, + "ism_score": 0.46292829513549805, + "R": [ + [ + -0.005732125602662563, + -0.10376480221748352, + -0.9945847988128662 + ], + [ + 0.9586195945739746, + -0.28366950154304504, + 0.024070288985967636 + ], + [ + -0.28463098406791687, + -0.9532914161682129, + 0.101096972823143 + ] + ], + "t": [ + -85.18465423583984, + -7.5218682289123535, + 322.6261901855469 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000082/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000082/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000082:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000082.png" + }, + { + "frame_id": 84, + "image_path": "/workspace/data/0008_/images/000084.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000084.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 274, + 426, + 326, + 372 + ], + "score": 0.4433315396308899, + "time": 0.0, + "segmentation": { + "counts": [ + 219181, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 750, + 52, + 748, + 52, + 744, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 720, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 688, + 113, + 687, + 113, + 683, + 117, + 683, + 117, + 679, + 121, + 679, + 121, + 675, + 125, + 675, + 125, + 669, + 131, + 669, + 131, + 665, + 135, + 665, + 135, + 661, + 139, + 661, + 139, + 657, + 143, + 657, + 143, + 653, + 147, + 653, + 147, + 649, + 151, + 649, + 151, + 645, + 155, + 645, + 155, + 639, + 161, + 639, + 161, + 635, + 165, + 635, + 165, + 629, + 171, + 629, + 171, + 625, + 175, + 625, + 175, + 621, + 179, + 621, + 179, + 615, + 185, + 615, + 185, + 611, + 189, + 611, + 189, + 607, + 193, + 607, + 193, + 603, + 197, + 603, + 197, + 599, + 201, + 599, + 201, + 593, + 207, + 593, + 207, + 589, + 211, + 589, + 211, + 585, + 215, + 585, + 215, + 579, + 221, + 579, + 221, + 575, + 225, + 575, + 225, + 569, + 231, + 569, + 231, + 565, + 235, + 565, + 235, + 563, + 237, + 563, + 237, + 555, + 245, + 555, + 245, + 551, + 249, + 551, + 249, + 547, + 253, + 547, + 253, + 543, + 257, + 543, + 257, + 537, + 263, + 537, + 263, + 533, + 267, + 533, + 267, + 527, + 273, + 527, + 273, + 525, + 275, + 525, + 275, + 521, + 279, + 521, + 279, + 517, + 283, + 517, + 283, + 517, + 283, + 517, + 283, + 505, + 4, + 10, + 281, + 505, + 4, + 10, + 281, + 505, + 4, + 12, + 279, + 505, + 4, + 12, + 279, + 521, + 279, + 521, + 279, + 489, + 8, + 24, + 279, + 489, + 8, + 24, + 279, + 485, + 12, + 24, + 279, + 485, + 12, + 24, + 279, + 481, + 18, + 22, + 279, + 481, + 18, + 22, + 279, + 477, + 22, + 22, + 279, + 477, + 22, + 22, + 279, + 471, + 28, + 22, + 279, + 471, + 28, + 22, + 279, + 467, + 30, + 24, + 279, + 467, + 30, + 24, + 279, + 461, + 38, + 20, + 281, + 461, + 38, + 20, + 281, + 457, + 44, + 18, + 281, + 457, + 44, + 18, + 281, + 453, + 50, + 16, + 280, + 454, + 50, + 16, + 280, + 450, + 58, + 14, + 278, + 450, + 58, + 14, + 278, + 444, + 66, + 20, + 270, + 444, + 66, + 20, + 270, + 440, + 82, + 6, + 272, + 440, + 82, + 6, + 272, + 436, + 364, + 436, + 364, + 430, + 370, + 430, + 370, + 428, + 372, + 428, + 372, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 446, + 346, + 454, + 346, + 454, + 340, + 460, + 340, + 462, + 332, + 468, + 332, + 468, + 326, + 474, + 326, + 474, + 318, + 482, + 318, + 484, + 310, + 490, + 310, + 494, + 298, + 502, + 298, + 506, + 288, + 512, + 288, + 516, + 276, + 524, + 276, + 526, + 266, + 534, + 266, + 534, + 260, + 540, + 260, + 544, + 248, + 552, + 248, + 556, + 238, + 562, + 238, + 564, + 228, + 572, + 228, + 574, + 218, + 582, + 218, + 584, + 210, + 590, + 210, + 594, + 196, + 604, + 196, + 606, + 190, + 610, + 190, + 610, + 182, + 618, + 182, + 618, + 174, + 626, + 174, + 624, + 168, + 632, + 168, + 632, + 162, + 638, + 162, + 616, + 6, + 14, + 158, + 622, + 6, + 14, + 158, + 622, + 8, + 10, + 154, + 628, + 8, + 10, + 154, + 626, + 164, + 636, + 164, + 636, + 158, + 642, + 158, + 642, + 150, + 650, + 150, + 650, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 664, + 130, + 670, + 130, + 670, + 122, + 678, + 122, + 678, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 692, + 98, + 702, + 98, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 756, + 36, + 764, + 36, + 772, + 22, + 778, + 22, + 786, + 4, + 796, + 4, + 541901 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000084:0000", + "experimental_retained_index": 0, + "ism_score": 0.45763254165649414, + "R": [ + [ + -0.24251806735992432, + 0.017411354929208755, + 0.9699904322624207 + ], + [ + 0.8591715097427368, + 0.46821102499961853, + 0.20640620589256287 + ], + [ + -0.45056700706481934, + 0.8834454417228699, + -0.12850870192050934 + ] + ], + "t": [ + -15.863795280456543, + 58.127891540527344, + 370.16363525390625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 274, + 426, + 326, + 372 + ], + "score": 0.4433315396308899, + "time": 0.0, + "segmentation": { + "counts": [ + 219181, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 750, + 52, + 748, + 52, + 744, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 720, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 688, + 113, + 687, + 113, + 683, + 117, + 683, + 117, + 679, + 121, + 679, + 121, + 675, + 125, + 675, + 125, + 669, + 131, + 669, + 131, + 665, + 135, + 665, + 135, + 661, + 139, + 661, + 139, + 657, + 143, + 657, + 143, + 653, + 147, + 653, + 147, + 649, + 151, + 649, + 151, + 645, + 155, + 645, + 155, + 639, + 161, + 639, + 161, + 635, + 165, + 635, + 165, + 629, + 171, + 629, + 171, + 625, + 175, + 625, + 175, + 621, + 179, + 621, + 179, + 615, + 185, + 615, + 185, + 611, + 189, + 611, + 189, + 607, + 193, + 607, + 193, + 603, + 197, + 603, + 197, + 599, + 201, + 599, + 201, + 593, + 207, + 593, + 207, + 589, + 211, + 589, + 211, + 585, + 215, + 585, + 215, + 579, + 221, + 579, + 221, + 575, + 225, + 575, + 225, + 569, + 231, + 569, + 231, + 565, + 235, + 565, + 235, + 563, + 237, + 563, + 237, + 555, + 245, + 555, + 245, + 551, + 249, + 551, + 249, + 547, + 253, + 547, + 253, + 543, + 257, + 543, + 257, + 537, + 263, + 537, + 263, + 533, + 267, + 533, + 267, + 527, + 273, + 527, + 273, + 525, + 275, + 525, + 275, + 521, + 279, + 521, + 279, + 517, + 283, + 517, + 283, + 517, + 283, + 517, + 283, + 505, + 4, + 10, + 281, + 505, + 4, + 10, + 281, + 505, + 4, + 12, + 279, + 505, + 4, + 12, + 279, + 521, + 279, + 521, + 279, + 489, + 8, + 24, + 279, + 489, + 8, + 24, + 279, + 485, + 12, + 24, + 279, + 485, + 12, + 24, + 279, + 481, + 18, + 22, + 279, + 481, + 18, + 22, + 279, + 477, + 22, + 22, + 279, + 477, + 22, + 22, + 279, + 471, + 28, + 22, + 279, + 471, + 28, + 22, + 279, + 467, + 30, + 24, + 279, + 467, + 30, + 24, + 279, + 461, + 38, + 20, + 281, + 461, + 38, + 20, + 281, + 457, + 44, + 18, + 281, + 457, + 44, + 18, + 281, + 453, + 50, + 16, + 280, + 454, + 50, + 16, + 280, + 450, + 58, + 14, + 278, + 450, + 58, + 14, + 278, + 444, + 66, + 20, + 270, + 444, + 66, + 20, + 270, + 440, + 82, + 6, + 272, + 440, + 82, + 6, + 272, + 436, + 364, + 436, + 364, + 430, + 370, + 430, + 370, + 428, + 372, + 428, + 372, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 446, + 346, + 454, + 346, + 454, + 340, + 460, + 340, + 462, + 332, + 468, + 332, + 468, + 326, + 474, + 326, + 474, + 318, + 482, + 318, + 484, + 310, + 490, + 310, + 494, + 298, + 502, + 298, + 506, + 288, + 512, + 288, + 516, + 276, + 524, + 276, + 526, + 266, + 534, + 266, + 534, + 260, + 540, + 260, + 544, + 248, + 552, + 248, + 556, + 238, + 562, + 238, + 564, + 228, + 572, + 228, + 574, + 218, + 582, + 218, + 584, + 210, + 590, + 210, + 594, + 196, + 604, + 196, + 606, + 190, + 610, + 190, + 610, + 182, + 618, + 182, + 618, + 174, + 626, + 174, + 624, + 168, + 632, + 168, + 632, + 162, + 638, + 162, + 616, + 6, + 14, + 158, + 622, + 6, + 14, + 158, + 622, + 8, + 10, + 154, + 628, + 8, + 10, + 154, + 626, + 164, + 636, + 164, + 636, + 158, + 642, + 158, + 642, + 150, + 650, + 150, + 650, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 664, + 130, + 670, + 130, + 670, + 122, + 678, + 122, + 678, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 692, + 98, + 702, + 98, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 756, + 36, + 764, + 36, + 772, + 22, + 778, + 22, + 786, + 4, + 796, + 4, + 541901 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000084:0000", + "experimental_retained_index": 0, + "ism_score": 0.45763254165649414, + "R": [ + [ + -0.24251806735992432, + 0.017411354929208755, + 0.9699904322624207 + ], + [ + 0.8591715097427368, + 0.46821102499961853, + 0.20640620589256287 + ], + [ + -0.45056700706481934, + 0.8834454417228699, + -0.12850870192050934 + ] + ], + "t": [ + -15.863795280456543, + 58.127891540527344, + 370.16363525390625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000084/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000084/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000084:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000084.png" + }, + { + "frame_id": 86, + "image_path": "/workspace/data/0008_/images/000086.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000086.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 266, + 524, + 372, + 274 + ], + "score": 0.016183990985155106, + "time": 0.0, + "segmentation": { + "counts": [ + 212793, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 57, + 743, + 57, + 741, + 59, + 741, + 59, + 737, + 63, + 737, + 63, + 735, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 81, + 719, + 81, + 717, + 83, + 717, + 83, + 715, + 85, + 715, + 85, + 713, + 86, + 714, + 86, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 143, + 657, + 143, + 655, + 145, + 655, + 145, + 653, + 147, + 653, + 147, + 651, + 149, + 651, + 149, + 649, + 151, + 649, + 151, + 647, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 183, + 617, + 183, + 615, + 185, + 615, + 185, + 611, + 189, + 611, + 189, + 609, + 191, + 609, + 191, + 607, + 193, + 607, + 193, + 605, + 195, + 605, + 195, + 603, + 197, + 603, + 197, + 601, + 199, + 601, + 199, + 597, + 203, + 597, + 203, + 597, + 203, + 597, + 203, + 593, + 207, + 593, + 207, + 591, + 209, + 591, + 209, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 593, + 207, + 593, + 207, + 597, + 202, + 598, + 202, + 606, + 195, + 605, + 195, + 609, + 191, + 609, + 191, + 571, + 8, + 18, + 4, + 10, + 189, + 571, + 8, + 18, + 4, + 10, + 189, + 571, + 8, + 18, + 4, + 12, + 187, + 571, + 8, + 18, + 4, + 12, + 187, + 573, + 6, + 32, + 189, + 573, + 6, + 32, + 189, + 561, + 10, + 40, + 189, + 561, + 10, + 40, + 189, + 559, + 14, + 36, + 191, + 559, + 14, + 36, + 191, + 557, + 16, + 32, + 195, + 557, + 16, + 32, + 195, + 555, + 20, + 20, + 205, + 555, + 20, + 20, + 205, + 551, + 26, + 16, + 207, + 551, + 26, + 16, + 207, + 549, + 36, + 6, + 209, + 549, + 36, + 6, + 209, + 545, + 255, + 545, + 255, + 543, + 257, + 543, + 257, + 541, + 259, + 541, + 259, + 539, + 260, + 540, + 260, + 538, + 263, + 537, + 263, + 535, + 265, + 535, + 265, + 533, + 267, + 533, + 267, + 529, + 271, + 529, + 271, + 527, + 273, + 527, + 273, + 525, + 275, + 525, + 275, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 554, + 242, + 558, + 242, + 560, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 572, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 582, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 616, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 638, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 652, + 144, + 656, + 144, + 662, + 136, + 664, + 136, + 668, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 686, + 110, + 690, + 110, + 694, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 68, + 732, + 68, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 54, + 746, + 54, + 746, + 30, + 770, + 30, + 772, + 16, + 784, + 16, + 511391 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000086:0000", + "experimental_retained_index": 0, + "ism_score": 0.4708069860935211, + "R": [ + [ + 0.9958586692810059, + 0.07708723098039627, + 0.05141988396644592 + ], + [ + 0.08137282729148865, + -0.9923646450042725, + -0.09172570705413818 + ], + [ + 0.043967679142951965, + 0.0957481861114502, + -0.9944319725036621 + ] + ], + "t": [ + -136.79042053222656, + 120.9483413696289, + 265.046875 + ] + }, + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 110, + 560, + 280, + 236 + ], + "score": 0.01640147902071476, + "time": 0.0, + "segmentation": { + "counts": [ + 87881, + 10, + 790, + 10, + 788, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 754, + 44, + 46, + 6, + 704, + 44, + 46, + 6, + 702, + 44, + 44, + 24, + 688, + 44, + 44, + 24, + 688, + 44, + 42, + 40, + 674, + 44, + 42, + 40, + 672, + 46, + 42, + 50, + 662, + 46, + 42, + 50, + 662, + 44, + 42, + 54, + 660, + 44, + 42, + 54, + 658, + 46, + 42, + 54, + 658, + 46, + 42, + 54, + 656, + 46, + 42, + 56, + 656, + 46, + 42, + 56, + 656, + 46, + 40, + 58, + 656, + 46, + 40, + 58, + 656, + 44, + 38, + 62, + 656, + 44, + 38, + 62, + 654, + 44, + 40, + 62, + 654, + 44, + 40, + 62, + 652, + 44, + 40, + 64, + 652, + 44, + 40, + 64, + 652, + 36, + 48, + 64, + 652, + 36, + 48, + 64, + 650, + 34, + 50, + 66, + 650, + 34, + 50, + 66, + 650, + 32, + 50, + 68, + 650, + 32, + 50, + 68, + 650, + 30, + 50, + 70, + 650, + 30, + 50, + 70, + 648, + 30, + 50, + 72, + 648, + 30, + 50, + 72, + 648, + 28, + 52, + 72, + 648, + 28, + 52, + 72, + 646, + 28, + 54, + 72, + 646, + 28, + 54, + 72, + 646, + 28, + 50, + 76, + 646, + 28, + 50, + 76, + 644, + 28, + 50, + 78, + 644, + 28, + 50, + 78, + 644, + 28, + 48, + 80, + 644, + 28, + 48, + 80, + 642, + 28, + 50, + 80, + 642, + 28, + 50, + 80, + 642, + 28, + 48, + 82, + 642, + 28, + 48, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 636, + 34, + 48, + 82, + 636, + 34, + 48, + 82, + 636, + 34, + 46, + 84, + 636, + 34, + 46, + 84, + 634, + 38, + 42, + 86, + 634, + 38, + 42, + 86, + 634, + 40, + 38, + 88, + 634, + 40, + 38, + 88, + 632, + 42, + 36, + 90, + 632, + 42, + 36, + 90, + 632, + 44, + 32, + 92, + 632, + 44, + 32, + 92, + 630, + 48, + 30, + 92, + 630, + 48, + 30, + 92, + 630, + 52, + 24, + 94, + 630, + 52, + 24, + 94, + 628, + 58, + 18, + 96, + 628, + 58, + 18, + 96, + 628, + 60, + 12, + 98, + 630, + 60, + 12, + 98, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 696, + 100, + 700, + 100, + 704, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 734, + 64, + 736, + 64, + 740, + 56, + 744, + 56, + 748, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 766, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 784, + 12, + 788, + 12, + 709751 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000086:0001", + "experimental_retained_index": 1, + "ism_score": 0.43737277388572693, + "R": [ + [ + -0.48404282331466675, + -0.1148180216550827, + 0.8677330613136292 + ], + [ + 0.45422205328941345, + 0.8144198656082153, + 0.3612111210823059 + ], + [ + -0.7479581832885742, + 0.5686285495758057, + -0.34196028113365173 + ] + ], + "t": [ + -126.53939056396484, + 144.0546112060547, + 458.2215881347656 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 110, + 560, + 280, + 236 + ], + "score": 0.01640147902071476, + "time": 0.0, + "segmentation": { + "counts": [ + 87881, + 10, + 790, + 10, + 788, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 754, + 44, + 46, + 6, + 704, + 44, + 46, + 6, + 702, + 44, + 44, + 24, + 688, + 44, + 44, + 24, + 688, + 44, + 42, + 40, + 674, + 44, + 42, + 40, + 672, + 46, + 42, + 50, + 662, + 46, + 42, + 50, + 662, + 44, + 42, + 54, + 660, + 44, + 42, + 54, + 658, + 46, + 42, + 54, + 658, + 46, + 42, + 54, + 656, + 46, + 42, + 56, + 656, + 46, + 42, + 56, + 656, + 46, + 40, + 58, + 656, + 46, + 40, + 58, + 656, + 44, + 38, + 62, + 656, + 44, + 38, + 62, + 654, + 44, + 40, + 62, + 654, + 44, + 40, + 62, + 652, + 44, + 40, + 64, + 652, + 44, + 40, + 64, + 652, + 36, + 48, + 64, + 652, + 36, + 48, + 64, + 650, + 34, + 50, + 66, + 650, + 34, + 50, + 66, + 650, + 32, + 50, + 68, + 650, + 32, + 50, + 68, + 650, + 30, + 50, + 70, + 650, + 30, + 50, + 70, + 648, + 30, + 50, + 72, + 648, + 30, + 50, + 72, + 648, + 28, + 52, + 72, + 648, + 28, + 52, + 72, + 646, + 28, + 54, + 72, + 646, + 28, + 54, + 72, + 646, + 28, + 50, + 76, + 646, + 28, + 50, + 76, + 644, + 28, + 50, + 78, + 644, + 28, + 50, + 78, + 644, + 28, + 48, + 80, + 644, + 28, + 48, + 80, + 642, + 28, + 50, + 80, + 642, + 28, + 50, + 80, + 642, + 28, + 48, + 82, + 642, + 28, + 48, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 636, + 34, + 48, + 82, + 636, + 34, + 48, + 82, + 636, + 34, + 46, + 84, + 636, + 34, + 46, + 84, + 634, + 38, + 42, + 86, + 634, + 38, + 42, + 86, + 634, + 40, + 38, + 88, + 634, + 40, + 38, + 88, + 632, + 42, + 36, + 90, + 632, + 42, + 36, + 90, + 632, + 44, + 32, + 92, + 632, + 44, + 32, + 92, + 630, + 48, + 30, + 92, + 630, + 48, + 30, + 92, + 630, + 52, + 24, + 94, + 630, + 52, + 24, + 94, + 628, + 58, + 18, + 96, + 628, + 58, + 18, + 96, + 628, + 60, + 12, + 98, + 630, + 60, + 12, + 98, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 696, + 100, + 700, + 100, + 704, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 734, + 64, + 736, + 64, + 740, + 56, + 744, + 56, + 748, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 766, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 784, + 12, + 788, + 12, + 709751 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000086:0001", + "experimental_retained_index": 1, + "ism_score": 0.43737277388572693, + "R": [ + [ + -0.48404282331466675, + -0.1148180216550827, + 0.8677330613136292 + ], + [ + 0.45422205328941345, + 0.8144198656082153, + 0.3612111210823059 + ], + [ + -0.7479581832885742, + 0.5686285495758057, + -0.34196028113365173 + ] + ], + "t": [ + -126.53939056396484, + 144.0546112060547, + 458.2215881347656 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000086/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000086/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000086:0000", + "TubeHolder:000086:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000086.png" + }, + { + "frame_id": 87, + "image_path": "/workspace/data/0008_/images/000087.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000087.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 290, + 572, + 362, + 226 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 231995, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 790, + 10, + 790, + 10, + 788, + 13, + 787, + 13, + 785, + 15, + 785, + 15, + 783, + 17, + 783, + 17, + 781, + 19, + 781, + 19, + 779, + 21, + 779, + 21, + 777, + 23, + 777, + 23, + 775, + 25, + 775, + 25, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 771, + 29, + 771, + 29, + 769, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 91, + 709, + 91, + 707, + 93, + 707, + 93, + 707, + 92, + 708, + 92, + 706, + 95, + 705, + 95, + 703, + 97, + 703, + 97, + 699, + 101, + 699, + 101, + 697, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 135, + 665, + 135, + 663, + 137, + 663, + 137, + 661, + 139, + 661, + 139, + 659, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 637, + 163, + 637, + 163, + 651, + 149, + 651, + 149, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 655, + 145, + 655, + 145, + 601, + 10, + 40, + 149, + 601, + 10, + 40, + 149, + 601, + 12, + 32, + 155, + 601, + 12, + 32, + 155, + 599, + 14, + 26, + 160, + 600, + 14, + 26, + 160, + 598, + 18, + 22, + 162, + 598, + 18, + 22, + 162, + 596, + 22, + 18, + 164, + 596, + 22, + 18, + 164, + 594, + 28, + 12, + 166, + 594, + 28, + 12, + 166, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 148, + 6, + 74, + 572, + 148, + 6, + 74, + 572, + 150, + 2, + 8, + 2, + 67, + 571, + 150, + 2, + 8, + 2, + 67, + 571, + 150, + 2, + 8, + 12, + 57, + 571, + 150, + 2, + 8, + 12, + 57, + 573, + 148, + 2, + 20, + 2, + 55, + 573, + 148, + 2, + 20, + 2, + 55, + 573, + 130, + 6, + 10, + 10, + 71, + 573, + 130, + 6, + 10, + 10, + 71, + 575, + 130, + 4, + 10, + 10, + 71, + 575, + 130, + 4, + 10, + 10, + 71, + 575, + 130, + 4, + 8, + 22, + 61, + 575, + 130, + 4, + 8, + 22, + 61, + 577, + 130, + 2, + 12, + 2, + 14, + 2, + 60, + 578, + 130, + 2, + 12, + 2, + 14, + 2, + 60, + 580, + 128, + 2, + 90, + 580, + 128, + 2, + 90, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 8, + 2, + 126, + 664, + 8, + 2, + 126, + 686, + 112, + 688, + 112, + 696, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 706, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 54, + 746, + 54, + 748, + 38, + 762, + 38, + 764, + 26, + 774, + 26, + 776, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 500139 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000087:0000", + "experimental_retained_index": 0, + "ism_score": 0.4778807461261749, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 290, + 572, + 362, + 226 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 231995, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 790, + 10, + 790, + 10, + 788, + 13, + 787, + 13, + 785, + 15, + 785, + 15, + 783, + 17, + 783, + 17, + 781, + 19, + 781, + 19, + 779, + 21, + 779, + 21, + 777, + 23, + 777, + 23, + 775, + 25, + 775, + 25, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 771, + 29, + 771, + 29, + 769, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 91, + 709, + 91, + 707, + 93, + 707, + 93, + 707, + 92, + 708, + 92, + 706, + 95, + 705, + 95, + 703, + 97, + 703, + 97, + 699, + 101, + 699, + 101, + 697, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 135, + 665, + 135, + 663, + 137, + 663, + 137, + 661, + 139, + 661, + 139, + 659, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 637, + 163, + 637, + 163, + 651, + 149, + 651, + 149, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 655, + 145, + 655, + 145, + 601, + 10, + 40, + 149, + 601, + 10, + 40, + 149, + 601, + 12, + 32, + 155, + 601, + 12, + 32, + 155, + 599, + 14, + 26, + 160, + 600, + 14, + 26, + 160, + 598, + 18, + 22, + 162, + 598, + 18, + 22, + 162, + 596, + 22, + 18, + 164, + 596, + 22, + 18, + 164, + 594, + 28, + 12, + 166, + 594, + 28, + 12, + 166, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 148, + 6, + 74, + 572, + 148, + 6, + 74, + 572, + 150, + 2, + 8, + 2, + 67, + 571, + 150, + 2, + 8, + 2, + 67, + 571, + 150, + 2, + 8, + 12, + 57, + 571, + 150, + 2, + 8, + 12, + 57, + 573, + 148, + 2, + 20, + 2, + 55, + 573, + 148, + 2, + 20, + 2, + 55, + 573, + 130, + 6, + 10, + 10, + 71, + 573, + 130, + 6, + 10, + 10, + 71, + 575, + 130, + 4, + 10, + 10, + 71, + 575, + 130, + 4, + 10, + 10, + 71, + 575, + 130, + 4, + 8, + 22, + 61, + 575, + 130, + 4, + 8, + 22, + 61, + 577, + 130, + 2, + 12, + 2, + 14, + 2, + 60, + 578, + 130, + 2, + 12, + 2, + 14, + 2, + 60, + 580, + 128, + 2, + 90, + 580, + 128, + 2, + 90, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 8, + 2, + 126, + 664, + 8, + 2, + 126, + 686, + 112, + 688, + 112, + 696, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 706, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 54, + 746, + 54, + 748, + 38, + 762, + 38, + 764, + 26, + 774, + 26, + 776, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 500139 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000087:0000", + "experimental_retained_index": 0, + "ism_score": 0.4778807461261749, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000087/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000087/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000087:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000087.png" + }, + { + "frame_id": 92, + "image_path": "/workspace/data/0008_/images/000092.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000092.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 92, + "category_id": 1, + "bbox": [ + 42, + 452, + 690, + 344 + ], + "score": 0.09862741827964783, + "time": 0.0, + "segmentation": { + "counts": [ + 33481, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 283946, + 16, + 784, + 16, + 780, + 56, + 12, + 4, + 728, + 56, + 12, + 4, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 600, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 584, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 508, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 496, + 304, + 496, + 304, + 494, + 306, + 494, + 306, + 492, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 482, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 482, + 318, + 482, + 318, + 480, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 482, + 316, + 484, + 316, + 484, + 10, + 4, + 6, + 8, + 284, + 488, + 10, + 4, + 6, + 8, + 284, + 488, + 6, + 24, + 278, + 492, + 6, + 24, + 278, + 492, + 6, + 22, + 278, + 494, + 6, + 22, + 278, + 494, + 6, + 18, + 278, + 498, + 6, + 18, + 278, + 498, + 6, + 16, + 276, + 502, + 6, + 16, + 276, + 488, + 4, + 10, + 6, + 14, + 274, + 492, + 4, + 10, + 6, + 14, + 274, + 492, + 4, + 10, + 4, + 14, + 274, + 494, + 4, + 10, + 4, + 14, + 274, + 518, + 280, + 520, + 280, + 490, + 10, + 16, + 282, + 492, + 10, + 16, + 282, + 488, + 16, + 12, + 278, + 494, + 16, + 12, + 278, + 494, + 16, + 12, + 274, + 498, + 16, + 12, + 274, + 498, + 18, + 8, + 274, + 500, + 18, + 8, + 274, + 500, + 20, + 6, + 270, + 504, + 20, + 6, + 270, + 504, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 514, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 528, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 538, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 562, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 672, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 118, + 682, + 118, + 686, + 112, + 688, + 112, + 690, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 68, + 732, + 68, + 732, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 436277 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000092:0001", + "experimental_retained_index": 0, + "ism_score": 0.4641290307044983, + "R": [ + [ + 0.9541341066360474, + 0.2644452452659607, + 0.14160554111003876 + ], + [ + 0.26885730028152466, + -0.9628716111183167, + -0.01340717077255249 + ], + [ + 0.13274706900119781, + 0.05099472403526306, + -0.9899613857269287 + ] + ], + "t": [ + -85.65684509277344, + 106.91352844238281, + 211.09422302246094 + ] + }, + { + "scene_id": 0, + "image_id": 92, + "category_id": 1, + "bbox": [ + 236, + 478, + 256, + 188 + ], + "score": 0.2866745591163635, + "time": 0.0, + "segmentation": { + "counts": [ + 188545, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 28, + 38, + 16, + 718, + 28, + 38, + 16, + 716, + 30, + 38, + 24, + 708, + 30, + 38, + 24, + 708, + 28, + 38, + 32, + 702, + 28, + 38, + 32, + 700, + 28, + 40, + 40, + 692, + 28, + 40, + 40, + 692, + 28, + 38, + 50, + 684, + 28, + 38, + 50, + 682, + 28, + 38, + 58, + 676, + 28, + 38, + 58, + 676, + 28, + 38, + 66, + 668, + 28, + 38, + 66, + 668, + 26, + 38, + 74, + 662, + 26, + 38, + 74, + 660, + 28, + 36, + 80, + 656, + 28, + 36, + 80, + 656, + 28, + 36, + 82, + 654, + 28, + 36, + 82, + 654, + 26, + 38, + 82, + 654, + 26, + 38, + 82, + 652, + 26, + 38, + 84, + 652, + 26, + 38, + 84, + 652, + 24, + 40, + 84, + 652, + 24, + 40, + 84, + 652, + 22, + 40, + 86, + 652, + 22, + 40, + 86, + 652, + 22, + 40, + 86, + 652, + 22, + 40, + 86, + 652, + 20, + 40, + 86, + 654, + 20, + 40, + 86, + 652, + 20, + 42, + 86, + 652, + 20, + 42, + 86, + 652, + 18, + 42, + 86, + 654, + 18, + 42, + 86, + 654, + 18, + 42, + 86, + 654, + 18, + 42, + 86, + 654, + 14, + 44, + 88, + 654, + 14, + 44, + 88, + 652, + 16, + 44, + 86, + 654, + 16, + 44, + 86, + 654, + 14, + 44, + 88, + 654, + 14, + 44, + 88, + 654, + 12, + 46, + 86, + 656, + 12, + 46, + 86, + 656, + 12, + 44, + 88, + 656, + 12, + 44, + 88, + 656, + 10, + 44, + 90, + 656, + 10, + 44, + 90, + 656, + 8, + 46, + 88, + 658, + 8, + 46, + 88, + 712, + 88, + 712, + 88, + 656, + 10, + 44, + 90, + 656, + 10, + 44, + 90, + 654, + 12, + 44, + 88, + 656, + 12, + 44, + 88, + 656, + 14, + 42, + 88, + 656, + 14, + 42, + 88, + 654, + 18, + 40, + 86, + 656, + 18, + 40, + 86, + 656, + 20, + 38, + 86, + 656, + 20, + 38, + 86, + 656, + 24, + 32, + 86, + 658, + 24, + 32, + 86, + 656, + 30, + 28, + 86, + 656, + 30, + 28, + 86, + 656, + 34, + 22, + 86, + 658, + 34, + 22, + 86, + 658, + 38, + 18, + 86, + 658, + 38, + 18, + 86, + 658, + 42, + 12, + 88, + 658, + 42, + 12, + 88, + 656, + 48, + 6, + 88, + 658, + 48, + 6, + 88, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 764, + 32, + 768, + 32, + 772, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 628251 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000092:0002", + "experimental_retained_index": 1, + "ism_score": 0.3870711028575897, + "R": [ + [ + -0.18751582503318787, + 0.6850361824035645, + -0.7043008208274841 + ], + [ + 0.7663164138793945, + 0.5504792928695679, + 0.3313071131706238 + ], + [ + 0.6143226623535156, + -0.47734901309013367, + -0.6280302405357361 + ] + ], + "t": [ + -127.29595947265625, + -14.31386947631836, + 226.52488708496094 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 92, + "category_id": 1, + "bbox": [ + 236, + 478, + 256, + 188 + ], + "score": 0.2866745591163635, + "time": 0.0, + "segmentation": { + "counts": [ + 188545, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 28, + 38, + 16, + 718, + 28, + 38, + 16, + 716, + 30, + 38, + 24, + 708, + 30, + 38, + 24, + 708, + 28, + 38, + 32, + 702, + 28, + 38, + 32, + 700, + 28, + 40, + 40, + 692, + 28, + 40, + 40, + 692, + 28, + 38, + 50, + 684, + 28, + 38, + 50, + 682, + 28, + 38, + 58, + 676, + 28, + 38, + 58, + 676, + 28, + 38, + 66, + 668, + 28, + 38, + 66, + 668, + 26, + 38, + 74, + 662, + 26, + 38, + 74, + 660, + 28, + 36, + 80, + 656, + 28, + 36, + 80, + 656, + 28, + 36, + 82, + 654, + 28, + 36, + 82, + 654, + 26, + 38, + 82, + 654, + 26, + 38, + 82, + 652, + 26, + 38, + 84, + 652, + 26, + 38, + 84, + 652, + 24, + 40, + 84, + 652, + 24, + 40, + 84, + 652, + 22, + 40, + 86, + 652, + 22, + 40, + 86, + 652, + 22, + 40, + 86, + 652, + 22, + 40, + 86, + 652, + 20, + 40, + 86, + 654, + 20, + 40, + 86, + 652, + 20, + 42, + 86, + 652, + 20, + 42, + 86, + 652, + 18, + 42, + 86, + 654, + 18, + 42, + 86, + 654, + 18, + 42, + 86, + 654, + 18, + 42, + 86, + 654, + 14, + 44, + 88, + 654, + 14, + 44, + 88, + 652, + 16, + 44, + 86, + 654, + 16, + 44, + 86, + 654, + 14, + 44, + 88, + 654, + 14, + 44, + 88, + 654, + 12, + 46, + 86, + 656, + 12, + 46, + 86, + 656, + 12, + 44, + 88, + 656, + 12, + 44, + 88, + 656, + 10, + 44, + 90, + 656, + 10, + 44, + 90, + 656, + 8, + 46, + 88, + 658, + 8, + 46, + 88, + 712, + 88, + 712, + 88, + 656, + 10, + 44, + 90, + 656, + 10, + 44, + 90, + 654, + 12, + 44, + 88, + 656, + 12, + 44, + 88, + 656, + 14, + 42, + 88, + 656, + 14, + 42, + 88, + 654, + 18, + 40, + 86, + 656, + 18, + 40, + 86, + 656, + 20, + 38, + 86, + 656, + 20, + 38, + 86, + 656, + 24, + 32, + 86, + 658, + 24, + 32, + 86, + 656, + 30, + 28, + 86, + 656, + 30, + 28, + 86, + 656, + 34, + 22, + 86, + 658, + 34, + 22, + 86, + 658, + 38, + 18, + 86, + 658, + 38, + 18, + 86, + 658, + 42, + 12, + 88, + 658, + 42, + 12, + 88, + 656, + 48, + 6, + 88, + 658, + 48, + 6, + 88, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 764, + 32, + 768, + 32, + 772, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 628251 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000092:0002", + "experimental_retained_index": 1, + "ism_score": 0.3870711028575897, + "R": [ + [ + -0.18751582503318787, + 0.6850361824035645, + -0.7043008208274841 + ], + [ + 0.7663164138793945, + 0.5504792928695679, + 0.3313071131706238 + ], + [ + 0.6143226623535156, + -0.47734901309013367, + -0.6280302405357361 + ] + ], + "t": [ + -127.29595947265625, + -14.31386947631836, + 226.52488708496094 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000092/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000092/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000092:0001", + "TubeHolder:000092:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000092.png" + }, + { + "frame_id": 95, + "image_path": "/workspace/data/0008_/images/000095.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000095.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 162, + 314, + 614, + 312 + ], + "score": 0.10901065915822983, + "time": 0.0, + "segmentation": { + "counts": [ + 129345, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 271174, + 30, + 770, + 30, + 726, + 76, + 724, + 76, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 596, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 536, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 526, + 274, + 526, + 274, + 524, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 500, + 8, + 6, + 288, + 498, + 8, + 6, + 288, + 498, + 302, + 498, + 302, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 496, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 500, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 504, + 292, + 508, + 292, + 510, + 286, + 514, + 286, + 514, + 280, + 520, + 280, + 522, + 274, + 526, + 274, + 526, + 268, + 532, + 268, + 532, + 264, + 536, + 264, + 536, + 260, + 540, + 260, + 540, + 254, + 546, + 254, + 546, + 248, + 552, + 248, + 554, + 242, + 558, + 242, + 558, + 238, + 562, + 238, + 564, + 232, + 568, + 232, + 570, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 588, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 614, + 180, + 620, + 180, + 620, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 648, + 148, + 652, + 148, + 654, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 670, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 682, + 114, + 686, + 114, + 674, + 8, + 4, + 110, + 678, + 8, + 4, + 110, + 676, + 12, + 2, + 104, + 682, + 12, + 2, + 104, + 660, + 4, + 18, + 114, + 664, + 4, + 18, + 114, + 662, + 16, + 8, + 110, + 666, + 16, + 8, + 110, + 664, + 20, + 4, + 106, + 670, + 20, + 4, + 106, + 670, + 20, + 4, + 104, + 672, + 20, + 4, + 104, + 672, + 22, + 2, + 98, + 678, + 22, + 2, + 98, + 680, + 116, + 684, + 116, + 684, + 22, + 2, + 6, + 14, + 66, + 690, + 22, + 2, + 6, + 14, + 66, + 690, + 22, + 22, + 58, + 698, + 22, + 22, + 58, + 698, + 20, + 24, + 52, + 704, + 20, + 24, + 52, + 706, + 10, + 34, + 44, + 712, + 10, + 34, + 44, + 756, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 768, + 28, + 772, + 28, + 772, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 401225 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000095:0003", + "experimental_retained_index": 0, + "ism_score": 0.44156214594841003, + "R": [ + [ + 0.8136619329452515, + -0.4587050974369049, + 0.35772594809532166 + ], + [ + -0.5430947542190552, + -0.8188951015472412, + 0.18514756858348846 + ], + [ + 0.2080223113298416, + -0.3446078598499298, + -0.9154374599456787 + ] + ], + "t": [ + -51.35197067260742, + 38.441890716552734, + 223.04879760742188 + ] + }, + { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 298, + 362, + 256, + 170 + ], + "score": 0.29677581787109375, + "time": 0.0, + "segmentation": { + "counts": [ + 238035, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 30, + 38, + 8, + 724, + 30, + 38, + 8, + 724, + 30, + 36, + 12, + 722, + 30, + 36, + 12, + 722, + 28, + 36, + 16, + 720, + 28, + 36, + 16, + 720, + 26, + 36, + 20, + 718, + 26, + 36, + 20, + 716, + 26, + 36, + 26, + 712, + 26, + 36, + 26, + 712, + 26, + 36, + 28, + 710, + 26, + 36, + 28, + 710, + 24, + 36, + 32, + 708, + 24, + 36, + 32, + 706, + 26, + 36, + 36, + 702, + 26, + 36, + 36, + 702, + 24, + 36, + 40, + 700, + 24, + 36, + 40, + 700, + 22, + 36, + 44, + 698, + 22, + 36, + 44, + 696, + 24, + 36, + 48, + 692, + 24, + 36, + 48, + 692, + 22, + 36, + 52, + 690, + 22, + 36, + 52, + 688, + 22, + 38, + 56, + 684, + 22, + 38, + 56, + 684, + 22, + 36, + 60, + 682, + 22, + 36, + 60, + 682, + 22, + 36, + 62, + 680, + 22, + 36, + 62, + 680, + 20, + 36, + 68, + 676, + 20, + 36, + 68, + 674, + 22, + 34, + 72, + 672, + 22, + 34, + 72, + 672, + 20, + 36, + 74, + 670, + 20, + 36, + 74, + 670, + 16, + 38, + 80, + 666, + 16, + 38, + 80, + 666, + 12, + 40, + 82, + 666, + 12, + 40, + 82, + 664, + 14, + 40, + 84, + 662, + 14, + 40, + 84, + 662, + 12, + 40, + 86, + 662, + 12, + 40, + 86, + 660, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 660, + 12, + 40, + 88, + 660, + 12, + 40, + 88, + 660, + 10, + 40, + 90, + 660, + 10, + 40, + 90, + 658, + 12, + 40, + 88, + 660, + 12, + 40, + 88, + 660, + 12, + 38, + 90, + 660, + 12, + 38, + 90, + 658, + 14, + 38, + 90, + 658, + 14, + 38, + 90, + 658, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 658, + 20, + 34, + 86, + 660, + 20, + 34, + 86, + 660, + 22, + 30, + 88, + 660, + 22, + 30, + 88, + 660, + 24, + 28, + 86, + 662, + 24, + 28, + 86, + 660, + 28, + 24, + 88, + 660, + 28, + 24, + 88, + 660, + 32, + 18, + 88, + 662, + 32, + 18, + 88, + 662, + 36, + 14, + 88, + 662, + 36, + 14, + 88, + 660, + 42, + 6, + 90, + 662, + 42, + 6, + 90, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 578779 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000095:0001", + "experimental_retained_index": 1, + "ism_score": 0.3860498368740082, + "R": [ + [ + 0.020772665739059448, + -0.7449885606765747, + 0.6665973663330078 + ], + [ + 0.9845173358917236, + 0.1312805414199829, + 0.11618396639823914 + ], + [ + -0.17414727807044983, + 0.6539472341537476, + 0.736350417137146 + ] + ], + "t": [ + -109.52813720703125, + -92.2931900024414, + 441.8721618652344 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 298, + 362, + 256, + 170 + ], + "score": 0.29677581787109375, + "time": 0.0, + "segmentation": { + "counts": [ + 238035, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 768, + 30, + 38, + 8, + 724, + 30, + 38, + 8, + 724, + 30, + 36, + 12, + 722, + 30, + 36, + 12, + 722, + 28, + 36, + 16, + 720, + 28, + 36, + 16, + 720, + 26, + 36, + 20, + 718, + 26, + 36, + 20, + 716, + 26, + 36, + 26, + 712, + 26, + 36, + 26, + 712, + 26, + 36, + 28, + 710, + 26, + 36, + 28, + 710, + 24, + 36, + 32, + 708, + 24, + 36, + 32, + 706, + 26, + 36, + 36, + 702, + 26, + 36, + 36, + 702, + 24, + 36, + 40, + 700, + 24, + 36, + 40, + 700, + 22, + 36, + 44, + 698, + 22, + 36, + 44, + 696, + 24, + 36, + 48, + 692, + 24, + 36, + 48, + 692, + 22, + 36, + 52, + 690, + 22, + 36, + 52, + 688, + 22, + 38, + 56, + 684, + 22, + 38, + 56, + 684, + 22, + 36, + 60, + 682, + 22, + 36, + 60, + 682, + 22, + 36, + 62, + 680, + 22, + 36, + 62, + 680, + 20, + 36, + 68, + 676, + 20, + 36, + 68, + 674, + 22, + 34, + 72, + 672, + 22, + 34, + 72, + 672, + 20, + 36, + 74, + 670, + 20, + 36, + 74, + 670, + 16, + 38, + 80, + 666, + 16, + 38, + 80, + 666, + 12, + 40, + 82, + 666, + 12, + 40, + 82, + 664, + 14, + 40, + 84, + 662, + 14, + 40, + 84, + 662, + 12, + 40, + 86, + 662, + 12, + 40, + 86, + 660, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 660, + 12, + 40, + 88, + 660, + 12, + 40, + 88, + 660, + 10, + 40, + 90, + 660, + 10, + 40, + 90, + 658, + 12, + 40, + 88, + 660, + 12, + 40, + 88, + 660, + 12, + 38, + 90, + 660, + 12, + 38, + 90, + 658, + 14, + 38, + 90, + 658, + 14, + 38, + 90, + 658, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 660, + 14, + 38, + 88, + 658, + 20, + 34, + 86, + 660, + 20, + 34, + 86, + 660, + 22, + 30, + 88, + 660, + 22, + 30, + 88, + 660, + 24, + 28, + 86, + 662, + 24, + 28, + 86, + 660, + 28, + 24, + 88, + 660, + 28, + 24, + 88, + 660, + 32, + 18, + 88, + 662, + 32, + 18, + 88, + 662, + 36, + 14, + 88, + 662, + 36, + 14, + 88, + 660, + 42, + 6, + 90, + 662, + 42, + 6, + 90, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 578779 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000095:0001", + "experimental_retained_index": 1, + "ism_score": 0.3860498368740082, + "R": [ + [ + 0.020772665739059448, + -0.7449885606765747, + 0.6665973663330078 + ], + [ + 0.9845173358917236, + 0.1312805414199829, + 0.11618396639823914 + ], + [ + -0.17414727807044983, + 0.6539472341537476, + 0.736350417137146 + ] + ], + "t": [ + -109.52813720703125, + -92.2931900024414, + 441.8721618652344 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000095/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000095/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000095:0003", + "TubeHolder:000095:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000095.png" + }, + { + "frame_id": 97, + "image_path": "/workspace/data/0008_/images/000097.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000097.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 532, + 298, + 242, + 284 + ], + "score": 0.0703081339597702, + "time": 0.0, + "segmentation": { + "counts": [ + 425313, + 8, + 792, + 8, + 784, + 18, + 782, + 18, + 768, + 32, + 768, + 32, + 752, + 50, + 750, + 50, + 718, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 712, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 624, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 600, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 592, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 578, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 570, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 558, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 550, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 542, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 536, + 266, + 534, + 266, + 532, + 34, + 2, + 232, + 532, + 34, + 2, + 232, + 532, + 32, + 6, + 230, + 532, + 32, + 6, + 230, + 532, + 16, + 8, + 8, + 6, + 232, + 530, + 16, + 8, + 8, + 6, + 232, + 530, + 14, + 26, + 230, + 530, + 14, + 26, + 230, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 558, + 244, + 556, + 244, + 550, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 536, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 268, + 532, + 268, + 532, + 262, + 538, + 262, + 540, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 242, + 558, + 242, + 558, + 236, + 564, + 236, + 564, + 230, + 570, + 230, + 570, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 586, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 594, + 200, + 600, + 200, + 602, + 194, + 606, + 194, + 606, + 188, + 612, + 188, + 614, + 178, + 622, + 178, + 622, + 170, + 630, + 170, + 630, + 162, + 638, + 162, + 640, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 656, + 136, + 664, + 136, + 664, + 128, + 672, + 128, + 674, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 688, + 104, + 696, + 104, + 696, + 94, + 706, + 94, + 708, + 86, + 714, + 86, + 714, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 730, + 62, + 738, + 62, + 738, + 56, + 744, + 56, + 744, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 10, + 790, + 10, + 402851 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000097:0001", + "experimental_retained_index": 0, + "ism_score": 0.4017607271671295, + "R": [ + [ + 0.2031944990158081, + 0.04032076895236969, + 0.9781530499458313 + ], + [ + -0.15353509783744812, + -0.9856491088867188, + 0.07262292504310608 + ], + [ + 0.9669963121414185, + -0.16521111130714417, + -0.19406956434249878 + ] + ], + "t": [ + 32.49882888793945, + 3.365428924560547, + 185.48594665527344 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 312, + 340, + 260, + 166 + ], + "score": 0.20939016342163086, + "time": 0.0, + "segmentation": { + "counts": [ + 249215, + 8, + 792, + 8, + 788, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 28, + 40, + 6, + 726, + 28, + 40, + 6, + 724, + 30, + 38, + 12, + 720, + 30, + 38, + 12, + 720, + 28, + 38, + 14, + 720, + 28, + 38, + 14, + 720, + 26, + 40, + 16, + 718, + 26, + 40, + 16, + 716, + 28, + 38, + 22, + 712, + 28, + 38, + 22, + 712, + 26, + 38, + 26, + 710, + 26, + 38, + 26, + 708, + 26, + 38, + 30, + 706, + 26, + 38, + 30, + 706, + 26, + 38, + 30, + 706, + 26, + 38, + 30, + 706, + 24, + 38, + 34, + 704, + 24, + 38, + 34, + 704, + 22, + 38, + 40, + 700, + 22, + 38, + 40, + 698, + 24, + 38, + 42, + 696, + 24, + 38, + 42, + 696, + 24, + 36, + 46, + 694, + 24, + 36, + 46, + 692, + 24, + 38, + 46, + 692, + 24, + 38, + 46, + 692, + 22, + 38, + 52, + 688, + 22, + 38, + 52, + 688, + 20, + 40, + 54, + 686, + 20, + 40, + 54, + 684, + 22, + 38, + 58, + 682, + 22, + 38, + 58, + 682, + 20, + 38, + 62, + 680, + 20, + 38, + 62, + 680, + 18, + 38, + 66, + 678, + 18, + 38, + 66, + 676, + 16, + 42, + 68, + 674, + 16, + 42, + 68, + 674, + 14, + 42, + 74, + 670, + 14, + 42, + 74, + 668, + 14, + 42, + 78, + 666, + 14, + 42, + 78, + 666, + 12, + 44, + 80, + 664, + 12, + 44, + 80, + 664, + 12, + 42, + 82, + 664, + 12, + 42, + 82, + 662, + 12, + 42, + 86, + 660, + 12, + 42, + 86, + 660, + 12, + 40, + 88, + 660, + 12, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 38, + 90, + 658, + 14, + 38, + 90, + 656, + 16, + 38, + 88, + 658, + 16, + 38, + 88, + 658, + 18, + 36, + 88, + 658, + 18, + 36, + 88, + 658, + 20, + 34, + 86, + 660, + 20, + 34, + 86, + 658, + 24, + 30, + 88, + 658, + 24, + 30, + 88, + 658, + 28, + 26, + 86, + 660, + 28, + 26, + 86, + 660, + 30, + 22, + 88, + 660, + 30, + 22, + 88, + 658, + 34, + 18, + 88, + 660, + 34, + 18, + 88, + 660, + 38, + 12, + 90, + 660, + 38, + 12, + 90, + 660, + 42, + 6, + 90, + 662, + 42, + 6, + 90, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 766, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 564401 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000097:0000", + "experimental_retained_index": 1, + "ism_score": 0.3828848600387573, + "R": [ + [ + -0.4248887598514557, + -0.830507755279541, + -0.3600519299507141 + ], + [ + -0.15309655666351318, + -0.32622963190078735, + 0.9327973127365112 + ], + [ + -0.89207923412323, + 0.45153695344924927, + 0.01179531216621399 + ] + ], + "t": [ + -87.6589584350586, + 66.5445785522461, + 498.6456298828125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 312, + 340, + 260, + 166 + ], + "score": 0.20939016342163086, + "time": 0.0, + "segmentation": { + "counts": [ + 249215, + 8, + 792, + 8, + 788, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 28, + 40, + 6, + 726, + 28, + 40, + 6, + 724, + 30, + 38, + 12, + 720, + 30, + 38, + 12, + 720, + 28, + 38, + 14, + 720, + 28, + 38, + 14, + 720, + 26, + 40, + 16, + 718, + 26, + 40, + 16, + 716, + 28, + 38, + 22, + 712, + 28, + 38, + 22, + 712, + 26, + 38, + 26, + 710, + 26, + 38, + 26, + 708, + 26, + 38, + 30, + 706, + 26, + 38, + 30, + 706, + 26, + 38, + 30, + 706, + 26, + 38, + 30, + 706, + 24, + 38, + 34, + 704, + 24, + 38, + 34, + 704, + 22, + 38, + 40, + 700, + 22, + 38, + 40, + 698, + 24, + 38, + 42, + 696, + 24, + 38, + 42, + 696, + 24, + 36, + 46, + 694, + 24, + 36, + 46, + 692, + 24, + 38, + 46, + 692, + 24, + 38, + 46, + 692, + 22, + 38, + 52, + 688, + 22, + 38, + 52, + 688, + 20, + 40, + 54, + 686, + 20, + 40, + 54, + 684, + 22, + 38, + 58, + 682, + 22, + 38, + 58, + 682, + 20, + 38, + 62, + 680, + 20, + 38, + 62, + 680, + 18, + 38, + 66, + 678, + 18, + 38, + 66, + 676, + 16, + 42, + 68, + 674, + 16, + 42, + 68, + 674, + 14, + 42, + 74, + 670, + 14, + 42, + 74, + 668, + 14, + 42, + 78, + 666, + 14, + 42, + 78, + 666, + 12, + 44, + 80, + 664, + 12, + 44, + 80, + 664, + 12, + 42, + 82, + 664, + 12, + 42, + 82, + 662, + 12, + 42, + 86, + 660, + 12, + 42, + 86, + 660, + 12, + 40, + 88, + 660, + 12, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 14, + 38, + 90, + 658, + 14, + 38, + 90, + 656, + 16, + 38, + 88, + 658, + 16, + 38, + 88, + 658, + 18, + 36, + 88, + 658, + 18, + 36, + 88, + 658, + 20, + 34, + 86, + 660, + 20, + 34, + 86, + 658, + 24, + 30, + 88, + 658, + 24, + 30, + 88, + 658, + 28, + 26, + 86, + 660, + 28, + 26, + 86, + 660, + 30, + 22, + 88, + 660, + 30, + 22, + 88, + 658, + 34, + 18, + 88, + 660, + 34, + 18, + 88, + 660, + 38, + 12, + 90, + 660, + 38, + 12, + 90, + 660, + 42, + 6, + 90, + 662, + 42, + 6, + 90, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 766, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 564401 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000097:0000", + "experimental_retained_index": 1, + "ism_score": 0.3828848600387573, + "R": [ + [ + -0.4248887598514557, + -0.830507755279541, + -0.3600519299507141 + ], + [ + -0.15309655666351318, + -0.32622963190078735, + 0.9327973127365112 + ], + [ + -0.89207923412323, + 0.45153695344924927, + 0.01179531216621399 + ] + ], + "t": [ + -87.6589584350586, + 66.5445785522461, + 498.6456298828125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000097/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000097/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000097:0001", + "TubeHolder:000097:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000097.png" + }, + { + "frame_id": 100, + "image_path": "/workspace/data/0008_/images/000100.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000100.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 608, + 384, + 186, + 110 + ], + "score": 0.06101979687809944, + "time": 0.0, + "segmentation": { + "counts": [ + 486049, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 788, + 12, + 788, + 12, + 780, + 22, + 778, + 22, + 770, + 30, + 770, + 30, + 762, + 40, + 760, + 40, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 738, + 62, + 738, + 62, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 734, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 744, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 758, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 774, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 786, + 8, + 792, + 8, + 386767 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000100:0000", + "experimental_retained_index": 0, + "ism_score": 0.42448556423187256, + "R": [ + [ + -0.32011449337005615, + 0.9215400815010071, + -0.2200942188501358 + ], + [ + 0.9443387985229492, + 0.3292907476425171, + 0.004953235387802124 + ], + [ + 0.07687923312187195, + -0.20636694133281708, + -0.9754655957221985 + ] + ], + "t": [ + 108.7090072631836, + -107.20063018798828, + 275.61376953125 + ] + }, + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 350, + 284, + 258, + 162 + ], + "score": 0.3612053692340851, + "time": 0.0, + "segmentation": { + "counts": [ + 279565, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 766, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 46, + 4, + 716, + 34, + 46, + 4, + 716, + 32, + 46, + 6, + 716, + 32, + 46, + 6, + 714, + 34, + 44, + 10, + 712, + 34, + 44, + 10, + 712, + 32, + 44, + 12, + 712, + 32, + 44, + 12, + 712, + 30, + 42, + 18, + 710, + 30, + 42, + 18, + 708, + 30, + 42, + 22, + 706, + 30, + 42, + 22, + 706, + 30, + 40, + 26, + 704, + 30, + 40, + 26, + 702, + 30, + 40, + 30, + 700, + 30, + 40, + 30, + 700, + 28, + 40, + 32, + 700, + 28, + 40, + 32, + 698, + 28, + 42, + 34, + 696, + 28, + 42, + 34, + 696, + 26, + 42, + 36, + 696, + 26, + 42, + 36, + 696, + 24, + 42, + 40, + 694, + 24, + 42, + 40, + 692, + 24, + 42, + 44, + 690, + 24, + 42, + 44, + 690, + 24, + 42, + 46, + 688, + 24, + 42, + 46, + 688, + 18, + 46, + 48, + 688, + 18, + 46, + 48, + 686, + 14, + 50, + 52, + 684, + 14, + 50, + 52, + 684, + 12, + 50, + 56, + 682, + 12, + 50, + 56, + 680, + 14, + 48, + 60, + 678, + 14, + 48, + 60, + 678, + 12, + 48, + 64, + 676, + 12, + 48, + 64, + 674, + 14, + 48, + 64, + 674, + 14, + 48, + 64, + 674, + 12, + 48, + 68, + 672, + 12, + 48, + 68, + 672, + 10, + 48, + 72, + 670, + 10, + 48, + 72, + 668, + 12, + 48, + 74, + 666, + 12, + 48, + 74, + 666, + 12, + 46, + 76, + 666, + 12, + 46, + 76, + 666, + 12, + 44, + 80, + 664, + 12, + 44, + 80, + 662, + 14, + 44, + 82, + 660, + 14, + 44, + 82, + 660, + 14, + 42, + 84, + 660, + 14, + 42, + 84, + 660, + 14, + 42, + 86, + 658, + 14, + 42, + 86, + 656, + 18, + 40, + 88, + 654, + 18, + 40, + 88, + 654, + 20, + 38, + 88, + 654, + 20, + 38, + 88, + 652, + 22, + 36, + 90, + 652, + 22, + 36, + 90, + 650, + 26, + 32, + 92, + 650, + 26, + 32, + 92, + 650, + 30, + 28, + 92, + 650, + 30, + 28, + 92, + 650, + 32, + 24, + 94, + 650, + 32, + 24, + 94, + 648, + 38, + 16, + 96, + 650, + 38, + 16, + 96, + 650, + 42, + 10, + 98, + 650, + 42, + 10, + 98, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 786, + 10, + 790, + 10, + 535647 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000100:0001", + "experimental_retained_index": 1, + "ism_score": 0.38273414969444275, + "R": [ + [ + 0.5172812342643738, + 0.39641451835632324, + 0.7585003972053528 + ], + [ + -0.41908693313598633, + -0.6554155349731445, + 0.6282501220703125 + ], + [ + 0.7463364601135254, + -0.6428032517433167, + -0.17290830612182617 + ] + ], + "t": [ + -76.39897155761719, + 19.43776512145996, + 310.80780029296875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 350, + 284, + 258, + 162 + ], + "score": 0.3612053692340851, + "time": 0.0, + "segmentation": { + "counts": [ + 279565, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 766, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 46, + 4, + 716, + 34, + 46, + 4, + 716, + 32, + 46, + 6, + 716, + 32, + 46, + 6, + 714, + 34, + 44, + 10, + 712, + 34, + 44, + 10, + 712, + 32, + 44, + 12, + 712, + 32, + 44, + 12, + 712, + 30, + 42, + 18, + 710, + 30, + 42, + 18, + 708, + 30, + 42, + 22, + 706, + 30, + 42, + 22, + 706, + 30, + 40, + 26, + 704, + 30, + 40, + 26, + 702, + 30, + 40, + 30, + 700, + 30, + 40, + 30, + 700, + 28, + 40, + 32, + 700, + 28, + 40, + 32, + 698, + 28, + 42, + 34, + 696, + 28, + 42, + 34, + 696, + 26, + 42, + 36, + 696, + 26, + 42, + 36, + 696, + 24, + 42, + 40, + 694, + 24, + 42, + 40, + 692, + 24, + 42, + 44, + 690, + 24, + 42, + 44, + 690, + 24, + 42, + 46, + 688, + 24, + 42, + 46, + 688, + 18, + 46, + 48, + 688, + 18, + 46, + 48, + 686, + 14, + 50, + 52, + 684, + 14, + 50, + 52, + 684, + 12, + 50, + 56, + 682, + 12, + 50, + 56, + 680, + 14, + 48, + 60, + 678, + 14, + 48, + 60, + 678, + 12, + 48, + 64, + 676, + 12, + 48, + 64, + 674, + 14, + 48, + 64, + 674, + 14, + 48, + 64, + 674, + 12, + 48, + 68, + 672, + 12, + 48, + 68, + 672, + 10, + 48, + 72, + 670, + 10, + 48, + 72, + 668, + 12, + 48, + 74, + 666, + 12, + 48, + 74, + 666, + 12, + 46, + 76, + 666, + 12, + 46, + 76, + 666, + 12, + 44, + 80, + 664, + 12, + 44, + 80, + 662, + 14, + 44, + 82, + 660, + 14, + 44, + 82, + 660, + 14, + 42, + 84, + 660, + 14, + 42, + 84, + 660, + 14, + 42, + 86, + 658, + 14, + 42, + 86, + 656, + 18, + 40, + 88, + 654, + 18, + 40, + 88, + 654, + 20, + 38, + 88, + 654, + 20, + 38, + 88, + 652, + 22, + 36, + 90, + 652, + 22, + 36, + 90, + 650, + 26, + 32, + 92, + 650, + 26, + 32, + 92, + 650, + 30, + 28, + 92, + 650, + 30, + 28, + 92, + 650, + 32, + 24, + 94, + 650, + 32, + 24, + 94, + 648, + 38, + 16, + 96, + 650, + 38, + 16, + 96, + 650, + 42, + 10, + 98, + 650, + 42, + 10, + 98, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 786, + 10, + 790, + 10, + 535647 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000100:0001", + "experimental_retained_index": 1, + "ism_score": 0.38273414969444275, + "R": [ + [ + 0.5172812342643738, + 0.39641451835632324, + 0.7585003972053528 + ], + [ + -0.41908693313598633, + -0.6554155349731445, + 0.6282501220703125 + ], + [ + 0.7463364601135254, + -0.6428032517433167, + -0.17290830612182617 + ] + ], + "t": [ + -76.39897155761719, + 19.43776512145996, + 310.80780029296875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000100/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000100/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000100:0000", + "TubeHolder:000100:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000100.png" + }, + { + "frame_id": 110, + "image_path": "/workspace/data/0008_/images/000110.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000110.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 622, + 238, + 260, + 206 + ], + "score": 0.4826776087284088, + "time": 0.0, + "segmentation": { + "counts": [ + 497093, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 766, + 36, + 764, + 36, + 754, + 48, + 752, + 48, + 742, + 60, + 740, + 60, + 730, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 26, + 6, + 112, + 656, + 26, + 6, + 112, + 656, + 24, + 10, + 112, + 654, + 24, + 10, + 112, + 654, + 24, + 10, + 116, + 650, + 24, + 10, + 116, + 650, + 24, + 8, + 120, + 648, + 24, + 8, + 120, + 650, + 18, + 8, + 126, + 648, + 18, + 8, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 656, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 636, + 168, + 632, + 168, + 628, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 624, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 6, + 4, + 122, + 668, + 6, + 4, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 316433 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000110:0000", + "experimental_retained_index": 0, + "ism_score": 0.48571330308914185, + "R": [ + [ + 0.46392786502838135, + -0.21255478262901306, + 0.8600466847419739 + ], + [ + 0.6055572628974915, + 0.7848216891288757, + -0.13276326656341553 + ], + [ + -0.6467218995094299, + 0.582112193107605, + 0.49271729588508606 + ] + ], + "t": [ + 71.53133392333984, + -88.15264892578125, + 544.1331176757812 + ] + }, + { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 526, + 334, + 160, + 166 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 420479, + 6, + 794, + 6, + 760, + 44, + 756, + 44, + 726, + 76, + 724, + 76, + 690, + 110, + 690, + 110, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 72, + 14, + 72, + 642, + 72, + 14, + 72, + 644, + 64, + 24, + 68, + 644, + 64, + 24, + 68, + 644, + 62, + 28, + 66, + 644, + 62, + 28, + 66, + 644, + 60, + 60, + 36, + 644, + 60, + 60, + 36, + 644, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 110, + 690, + 110, + 690, + 136, + 664, + 136, + 664, + 150, + 650, + 150, + 650, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 658, + 142, + 658, + 142, + 668, + 132, + 668, + 132, + 676, + 124, + 676, + 124, + 684, + 116, + 684, + 116, + 694, + 106, + 694, + 106, + 702, + 98, + 702, + 98, + 712, + 90, + 710, + 90, + 718, + 82, + 718, + 82, + 728, + 70, + 730, + 70, + 738, + 62, + 738, + 62, + 748, + 52, + 748, + 52, + 760, + 38, + 762, + 38, + 770, + 18, + 782, + 18, + 473113 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000110:0001", + "experimental_retained_index": 1, + "ism_score": 0.3617023825645447, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 622, + 238, + 260, + 206 + ], + "score": 0.4826776087284088, + "time": 0.0, + "segmentation": { + "counts": [ + 497093, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 766, + 36, + 764, + 36, + 754, + 48, + 752, + 48, + 742, + 60, + 740, + 60, + 730, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 26, + 6, + 112, + 656, + 26, + 6, + 112, + 656, + 24, + 10, + 112, + 654, + 24, + 10, + 112, + 654, + 24, + 10, + 116, + 650, + 24, + 10, + 116, + 650, + 24, + 8, + 120, + 648, + 24, + 8, + 120, + 650, + 18, + 8, + 126, + 648, + 18, + 8, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 656, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 636, + 168, + 632, + 168, + 628, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 608, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 604, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 624, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 6, + 4, + 122, + 668, + 6, + 4, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 762, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 316433 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000110:0000", + "experimental_retained_index": 0, + "ism_score": 0.48571330308914185, + "R": [ + [ + 0.46392786502838135, + -0.21255478262901306, + 0.8600466847419739 + ], + [ + 0.6055572628974915, + 0.7848216891288757, + -0.13276326656341553 + ], + [ + -0.6467218995094299, + 0.582112193107605, + 0.49271729588508606 + ] + ], + "t": [ + 71.53133392333984, + -88.15264892578125, + 544.1331176757812 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000110/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000110/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000110:0000", + "TubeHolder:000110:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000110.png" + }, + { + "frame_id": 119, + "image_path": "/workspace/data/0008_/images/000119.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000119.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 119, + "category_id": 1, + "bbox": [ + 666, + 202, + 198, + 304 + ], + "score": 0.43437087535858154, + "time": 0.0, + "segmentation": { + "counts": [ + 532469, + 6, + 794, + 6, + 778, + 26, + 774, + 26, + 762, + 38, + 762, + 38, + 752, + 50, + 750, + 50, + 738, + 62, + 738, + 62, + 722, + 78, + 722, + 78, + 708, + 92, + 708, + 92, + 694, + 106, + 694, + 106, + 684, + 116, + 684, + 116, + 666, + 136, + 664, + 136, + 650, + 150, + 650, + 150, + 632, + 168, + 632, + 168, + 618, + 184, + 616, + 184, + 600, + 200, + 600, + 200, + 582, + 218, + 582, + 218, + 566, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 552, + 248, + 552, + 248, + 548, + 252, + 548, + 252, + 544, + 258, + 542, + 258, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 522, + 278, + 522, + 278, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 522, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 526, + 274, + 526, + 274, + 526, + 272, + 528, + 272, + 526, + 10, + 2, + 262, + 526, + 10, + 2, + 262, + 516, + 20, + 2, + 260, + 518, + 20, + 2, + 260, + 518, + 20, + 2, + 260, + 518, + 20, + 2, + 260, + 528, + 10, + 2, + 258, + 530, + 10, + 2, + 258, + 532, + 8, + 4, + 256, + 532, + 8, + 4, + 256, + 520, + 4, + 22, + 254, + 520, + 4, + 22, + 254, + 518, + 14, + 14, + 252, + 520, + 14, + 14, + 252, + 520, + 14, + 14, + 144, + 14, + 4, + 610, + 14, + 14, + 144, + 14, + 4, + 610, + 10, + 22, + 50, + 4, + 28, + 686, + 10, + 22, + 50, + 4, + 28, + 686, + 10, + 78, + 24, + 688, + 10, + 78, + 24, + 778, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 6, + 794, + 6, + 330885 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000119:0000", + "experimental_retained_index": 0, + "ism_score": 0.45874151587486267, + "R": [ + [ + 0.15510612726211548, + -0.18207861483097076, + -0.9709729552268982 + ], + [ + -0.9091609120368958, + 0.3582061529159546, + -0.21240341663360596 + ], + [ + 0.386482834815979, + 0.9157159924507141, + -0.10997888445854187 + ] + ], + "t": [ + 23.484315872192383, + 51.159889221191406, + 380.16864013671875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 119, + "category_id": 1, + "bbox": [ + 666, + 202, + 198, + 304 + ], + "score": 0.43437087535858154, + "time": 0.0, + "segmentation": { + "counts": [ + 532469, + 6, + 794, + 6, + 778, + 26, + 774, + 26, + 762, + 38, + 762, + 38, + 752, + 50, + 750, + 50, + 738, + 62, + 738, + 62, + 722, + 78, + 722, + 78, + 708, + 92, + 708, + 92, + 694, + 106, + 694, + 106, + 684, + 116, + 684, + 116, + 666, + 136, + 664, + 136, + 650, + 150, + 650, + 150, + 632, + 168, + 632, + 168, + 618, + 184, + 616, + 184, + 600, + 200, + 600, + 200, + 582, + 218, + 582, + 218, + 566, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 552, + 248, + 552, + 248, + 548, + 252, + 548, + 252, + 544, + 258, + 542, + 258, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 522, + 278, + 522, + 278, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 522, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 526, + 274, + 526, + 274, + 526, + 272, + 528, + 272, + 526, + 10, + 2, + 262, + 526, + 10, + 2, + 262, + 516, + 20, + 2, + 260, + 518, + 20, + 2, + 260, + 518, + 20, + 2, + 260, + 518, + 20, + 2, + 260, + 528, + 10, + 2, + 258, + 530, + 10, + 2, + 258, + 532, + 8, + 4, + 256, + 532, + 8, + 4, + 256, + 520, + 4, + 22, + 254, + 520, + 4, + 22, + 254, + 518, + 14, + 14, + 252, + 520, + 14, + 14, + 252, + 520, + 14, + 14, + 144, + 14, + 4, + 610, + 14, + 14, + 144, + 14, + 4, + 610, + 10, + 22, + 50, + 4, + 28, + 686, + 10, + 22, + 50, + 4, + 28, + 686, + 10, + 78, + 24, + 688, + 10, + 78, + 24, + 778, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 6, + 794, + 6, + 330885 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000119:0000", + "experimental_retained_index": 0, + "ism_score": 0.45874151587486267, + "R": [ + [ + 0.15510612726211548, + -0.18207861483097076, + -0.9709729552268982 + ], + [ + -0.9091609120368958, + 0.3582061529159546, + -0.21240341663360596 + ], + [ + 0.386482834815979, + 0.9157159924507141, + -0.10997888445854187 + ] + ], + "t": [ + 23.484315872192383, + 51.159889221191406, + 380.16864013671875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000119/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000119/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000119:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000119.png" + }, + { + "frame_id": 122, + "image_path": "/workspace/data/0008_/images/000122.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000122.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 330, + 262, + 516, + 308 + ], + "score": 0.503169059753418, + "time": 0.0, + "segmentation": { + "counts": [ + 263695, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 5600, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 51860, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 786, + 14, + 786, + 14, + 790, + 14, + 786, + 14, + 788, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 790, + 12, + 788, + 12, + 790, + 12, + 788, + 12, + 790, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 790, + 8, + 792, + 8, + 2384, + 12, + 788, + 12, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2442, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 8826, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 15190, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 66426, + 8, + 792, + 8, + 788, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 762, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 740, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 648, + 154, + 646, + 154, + 642, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 634, + 168, + 632, + 168, + 628, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 604, + 196, + 604, + 196, + 600, + 202, + 598, + 202, + 594, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 576, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 556, + 246, + 554, + 246, + 550, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 494, + 306, + 494, + 306, + 490, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 498, + 300, + 500, + 300, + 500, + 294, + 506, + 294, + 508, + 286, + 514, + 286, + 516, + 280, + 520, + 280, + 520, + 274, + 526, + 274, + 526, + 270, + 530, + 270, + 532, + 262, + 538, + 262, + 540, + 258, + 542, + 258, + 544, + 252, + 548, + 252, + 550, + 244, + 556, + 244, + 556, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 566, + 228, + 572, + 228, + 574, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 586, + 210, + 590, + 210, + 594, + 202, + 598, + 202, + 600, + 194, + 606, + 194, + 608, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 128, + 672, + 128, + 676, + 118, + 682, + 118, + 684, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 100, + 6, + 4, + 690, + 100, + 6, + 4, + 692, + 88, + 712, + 88, + 714, + 80, + 720, + 80, + 720, + 76, + 724, + 76, + 724, + 72, + 728, + 72, + 726, + 70, + 730, + 70, + 724, + 70, + 730, + 70, + 726, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 734, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 24, + 4, + 12, + 760, + 24, + 4, + 12, + 345257 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000122:0001", + "experimental_retained_index": 0, + "ism_score": 0.5160708427429199, + "R": [ + [ + -0.4675750434398651, + -0.19573554396629333, + 0.8620100617408752 + ], + [ + 0.8273282051086426, + 0.2465115189552307, + 0.5047378540039062 + ], + [ + -0.3112905025482178, + 0.9491678476333618, + 0.04667504131793976 + ] + ], + "t": [ + 130.0467987060547, + -29.12360954284668, + 457.4325866699219 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 330, + 262, + 516, + 308 + ], + "score": 0.503169059753418, + "time": 0.0, + "segmentation": { + "counts": [ + 263695, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 5600, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 51860, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 786, + 14, + 786, + 14, + 790, + 14, + 786, + 14, + 788, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 790, + 12, + 788, + 12, + 790, + 12, + 788, + 12, + 790, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 790, + 8, + 792, + 8, + 2384, + 12, + 788, + 12, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2442, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 8826, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 15190, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 66426, + 8, + 792, + 8, + 788, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 762, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 740, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 648, + 154, + 646, + 154, + 642, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 634, + 168, + 632, + 168, + 628, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 604, + 196, + 604, + 196, + 600, + 202, + 598, + 202, + 594, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 576, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 556, + 246, + 554, + 246, + 550, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 494, + 306, + 494, + 306, + 490, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 498, + 300, + 500, + 300, + 500, + 294, + 506, + 294, + 508, + 286, + 514, + 286, + 516, + 280, + 520, + 280, + 520, + 274, + 526, + 274, + 526, + 270, + 530, + 270, + 532, + 262, + 538, + 262, + 540, + 258, + 542, + 258, + 544, + 252, + 548, + 252, + 550, + 244, + 556, + 244, + 556, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 566, + 228, + 572, + 228, + 574, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 586, + 210, + 590, + 210, + 594, + 202, + 598, + 202, + 600, + 194, + 606, + 194, + 608, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 128, + 672, + 128, + 676, + 118, + 682, + 118, + 684, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 690, + 100, + 6, + 4, + 690, + 100, + 6, + 4, + 692, + 88, + 712, + 88, + 714, + 80, + 720, + 80, + 720, + 76, + 724, + 76, + 724, + 72, + 728, + 72, + 726, + 70, + 730, + 70, + 724, + 70, + 730, + 70, + 726, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 734, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 24, + 4, + 12, + 760, + 24, + 4, + 12, + 345257 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000122:0001", + "experimental_retained_index": 0, + "ism_score": 0.5160708427429199, + "R": [ + [ + -0.4675750434398651, + -0.19573554396629333, + 0.8620100617408752 + ], + [ + 0.8273282051086426, + 0.2465115189552307, + 0.5047378540039062 + ], + [ + -0.3112905025482178, + 0.9491678476333618, + 0.04667504131793976 + ] + ], + "t": [ + 130.0467987060547, + -29.12360954284668, + 457.4325866699219 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000122/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000122/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000122:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000122.png" + }, + { + "frame_id": 125, + "image_path": "/workspace/data/0008_/images/000125.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000125.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 556, + 344, + 320, + 306 + ], + "score": 0.4315890669822693, + "time": 0.0, + "segmentation": { + "counts": [ + 444529, + 6, + 794, + 6, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 24, + 776, + 24, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 588, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 30, + 2, + 26, + 742, + 30, + 2, + 26, + 742, + 26, + 6, + 24, + 744, + 26, + 6, + 24, + 744, + 24, + 12, + 18, + 746, + 24, + 12, + 18, + 748, + 20, + 16, + 14, + 750, + 20, + 16, + 14, + 752, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 321177 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000125:0000", + "experimental_retained_index": 0, + "ism_score": 0.4588322341442108, + "R": [ + [ + 0.7287895679473877, + -0.16756944358348846, + -0.6639172434806824 + ], + [ + -0.5803946852684021, + 0.3633038401603699, + -0.7288019061088562 + ], + [ + 0.3633286654949188, + 0.916477382183075, + 0.16751565039157867 + ] + ], + "t": [ + -45.87999725341797, + 82.44657897949219, + 379.2702941894531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 556, + 344, + 320, + 306 + ], + "score": 0.4315890669822693, + "time": 0.0, + "segmentation": { + "counts": [ + 444529, + 6, + 794, + 6, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 24, + 776, + 24, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 588, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 30, + 2, + 26, + 742, + 30, + 2, + 26, + 742, + 26, + 6, + 24, + 744, + 26, + 6, + 24, + 744, + 24, + 12, + 18, + 746, + 24, + 12, + 18, + 748, + 20, + 16, + 14, + 750, + 20, + 16, + 14, + 752, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 321177 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000125:0000", + "experimental_retained_index": 0, + "ism_score": 0.4588322341442108, + "R": [ + [ + 0.7287895679473877, + -0.16756944358348846, + -0.6639172434806824 + ], + [ + -0.5803946852684021, + 0.3633038401603699, + -0.7288019061088562 + ], + [ + 0.3633286654949188, + 0.916477382183075, + 0.16751565039157867 + ] + ], + "t": [ + -45.87999725341797, + 82.44657897949219, + 379.2702941894531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000125/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000125/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000125:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000125.png" + }, + { + "frame_id": 127, + "image_path": "/workspace/data/0008_/images/000127.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000127.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 524, + 464, + 332, + 324 + ], + "score": 0.4283296465873718, + "time": 0.0, + "segmentation": { + "counts": [ + 419045, + 4, + 796, + 4, + 786, + 18, + 782, + 18, + 770, + 32, + 768, + 32, + 758, + 46, + 754, + 46, + 752, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 682, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 604, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 574, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 558, + 240, + 560, + 240, + 558, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 638, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 724, + 74, + 726, + 74, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 34, + 6, + 30, + 730, + 34, + 6, + 30, + 730, + 26, + 16, + 26, + 732, + 26, + 16, + 26, + 738, + 18, + 22, + 18, + 742, + 18, + 22, + 18, + 746, + 12, + 26, + 14, + 748, + 12, + 26, + 14, + 750, + 8, + 30, + 12, + 750, + 8, + 30, + 12, + 792, + 4, + 796, + 4, + 337025 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000127:0000", + "experimental_retained_index": 0, + "ism_score": 0.44792643189430237, + "R": [ + [ + -0.7827961444854736, + -0.1549859642982483, + 0.6026684045791626 + ], + [ + 0.4056495726108551, + 0.6073331832885742, + 0.6830770969390869 + ], + [ + -0.47188788652420044, + 0.7791827321052551, + -0.4125481843948364 + ] + ], + "t": [ + 129.76148986816406, + 135.58653259277344, + 410.36810302734375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 524, + 464, + 332, + 324 + ], + "score": 0.4283296465873718, + "time": 0.0, + "segmentation": { + "counts": [ + 419045, + 4, + 796, + 4, + 786, + 18, + 782, + 18, + 770, + 32, + 768, + 32, + 758, + 46, + 754, + 46, + 752, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 708, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 682, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 604, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 574, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 556, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 558, + 240, + 560, + 240, + 558, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 638, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 724, + 74, + 726, + 74, + 722, + 76, + 724, + 76, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 34, + 6, + 30, + 730, + 34, + 6, + 30, + 730, + 26, + 16, + 26, + 732, + 26, + 16, + 26, + 738, + 18, + 22, + 18, + 742, + 18, + 22, + 18, + 746, + 12, + 26, + 14, + 748, + 12, + 26, + 14, + 750, + 8, + 30, + 12, + 750, + 8, + 30, + 12, + 792, + 4, + 796, + 4, + 337025 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000127:0000", + "experimental_retained_index": 0, + "ism_score": 0.44792643189430237, + "R": [ + [ + -0.7827961444854736, + -0.1549859642982483, + 0.6026684045791626 + ], + [ + 0.4056495726108551, + 0.6073331832885742, + 0.6830770969390869 + ], + [ + -0.47188788652420044, + 0.7791827321052551, + -0.4125481843948364 + ] + ], + "t": [ + 129.76148986816406, + 135.58653259277344, + 410.36810302734375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000127/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000127/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000127:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000127.png" + }, + { + "frame_id": 139, + "image_path": "/workspace/data/0008_/images/000139.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000139.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 620, + 470, + 380, + 326 + ], + "score": 0.4698776304721832, + "time": 0.0, + "segmentation": { + "counts": [ + 495779, + 40, + 760, + 40, + 758, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 712, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 664, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 626, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 228, + 572, + 228, + 570, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 562, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 542, + 260, + 540, + 260, + 538, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 528, + 8, + 22, + 12, + 2, + 226, + 530, + 8, + 22, + 12, + 2, + 226, + 530, + 8, + 22, + 10, + 4, + 226, + 530, + 8, + 22, + 10, + 4, + 226, + 532, + 4, + 24, + 238, + 534, + 4, + 24, + 238, + 534, + 4, + 24, + 236, + 536, + 4, + 24, + 236, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 540, + 4, + 16, + 4, + 2, + 234, + 540, + 4, + 16, + 4, + 2, + 234, + 540, + 4, + 6, + 4, + 4, + 240, + 542, + 4, + 6, + 4, + 4, + 240, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 572, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 84, + 716, + 84, + 718, + 74, + 726, + 74, + 726, + 68, + 732, + 68, + 734, + 60, + 740, + 60, + 740, + 54, + 746, + 54, + 748, + 46, + 754, + 46, + 756, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 772, + 22, + 778, + 22, + 778, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 221831 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000139:0000", + "experimental_retained_index": 0, + "ism_score": 0.4850349724292755, + "R": [ + [ + -0.8726267218589783, + -0.013434749096632004, + -0.4883306920528412 + ], + [ + 0.25592657923698425, + -0.8641430735588074, + -0.43344491720199585 + ], + [ + -0.4160745143890381, + -0.5031894445419312, + 0.7575739622116089 + ] + ], + "t": [ + 146.273681640625, + 44.6301155090332, + 386.68023681640625 + ] + }, + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 532, + 476, + 198, + 114 + ], + "score": 0.029756125062704086, + "time": 0.0, + "segmentation": { + "counts": [ + 425333, + 8, + 30, + 18, + 744, + 8, + 30, + 18, + 740, + 62, + 738, + 62, + 700, + 16, + 22, + 64, + 698, + 16, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 694, + 18, + 22, + 66, + 694, + 18, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 18, + 24, + 64, + 694, + 18, + 24, + 64, + 694, + 20, + 20, + 66, + 694, + 20, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 20, + 20, + 68, + 692, + 20, + 20, + 68, + 694, + 8, + 28, + 70, + 694, + 8, + 28, + 70, + 694, + 6, + 28, + 72, + 694, + 6, + 28, + 72, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 72, + 696, + 8, + 24, + 72, + 696, + 6, + 26, + 72, + 696, + 6, + 26, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 694, + 8, + 10, + 14, + 2, + 72, + 694, + 8, + 10, + 14, + 2, + 72, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 696, + 6, + 14, + 10, + 2, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 694, + 10, + 6, + 14, + 4, + 72, + 694, + 10, + 6, + 14, + 4, + 72, + 694, + 30, + 4, + 72, + 694, + 30, + 4, + 72, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 764, + 34, + 766, + 34, + 772, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 788, + 12, + 788, + 12, + 790, + 6, + 794, + 6, + 437873 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000139:0001", + "experimental_retained_index": 1, + "ism_score": 0.36622923612594604, + "R": [ + [ + -0.9899056553840637, + 0.1369304358959198, + 0.034394025802612305 + ], + [ + 0.09559598565101624, + 0.8294158577919006, + -0.5501670241355896 + ], + [ + -0.10389655828475952, + -0.5415869355201721, + -0.8344135284423828 + ] + ], + "t": [ + 80.66048431396484, + 56.87535095214844, + 308.6977844238281 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 620, + 470, + 380, + 326 + ], + "score": 0.4698776304721832, + "time": 0.0, + "segmentation": { + "counts": [ + 495779, + 40, + 760, + 40, + 758, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 712, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 664, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 626, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 228, + 572, + 228, + 570, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 562, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 542, + 260, + 540, + 260, + 538, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 528, + 8, + 22, + 12, + 2, + 226, + 530, + 8, + 22, + 12, + 2, + 226, + 530, + 8, + 22, + 10, + 4, + 226, + 530, + 8, + 22, + 10, + 4, + 226, + 532, + 4, + 24, + 238, + 534, + 4, + 24, + 238, + 534, + 4, + 24, + 236, + 536, + 4, + 24, + 236, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 540, + 4, + 16, + 4, + 2, + 234, + 540, + 4, + 16, + 4, + 2, + 234, + 540, + 4, + 6, + 4, + 4, + 240, + 542, + 4, + 6, + 4, + 4, + 240, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 572, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 84, + 716, + 84, + 718, + 74, + 726, + 74, + 726, + 68, + 732, + 68, + 734, + 60, + 740, + 60, + 740, + 54, + 746, + 54, + 748, + 46, + 754, + 46, + 756, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 772, + 22, + 778, + 22, + 778, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 221831 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000139:0000", + "experimental_retained_index": 0, + "ism_score": 0.4850349724292755, + "R": [ + [ + -0.8726267218589783, + -0.013434749096632004, + -0.4883306920528412 + ], + [ + 0.25592657923698425, + -0.8641430735588074, + -0.43344491720199585 + ], + [ + -0.4160745143890381, + -0.5031894445419312, + 0.7575739622116089 + ] + ], + "t": [ + 146.273681640625, + 44.6301155090332, + 386.68023681640625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000139/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000139/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000139:0000", + "TubeHolder:000139:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000139.png" + }, + { + "frame_id": 142, + "image_path": "/workspace/data/0008_/images/000142.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000142.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 584, + 508, + 412, + 268 + ], + "score": 0.4811663031578064, + "time": 0.0, + "segmentation": { + "counts": [ + 466983, + 40, + 760, + 40, + 730, + 80, + 720, + 80, + 710, + 96, + 704, + 96, + 704, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 688, + 120, + 680, + 120, + 680, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 666, + 144, + 656, + 144, + 656, + 150, + 650, + 150, + 650, + 156, + 644, + 156, + 644, + 164, + 636, + 164, + 636, + 170, + 630, + 170, + 630, + 176, + 624, + 176, + 624, + 182, + 618, + 182, + 618, + 188, + 612, + 188, + 612, + 194, + 606, + 194, + 606, + 202, + 598, + 202, + 598, + 210, + 590, + 210, + 588, + 218, + 582, + 218, + 582, + 226, + 574, + 226, + 574, + 234, + 566, + 234, + 566, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 598, + 202, + 598, + 202, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 6, + 2, + 198, + 576, + 14, + 4, + 6, + 2, + 198, + 576, + 14, + 14, + 194, + 578, + 14, + 14, + 194, + 580, + 12, + 14, + 194, + 580, + 12, + 14, + 194, + 610, + 190, + 610, + 190, + 608, + 192, + 608, + 192, + 584, + 14, + 4, + 198, + 584, + 14, + 4, + 198, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 566, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 8, + 2, + 208, + 582, + 8, + 2, + 208, + 586, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 632, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 658, + 140, + 660, + 140, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 650, + 10, + 16, + 124, + 650, + 10, + 16, + 124, + 652, + 6, + 18, + 122, + 654, + 6, + 18, + 122, + 654, + 8, + 14, + 122, + 656, + 8, + 14, + 122, + 656, + 8, + 14, + 120, + 658, + 8, + 14, + 120, + 658, + 8, + 14, + 114, + 664, + 8, + 14, + 114, + 664, + 6, + 16, + 12, + 8, + 86, + 672, + 6, + 16, + 12, + 8, + 86, + 676, + 6, + 14, + 6, + 12, + 82, + 680, + 6, + 14, + 6, + 12, + 82, + 678, + 10, + 32, + 78, + 680, + 10, + 32, + 78, + 680, + 10, + 32, + 74, + 684, + 10, + 32, + 74, + 728, + 66, + 734, + 66, + 736, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 776, + 20, + 780, + 20, + 780, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 224969 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000142:0000", + "experimental_retained_index": 0, + "ism_score": 0.48267465829849243, + "R": [ + [ + -0.9581289887428284, + 0.0957702174782753, + -0.2705433964729309 + ], + [ + 0.04017193987965584, + -0.8886513710021973, + -0.4569157361984253 + ], + [ + -0.28422385454177856, + -0.4482075273990631, + 0.8475699424743652 + ] + ], + "t": [ + 147.84268188476562, + 63.165775299072266, + 364.7183532714844 + ] + }, + { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 526, + 468, + 204, + 88 + ], + "score": 0.337997168302536, + "time": 0.0, + "segmentation": { + "counts": [ + 420537, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 762, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 728, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 437877 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000142:0001", + "experimental_retained_index": 1, + "ism_score": 0.42920273542404175, + "R": [ + [ + -0.9936179518699646, + -0.036090120673179626, + 0.10770945996046066 + ], + [ + -0.09851076453924179, + 0.7449795603752136, + -0.6597851514816284 + ], + [ + -0.056648481637239456, + -0.6657845973968506, + -0.7438395023345947 + ] + ], + "t": [ + 111.64347076416016, + 51.66689682006836, + 326.91796875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 584, + 508, + 412, + 268 + ], + "score": 0.4811663031578064, + "time": 0.0, + "segmentation": { + "counts": [ + 466983, + 40, + 760, + 40, + 730, + 80, + 720, + 80, + 710, + 96, + 704, + 96, + 704, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 688, + 120, + 680, + 120, + 680, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 666, + 144, + 656, + 144, + 656, + 150, + 650, + 150, + 650, + 156, + 644, + 156, + 644, + 164, + 636, + 164, + 636, + 170, + 630, + 170, + 630, + 176, + 624, + 176, + 624, + 182, + 618, + 182, + 618, + 188, + 612, + 188, + 612, + 194, + 606, + 194, + 606, + 202, + 598, + 202, + 598, + 210, + 590, + 210, + 588, + 218, + 582, + 218, + 582, + 226, + 574, + 226, + 574, + 234, + 566, + 234, + 566, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 598, + 202, + 598, + 202, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 206, + 576, + 14, + 4, + 6, + 2, + 198, + 576, + 14, + 4, + 6, + 2, + 198, + 576, + 14, + 14, + 194, + 578, + 14, + 14, + 194, + 580, + 12, + 14, + 194, + 580, + 12, + 14, + 194, + 610, + 190, + 610, + 190, + 608, + 192, + 608, + 192, + 584, + 14, + 4, + 198, + 584, + 14, + 4, + 198, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 566, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 8, + 2, + 208, + 582, + 8, + 2, + 208, + 586, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 632, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 658, + 140, + 660, + 140, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 650, + 10, + 16, + 124, + 650, + 10, + 16, + 124, + 652, + 6, + 18, + 122, + 654, + 6, + 18, + 122, + 654, + 8, + 14, + 122, + 656, + 8, + 14, + 122, + 656, + 8, + 14, + 120, + 658, + 8, + 14, + 120, + 658, + 8, + 14, + 114, + 664, + 8, + 14, + 114, + 664, + 6, + 16, + 12, + 8, + 86, + 672, + 6, + 16, + 12, + 8, + 86, + 676, + 6, + 14, + 6, + 12, + 82, + 680, + 6, + 14, + 6, + 12, + 82, + 678, + 10, + 32, + 78, + 680, + 10, + 32, + 78, + 680, + 10, + 32, + 74, + 684, + 10, + 32, + 74, + 728, + 66, + 734, + 66, + 736, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 776, + 20, + 780, + 20, + 780, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 224969 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000142:0000", + "experimental_retained_index": 0, + "ism_score": 0.48267465829849243, + "R": [ + [ + -0.9581289887428284, + 0.0957702174782753, + -0.2705433964729309 + ], + [ + 0.04017193987965584, + -0.8886513710021973, + -0.4569157361984253 + ], + [ + -0.28422385454177856, + -0.4482075273990631, + 0.8475699424743652 + ] + ], + "t": [ + 147.84268188476562, + 63.165775299072266, + 364.7183532714844 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000142/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000142/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000142:0000", + "TubeHolder:000142:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000142.png" + }, + { + "frame_id": 145, + "image_path": "/workspace/data/0008_/images/000145.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000145.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 452, + 448, + 406, + 258 + ], + "score": 0.4537106454372406, + "time": 0.0, + "segmentation": { + "counts": [ + 361301, + 4, + 796, + 4, + 778, + 114, + 686, + 114, + 684, + 148, + 652, + 148, + 650, + 174, + 626, + 174, + 626, + 194, + 606, + 194, + 606, + 210, + 590, + 210, + 590, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 562, + 236, + 564, + 236, + 564, + 12, + 2, + 222, + 564, + 12, + 2, + 222, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 22, + 2, + 218, + 558, + 22, + 2, + 218, + 558, + 22, + 2, + 10, + 2, + 206, + 558, + 22, + 2, + 10, + 2, + 206, + 558, + 22, + 2, + 10, + 6, + 200, + 560, + 22, + 2, + 10, + 6, + 200, + 560, + 22, + 2, + 10, + 6, + 200, + 560, + 22, + 2, + 10, + 6, + 200, + 562, + 20, + 2, + 28, + 2, + 186, + 562, + 20, + 2, + 28, + 2, + 186, + 562, + 20, + 2, + 216, + 562, + 20, + 2, + 216, + 562, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 604, + 8, + 4, + 184, + 604, + 8, + 4, + 184, + 602, + 12, + 2, + 184, + 602, + 12, + 2, + 184, + 600, + 14, + 2, + 184, + 600, + 14, + 2, + 184, + 594, + 20, + 2, + 182, + 596, + 20, + 2, + 182, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 602, + 198, + 602, + 198, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 654, + 146, + 654, + 146, + 628, + 4, + 22, + 146, + 628, + 4, + 22, + 146, + 628, + 6, + 20, + 146, + 628, + 6, + 20, + 146, + 626, + 8, + 20, + 146, + 626, + 8, + 20, + 146, + 624, + 10, + 26, + 138, + 626, + 10, + 26, + 138, + 626, + 10, + 30, + 134, + 626, + 10, + 30, + 134, + 626, + 10, + 36, + 128, + 626, + 10, + 36, + 128, + 626, + 10, + 38, + 126, + 626, + 10, + 38, + 126, + 626, + 10, + 36, + 128, + 626, + 10, + 36, + 128, + 626, + 10, + 30, + 132, + 628, + 10, + 30, + 132, + 630, + 8, + 30, + 132, + 630, + 8, + 30, + 132, + 632, + 6, + 20, + 4, + 4, + 18, + 2, + 112, + 634, + 6, + 20, + 4, + 4, + 18, + 2, + 112, + 634, + 4, + 22, + 4, + 4, + 6, + 4, + 6, + 6, + 108, + 636, + 4, + 22, + 4, + 4, + 6, + 4, + 6, + 6, + 108, + 636, + 6, + 54, + 94, + 646, + 6, + 54, + 94, + 644, + 8, + 54, + 86, + 652, + 8, + 54, + 86, + 652, + 8, + 56, + 80, + 656, + 8, + 56, + 80, + 658, + 6, + 58, + 72, + 664, + 6, + 58, + 72, + 664, + 6, + 60, + 64, + 670, + 6, + 60, + 64, + 740, + 54, + 746, + 54, + 748, + 46, + 754, + 46, + 758, + 36, + 764, + 36, + 766, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 784, + 10, + 790, + 10, + 335431 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000145:0000", + "experimental_retained_index": 0, + "ism_score": 0.466840535402298, + "R": [ + [ + 0.9696462154388428, + -0.07538145780563354, + -0.23260261118412018 + ], + [ + -0.06106962263584137, + 0.8464804887771606, + -0.5289057493209839 + ], + [ + 0.23676328361034393, + 0.5270563364028931, + 0.8161830902099609 + ] + ], + "t": [ + -88.73028564453125, + 80.01790618896484, + 340.19244384765625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 452, + 448, + 406, + 258 + ], + "score": 0.4537106454372406, + "time": 0.0, + "segmentation": { + "counts": [ + 361301, + 4, + 796, + 4, + 778, + 114, + 686, + 114, + 684, + 148, + 652, + 148, + 650, + 174, + 626, + 174, + 626, + 194, + 606, + 194, + 606, + 210, + 590, + 210, + 590, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 562, + 236, + 564, + 236, + 564, + 12, + 2, + 222, + 564, + 12, + 2, + 222, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 22, + 2, + 218, + 558, + 22, + 2, + 218, + 558, + 22, + 2, + 10, + 2, + 206, + 558, + 22, + 2, + 10, + 2, + 206, + 558, + 22, + 2, + 10, + 6, + 200, + 560, + 22, + 2, + 10, + 6, + 200, + 560, + 22, + 2, + 10, + 6, + 200, + 560, + 22, + 2, + 10, + 6, + 200, + 562, + 20, + 2, + 28, + 2, + 186, + 562, + 20, + 2, + 28, + 2, + 186, + 562, + 20, + 2, + 216, + 562, + 20, + 2, + 216, + 562, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 604, + 8, + 4, + 184, + 604, + 8, + 4, + 184, + 602, + 12, + 2, + 184, + 602, + 12, + 2, + 184, + 600, + 14, + 2, + 184, + 600, + 14, + 2, + 184, + 594, + 20, + 2, + 182, + 596, + 20, + 2, + 182, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 602, + 198, + 602, + 198, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 654, + 146, + 654, + 146, + 628, + 4, + 22, + 146, + 628, + 4, + 22, + 146, + 628, + 6, + 20, + 146, + 628, + 6, + 20, + 146, + 626, + 8, + 20, + 146, + 626, + 8, + 20, + 146, + 624, + 10, + 26, + 138, + 626, + 10, + 26, + 138, + 626, + 10, + 30, + 134, + 626, + 10, + 30, + 134, + 626, + 10, + 36, + 128, + 626, + 10, + 36, + 128, + 626, + 10, + 38, + 126, + 626, + 10, + 38, + 126, + 626, + 10, + 36, + 128, + 626, + 10, + 36, + 128, + 626, + 10, + 30, + 132, + 628, + 10, + 30, + 132, + 630, + 8, + 30, + 132, + 630, + 8, + 30, + 132, + 632, + 6, + 20, + 4, + 4, + 18, + 2, + 112, + 634, + 6, + 20, + 4, + 4, + 18, + 2, + 112, + 634, + 4, + 22, + 4, + 4, + 6, + 4, + 6, + 6, + 108, + 636, + 4, + 22, + 4, + 4, + 6, + 4, + 6, + 6, + 108, + 636, + 6, + 54, + 94, + 646, + 6, + 54, + 94, + 644, + 8, + 54, + 86, + 652, + 8, + 54, + 86, + 652, + 8, + 56, + 80, + 656, + 8, + 56, + 80, + 658, + 6, + 58, + 72, + 664, + 6, + 58, + 72, + 664, + 6, + 60, + 64, + 670, + 6, + 60, + 64, + 740, + 54, + 746, + 54, + 748, + 46, + 754, + 46, + 758, + 36, + 764, + 36, + 766, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 784, + 10, + 790, + 10, + 335431 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000145:0000", + "experimental_retained_index": 0, + "ism_score": 0.466840535402298, + "R": [ + [ + 0.9696462154388428, + -0.07538145780563354, + -0.23260261118412018 + ], + [ + -0.06106962263584137, + 0.8464804887771606, + -0.5289057493209839 + ], + [ + 0.23676328361034393, + 0.5270563364028931, + 0.8161830902099609 + ] + ], + "t": [ + -88.73028564453125, + 80.01790618896484, + 340.19244384765625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000145/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000145/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000145:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000145.png" + }, + { + "frame_id": 150, + "image_path": "/workspace/data/0008_/images/000150.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000150.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 150, + "category_id": 1, + "bbox": [ + 248, + 246, + 548, + 546 + ], + "score": 0.4665214717388153, + "time": 0.0, + "segmentation": { + "counts": [ + 198211, + 10, + 790, + 10, + 786, + 20, + 780, + 20, + 776, + 28, + 772, + 28, + 770, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 750, + 58, + 742, + 58, + 738, + 66, + 734, + 66, + 732, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 718, + 90, + 710, + 90, + 708, + 98, + 702, + 98, + 700, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 686, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 666, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 636, + 164, + 636, + 164, + 630, + 170, + 630, + 170, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 600, + 4, + 4, + 192, + 600, + 4, + 4, + 192, + 598, + 202, + 598, + 202, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 582, + 218, + 582, + 218, + 578, + 222, + 578, + 222, + 574, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 28, + 2, + 218, + 552, + 28, + 2, + 218, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 558, + 4, + 4, + 234, + 558, + 4, + 4, + 234, + 558, + 4, + 4, + 234, + 558, + 4, + 4, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 82, + 4, + 482, + 232, + 82, + 4, + 482, + 232, + 82, + 4, + 482, + 232, + 82, + 4, + 482, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 334, + 6, + 228, + 232, + 334, + 6, + 228, + 232, + 334, + 6, + 228, + 232, + 80, + 4, + 250, + 6, + 228, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 456, + 14, + 14, + 234, + 78, + 4, + 456, + 14, + 14, + 234, + 78, + 4, + 452, + 22, + 12, + 232, + 534, + 22, + 12, + 232, + 534, + 22, + 14, + 230, + 534, + 22, + 14, + 230, + 532, + 22, + 20, + 226, + 532, + 22, + 20, + 226, + 532, + 18, + 24, + 226, + 532, + 18, + 24, + 226, + 532, + 16, + 26, + 226, + 532, + 16, + 26, + 226, + 534, + 14, + 22, + 230, + 534, + 14, + 22, + 230, + 534, + 16, + 18, + 232, + 78, + 4, + 452, + 16, + 18, + 232, + 78, + 4, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 10, + 18, + 236, + 78, + 4, + 454, + 10, + 18, + 236, + 78, + 4, + 482, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 568, + 234, + 566, + 234, + 566, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 486, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 488, + 236, + 72, + 4, + 488, + 236, + 72, + 4, + 488, + 236, + 70, + 6, + 488, + 236, + 70, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 70, + 4, + 488, + 238, + 70, + 4, + 488, + 68, + 2, + 38, + 2, + 128, + 562, + 68, + 2, + 38, + 2, + 128, + 562, + 66, + 6, + 6, + 8, + 22, + 4, + 126, + 562, + 66, + 6, + 6, + 8, + 22, + 4, + 126, + 562, + 66, + 22, + 18, + 8, + 124, + 562, + 66, + 22, + 18, + 8, + 124, + 562, + 64, + 32, + 8, + 12, + 122, + 70, + 4, + 488, + 64, + 32, + 8, + 12, + 122, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 32, + 12, + 8, + 124, + 68, + 6, + 488, + 62, + 32, + 12, + 8, + 124, + 68, + 6, + 488, + 62, + 16, + 4, + 2, + 154, + 68, + 6, + 488, + 62, + 16, + 4, + 2, + 154, + 68, + 6, + 490, + 60, + 12, + 164, + 70, + 4, + 490, + 60, + 12, + 164, + 70, + 4, + 492, + 58, + 12, + 162, + 568, + 58, + 12, + 162, + 568, + 56, + 14, + 160, + 570, + 56, + 14, + 160, + 572, + 54, + 14, + 158, + 574, + 54, + 14, + 158, + 584, + 44, + 14, + 150, + 592, + 44, + 14, + 150, + 604, + 16, + 4, + 14, + 14, + 138, + 614, + 16, + 4, + 14, + 14, + 138, + 636, + 12, + 24, + 112, + 652, + 12, + 24, + 112, + 652, + 12, + 32, + 92, + 122, + 4, + 538, + 12, + 32, + 92, + 122, + 4, + 538, + 14, + 42, + 68, + 134, + 4, + 538, + 14, + 42, + 68, + 134, + 4, + 538, + 14, + 244, + 4, + 538, + 14, + 244, + 4, + 538, + 14, + 244, + 4, + 538, + 14, + 244, + 4, + 540, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 7446, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 10396, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 384805 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000150:0001", + "experimental_retained_index": 0, + "ism_score": 0.47543591260910034, + "R": [ + [ + 0.9988721609115601, + -0.041301704943180084, + 0.02341887168586254 + ], + [ + 0.047310721129179, + 0.8243055939674377, + -0.5641649961471558 + ], + [ + 0.003996636718511581, + 0.564636766910553, + 0.8253299593925476 + ] + ], + "t": [ + -149.35818481445312, + 76.16766357421875, + 345.2829284667969 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 150, + "category_id": 1, + "bbox": [ + 248, + 246, + 548, + 546 + ], + "score": 0.4665214717388153, + "time": 0.0, + "segmentation": { + "counts": [ + 198211, + 10, + 790, + 10, + 786, + 20, + 780, + 20, + 776, + 28, + 772, + 28, + 770, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 750, + 58, + 742, + 58, + 738, + 66, + 734, + 66, + 732, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 718, + 90, + 710, + 90, + 708, + 98, + 702, + 98, + 700, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 686, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 666, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 636, + 164, + 636, + 164, + 630, + 170, + 630, + 170, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 600, + 4, + 4, + 192, + 600, + 4, + 4, + 192, + 598, + 202, + 598, + 202, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 582, + 218, + 582, + 218, + 578, + 222, + 578, + 222, + 574, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 28, + 2, + 218, + 552, + 28, + 2, + 218, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 558, + 4, + 4, + 234, + 558, + 4, + 4, + 234, + 558, + 4, + 4, + 234, + 558, + 4, + 4, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 82, + 4, + 482, + 232, + 82, + 4, + 482, + 232, + 82, + 4, + 482, + 232, + 82, + 4, + 482, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 80, + 4, + 482, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 334, + 6, + 228, + 232, + 334, + 6, + 228, + 232, + 334, + 6, + 228, + 232, + 80, + 4, + 250, + 6, + 228, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 80, + 4, + 484, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 484, + 234, + 78, + 4, + 456, + 14, + 14, + 234, + 78, + 4, + 456, + 14, + 14, + 234, + 78, + 4, + 452, + 22, + 12, + 232, + 534, + 22, + 12, + 232, + 534, + 22, + 14, + 230, + 534, + 22, + 14, + 230, + 532, + 22, + 20, + 226, + 532, + 22, + 20, + 226, + 532, + 18, + 24, + 226, + 532, + 18, + 24, + 226, + 532, + 16, + 26, + 226, + 532, + 16, + 26, + 226, + 534, + 14, + 22, + 230, + 534, + 14, + 22, + 230, + 534, + 16, + 18, + 232, + 78, + 4, + 452, + 16, + 18, + 232, + 78, + 4, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 14, + 16, + 234, + 76, + 6, + 454, + 10, + 18, + 236, + 78, + 4, + 454, + 10, + 18, + 236, + 78, + 4, + 482, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 568, + 234, + 566, + 234, + 566, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 74, + 6, + 486, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 234, + 76, + 4, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 74, + 4, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 236, + 72, + 6, + 486, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 486, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 486, + 238, + 72, + 4, + 488, + 236, + 72, + 4, + 488, + 236, + 72, + 4, + 488, + 236, + 70, + 6, + 488, + 236, + 70, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 68, + 6, + 488, + 238, + 70, + 4, + 488, + 238, + 70, + 4, + 488, + 68, + 2, + 38, + 2, + 128, + 562, + 68, + 2, + 38, + 2, + 128, + 562, + 66, + 6, + 6, + 8, + 22, + 4, + 126, + 562, + 66, + 6, + 6, + 8, + 22, + 4, + 126, + 562, + 66, + 22, + 18, + 8, + 124, + 562, + 66, + 22, + 18, + 8, + 124, + 562, + 64, + 32, + 8, + 12, + 122, + 70, + 4, + 488, + 64, + 32, + 8, + 12, + 122, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 34, + 10, + 8, + 124, + 70, + 4, + 488, + 62, + 32, + 12, + 8, + 124, + 68, + 6, + 488, + 62, + 32, + 12, + 8, + 124, + 68, + 6, + 488, + 62, + 16, + 4, + 2, + 154, + 68, + 6, + 488, + 62, + 16, + 4, + 2, + 154, + 68, + 6, + 490, + 60, + 12, + 164, + 70, + 4, + 490, + 60, + 12, + 164, + 70, + 4, + 492, + 58, + 12, + 162, + 568, + 58, + 12, + 162, + 568, + 56, + 14, + 160, + 570, + 56, + 14, + 160, + 572, + 54, + 14, + 158, + 574, + 54, + 14, + 158, + 584, + 44, + 14, + 150, + 592, + 44, + 14, + 150, + 604, + 16, + 4, + 14, + 14, + 138, + 614, + 16, + 4, + 14, + 14, + 138, + 636, + 12, + 24, + 112, + 652, + 12, + 24, + 112, + 652, + 12, + 32, + 92, + 122, + 4, + 538, + 12, + 32, + 92, + 122, + 4, + 538, + 14, + 42, + 68, + 134, + 4, + 538, + 14, + 42, + 68, + 134, + 4, + 538, + 14, + 244, + 4, + 538, + 14, + 244, + 4, + 538, + 14, + 244, + 4, + 538, + 14, + 244, + 4, + 540, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 7446, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 10396, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 384805 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000150:0001", + "experimental_retained_index": 0, + "ism_score": 0.47543591260910034, + "R": [ + [ + 0.9988721609115601, + -0.041301704943180084, + 0.02341887168586254 + ], + [ + 0.047310721129179, + 0.8243055939674377, + -0.5641649961471558 + ], + [ + 0.003996636718511581, + 0.564636766910553, + 0.8253299593925476 + ] + ], + "t": [ + -149.35818481445312, + 76.16766357421875, + 345.2829284667969 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000150/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000150/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000150:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000150.png" + }, + { + "frame_id": 155, + "image_path": "/workspace/data/0008_/images/000155.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000155.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 62, + 390, + 490, + 348 + ], + "score": 0.027491306886076927, + "time": 0.0, + "segmentation": { + "counts": [ + 49305, + 8, + 792, + 8, + 790, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 770, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 760, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 718, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 692, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 604, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 596, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 604, + 198, + 602, + 198, + 608, + 192, + 608, + 192, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 550, + 6, + 52, + 194, + 548, + 6, + 52, + 194, + 544, + 18, + 40, + 198, + 544, + 18, + 40, + 198, + 542, + 32, + 2, + 8, + 14, + 202, + 542, + 32, + 2, + 8, + 14, + 202, + 542, + 32, + 2, + 8, + 14, + 204, + 540, + 32, + 2, + 8, + 14, + 204, + 540, + 32, + 2, + 8, + 4, + 216, + 538, + 32, + 2, + 8, + 4, + 216, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 118, + 2, + 144, + 536, + 118, + 2, + 144, + 536, + 116, + 4, + 144, + 536, + 116, + 4, + 144, + 536, + 116, + 4, + 146, + 534, + 116, + 4, + 146, + 536, + 114, + 4, + 6, + 2, + 138, + 536, + 114, + 4, + 6, + 2, + 138, + 536, + 114, + 6, + 146, + 534, + 114, + 6, + 146, + 536, + 112, + 6, + 146, + 536, + 112, + 6, + 146, + 538, + 110, + 6, + 14, + 4, + 128, + 538, + 110, + 6, + 14, + 4, + 128, + 538, + 110, + 10, + 6, + 8, + 8, + 4, + 118, + 536, + 110, + 10, + 6, + 8, + 8, + 4, + 118, + 538, + 106, + 26, + 6, + 10, + 114, + 538, + 106, + 26, + 6, + 10, + 114, + 538, + 104, + 30, + 4, + 14, + 112, + 536, + 104, + 30, + 4, + 14, + 112, + 536, + 102, + 52, + 110, + 536, + 102, + 52, + 110, + 538, + 100, + 54, + 110, + 536, + 100, + 54, + 110, + 536, + 102, + 54, + 108, + 536, + 102, + 54, + 108, + 536, + 104, + 54, + 108, + 534, + 104, + 54, + 108, + 534, + 112, + 46, + 108, + 534, + 112, + 46, + 108, + 534, + 120, + 38, + 108, + 534, + 120, + 38, + 108, + 534, + 124, + 34, + 110, + 532, + 124, + 34, + 110, + 532, + 124, + 34, + 110, + 532, + 124, + 34, + 110, + 532, + 140, + 18, + 112, + 530, + 140, + 18, + 112, + 532, + 140, + 14, + 116, + 530, + 140, + 14, + 116, + 530, + 140, + 12, + 118, + 530, + 140, + 12, + 118, + 530, + 140, + 10, + 122, + 528, + 140, + 10, + 122, + 528, + 142, + 4, + 126, + 528, + 142, + 4, + 126, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 524, + 278, + 522, + 278, + 526, + 276, + 524, + 276, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 534, + 268, + 532, + 268, + 536, + 264, + 536, + 264, + 538, + 264, + 536, + 264, + 540, + 260, + 540, + 260, + 544, + 258, + 542, + 258, + 548, + 252, + 548, + 252, + 552, + 78, + 6, + 166, + 550, + 78, + 6, + 166, + 550, + 76, + 12, + 162, + 550, + 76, + 12, + 162, + 550, + 74, + 26, + 12, + 6, + 134, + 548, + 74, + 26, + 12, + 6, + 134, + 548, + 68, + 68, + 116, + 548, + 68, + 68, + 116, + 548, + 64, + 74, + 116, + 546, + 64, + 74, + 116, + 546, + 64, + 76, + 114, + 546, + 64, + 76, + 114, + 546, + 64, + 76, + 116, + 544, + 64, + 76, + 116, + 544, + 64, + 78, + 114, + 544, + 64, + 78, + 114, + 544, + 64, + 76, + 118, + 542, + 64, + 76, + 118, + 540, + 66, + 76, + 118, + 540, + 66, + 76, + 118, + 540, + 66, + 76, + 120, + 538, + 66, + 76, + 120, + 538, + 66, + 76, + 120, + 538, + 66, + 76, + 120, + 518, + 86, + 76, + 122, + 516, + 86, + 76, + 122, + 512, + 90, + 74, + 124, + 512, + 90, + 74, + 124, + 512, + 88, + 70, + 130, + 512, + 88, + 70, + 130, + 512, + 88, + 70, + 130, + 512, + 88, + 70, + 130, + 512, + 88, + 72, + 128, + 512, + 88, + 72, + 128, + 514, + 86, + 44, + 14, + 12, + 128, + 516, + 86, + 44, + 14, + 12, + 128, + 516, + 86, + 44, + 152, + 518, + 86, + 44, + 152, + 518, + 86, + 42, + 152, + 520, + 86, + 42, + 152, + 522, + 84, + 42, + 148, + 526, + 84, + 42, + 148, + 526, + 84, + 40, + 146, + 530, + 84, + 40, + 146, + 530, + 86, + 2, + 18, + 10, + 152, + 532, + 86, + 2, + 18, + 10, + 152, + 534, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 568, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 596, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 92, + 708, + 92, + 708, + 88, + 712, + 88, + 712, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 734, + 18, + 4, + 14, + 6, + 14, + 744, + 18, + 4, + 14, + 6, + 14, + 580241 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000155:0000", + "experimental_retained_index": 0, + "ism_score": 0.5174834132194519, + "R": [ + [ + -0.9088361263275146, + -0.049689777195453644, + 0.4141841530799866 + ], + [ + -0.2030612975358963, + -0.8146096467971802, + -0.5433018803596497 + ], + [ + 0.3643952012062073, + -0.5778770446777344, + 0.7302563190460205 + ] + ], + "t": [ + -87.64030456542969, + 66.43843841552734, + 359.7509765625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 62, + 390, + 490, + 348 + ], + "score": 0.027491306886076927, + "time": 0.0, + "segmentation": { + "counts": [ + 49305, + 8, + 792, + 8, + 790, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 770, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 760, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 718, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 692, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 604, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 596, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 604, + 198, + 602, + 198, + 608, + 192, + 608, + 192, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 550, + 6, + 52, + 194, + 548, + 6, + 52, + 194, + 544, + 18, + 40, + 198, + 544, + 18, + 40, + 198, + 542, + 32, + 2, + 8, + 14, + 202, + 542, + 32, + 2, + 8, + 14, + 202, + 542, + 32, + 2, + 8, + 14, + 204, + 540, + 32, + 2, + 8, + 14, + 204, + 540, + 32, + 2, + 8, + 4, + 216, + 538, + 32, + 2, + 8, + 4, + 216, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 118, + 2, + 144, + 536, + 118, + 2, + 144, + 536, + 116, + 4, + 144, + 536, + 116, + 4, + 144, + 536, + 116, + 4, + 146, + 534, + 116, + 4, + 146, + 536, + 114, + 4, + 6, + 2, + 138, + 536, + 114, + 4, + 6, + 2, + 138, + 536, + 114, + 6, + 146, + 534, + 114, + 6, + 146, + 536, + 112, + 6, + 146, + 536, + 112, + 6, + 146, + 538, + 110, + 6, + 14, + 4, + 128, + 538, + 110, + 6, + 14, + 4, + 128, + 538, + 110, + 10, + 6, + 8, + 8, + 4, + 118, + 536, + 110, + 10, + 6, + 8, + 8, + 4, + 118, + 538, + 106, + 26, + 6, + 10, + 114, + 538, + 106, + 26, + 6, + 10, + 114, + 538, + 104, + 30, + 4, + 14, + 112, + 536, + 104, + 30, + 4, + 14, + 112, + 536, + 102, + 52, + 110, + 536, + 102, + 52, + 110, + 538, + 100, + 54, + 110, + 536, + 100, + 54, + 110, + 536, + 102, + 54, + 108, + 536, + 102, + 54, + 108, + 536, + 104, + 54, + 108, + 534, + 104, + 54, + 108, + 534, + 112, + 46, + 108, + 534, + 112, + 46, + 108, + 534, + 120, + 38, + 108, + 534, + 120, + 38, + 108, + 534, + 124, + 34, + 110, + 532, + 124, + 34, + 110, + 532, + 124, + 34, + 110, + 532, + 124, + 34, + 110, + 532, + 140, + 18, + 112, + 530, + 140, + 18, + 112, + 532, + 140, + 14, + 116, + 530, + 140, + 14, + 116, + 530, + 140, + 12, + 118, + 530, + 140, + 12, + 118, + 530, + 140, + 10, + 122, + 528, + 140, + 10, + 122, + 528, + 142, + 4, + 126, + 528, + 142, + 4, + 126, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 522, + 278, + 522, + 278, + 524, + 278, + 522, + 278, + 526, + 276, + 524, + 276, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 534, + 268, + 532, + 268, + 536, + 264, + 536, + 264, + 538, + 264, + 536, + 264, + 540, + 260, + 540, + 260, + 544, + 258, + 542, + 258, + 548, + 252, + 548, + 252, + 552, + 78, + 6, + 166, + 550, + 78, + 6, + 166, + 550, + 76, + 12, + 162, + 550, + 76, + 12, + 162, + 550, + 74, + 26, + 12, + 6, + 134, + 548, + 74, + 26, + 12, + 6, + 134, + 548, + 68, + 68, + 116, + 548, + 68, + 68, + 116, + 548, + 64, + 74, + 116, + 546, + 64, + 74, + 116, + 546, + 64, + 76, + 114, + 546, + 64, + 76, + 114, + 546, + 64, + 76, + 116, + 544, + 64, + 76, + 116, + 544, + 64, + 78, + 114, + 544, + 64, + 78, + 114, + 544, + 64, + 76, + 118, + 542, + 64, + 76, + 118, + 540, + 66, + 76, + 118, + 540, + 66, + 76, + 118, + 540, + 66, + 76, + 120, + 538, + 66, + 76, + 120, + 538, + 66, + 76, + 120, + 538, + 66, + 76, + 120, + 518, + 86, + 76, + 122, + 516, + 86, + 76, + 122, + 512, + 90, + 74, + 124, + 512, + 90, + 74, + 124, + 512, + 88, + 70, + 130, + 512, + 88, + 70, + 130, + 512, + 88, + 70, + 130, + 512, + 88, + 70, + 130, + 512, + 88, + 72, + 128, + 512, + 88, + 72, + 128, + 514, + 86, + 44, + 14, + 12, + 128, + 516, + 86, + 44, + 14, + 12, + 128, + 516, + 86, + 44, + 152, + 518, + 86, + 44, + 152, + 518, + 86, + 42, + 152, + 520, + 86, + 42, + 152, + 522, + 84, + 42, + 148, + 526, + 84, + 42, + 148, + 526, + 84, + 40, + 146, + 530, + 84, + 40, + 146, + 530, + 86, + 2, + 18, + 10, + 152, + 532, + 86, + 2, + 18, + 10, + 152, + 534, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 568, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 596, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 92, + 708, + 92, + 708, + 88, + 712, + 88, + 712, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 734, + 18, + 4, + 14, + 6, + 14, + 744, + 18, + 4, + 14, + 6, + 14, + 580241 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000155:0000", + "experimental_retained_index": 0, + "ism_score": 0.5174834132194519, + "R": [ + [ + -0.9088361263275146, + -0.049689777195453644, + 0.4141841530799866 + ], + [ + -0.2030612975358963, + -0.8146096467971802, + -0.5433018803596497 + ], + [ + 0.3643952012062073, + -0.5778770446777344, + 0.7302563190460205 + ] + ], + "t": [ + -87.64030456542969, + 66.43843841552734, + 359.7509765625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000155/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000155/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000155:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000155.png" + }, + { + "frame_id": 170, + "image_path": "/workspace/data/0008_/images/000170.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000170.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 540, + 538, + 484, + 258 + ], + "score": 0.4472865164279938, + "time": 0.0, + "segmentation": { + "counts": [ + 431815, + 34, + 766, + 34, + 764, + 50, + 750, + 50, + 750, + 68, + 732, + 68, + 730, + 80, + 720, + 80, + 720, + 92, + 708, + 92, + 708, + 106, + 694, + 106, + 694, + 120, + 680, + 120, + 678, + 134, + 666, + 134, + 666, + 144, + 656, + 144, + 656, + 154, + 646, + 154, + 646, + 168, + 632, + 168, + 632, + 180, + 620, + 180, + 620, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 562, + 4, + 6, + 228, + 562, + 4, + 6, + 228, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 588, + 128, + 4, + 80, + 588, + 128, + 4, + 80, + 582, + 132, + 6, + 80, + 582, + 132, + 6, + 80, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 108, + 2, + 14, + 2, + 4, + 6, + 84, + 580, + 108, + 2, + 14, + 2, + 4, + 6, + 84, + 590, + 96, + 4, + 12, + 16, + 82, + 590, + 96, + 4, + 12, + 16, + 82, + 590, + 96, + 6, + 6, + 22, + 80, + 590, + 96, + 6, + 6, + 22, + 80, + 588, + 98, + 6, + 4, + 30, + 74, + 588, + 98, + 6, + 4, + 30, + 74, + 550, + 8, + 26, + 100, + 42, + 74, + 550, + 8, + 26, + 100, + 42, + 74, + 548, + 12, + 20, + 104, + 42, + 74, + 548, + 12, + 20, + 104, + 42, + 74, + 546, + 18, + 8, + 114, + 16, + 4, + 22, + 72, + 546, + 18, + 8, + 114, + 16, + 4, + 22, + 72, + 546, + 142, + 14, + 4, + 20, + 74, + 546, + 142, + 14, + 4, + 20, + 74, + 546, + 144, + 8, + 12, + 6, + 4, + 4, + 76, + 546, + 144, + 8, + 12, + 6, + 4, + 4, + 76, + 546, + 146, + 6, + 102, + 546, + 146, + 6, + 102, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 152, + 6, + 98, + 544, + 152, + 6, + 98, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 558, + 242, + 558, + 242, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 570, + 230, + 570, + 230, + 574, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 584, + 216, + 584, + 216, + 588, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 602, + 196, + 604, + 196, + 608, + 192, + 608, + 192, + 614, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 630, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 656, + 144, + 656, + 144, + 658, + 52, + 6, + 82, + 660, + 52, + 6, + 82, + 662, + 54, + 2, + 82, + 662, + 54, + 2, + 82, + 664, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 20, + 24, + 74, + 682, + 20, + 24, + 74, + 688, + 8, + 32, + 70, + 690, + 8, + 32, + 70, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 684, + 6, + 48, + 62, + 684, + 6, + 48, + 62, + 682, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 202459 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000170:0000", + "experimental_retained_index": 0, + "ism_score": 0.4708279073238373, + "R": [ + [ + -0.9947589039802551, + 0.0936681255698204, + -0.04592327028512955 + ], + [ + 0.07394431531429291, + 0.9436405897140503, + 0.32308074831962585 + ], + [ + 0.07352594286203384, + 0.3175470530986786, + -0.9452557563781738 + ] + ], + "t": [ + 144.08384704589844, + 144.03985595703125, + 246.6964874267578 + ] + }, + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 482, + 436, + 242, + 152 + ], + "score": 0.031102683395147324, + "time": 0.0, + "segmentation": { + "counts": [ + 385353, + 8, + 792, + 8, + 780, + 24, + 776, + 24, + 770, + 30, + 770, + 30, + 764, + 38, + 762, + 38, + 758, + 42, + 758, + 42, + 752, + 48, + 752, + 48, + 746, + 54, + 746, + 54, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 730, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 684, + 8, + 32, + 76, + 684, + 8, + 32, + 76, + 680, + 12, + 32, + 76, + 680, + 12, + 32, + 76, + 674, + 18, + 32, + 76, + 674, + 18, + 32, + 76, + 672, + 20, + 32, + 78, + 670, + 20, + 32, + 78, + 668, + 22, + 32, + 78, + 668, + 22, + 32, + 78, + 668, + 22, + 32, + 78, + 668, + 22, + 32, + 78, + 666, + 24, + 32, + 78, + 666, + 24, + 32, + 78, + 666, + 24, + 32, + 78, + 666, + 24, + 32, + 78, + 664, + 26, + 32, + 78, + 664, + 26, + 32, + 78, + 664, + 26, + 32, + 78, + 664, + 26, + 32, + 78, + 662, + 28, + 30, + 82, + 660, + 28, + 30, + 82, + 660, + 28, + 30, + 82, + 660, + 28, + 30, + 82, + 660, + 28, + 32, + 80, + 660, + 28, + 32, + 80, + 660, + 26, + 34, + 80, + 660, + 26, + 34, + 80, + 660, + 24, + 38, + 78, + 660, + 24, + 38, + 78, + 660, + 24, + 38, + 80, + 658, + 24, + 38, + 80, + 658, + 24, + 38, + 80, + 658, + 24, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 80, + 660, + 22, + 38, + 82, + 658, + 22, + 38, + 82, + 658, + 22, + 38, + 82, + 658, + 22, + 38, + 82, + 658, + 22, + 36, + 84, + 658, + 22, + 36, + 84, + 658, + 24, + 32, + 86, + 658, + 24, + 32, + 86, + 660, + 26, + 22, + 92, + 660, + 26, + 22, + 92, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 104, + 696, + 104, + 698, + 86, + 714, + 86, + 718, + 62, + 738, + 62, + 754, + 14, + 786, + 14, + 442699 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000170:0001", + "experimental_retained_index": 1, + "ism_score": 0.36862438917160034, + "R": [ + [ + -0.9897325038909912, + 0.12590087950229645, + 0.06537313014268875 + ], + [ + 0.12457001209259033, + 0.9919854998588562, + -0.024355560541152954 + ], + [ + -0.06789930909872055, + -0.016066670417785645, + -0.9977644681930542 + ] + ], + "t": [ + 58.53341293334961, + 76.26019287109375, + 287.87261962890625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 540, + 538, + 484, + 258 + ], + "score": 0.4472865164279938, + "time": 0.0, + "segmentation": { + "counts": [ + 431815, + 34, + 766, + 34, + 764, + 50, + 750, + 50, + 750, + 68, + 732, + 68, + 730, + 80, + 720, + 80, + 720, + 92, + 708, + 92, + 708, + 106, + 694, + 106, + 694, + 120, + 680, + 120, + 678, + 134, + 666, + 134, + 666, + 144, + 656, + 144, + 656, + 154, + 646, + 154, + 646, + 168, + 632, + 168, + 632, + 180, + 620, + 180, + 620, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 562, + 4, + 6, + 228, + 562, + 4, + 6, + 228, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 588, + 128, + 4, + 80, + 588, + 128, + 4, + 80, + 582, + 132, + 6, + 80, + 582, + 132, + 6, + 80, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 108, + 2, + 14, + 2, + 4, + 6, + 84, + 580, + 108, + 2, + 14, + 2, + 4, + 6, + 84, + 590, + 96, + 4, + 12, + 16, + 82, + 590, + 96, + 4, + 12, + 16, + 82, + 590, + 96, + 6, + 6, + 22, + 80, + 590, + 96, + 6, + 6, + 22, + 80, + 588, + 98, + 6, + 4, + 30, + 74, + 588, + 98, + 6, + 4, + 30, + 74, + 550, + 8, + 26, + 100, + 42, + 74, + 550, + 8, + 26, + 100, + 42, + 74, + 548, + 12, + 20, + 104, + 42, + 74, + 548, + 12, + 20, + 104, + 42, + 74, + 546, + 18, + 8, + 114, + 16, + 4, + 22, + 72, + 546, + 18, + 8, + 114, + 16, + 4, + 22, + 72, + 546, + 142, + 14, + 4, + 20, + 74, + 546, + 142, + 14, + 4, + 20, + 74, + 546, + 144, + 8, + 12, + 6, + 4, + 4, + 76, + 546, + 144, + 8, + 12, + 6, + 4, + 4, + 76, + 546, + 146, + 6, + 102, + 546, + 146, + 6, + 102, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 152, + 6, + 98, + 544, + 152, + 6, + 98, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 558, + 242, + 558, + 242, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 570, + 230, + 570, + 230, + 574, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 584, + 216, + 584, + 216, + 588, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 602, + 196, + 604, + 196, + 608, + 192, + 608, + 192, + 614, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 630, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 656, + 144, + 656, + 144, + 658, + 52, + 6, + 82, + 660, + 52, + 6, + 82, + 662, + 54, + 2, + 82, + 662, + 54, + 2, + 82, + 664, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 20, + 24, + 74, + 682, + 20, + 24, + 74, + 688, + 8, + 32, + 70, + 690, + 8, + 32, + 70, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 684, + 6, + 48, + 62, + 684, + 6, + 48, + 62, + 682, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 202459 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000170:0000", + "experimental_retained_index": 0, + "ism_score": 0.4708279073238373, + "R": [ + [ + -0.9947589039802551, + 0.0936681255698204, + -0.04592327028512955 + ], + [ + 0.07394431531429291, + 0.9436405897140503, + 0.32308074831962585 + ], + [ + 0.07352594286203384, + 0.3175470530986786, + -0.9452557563781738 + ] + ], + "t": [ + 144.08384704589844, + 144.03985595703125, + 246.6964874267578 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000170/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000170/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000170:0000", + "TubeHolder:000170:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000170.png" + }, + { + "frame_id": 172, + "image_path": "/workspace/data/0008_/images/000172.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000172.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 670, + 474, + 482, + 322 + ], + "score": 0.01865970715880394, + "time": 0.0, + "segmentation": { + "counts": [ + 535805, + 24, + 776, + 24, + 766, + 38, + 762, + 38, + 750, + 56, + 744, + 56, + 740, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 726, + 80, + 720, + 80, + 720, + 86, + 714, + 86, + 714, + 92, + 708, + 92, + 706, + 98, + 702, + 98, + 702, + 104, + 696, + 104, + 694, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 680, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 134, + 666, + 134, + 666, + 142, + 658, + 142, + 658, + 146, + 654, + 146, + 654, + 152, + 648, + 152, + 646, + 160, + 640, + 160, + 640, + 164, + 636, + 164, + 636, + 174, + 626, + 174, + 624, + 180, + 620, + 180, + 620, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 608, + 200, + 600, + 200, + 600, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 588, + 220, + 580, + 220, + 580, + 226, + 574, + 226, + 572, + 232, + 568, + 232, + 568, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 586, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 596, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 614, + 186, + 614, + 186, + 618, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 628, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 662, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 704, + 26, + 2, + 68, + 704, + 26, + 2, + 68, + 706, + 92, + 708, + 92, + 710, + 24, + 2, + 64, + 710, + 24, + 2, + 64, + 712, + 20, + 8, + 4, + 12, + 44, + 712, + 20, + 8, + 4, + 12, + 44, + 714, + 6, + 36, + 42, + 716, + 6, + 36, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 720, + 10, + 24, + 4, + 2, + 38, + 722, + 10, + 24, + 4, + 2, + 38, + 722, + 10, + 24, + 44, + 722, + 10, + 24, + 44, + 724, + 6, + 26, + 44, + 724, + 6, + 26, + 44, + 724, + 6, + 24, + 44, + 726, + 6, + 24, + 44, + 728, + 8, + 10, + 6, + 2, + 46, + 728, + 8, + 10, + 6, + 2, + 46, + 712, + 4, + 16, + 4, + 10, + 52, + 714, + 4, + 16, + 4, + 10, + 52, + 714, + 4, + 16, + 4, + 10, + 52, + 714, + 4, + 16, + 4, + 10, + 52, + 710, + 8, + 30, + 6, + 4, + 42, + 710, + 8, + 30, + 6, + 4, + 42, + 708, + 8, + 32, + 6, + 4, + 42, + 708, + 8, + 32, + 6, + 4, + 42, + 706, + 8, + 46, + 38, + 708, + 8, + 46, + 38, + 708, + 6, + 52, + 34, + 708, + 6, + 52, + 34, + 708, + 4, + 56, + 32, + 708, + 4, + 56, + 32, + 770, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 708, + 8, + 62, + 20, + 710, + 8, + 62, + 20, + 710, + 8, + 66, + 14, + 712, + 8, + 66, + 14, + 712, + 8, + 70, + 8, + 714, + 8, + 70, + 8, + 714, + 6, + 74, + 4, + 716, + 6, + 74, + 4, + 2316, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 100219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000172:0000", + "experimental_retained_index": 0, + "ism_score": 0.4593158960342407, + "R": [ + [ + 0.01802174560725689, + -0.14777427911758423, + -0.9890069365501404 + ], + [ + 0.9150229692459106, + -0.39637935161590576, + 0.07613325119018555 + ], + [ + -0.4031906723976135, + -0.9058825969696045, + 0.12797489762306213 + ] + ], + "t": [ + 90.20454406738281, + -24.45839500427246, + 341.29296875 + ] + }, + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 590, + 392, + 232, + 148 + ], + "score": 0.07451486587524414, + "time": 0.0, + "segmentation": { + "counts": [ + 471711, + 12, + 788, + 12, + 780, + 22, + 778, + 22, + 764, + 36, + 764, + 36, + 746, + 54, + 746, + 54, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 676, + 20, + 34, + 70, + 676, + 20, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 670, + 26, + 34, + 70, + 670, + 26, + 34, + 70, + 668, + 28, + 32, + 72, + 668, + 28, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 74, + 664, + 30, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 30, + 32, + 76, + 662, + 30, + 32, + 76, + 662, + 28, + 34, + 76, + 662, + 28, + 34, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 664, + 30, + 28, + 78, + 664, + 30, + 28, + 78, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 698, + 102, + 698, + 102, + 712, + 86, + 714, + 86, + 732, + 68, + 732, + 68, + 754, + 46, + 754, + 46, + 778, + 20, + 780, + 20, + 364271 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000172:0001", + "experimental_retained_index": 1, + "ism_score": 0.3668424189090729, + "R": [ + [ + 0.990562379360199, + 0.13853055238723755, + 0.00549637246876955 + ], + [ + 0.11264960467815399, + -0.8263759613037109, + 0.5520225763320923 + ], + [ + 0.08096736669540405, + -0.5459243655204773, + -0.8337422013282776 + ] + ], + "t": [ + -17.201496124267578, + 41.84687423706055, + 341.476318359375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 590, + 392, + 232, + 148 + ], + "score": 0.07451486587524414, + "time": 0.0, + "segmentation": { + "counts": [ + 471711, + 12, + 788, + 12, + 780, + 22, + 778, + 22, + 764, + 36, + 764, + 36, + 746, + 54, + 746, + 54, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 676, + 20, + 34, + 70, + 676, + 20, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 670, + 26, + 34, + 70, + 670, + 26, + 34, + 70, + 668, + 28, + 32, + 72, + 668, + 28, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 74, + 664, + 30, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 30, + 32, + 76, + 662, + 30, + 32, + 76, + 662, + 28, + 34, + 76, + 662, + 28, + 34, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 664, + 30, + 28, + 78, + 664, + 30, + 28, + 78, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 698, + 102, + 698, + 102, + 712, + 86, + 714, + 86, + 732, + 68, + 732, + 68, + 754, + 46, + 754, + 46, + 778, + 20, + 780, + 20, + 364271 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000172:0001", + "experimental_retained_index": 1, + "ism_score": 0.3668424189090729, + "R": [ + [ + 0.990562379360199, + 0.13853055238723755, + 0.00549637246876955 + ], + [ + 0.11264960467815399, + -0.8263759613037109, + 0.5520225763320923 + ], + [ + 0.08096736669540405, + -0.5459243655204773, + -0.8337422013282776 + ] + ], + "t": [ + -17.201496124267578, + 41.84687423706055, + 341.476318359375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000172/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000172/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000172:0000", + "TubeHolder:000172:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000172.png" + }, + { + "frame_id": 176, + "image_path": "/workspace/data/0008_/images/000176.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000176.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 780, + 276, + 392, + 414 + ], + "score": 0.42601510882377625, + "time": 0.0, + "segmentation": { + "counts": [ + 623737, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 766, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 672, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 648, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 604, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 592, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 524, + 274, + 526, + 274, + 524, + 274, + 526, + 274, + 524, + 274, + 526, + 274, + 526, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 530, + 268, + 532, + 268, + 530, + 268, + 532, + 268, + 412, + 4, + 114, + 268, + 414, + 4, + 114, + 268, + 414, + 4, + 114, + 266, + 416, + 4, + 114, + 266, + 532, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 224, + 576, + 224, + 578, + 220, + 580, + 220, + 582, + 216, + 584, + 216, + 586, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 600, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 8, + 6, + 56, + 730, + 8, + 6, + 56, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 756, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 84303 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000176:0000", + "experimental_retained_index": 0, + "ism_score": 0.44696667790412903, + "R": [ + [ + 0.8277721405029297, + -0.07059119641780853, + -0.5566055178642273 + ], + [ + -0.4917883574962616, + 0.3862362504005432, + -0.7803624272346497 + ], + [ + 0.2700679302215576, + 0.9196947813034058, + 0.28499966859817505 + ] + ], + "t": [ + 80.86976623535156, + 78.40293884277344, + 345.5529479980469 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 176, + "category_id": 1, + "bbox": [ + 780, + 276, + 392, + 414 + ], + "score": 0.42601510882377625, + "time": 0.0, + "segmentation": { + "counts": [ + 623737, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 766, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 672, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 648, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 604, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 592, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 524, + 274, + 526, + 274, + 524, + 274, + 526, + 274, + 524, + 274, + 526, + 274, + 526, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 530, + 268, + 532, + 268, + 530, + 268, + 532, + 268, + 412, + 4, + 114, + 268, + 414, + 4, + 114, + 268, + 414, + 4, + 114, + 266, + 416, + 4, + 114, + 266, + 532, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 532, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 224, + 576, + 224, + 578, + 220, + 580, + 220, + 582, + 216, + 584, + 216, + 586, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 600, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 8, + 6, + 56, + 730, + 8, + 6, + 56, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 756, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 84303 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000176:0000", + "experimental_retained_index": 0, + "ism_score": 0.44696667790412903, + "R": [ + [ + 0.8277721405029297, + -0.07059119641780853, + -0.5566055178642273 + ], + [ + -0.4917883574962616, + 0.3862362504005432, + -0.7803624272346497 + ], + [ + 0.2700679302215576, + 0.9196947813034058, + 0.28499966859817505 + ] + ], + "t": [ + 80.86976623535156, + 78.40293884277344, + 345.5529479980469 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000176/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000176/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000176:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000176.png" + }, + { + "frame_id": 178, + "image_path": "/workspace/data/0008_/images/000178.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000178.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 178, + "category_id": 1, + "bbox": [ + 784, + 306, + 304, + 312 + ], + "score": 0.4367412328720093, + "time": 0.0, + "segmentation": { + "counts": [ + 626905, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 754, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 666, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 604, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 554, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 276, + 524, + 276, + 522, + 278, + 522, + 278, + 520, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 516, + 282, + 518, + 282, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 502, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 508, + 288, + 512, + 288, + 512, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 274, + 526, + 274, + 528, + 268, + 532, + 268, + 532, + 264, + 536, + 264, + 538, + 260, + 540, + 260, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 566, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 192, + 608, + 192, + 610, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 646, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 726, + 6, + 18, + 46, + 730, + 6, + 18, + 46, + 730, + 6, + 20, + 40, + 734, + 6, + 20, + 40, + 734, + 6, + 2, + 6, + 14, + 34, + 738, + 6, + 2, + 6, + 14, + 34, + 744, + 10, + 14, + 28, + 748, + 10, + 14, + 28, + 748, + 10, + 16, + 22, + 752, + 10, + 16, + 22, + 754, + 8, + 18, + 18, + 756, + 8, + 18, + 18, + 756, + 8, + 20, + 12, + 760, + 8, + 20, + 12, + 762, + 4, + 26, + 4, + 766, + 4, + 26, + 4, + 151601 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000178:0000", + "experimental_retained_index": 0, + "ism_score": 0.4493800401687622, + "R": [ + [ + -0.650424599647522, + -0.1415238082408905, + 0.7462698817253113 + ], + [ + 0.6327148675918579, + 0.44265127182006836, + 0.6353986263275146 + ], + [ + -0.4202614426612854, + 0.8854551315307617, + -0.1983673870563507 + ] + ], + "t": [ + 271.5553283691406, + 19.910411834716797, + 425.03515625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 178, + "category_id": 1, + "bbox": [ + 784, + 306, + 304, + 312 + ], + "score": 0.4367412328720093, + "time": 0.0, + "segmentation": { + "counts": [ + 626905, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 754, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 666, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 604, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 554, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 276, + 524, + 276, + 522, + 278, + 522, + 278, + 520, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 516, + 282, + 518, + 282, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 502, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 508, + 288, + 512, + 288, + 512, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 274, + 526, + 274, + 528, + 268, + 532, + 268, + 532, + 264, + 536, + 264, + 538, + 260, + 540, + 260, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 566, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 192, + 608, + 192, + 610, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 646, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 726, + 6, + 18, + 46, + 730, + 6, + 18, + 46, + 730, + 6, + 20, + 40, + 734, + 6, + 20, + 40, + 734, + 6, + 2, + 6, + 14, + 34, + 738, + 6, + 2, + 6, + 14, + 34, + 744, + 10, + 14, + 28, + 748, + 10, + 14, + 28, + 748, + 10, + 16, + 22, + 752, + 10, + 16, + 22, + 754, + 8, + 18, + 18, + 756, + 8, + 18, + 18, + 756, + 8, + 20, + 12, + 760, + 8, + 20, + 12, + 762, + 4, + 26, + 4, + 766, + 4, + 26, + 4, + 151601 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000178:0000", + "experimental_retained_index": 0, + "ism_score": 0.4493800401687622, + "R": [ + [ + -0.650424599647522, + -0.1415238082408905, + 0.7462698817253113 + ], + [ + 0.6327148675918579, + 0.44265127182006836, + 0.6353986263275146 + ], + [ + -0.4202614426612854, + 0.8854551315307617, + -0.1983673870563507 + ] + ], + "t": [ + 271.5553283691406, + 19.910411834716797, + 425.03515625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000178/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000178/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000178:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000178.png" + }, + { + "frame_id": 180, + "image_path": "/workspace/data/0008_/images/000180.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000180.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 714, + 280, + 246, + 286 + ], + "score": 0.4204147160053253, + "time": 0.0, + "segmentation": { + "counts": [ + 570879, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 728, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 720, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 642, + 160, + 640, + 160, + 634, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 626, + 176, + 624, + 176, + 620, + 180, + 620, + 180, + 616, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 602, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 594, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 582, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 538, + 262, + 538, + 262, + 534, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 524, + 278, + 522, + 278, + 518, + 282, + 518, + 282, + 516, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 286, + 514, + 286, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 524, + 38, + 2, + 234, + 526, + 38, + 2, + 234, + 528, + 34, + 4, + 232, + 530, + 34, + 4, + 232, + 530, + 30, + 4, + 236, + 530, + 30, + 4, + 236, + 532, + 22, + 10, + 234, + 534, + 22, + 10, + 234, + 534, + 20, + 10, + 234, + 536, + 20, + 10, + 234, + 540, + 16, + 8, + 236, + 540, + 16, + 8, + 236, + 540, + 10, + 14, + 234, + 542, + 10, + 14, + 234, + 542, + 10, + 14, + 232, + 544, + 10, + 14, + 232, + 548, + 6, + 14, + 232, + 548, + 6, + 14, + 232, + 566, + 232, + 568, + 232, + 552, + 4, + 12, + 232, + 552, + 4, + 12, + 232, + 552, + 8, + 8, + 230, + 554, + 8, + 8, + 230, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 220, + 580, + 220, + 582, + 212, + 588, + 212, + 588, + 206, + 594, + 206, + 594, + 200, + 600, + 200, + 602, + 192, + 608, + 192, + 608, + 184, + 616, + 184, + 618, + 176, + 624, + 176, + 624, + 170, + 630, + 170, + 632, + 162, + 638, + 162, + 640, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 656, + 138, + 662, + 138, + 662, + 132, + 668, + 132, + 670, + 124, + 676, + 124, + 678, + 116, + 684, + 116, + 684, + 108, + 692, + 108, + 694, + 100, + 700, + 100, + 700, + 94, + 706, + 94, + 704, + 92, + 708, + 92, + 706, + 88, + 712, + 88, + 710, + 84, + 716, + 84, + 708, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 716, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 22, + 4, + 34, + 4, + 10, + 726, + 22, + 4, + 34, + 4, + 10, + 714, + 10, + 2, + 20, + 6, + 32, + 10, + 4, + 716, + 10, + 2, + 20, + 6, + 32, + 10, + 4, + 716, + 28, + 12, + 28, + 732, + 28, + 12, + 28, + 732, + 24, + 18, + 18, + 740, + 24, + 18, + 18, + 740, + 20, + 28, + 6, + 746, + 20, + 28, + 6, + 746, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 254085 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000180:0001", + "experimental_retained_index": 0, + "ism_score": 0.43119457364082336, + "R": [ + [ + -0.4889844059944153, + -0.21745620667934418, + 0.8446092009544373 + ], + [ + 0.6663591265678406, + 0.5320715308189392, + 0.5225468873977661 + ], + [ + -0.5628488659858704, + 0.8183045983314514, + -0.11522980779409409 + ] + ], + "t": [ + 216.6094512939453, + -9.229453086853027, + 474.4937744140625 + ] + }, + { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 536, + 292, + 218, + 164 + ], + "score": 0.023521721363067627, + "time": 0.0, + "segmentation": { + "counts": [ + 428355, + 6, + 794, + 6, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 46, + 32, + 6, + 716, + 46, + 32, + 6, + 714, + 46, + 32, + 10, + 712, + 46, + 32, + 10, + 712, + 46, + 30, + 16, + 708, + 46, + 30, + 16, + 706, + 46, + 32, + 18, + 704, + 46, + 32, + 18, + 704, + 46, + 30, + 22, + 702, + 46, + 30, + 22, + 702, + 46, + 28, + 28, + 698, + 46, + 28, + 28, + 696, + 46, + 28, + 32, + 694, + 46, + 28, + 32, + 694, + 44, + 30, + 36, + 690, + 44, + 30, + 36, + 690, + 44, + 28, + 40, + 688, + 44, + 28, + 40, + 686, + 44, + 30, + 44, + 682, + 44, + 30, + 44, + 682, + 42, + 30, + 48, + 680, + 42, + 30, + 48, + 678, + 42, + 32, + 52, + 674, + 42, + 32, + 52, + 674, + 42, + 30, + 56, + 672, + 42, + 30, + 56, + 672, + 40, + 32, + 58, + 670, + 40, + 32, + 58, + 668, + 42, + 30, + 64, + 664, + 42, + 30, + 64, + 664, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 660, + 36, + 34, + 70, + 660, + 36, + 34, + 70, + 660, + 34, + 36, + 72, + 658, + 34, + 36, + 72, + 658, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 656, + 32, + 38, + 74, + 656, + 32, + 38, + 74, + 656, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 658, + 30, + 38, + 74, + 658, + 30, + 38, + 74, + 656, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 658, + 32, + 36, + 74, + 658, + 32, + 36, + 74, + 656, + 34, + 36, + 72, + 658, + 34, + 36, + 72, + 658, + 36, + 32, + 74, + 658, + 36, + 32, + 74, + 658, + 38, + 30, + 72, + 660, + 38, + 30, + 72, + 658, + 42, + 26, + 74, + 658, + 42, + 26, + 74, + 658, + 44, + 24, + 72, + 660, + 44, + 24, + 72, + 658, + 50, + 18, + 74, + 658, + 50, + 18, + 74, + 658, + 56, + 10, + 74, + 660, + 56, + 10, + 74, + 660, + 60, + 2, + 78, + 660, + 60, + 2, + 78, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 734, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 418827 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000180:0000", + "experimental_retained_index": 1, + "ism_score": 0.39615529775619507, + "R": [ + [ + -0.4564446806907654, + 0.7326313257217407, + -0.504828691482544 + ], + [ + 0.872090220451355, + 0.4813021719455719, + -0.09055815637111664 + ], + [ + 0.1765720546245575, + -0.4816617965698242, + -0.8585641384124756 + ] + ], + "t": [ + 32.638545989990234, + -44.954078674316406, + 375.75225830078125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 714, + 280, + 246, + 286 + ], + "score": 0.4204147160053253, + "time": 0.0, + "segmentation": { + "counts": [ + 570879, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 728, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 720, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 642, + 160, + 640, + 160, + 634, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 626, + 176, + 624, + 176, + 620, + 180, + 620, + 180, + 616, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 602, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 594, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 582, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 538, + 262, + 538, + 262, + 534, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 524, + 278, + 522, + 278, + 518, + 282, + 518, + 282, + 516, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 286, + 514, + 286, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 524, + 38, + 2, + 234, + 526, + 38, + 2, + 234, + 528, + 34, + 4, + 232, + 530, + 34, + 4, + 232, + 530, + 30, + 4, + 236, + 530, + 30, + 4, + 236, + 532, + 22, + 10, + 234, + 534, + 22, + 10, + 234, + 534, + 20, + 10, + 234, + 536, + 20, + 10, + 234, + 540, + 16, + 8, + 236, + 540, + 16, + 8, + 236, + 540, + 10, + 14, + 234, + 542, + 10, + 14, + 234, + 542, + 10, + 14, + 232, + 544, + 10, + 14, + 232, + 548, + 6, + 14, + 232, + 548, + 6, + 14, + 232, + 566, + 232, + 568, + 232, + 552, + 4, + 12, + 232, + 552, + 4, + 12, + 232, + 552, + 8, + 8, + 230, + 554, + 8, + 8, + 230, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 220, + 580, + 220, + 582, + 212, + 588, + 212, + 588, + 206, + 594, + 206, + 594, + 200, + 600, + 200, + 602, + 192, + 608, + 192, + 608, + 184, + 616, + 184, + 618, + 176, + 624, + 176, + 624, + 170, + 630, + 170, + 632, + 162, + 638, + 162, + 640, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 656, + 138, + 662, + 138, + 662, + 132, + 668, + 132, + 670, + 124, + 676, + 124, + 678, + 116, + 684, + 116, + 684, + 108, + 692, + 108, + 694, + 100, + 700, + 100, + 700, + 94, + 706, + 94, + 704, + 92, + 708, + 92, + 706, + 88, + 712, + 88, + 710, + 84, + 716, + 84, + 708, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 716, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 22, + 4, + 34, + 4, + 10, + 726, + 22, + 4, + 34, + 4, + 10, + 714, + 10, + 2, + 20, + 6, + 32, + 10, + 4, + 716, + 10, + 2, + 20, + 6, + 32, + 10, + 4, + 716, + 28, + 12, + 28, + 732, + 28, + 12, + 28, + 732, + 24, + 18, + 18, + 740, + 24, + 18, + 18, + 740, + 20, + 28, + 6, + 746, + 20, + 28, + 6, + 746, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 254085 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000180:0001", + "experimental_retained_index": 0, + "ism_score": 0.43119457364082336, + "R": [ + [ + -0.4889844059944153, + -0.21745620667934418, + 0.8446092009544373 + ], + [ + 0.6663591265678406, + 0.5320715308189392, + 0.5225468873977661 + ], + [ + -0.5628488659858704, + 0.8183045983314514, + -0.11522980779409409 + ] + ], + "t": [ + 216.6094512939453, + -9.229453086853027, + 474.4937744140625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000180/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000180/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000180:0001", + "TubeHolder:000180:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000180.png" + }, + { + "frame_id": 182, + "image_path": "/workspace/data/0008_/images/000182.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000182.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 728, + 368, + 196, + 272 + ], + "score": 0.4368172585964203, + "time": 0.0, + "segmentation": { + "counts": [ + 582183, + 10, + 790, + 10, + 778, + 24, + 776, + 24, + 764, + 38, + 762, + 38, + 748, + 52, + 748, + 52, + 734, + 66, + 734, + 66, + 722, + 80, + 720, + 80, + 708, + 92, + 708, + 92, + 696, + 104, + 696, + 104, + 682, + 120, + 680, + 120, + 662, + 138, + 662, + 138, + 644, + 156, + 644, + 156, + 628, + 172, + 628, + 172, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 608, + 192, + 608, + 192, + 604, + 198, + 602, + 198, + 596, + 204, + 596, + 204, + 590, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 38, + 2, + 206, + 554, + 38, + 2, + 206, + 556, + 32, + 10, + 202, + 556, + 32, + 10, + 202, + 556, + 30, + 14, + 202, + 554, + 30, + 14, + 202, + 554, + 28, + 14, + 204, + 554, + 28, + 14, + 204, + 554, + 22, + 18, + 208, + 552, + 22, + 18, + 208, + 554, + 10, + 26, + 210, + 554, + 10, + 26, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 598, + 14, + 2, + 4, + 6, + 172, + 602, + 14, + 2, + 4, + 6, + 172, + 602, + 14, + 20, + 162, + 604, + 14, + 20, + 162, + 606, + 12, + 34, + 146, + 608, + 12, + 34, + 146, + 610, + 10, + 48, + 130, + 612, + 10, + 48, + 130, + 614, + 6, + 60, + 116, + 618, + 6, + 60, + 116, + 696, + 102, + 698, + 102, + 710, + 86, + 714, + 86, + 724, + 74, + 726, + 74, + 738, + 60, + 740, + 60, + 750, + 48, + 752, + 48, + 764, + 34, + 766, + 34, + 778, + 22, + 778, + 22, + 788, + 8, + 792, + 8, + 282611 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000182:0001", + "experimental_retained_index": 0, + "ism_score": 0.4451640844345093, + "R": [ + [ + -0.24234436452388763, + -0.16111624240875244, + 0.9566669464111328 + ], + [ + 0.5799683928489685, + 0.7668201923370361, + 0.27601000666618347 + ], + [ + -0.7777009010314941, + 0.6215766072273254, + -0.09232014417648315 + ] + ], + "t": [ + 190.46307373046875, + 40.064414978027344, + 493.4168395996094 + ] + }, + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 510, + 414, + 216, + 178 + ], + "score": 0.05393584072589874, + "time": 0.0, + "segmentation": { + "counts": [ + 407705, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 742, + 56, + 744, + 56, + 742, + 56, + 40, + 8, + 696, + 56, + 40, + 8, + 696, + 54, + 40, + 10, + 696, + 54, + 40, + 10, + 694, + 54, + 40, + 14, + 692, + 54, + 40, + 14, + 690, + 54, + 38, + 20, + 688, + 54, + 38, + 20, + 688, + 52, + 38, + 24, + 686, + 52, + 38, + 24, + 684, + 52, + 38, + 28, + 682, + 52, + 38, + 28, + 680, + 52, + 38, + 32, + 678, + 52, + 38, + 32, + 678, + 48, + 38, + 36, + 678, + 48, + 38, + 36, + 676, + 46, + 40, + 40, + 674, + 46, + 40, + 40, + 672, + 38, + 48, + 44, + 670, + 38, + 48, + 44, + 668, + 38, + 48, + 48, + 666, + 38, + 48, + 48, + 666, + 36, + 48, + 52, + 664, + 36, + 48, + 52, + 662, + 36, + 48, + 56, + 660, + 36, + 48, + 56, + 660, + 36, + 46, + 58, + 660, + 36, + 46, + 58, + 658, + 36, + 46, + 62, + 656, + 36, + 46, + 62, + 654, + 38, + 44, + 66, + 652, + 38, + 44, + 66, + 652, + 38, + 42, + 70, + 650, + 38, + 42, + 70, + 648, + 40, + 42, + 70, + 648, + 40, + 42, + 70, + 646, + 42, + 38, + 76, + 644, + 42, + 38, + 76, + 642, + 46, + 34, + 80, + 640, + 46, + 34, + 80, + 640, + 48, + 32, + 82, + 638, + 48, + 32, + 82, + 636, + 52, + 28, + 86, + 634, + 52, + 28, + 86, + 632, + 56, + 24, + 88, + 632, + 56, + 24, + 88, + 632, + 58, + 22, + 90, + 630, + 58, + 22, + 90, + 628, + 62, + 18, + 92, + 628, + 62, + 18, + 92, + 626, + 66, + 12, + 94, + 628, + 66, + 12, + 94, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 8, + 6, + 4, + 782, + 8, + 6, + 4, + 441117 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000182:0000", + "experimental_retained_index": 1, + "ism_score": 0.4013829827308655, + "R": [ + [ + 0.8401257395744324, + -0.4761419892311096, + 0.2599753737449646 + ], + [ + -0.5041028261184692, + -0.8622414469718933, + 0.049604207277297974 + ], + [ + 0.20042338967323303, + -0.1726817488670349, + -0.964495062828064 + ] + ], + "t": [ + -43.50696563720703, + 72.2532730102539, + 349.8877258300781 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 728, + 368, + 196, + 272 + ], + "score": 0.4368172585964203, + "time": 0.0, + "segmentation": { + "counts": [ + 582183, + 10, + 790, + 10, + 778, + 24, + 776, + 24, + 764, + 38, + 762, + 38, + 748, + 52, + 748, + 52, + 734, + 66, + 734, + 66, + 722, + 80, + 720, + 80, + 708, + 92, + 708, + 92, + 696, + 104, + 696, + 104, + 682, + 120, + 680, + 120, + 662, + 138, + 662, + 138, + 644, + 156, + 644, + 156, + 628, + 172, + 628, + 172, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 608, + 192, + 608, + 192, + 604, + 198, + 602, + 198, + 596, + 204, + 596, + 204, + 590, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 38, + 2, + 206, + 554, + 38, + 2, + 206, + 556, + 32, + 10, + 202, + 556, + 32, + 10, + 202, + 556, + 30, + 14, + 202, + 554, + 30, + 14, + 202, + 554, + 28, + 14, + 204, + 554, + 28, + 14, + 204, + 554, + 22, + 18, + 208, + 552, + 22, + 18, + 208, + 554, + 10, + 26, + 210, + 554, + 10, + 26, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 598, + 14, + 2, + 4, + 6, + 172, + 602, + 14, + 2, + 4, + 6, + 172, + 602, + 14, + 20, + 162, + 604, + 14, + 20, + 162, + 606, + 12, + 34, + 146, + 608, + 12, + 34, + 146, + 610, + 10, + 48, + 130, + 612, + 10, + 48, + 130, + 614, + 6, + 60, + 116, + 618, + 6, + 60, + 116, + 696, + 102, + 698, + 102, + 710, + 86, + 714, + 86, + 724, + 74, + 726, + 74, + 738, + 60, + 740, + 60, + 750, + 48, + 752, + 48, + 764, + 34, + 766, + 34, + 778, + 22, + 778, + 22, + 788, + 8, + 792, + 8, + 282611 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000182:0001", + "experimental_retained_index": 0, + "ism_score": 0.4451640844345093, + "R": [ + [ + -0.24234436452388763, + -0.16111624240875244, + 0.9566669464111328 + ], + [ + 0.5799683928489685, + 0.7668201923370361, + 0.27601000666618347 + ], + [ + -0.7777009010314941, + 0.6215766072273254, + -0.09232014417648315 + ] + ], + "t": [ + 190.46307373046875, + 40.064414978027344, + 493.4168395996094 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000182/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000182/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000182:0001", + "TubeHolder:000182:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000182.png" + }, + { + "frame_id": 184, + "image_path": "/workspace/data/0008_/images/000184.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000184.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 508, + 320, + 458, + 276 + ], + "score": 0.015329724177718163, + "time": 0.0, + "segmentation": { + "counts": [ + 406099, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 10324, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13576, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 16922, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 93428, + 34, + 766, + 34, + 762, + 52, + 748, + 52, + 736, + 86, + 714, + 86, + 706, + 120, + 680, + 120, + 670, + 158, + 642, + 158, + 626, + 204, + 596, + 204, + 596, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 604, + 196, + 604, + 196, + 600, + 200, + 600, + 200, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 586, + 214, + 586, + 214, + 578, + 4, + 2, + 216, + 578, + 4, + 2, + 216, + 578, + 224, + 576, + 224, + 580, + 220, + 580, + 220, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 116, + 2, + 112, + 570, + 116, + 2, + 112, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 88, + 2, + 18, + 4, + 118, + 42, + 4, + 524, + 88, + 2, + 18, + 4, + 118, + 42, + 4, + 526, + 84, + 6, + 6, + 2, + 8, + 2, + 120, + 42, + 4, + 526, + 84, + 6, + 6, + 2, + 8, + 2, + 120, + 42, + 4, + 528, + 84, + 22, + 120, + 18, + 10, + 546, + 84, + 22, + 120, + 18, + 10, + 546, + 84, + 16, + 126, + 18, + 10, + 546, + 84, + 16, + 126, + 18, + 10, + 546, + 84, + 4, + 4, + 6, + 128, + 20, + 8, + 546, + 84, + 4, + 4, + 6, + 128, + 20, + 8, + 550, + 80, + 4, + 6, + 2, + 128, + 580, + 80, + 4, + 6, + 2, + 128, + 582, + 78, + 2, + 140, + 580, + 78, + 2, + 140, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 70, + 2, + 148, + 580, + 70, + 2, + 148, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 14, + 2, + 4, + 4, + 184, + 592, + 14, + 2, + 4, + 4, + 184, + 592, + 12, + 6, + 190, + 592, + 12, + 6, + 190, + 584, + 4, + 4, + 12, + 4, + 192, + 584, + 4, + 4, + 12, + 4, + 192, + 584, + 4, + 4, + 12, + 4, + 194, + 582, + 4, + 4, + 12, + 4, + 194, + 582, + 4, + 22, + 16, + 6, + 170, + 582, + 4, + 22, + 16, + 6, + 170, + 638, + 162, + 638, + 162, + 644, + 156, + 644, + 156, + 590, + 10, + 46, + 154, + 590, + 10, + 46, + 154, + 590, + 10, + 52, + 148, + 590, + 10, + 52, + 148, + 656, + 142, + 658, + 142, + 662, + 136, + 664, + 136, + 670, + 126, + 674, + 126, + 662, + 12, + 4, + 120, + 664, + 12, + 4, + 120, + 664, + 12, + 10, + 108, + 670, + 12, + 10, + 108, + 696, + 100, + 700, + 100, + 704, + 90, + 710, + 90, + 716, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 728, + 68, + 732, + 68, + 736, + 60, + 740, + 60, + 748, + 48, + 752, + 48, + 758, + 38, + 762, + 38, + 744, + 10, + 10, + 36, + 744, + 10, + 10, + 36, + 744, + 10, + 14, + 28, + 748, + 10, + 14, + 28, + 774, + 22, + 778, + 22, + 786, + 10, + 790, + 10, + 42334, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 249161 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000184:0002", + "experimental_retained_index": 0, + "ism_score": 0.4459556043148041, + "R": [ + [ + 0.07820216566324234, + -0.3834066689014435, + -0.9202629327774048 + ], + [ + 0.20743228495121002, + 0.9091446995735168, + -0.3611474335193634 + ], + [ + 0.9751185178756714, + -0.16264976561069489, + 0.1506282091140747 + ] + ], + "t": [ + 49.500003814697266, + 15.678065299987793, + 252.26083374023438 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 508, + 320, + 458, + 276 + ], + "score": 0.015329724177718163, + "time": 0.0, + "segmentation": { + "counts": [ + 406099, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 10324, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13576, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 16922, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 93428, + 34, + 766, + 34, + 762, + 52, + 748, + 52, + 736, + 86, + 714, + 86, + 706, + 120, + 680, + 120, + 670, + 158, + 642, + 158, + 626, + 204, + 596, + 204, + 596, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 614, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 604, + 196, + 604, + 196, + 600, + 200, + 600, + 200, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 586, + 214, + 586, + 214, + 578, + 4, + 2, + 216, + 578, + 4, + 2, + 216, + 578, + 224, + 576, + 224, + 580, + 220, + 580, + 220, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 116, + 2, + 112, + 570, + 116, + 2, + 112, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 88, + 2, + 18, + 4, + 118, + 42, + 4, + 524, + 88, + 2, + 18, + 4, + 118, + 42, + 4, + 526, + 84, + 6, + 6, + 2, + 8, + 2, + 120, + 42, + 4, + 526, + 84, + 6, + 6, + 2, + 8, + 2, + 120, + 42, + 4, + 528, + 84, + 22, + 120, + 18, + 10, + 546, + 84, + 22, + 120, + 18, + 10, + 546, + 84, + 16, + 126, + 18, + 10, + 546, + 84, + 16, + 126, + 18, + 10, + 546, + 84, + 4, + 4, + 6, + 128, + 20, + 8, + 546, + 84, + 4, + 4, + 6, + 128, + 20, + 8, + 550, + 80, + 4, + 6, + 2, + 128, + 580, + 80, + 4, + 6, + 2, + 128, + 582, + 78, + 2, + 140, + 580, + 78, + 2, + 140, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 70, + 2, + 148, + 580, + 70, + 2, + 148, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 14, + 2, + 4, + 4, + 184, + 592, + 14, + 2, + 4, + 4, + 184, + 592, + 12, + 6, + 190, + 592, + 12, + 6, + 190, + 584, + 4, + 4, + 12, + 4, + 192, + 584, + 4, + 4, + 12, + 4, + 192, + 584, + 4, + 4, + 12, + 4, + 194, + 582, + 4, + 4, + 12, + 4, + 194, + 582, + 4, + 22, + 16, + 6, + 170, + 582, + 4, + 22, + 16, + 6, + 170, + 638, + 162, + 638, + 162, + 644, + 156, + 644, + 156, + 590, + 10, + 46, + 154, + 590, + 10, + 46, + 154, + 590, + 10, + 52, + 148, + 590, + 10, + 52, + 148, + 656, + 142, + 658, + 142, + 662, + 136, + 664, + 136, + 670, + 126, + 674, + 126, + 662, + 12, + 4, + 120, + 664, + 12, + 4, + 120, + 664, + 12, + 10, + 108, + 670, + 12, + 10, + 108, + 696, + 100, + 700, + 100, + 704, + 90, + 710, + 90, + 716, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 728, + 68, + 732, + 68, + 736, + 60, + 740, + 60, + 748, + 48, + 752, + 48, + 758, + 38, + 762, + 38, + 744, + 10, + 10, + 36, + 744, + 10, + 10, + 36, + 744, + 10, + 14, + 28, + 748, + 10, + 14, + 28, + 774, + 22, + 778, + 22, + 786, + 10, + 790, + 10, + 42334, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 249161 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000184:0002", + "experimental_retained_index": 0, + "ism_score": 0.4459556043148041, + "R": [ + [ + 0.07820216566324234, + -0.3834066689014435, + -0.9202629327774048 + ], + [ + 0.20743228495121002, + 0.9091446995735168, + -0.3611474335193634 + ], + [ + 0.9751185178756714, + -0.16264976561069489, + 0.1506282091140747 + ] + ], + "t": [ + 49.500003814697266, + 15.678065299987793, + 252.26083374023438 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000184/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000184/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000184:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000184.png" + }, + { + "frame_id": 188, + "image_path": "/workspace/data/0008_/images/000188.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000188.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 628, + 300, + 230, + 192 + ], + "score": 0.42398086190223694, + "time": 0.0, + "segmentation": { + "counts": [ + 501915, + 58, + 742, + 58, + 742, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 692, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 690, + 112, + 688, + 112, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 662, + 4, + 6, + 6, + 2, + 122, + 660, + 4, + 6, + 6, + 2, + 122, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 626, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 612, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 632, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 68, + 732, + 68, + 734, + 54, + 746, + 54, + 746, + 42, + 758, + 42, + 760, + 28, + 772, + 28, + 774, + 12, + 788, + 12, + 335597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000188:0001", + "experimental_retained_index": 0, + "ism_score": 0.44049957394599915, + "R": [ + [ + 0.33052682876586914, + 0.05718671530485153, + 0.9420283436775208 + ], + [ + 0.49785324931144714, + 0.8372899293899536, + -0.22554855048656464 + ], + [ + -0.801949679851532, + 0.5435882210731506, + 0.24829714000225067 + ] + ], + "t": [ + 88.12022399902344, + -44.10007095336914, + 552.5173950195312 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 490, + 408, + 156, + 140 + ], + "score": 0.23503224551677704, + "time": 0.0, + "segmentation": { + "counts": [ + 391737, + 8, + 792, + 8, + 786, + 16, + 784, + 16, + 764, + 8, + 4, + 24, + 764, + 8, + 4, + 24, + 760, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 748, + 52, + 748, + 52, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 732, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 722, + 78, + 722, + 78, + 716, + 84, + 716, + 84, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 690, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 670, + 130, + 670, + 130, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 130, + 670, + 130, + 670, + 120, + 680, + 120, + 680, + 106, + 694, + 106, + 694, + 62, + 12, + 20, + 706, + 62, + 12, + 20, + 706, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 78, + 12, + 660, + 50, + 78, + 12, + 660, + 50, + 58, + 34, + 658, + 50, + 58, + 34, + 658, + 50, + 38, + 54, + 658, + 50, + 38, + 54, + 658, + 52, + 26, + 64, + 658, + 52, + 26, + 64, + 658, + 56, + 18, + 68, + 658, + 56, + 18, + 68, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 116, + 684, + 116, + 686, + 88, + 712, + 88, + 720, + 48, + 752, + 48, + 505135 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000188:0000", + "experimental_retained_index": 1, + "ism_score": 0.40219420194625854, + "R": [ + [ + 0.06567653268575668, + 0.15407386422157288, + -0.9857688546180725 + ], + [ + -0.5957943201065063, + 0.7985765337944031, + 0.0851280614733696 + ], + [ + 0.8005566000938416, + 0.5817941427230835, + 0.14427097141742706 + ] + ], + "t": [ + -81.45030212402344, + 108.83901977539062, + 360.7049255371094 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 628, + 300, + 230, + 192 + ], + "score": 0.42398086190223694, + "time": 0.0, + "segmentation": { + "counts": [ + 501915, + 58, + 742, + 58, + 742, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 712, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 694, + 108, + 692, + 108, + 692, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 690, + 112, + 688, + 112, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 662, + 4, + 6, + 6, + 2, + 122, + 660, + 4, + 6, + 6, + 2, + 122, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 626, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 612, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 632, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 650, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 68, + 732, + 68, + 734, + 54, + 746, + 54, + 746, + 42, + 758, + 42, + 760, + 28, + 772, + 28, + 774, + 12, + 788, + 12, + 335597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000188:0001", + "experimental_retained_index": 0, + "ism_score": 0.44049957394599915, + "R": [ + [ + 0.33052682876586914, + 0.05718671530485153, + 0.9420283436775208 + ], + [ + 0.49785324931144714, + 0.8372899293899536, + -0.22554855048656464 + ], + [ + -0.801949679851532, + 0.5435882210731506, + 0.24829714000225067 + ] + ], + "t": [ + 88.12022399902344, + -44.10007095336914, + 552.5173950195312 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000188/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000188/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000188:0001", + "TubeHolder:000188:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000188.png" + }, + { + "frame_id": 198, + "image_path": "/workspace/data/0008_/images/000198.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000198.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 480, + 304, + 270, + 140 + ], + "score": 0.4344373643398285, + "time": 0.0, + "segmentation": { + "counts": [ + 383557, + 22, + 778, + 22, + 774, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 750, + 56, + 744, + 56, + 742, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 720, + 84, + 716, + 84, + 714, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 26, + 6, + 98, + 670, + 26, + 6, + 98, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 44, + 2, + 84, + 670, + 44, + 2, + 84, + 670, + 42, + 6, + 82, + 670, + 42, + 6, + 82, + 670, + 44, + 2, + 84, + 670, + 44, + 2, + 84, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 680, + 6, + 4, + 110, + 680, + 6, + 4, + 110, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 662, + 6, + 10, + 122, + 662, + 6, + 10, + 122, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 122, + 678, + 122, + 678, + 114, + 686, + 114, + 686, + 104, + 696, + 104, + 696, + 94, + 706, + 94, + 706, + 82, + 718, + 82, + 724, + 60, + 740, + 60, + 422029 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000198:0001", + "experimental_retained_index": 0, + "ism_score": 0.44700950384140015, + "R": [ + [ + 0.9510127902030945, + 0.18614962697029114, + 0.24680906534194946 + ], + [ + 0.009569566696882248, + 0.7801709175109863, + -0.625258207321167 + ], + [ + -0.30901262164115906, + 0.5971952676773071, + 0.740451455116272 + ] + ], + "t": [ + -74.00397491455078, + -27.406845092773438, + 516.666259765625 + ] + }, + { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 492, + 440, + 268, + 204 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 393329, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 780, + 22, + 778, + 22, + 770, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 634, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 56, + 8, + 110, + 626, + 56, + 8, + 110, + 626, + 54, + 14, + 108, + 624, + 54, + 14, + 108, + 626, + 48, + 20, + 108, + 624, + 48, + 20, + 108, + 624, + 44, + 26, + 106, + 624, + 44, + 26, + 106, + 626, + 38, + 32, + 106, + 624, + 38, + 32, + 106, + 624, + 34, + 36, + 108, + 622, + 34, + 36, + 108, + 624, + 30, + 40, + 108, + 622, + 30, + 40, + 108, + 622, + 30, + 40, + 108, + 622, + 30, + 40, + 108, + 622, + 28, + 42, + 110, + 620, + 28, + 42, + 110, + 622, + 24, + 44, + 110, + 622, + 24, + 44, + 110, + 622, + 24, + 44, + 110, + 622, + 24, + 44, + 110, + 624, + 22, + 44, + 110, + 624, + 22, + 44, + 110, + 624, + 22, + 46, + 108, + 624, + 22, + 46, + 108, + 624, + 22, + 46, + 106, + 626, + 22, + 46, + 106, + 628, + 22, + 46, + 102, + 630, + 22, + 46, + 102, + 630, + 22, + 46, + 100, + 632, + 22, + 46, + 100, + 634, + 20, + 48, + 94, + 638, + 20, + 48, + 94, + 638, + 22, + 46, + 92, + 640, + 22, + 46, + 92, + 640, + 24, + 46, + 88, + 642, + 24, + 46, + 88, + 644, + 24, + 46, + 84, + 646, + 24, + 46, + 84, + 646, + 26, + 44, + 82, + 648, + 26, + 44, + 82, + 650, + 28, + 42, + 76, + 654, + 28, + 42, + 76, + 654, + 32, + 38, + 74, + 656, + 32, + 38, + 74, + 658, + 32, + 38, + 70, + 660, + 32, + 38, + 70, + 660, + 32, + 40, + 66, + 662, + 32, + 40, + 66, + 664, + 30, + 40, + 62, + 668, + 30, + 40, + 62, + 668, + 32, + 40, + 58, + 670, + 32, + 40, + 58, + 670, + 34, + 40, + 54, + 672, + 34, + 40, + 54, + 674, + 32, + 40, + 52, + 676, + 32, + 40, + 52, + 676, + 34, + 40, + 46, + 680, + 34, + 40, + 46, + 682, + 34, + 38, + 44, + 684, + 34, + 38, + 44, + 684, + 34, + 40, + 38, + 688, + 34, + 40, + 38, + 690, + 34, + 40, + 34, + 692, + 34, + 40, + 34, + 692, + 34, + 42, + 30, + 694, + 34, + 42, + 30, + 694, + 36, + 42, + 26, + 696, + 36, + 42, + 26, + 698, + 36, + 40, + 22, + 702, + 36, + 40, + 22, + 702, + 38, + 40, + 18, + 704, + 38, + 40, + 18, + 706, + 36, + 42, + 14, + 708, + 36, + 42, + 14, + 708, + 38, + 40, + 12, + 710, + 38, + 40, + 12, + 710, + 38, + 44, + 4, + 714, + 38, + 44, + 4, + 716, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 784, + 14, + 786, + 14, + 790, + 4, + 796, + 4, + 413871 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000198:0000", + "experimental_retained_index": 1, + "ism_score": 0.3849014937877655, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 480, + 304, + 270, + 140 + ], + "score": 0.4344373643398285, + "time": 0.0, + "segmentation": { + "counts": [ + 383557, + 22, + 778, + 22, + 774, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 750, + 56, + 744, + 56, + 742, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 720, + 84, + 716, + 84, + 714, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 26, + 6, + 98, + 670, + 26, + 6, + 98, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 44, + 2, + 84, + 670, + 44, + 2, + 84, + 670, + 42, + 6, + 82, + 670, + 42, + 6, + 82, + 670, + 44, + 2, + 84, + 670, + 44, + 2, + 84, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 680, + 6, + 4, + 110, + 680, + 6, + 4, + 110, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 662, + 6, + 10, + 122, + 662, + 6, + 10, + 122, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 122, + 678, + 122, + 678, + 114, + 686, + 114, + 686, + 104, + 696, + 104, + 696, + 94, + 706, + 94, + 706, + 82, + 718, + 82, + 724, + 60, + 740, + 60, + 422029 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000198:0001", + "experimental_retained_index": 0, + "ism_score": 0.44700950384140015, + "R": [ + [ + 0.9510127902030945, + 0.18614962697029114, + 0.24680906534194946 + ], + [ + 0.009569566696882248, + 0.7801709175109863, + -0.625258207321167 + ], + [ + -0.30901262164115906, + 0.5971952676773071, + 0.740451455116272 + ] + ], + "t": [ + -74.00397491455078, + -27.406845092773438, + 516.666259765625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000198/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000198/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000198:0001", + "TubeHolder:000198:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000198.png" + }, + { + "frame_id": 202, + "image_path": "/workspace/data/0008_/images/000202.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000202.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 516, + 186, + 246, + 174 + ], + "score": 0.4340116083621979, + "time": 0.0, + "segmentation": { + "counts": [ + 412231, + 12, + 788, + 12, + 786, + 26, + 774, + 26, + 774, + 50, + 750, + 50, + 750, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 726, + 82, + 718, + 82, + 718, + 86, + 714, + 86, + 712, + 96, + 704, + 96, + 704, + 102, + 698, + 102, + 698, + 108, + 692, + 108, + 692, + 114, + 686, + 114, + 686, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 668, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 662, + 6, + 4, + 128, + 662, + 6, + 4, + 128, + 662, + 6, + 4, + 126, + 664, + 6, + 4, + 126, + 674, + 126, + 674, + 126, + 660, + 6, + 8, + 126, + 660, + 6, + 8, + 126, + 660, + 8, + 6, + 126, + 660, + 8, + 6, + 126, + 660, + 8, + 6, + 126, + 660, + 8, + 6, + 126, + 662, + 6, + 6, + 126, + 662, + 6, + 6, + 126, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 644, + 6, + 8, + 142, + 644, + 6, + 8, + 142, + 644, + 10, + 4, + 142, + 644, + 10, + 4, + 142, + 644, + 12, + 2, + 28, + 2, + 110, + 646, + 12, + 2, + 28, + 2, + 110, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 676, + 124, + 676, + 124, + 680, + 120, + 680, + 120, + 686, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 696, + 104, + 696, + 104, + 702, + 98, + 702, + 98, + 708, + 92, + 708, + 92, + 714, + 84, + 716, + 84, + 722, + 78, + 722, + 78, + 734, + 64, + 736, + 64, + 412471 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000202:0000", + "experimental_retained_index": 0, + "ism_score": 0.4451400935649872, + "R": [ + [ + 0.9845585227012634, + 0.1685480922460556, + -0.0470561720430851 + ], + [ + -0.1520913541316986, + 0.691557765007019, + -0.7063770890235901 + ], + [ + -0.0865168571472168, + 0.702711820602417, + 0.7063671350479126 + ] + ], + "t": [ + -86.79846954345703, + -83.74134826660156, + 487.49798583984375 + ] + }, + { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 384, + 32, + 118, + 62 + ], + "score": 0.34092652797698975, + "time": 0.0, + "segmentation": { + "counts": [ + 306467, + 12, + 788, + 12, + 784, + 20, + 780, + 20, + 778, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 776, + 22, + 778, + 22, + 784, + 16, + 784, + 16, + 620735 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000202:0001", + "experimental_retained_index": 1, + "ism_score": 0.39527711272239685, + "R": [ + [ + -0.8621583580970764, + 0.21523860096931458, + -0.4582524299621582 + ], + [ + 0.41905826330184937, + -0.20435717701911926, + -0.8845493197441101 + ], + [ + -0.28405219316482544, + -0.9548299908638, + 0.08600209653377533 + ] + ], + "t": [ + -227.84146118164062, + -626.3018798828125, + 980.9189453125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 516, + 186, + 246, + 174 + ], + "score": 0.4340116083621979, + "time": 0.0, + "segmentation": { + "counts": [ + 412231, + 12, + 788, + 12, + 786, + 26, + 774, + 26, + 774, + 50, + 750, + 50, + 750, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 726, + 82, + 718, + 82, + 718, + 86, + 714, + 86, + 712, + 96, + 704, + 96, + 704, + 102, + 698, + 102, + 698, + 108, + 692, + 108, + 692, + 114, + 686, + 114, + 686, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 130, + 670, + 130, + 668, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 662, + 6, + 4, + 128, + 662, + 6, + 4, + 128, + 662, + 6, + 4, + 126, + 664, + 6, + 4, + 126, + 674, + 126, + 674, + 126, + 660, + 6, + 8, + 126, + 660, + 6, + 8, + 126, + 660, + 8, + 6, + 126, + 660, + 8, + 6, + 126, + 660, + 8, + 6, + 126, + 660, + 8, + 6, + 126, + 662, + 6, + 6, + 126, + 662, + 6, + 6, + 126, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 644, + 6, + 8, + 142, + 644, + 6, + 8, + 142, + 644, + 10, + 4, + 142, + 644, + 10, + 4, + 142, + 644, + 12, + 2, + 28, + 2, + 110, + 646, + 12, + 2, + 28, + 2, + 110, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 676, + 124, + 676, + 124, + 680, + 120, + 680, + 120, + 686, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 696, + 104, + 696, + 104, + 702, + 98, + 702, + 98, + 708, + 92, + 708, + 92, + 714, + 84, + 716, + 84, + 722, + 78, + 722, + 78, + 734, + 64, + 736, + 64, + 412471 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000202:0000", + "experimental_retained_index": 0, + "ism_score": 0.4451400935649872, + "R": [ + [ + 0.9845585227012634, + 0.1685480922460556, + -0.0470561720430851 + ], + [ + -0.1520913541316986, + 0.691557765007019, + -0.7063770890235901 + ], + [ + -0.0865168571472168, + 0.702711820602417, + 0.7063671350479126 + ] + ], + "t": [ + -86.79846954345703, + -83.74134826660156, + 487.49798583984375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000202/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000202/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000202:0000", + "TubeHolder:000202:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000202.png" + }, + { + "frame_id": 207, + "image_path": "/workspace/data/0008_/images/000207.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000207.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 378, + 194, + 320, + 246 + ], + "score": 0.4528127610683441, + "time": 0.0, + "segmentation": { + "counts": [ + 301903, + 8, + 792, + 8, + 790, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 778, + 28, + 772, + 28, + 772, + 32, + 768, + 32, + 768, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 42, + 758, + 42, + 758, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 740, + 64, + 736, + 64, + 734, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 106, + 694, + 106, + 694, + 42, + 8, + 4, + 2, + 54, + 690, + 42, + 8, + 4, + 2, + 54, + 688, + 34, + 28, + 6, + 4, + 44, + 684, + 34, + 28, + 6, + 4, + 44, + 684, + 30, + 48, + 40, + 682, + 30, + 48, + 40, + 682, + 30, + 48, + 46, + 676, + 30, + 48, + 46, + 674, + 30, + 50, + 48, + 672, + 30, + 50, + 48, + 672, + 26, + 56, + 50, + 668, + 26, + 56, + 50, + 666, + 28, + 56, + 54, + 662, + 28, + 56, + 54, + 662, + 28, + 56, + 56, + 660, + 28, + 56, + 56, + 658, + 28, + 58, + 60, + 654, + 28, + 58, + 60, + 654, + 28, + 58, + 62, + 652, + 28, + 58, + 62, + 650, + 30, + 60, + 4, + 4, + 58, + 644, + 30, + 60, + 4, + 4, + 58, + 642, + 30, + 80, + 50, + 640, + 30, + 80, + 50, + 640, + 30, + 80, + 54, + 636, + 30, + 80, + 54, + 634, + 30, + 82, + 58, + 630, + 30, + 82, + 58, + 630, + 30, + 84, + 58, + 628, + 30, + 84, + 58, + 628, + 30, + 84, + 60, + 626, + 30, + 84, + 60, + 626, + 28, + 94, + 54, + 624, + 28, + 94, + 54, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 4, + 2, + 46, + 622, + 28, + 98, + 4, + 2, + 46, + 620, + 28, + 108, + 44, + 620, + 28, + 108, + 44, + 618, + 30, + 120, + 4, + 2, + 26, + 618, + 30, + 120, + 4, + 2, + 26, + 618, + 28, + 130, + 24, + 618, + 28, + 130, + 24, + 618, + 28, + 130, + 22, + 620, + 28, + 130, + 22, + 618, + 30, + 130, + 22, + 618, + 30, + 130, + 22, + 618, + 30, + 130, + 20, + 620, + 30, + 130, + 20, + 618, + 28, + 136, + 4, + 2, + 12, + 618, + 28, + 136, + 4, + 2, + 12, + 616, + 28, + 146, + 8, + 618, + 28, + 146, + 8, + 618, + 28, + 146, + 6, + 620, + 28, + 146, + 6, + 620, + 28, + 148, + 4, + 620, + 28, + 148, + 4, + 620, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 776, + 10, + 2, + 10, + 778, + 10, + 2, + 10, + 778, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 758, + 48, + 752, + 48, + 744, + 62, + 738, + 62, + 736, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 724, + 86, + 4, + 4, + 706, + 86, + 4, + 4, + 706, + 102, + 698, + 102, + 696, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 122, + 678, + 122, + 676, + 128, + 672, + 128, + 672, + 134, + 666, + 134, + 664, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 652, + 154, + 646, + 154, + 644, + 160, + 640, + 160, + 640, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 634, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 652, + 146, + 654, + 146, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 672, + 126, + 674, + 126, + 628, + 8, + 2, + 16, + 20, + 126, + 628, + 8, + 2, + 16, + 20, + 126, + 628, + 28, + 18, + 124, + 630, + 28, + 18, + 124, + 630, + 28, + 18, + 122, + 632, + 28, + 18, + 122, + 636, + 4, + 14, + 4, + 20, + 122, + 636, + 4, + 14, + 4, + 20, + 122, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 732, + 66, + 734, + 66, + 746, + 54, + 746, + 54, + 766, + 32, + 768, + 32, + 784, + 12, + 788, + 12, + 463687 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000207:0000", + "experimental_retained_index": 0, + "ism_score": 0.4704548418521881, + "R": [ + [ + 0.8457943201065063, + 0.1524132937192917, + -0.5114066004753113 + ], + [ + -0.4802825450897217, + 0.6349761486053467, + -0.6048755645751953 + ], + [ + 0.2326253056526184, + 0.7572991847991943, + 0.6103051900863647 + ] + ], + "t": [ + -150.73513793945312, + -24.823585510253906, + 420.7420654296875 + ] + }, + { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 582, + 340, + 258, + 164 + ], + "score": 0.004977012984454632, + "time": 0.0, + "segmentation": { + "counts": [ + 465181, + 22, + 778, + 22, + 776, + 38, + 762, + 38, + 760, + 62, + 738, + 62, + 738, + 76, + 724, + 76, + 724, + 90, + 710, + 90, + 708, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 680, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 68, + 14, + 58, + 660, + 68, + 14, + 58, + 660, + 60, + 42, + 38, + 660, + 60, + 42, + 38, + 660, + 56, + 52, + 32, + 660, + 56, + 52, + 32, + 660, + 52, + 60, + 28, + 660, + 52, + 60, + 28, + 658, + 50, + 68, + 22, + 660, + 50, + 68, + 22, + 660, + 48, + 74, + 18, + 660, + 48, + 74, + 18, + 660, + 46, + 78, + 16, + 660, + 46, + 78, + 16, + 660, + 44, + 86, + 6, + 664, + 44, + 86, + 6, + 664, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 10, + 790, + 10, + 792, + 4, + 796, + 4, + 24788, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 794, + 6, + 794, + 6, + 23296, + 14, + 786, + 14, + 772, + 28, + 772, + 28, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 26, + 4, + 4, + 766, + 26, + 4, + 4, + 778, + 14, + 2, + 8, + 776, + 14, + 2, + 8, + 782, + 8, + 2, + 8, + 782, + 8, + 2, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 349939 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000207:0002", + "experimental_retained_index": 1, + "ism_score": 0.39816102385520935, + "R": [ + [ + -0.08397389203310013, + 0.9946944117546082, + -0.061907343566417694 + ], + [ + 0.9923601746559143, + 0.07769186794757843, + -0.09763308614492416 + ], + [ + -0.09227687865495682, + -0.06961248815059662, + -0.9933220148086548 + ] + ], + "t": [ + 40.392765045166016, + 3.302441120147705, + 246.23056030273438 + ] + }, + { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 36, + 90, + 160, + 94 + ], + "score": 0.3839026093482971, + "time": 0.0, + "segmentation": { + "counts": [ + 28149, + 8, + 792, + 8, + 790, + 20, + 780, + 20, + 778, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 780, + 18, + 782, + 18, + 786, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 865477 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000207:0001", + "experimental_retained_index": 2, + "ism_score": 0.3937462270259857, + "R": [ + [ + -0.5003595948219299, + -0.6168372631072998, + -0.6078934669494629 + ], + [ + 0.6870304346084595, + -0.7100812196731567, + 0.1545851230621338 + ], + [ + -0.5267754793167114, + -0.34018614888191223, + 0.778902530670166 + ] + ], + "t": [ + -675.964111328125, + -401.8923645019531, + 919.943115234375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 378, + 194, + 320, + 246 + ], + "score": 0.4528127610683441, + "time": 0.0, + "segmentation": { + "counts": [ + 301903, + 8, + 792, + 8, + 790, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 778, + 28, + 772, + 28, + 772, + 32, + 768, + 32, + 768, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 42, + 758, + 42, + 758, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 740, + 64, + 736, + 64, + 734, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 106, + 694, + 106, + 694, + 42, + 8, + 4, + 2, + 54, + 690, + 42, + 8, + 4, + 2, + 54, + 688, + 34, + 28, + 6, + 4, + 44, + 684, + 34, + 28, + 6, + 4, + 44, + 684, + 30, + 48, + 40, + 682, + 30, + 48, + 40, + 682, + 30, + 48, + 46, + 676, + 30, + 48, + 46, + 674, + 30, + 50, + 48, + 672, + 30, + 50, + 48, + 672, + 26, + 56, + 50, + 668, + 26, + 56, + 50, + 666, + 28, + 56, + 54, + 662, + 28, + 56, + 54, + 662, + 28, + 56, + 56, + 660, + 28, + 56, + 56, + 658, + 28, + 58, + 60, + 654, + 28, + 58, + 60, + 654, + 28, + 58, + 62, + 652, + 28, + 58, + 62, + 650, + 30, + 60, + 4, + 4, + 58, + 644, + 30, + 60, + 4, + 4, + 58, + 642, + 30, + 80, + 50, + 640, + 30, + 80, + 50, + 640, + 30, + 80, + 54, + 636, + 30, + 80, + 54, + 634, + 30, + 82, + 58, + 630, + 30, + 82, + 58, + 630, + 30, + 84, + 58, + 628, + 30, + 84, + 58, + 628, + 30, + 84, + 60, + 626, + 30, + 84, + 60, + 626, + 28, + 94, + 54, + 624, + 28, + 94, + 54, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 52, + 622, + 28, + 98, + 4, + 2, + 46, + 622, + 28, + 98, + 4, + 2, + 46, + 620, + 28, + 108, + 44, + 620, + 28, + 108, + 44, + 618, + 30, + 120, + 4, + 2, + 26, + 618, + 30, + 120, + 4, + 2, + 26, + 618, + 28, + 130, + 24, + 618, + 28, + 130, + 24, + 618, + 28, + 130, + 22, + 620, + 28, + 130, + 22, + 618, + 30, + 130, + 22, + 618, + 30, + 130, + 22, + 618, + 30, + 130, + 20, + 620, + 30, + 130, + 20, + 618, + 28, + 136, + 4, + 2, + 12, + 618, + 28, + 136, + 4, + 2, + 12, + 616, + 28, + 146, + 8, + 618, + 28, + 146, + 8, + 618, + 28, + 146, + 6, + 620, + 28, + 146, + 6, + 620, + 28, + 148, + 4, + 620, + 28, + 148, + 4, + 620, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 776, + 10, + 2, + 10, + 778, + 10, + 2, + 10, + 778, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 758, + 48, + 752, + 48, + 744, + 62, + 738, + 62, + 736, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 724, + 86, + 4, + 4, + 706, + 86, + 4, + 4, + 706, + 102, + 698, + 102, + 696, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 122, + 678, + 122, + 676, + 128, + 672, + 128, + 672, + 134, + 666, + 134, + 664, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 652, + 154, + 646, + 154, + 644, + 160, + 640, + 160, + 640, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 634, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 652, + 146, + 654, + 146, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 672, + 126, + 674, + 126, + 628, + 8, + 2, + 16, + 20, + 126, + 628, + 8, + 2, + 16, + 20, + 126, + 628, + 28, + 18, + 124, + 630, + 28, + 18, + 124, + 630, + 28, + 18, + 122, + 632, + 28, + 18, + 122, + 636, + 4, + 14, + 4, + 20, + 122, + 636, + 4, + 14, + 4, + 20, + 122, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 732, + 66, + 734, + 66, + 746, + 54, + 746, + 54, + 766, + 32, + 768, + 32, + 784, + 12, + 788, + 12, + 463687 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000207:0000", + "experimental_retained_index": 0, + "ism_score": 0.4704548418521881, + "R": [ + [ + 0.8457943201065063, + 0.1524132937192917, + -0.5114066004753113 + ], + [ + -0.4802825450897217, + 0.6349761486053467, + -0.6048755645751953 + ], + [ + 0.2326253056526184, + 0.7572991847991943, + 0.6103051900863647 + ] + ], + "t": [ + -150.73513793945312, + -24.823585510253906, + 420.7420654296875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000207/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000207/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000207:0000", + "TubeHolder:000207:0002", + "TubeHolder:000207:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000207.png" + }, + { + "frame_id": 211, + "image_path": "/workspace/data/0008_/images/000211.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000211.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 362, + 270, + 328, + 288 + ], + "score": 0.4879612326622009, + "time": 0.0, + "segmentation": { + "counts": [ + 289225, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 780, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 772, + 30, + 770, + 30, + 772, + 30, + 770, + 30, + 770, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 44, + 756, + 44, + 734, + 4, + 16, + 48, + 732, + 4, + 16, + 48, + 728, + 10, + 14, + 50, + 726, + 10, + 14, + 50, + 726, + 14, + 8, + 54, + 724, + 14, + 8, + 54, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 654, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 608, + 194, + 606, + 194, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 624, + 176, + 624, + 176, + 628, + 44, + 12, + 118, + 626, + 44, + 12, + 118, + 630, + 34, + 26, + 112, + 628, + 34, + 26, + 112, + 630, + 26, + 36, + 110, + 628, + 26, + 36, + 110, + 570, + 18, + 44, + 20, + 40, + 108, + 570, + 18, + 44, + 20, + 40, + 108, + 568, + 24, + 42, + 16, + 46, + 104, + 568, + 24, + 42, + 16, + 46, + 104, + 568, + 30, + 40, + 10, + 52, + 100, + 568, + 30, + 40, + 10, + 52, + 100, + 566, + 34, + 102, + 98, + 566, + 34, + 102, + 98, + 566, + 34, + 106, + 92, + 568, + 34, + 106, + 92, + 564, + 38, + 108, + 88, + 566, + 38, + 108, + 88, + 564, + 42, + 108, + 84, + 566, + 42, + 108, + 84, + 564, + 46, + 108, + 80, + 566, + 46, + 108, + 80, + 566, + 50, + 106, + 76, + 568, + 50, + 106, + 76, + 568, + 56, + 102, + 72, + 570, + 56, + 102, + 72, + 568, + 64, + 98, + 68, + 570, + 64, + 98, + 68, + 568, + 68, + 96, + 66, + 570, + 68, + 96, + 66, + 570, + 70, + 98, + 60, + 572, + 70, + 98, + 60, + 570, + 76, + 98, + 54, + 572, + 76, + 98, + 54, + 570, + 78, + 102, + 48, + 572, + 78, + 102, + 48, + 570, + 80, + 108, + 40, + 572, + 80, + 108, + 40, + 570, + 82, + 110, + 36, + 572, + 82, + 110, + 36, + 570, + 86, + 112, + 30, + 572, + 86, + 112, + 30, + 570, + 88, + 116, + 24, + 572, + 88, + 116, + 24, + 572, + 86, + 122, + 18, + 574, + 86, + 122, + 18, + 572, + 88, + 128, + 10, + 574, + 88, + 128, + 10, + 572, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 148, + 652, + 148, + 654, + 148, + 652, + 148, + 658, + 152, + 648, + 152, + 648, + 174, + 626, + 174, + 628, + 178, + 622, + 178, + 626, + 178, + 622, + 178, + 630, + 174, + 626, + 174, + 632, + 168, + 632, + 168, + 636, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 648, + 150, + 650, + 150, + 652, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 620, + 18, + 22, + 138, + 622, + 18, + 22, + 138, + 620, + 26, + 16, + 136, + 622, + 26, + 16, + 136, + 622, + 36, + 2, + 140, + 622, + 36, + 2, + 140, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 728, + 70, + 730, + 70, + 742, + 56, + 744, + 56, + 752, + 46, + 754, + 46, + 766, + 32, + 768, + 32, + 780, + 16, + 784, + 16, + 470029 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000211:0000", + "experimental_retained_index": 0, + "ism_score": 0.48949089646339417, + "R": [ + [ + 0.6676745414733887, + 0.15477751195430756, + -0.7280891537666321 + ], + [ + -0.6058856248855591, + 0.6812761425971985, + -0.41060709953308105 + ], + [ + 0.4326266348361969, + 0.715364933013916, + 0.5486765503883362 + ] + ], + "t": [ + -142.84698486328125, + 50.343753814697266, + 379.20953369140625 + ] + }, + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 608, + 372, + 252, + 190 + ], + "score": 0.18537653982639313, + "time": 0.0, + "segmentation": { + "counts": [ + 486061, + 4, + 796, + 4, + 794, + 20, + 780, + 20, + 778, + 28, + 772, + 28, + 772, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 758, + 46, + 754, + 46, + 752, + 52, + 748, + 52, + 748, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 736, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 90, + 710, + 90, + 710, + 94, + 706, + 94, + 704, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 22, + 8, + 130, + 640, + 22, + 8, + 130, + 638, + 18, + 20, + 122, + 640, + 18, + 20, + 122, + 640, + 14, + 28, + 116, + 642, + 14, + 28, + 116, + 640, + 16, + 30, + 114, + 640, + 16, + 30, + 114, + 640, + 16, + 32, + 112, + 640, + 16, + 32, + 112, + 638, + 16, + 36, + 110, + 638, + 16, + 36, + 110, + 636, + 18, + 38, + 106, + 638, + 18, + 38, + 106, + 638, + 16, + 42, + 102, + 640, + 16, + 42, + 102, + 638, + 18, + 42, + 102, + 638, + 18, + 42, + 102, + 638, + 18, + 42, + 102, + 638, + 18, + 42, + 102, + 636, + 18, + 44, + 100, + 638, + 18, + 44, + 100, + 638, + 18, + 44, + 98, + 640, + 18, + 44, + 98, + 640, + 18, + 44, + 98, + 640, + 18, + 44, + 98, + 642, + 18, + 40, + 98, + 644, + 18, + 40, + 98, + 644, + 18, + 40, + 98, + 644, + 18, + 40, + 98, + 646, + 16, + 40, + 96, + 648, + 16, + 40, + 96, + 650, + 14, + 38, + 96, + 652, + 14, + 38, + 96, + 656, + 8, + 40, + 94, + 658, + 8, + 40, + 94, + 660, + 6, + 38, + 96, + 660, + 6, + 38, + 96, + 704, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 734, + 42, + 14, + 8, + 736, + 42, + 14, + 8, + 738, + 24, + 776, + 24, + 778, + 12, + 788, + 12, + 790, + 4, + 796, + 4, + 333965 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000211:0001", + "experimental_retained_index": 1, + "ism_score": 0.38025957345962524, + "R": [ + [ + -0.8120454549789429, + 0.4876798093318939, + -0.32119059562683105 + ], + [ + 0.5836272835731506, + 0.6698431372642517, + -0.45925164222717285 + ], + [ + -0.009000859223306179, + -0.5601899027824402, + -0.8284440636634827 + ] + ], + "t": [ + 69.15127563476562, + 5.24011754989624, + 220.7210235595703 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 362, + 270, + 328, + 288 + ], + "score": 0.4879612326622009, + "time": 0.0, + "segmentation": { + "counts": [ + 289225, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 780, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 776, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 772, + 30, + 770, + 30, + 772, + 30, + 770, + 30, + 770, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 766, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 44, + 756, + 44, + 734, + 4, + 16, + 48, + 732, + 4, + 16, + 48, + 728, + 10, + 14, + 50, + 726, + 10, + 14, + 50, + 726, + 14, + 8, + 54, + 724, + 14, + 8, + 54, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 654, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 608, + 194, + 606, + 194, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 624, + 176, + 624, + 176, + 628, + 44, + 12, + 118, + 626, + 44, + 12, + 118, + 630, + 34, + 26, + 112, + 628, + 34, + 26, + 112, + 630, + 26, + 36, + 110, + 628, + 26, + 36, + 110, + 570, + 18, + 44, + 20, + 40, + 108, + 570, + 18, + 44, + 20, + 40, + 108, + 568, + 24, + 42, + 16, + 46, + 104, + 568, + 24, + 42, + 16, + 46, + 104, + 568, + 30, + 40, + 10, + 52, + 100, + 568, + 30, + 40, + 10, + 52, + 100, + 566, + 34, + 102, + 98, + 566, + 34, + 102, + 98, + 566, + 34, + 106, + 92, + 568, + 34, + 106, + 92, + 564, + 38, + 108, + 88, + 566, + 38, + 108, + 88, + 564, + 42, + 108, + 84, + 566, + 42, + 108, + 84, + 564, + 46, + 108, + 80, + 566, + 46, + 108, + 80, + 566, + 50, + 106, + 76, + 568, + 50, + 106, + 76, + 568, + 56, + 102, + 72, + 570, + 56, + 102, + 72, + 568, + 64, + 98, + 68, + 570, + 64, + 98, + 68, + 568, + 68, + 96, + 66, + 570, + 68, + 96, + 66, + 570, + 70, + 98, + 60, + 572, + 70, + 98, + 60, + 570, + 76, + 98, + 54, + 572, + 76, + 98, + 54, + 570, + 78, + 102, + 48, + 572, + 78, + 102, + 48, + 570, + 80, + 108, + 40, + 572, + 80, + 108, + 40, + 570, + 82, + 110, + 36, + 572, + 82, + 110, + 36, + 570, + 86, + 112, + 30, + 572, + 86, + 112, + 30, + 570, + 88, + 116, + 24, + 572, + 88, + 116, + 24, + 572, + 86, + 122, + 18, + 574, + 86, + 122, + 18, + 572, + 88, + 128, + 10, + 574, + 88, + 128, + 10, + 572, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 148, + 652, + 148, + 654, + 148, + 652, + 148, + 658, + 152, + 648, + 152, + 648, + 174, + 626, + 174, + 628, + 178, + 622, + 178, + 626, + 178, + 622, + 178, + 630, + 174, + 626, + 174, + 632, + 168, + 632, + 168, + 636, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 648, + 150, + 650, + 150, + 652, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 620, + 18, + 22, + 138, + 622, + 18, + 22, + 138, + 620, + 26, + 16, + 136, + 622, + 26, + 16, + 136, + 622, + 36, + 2, + 140, + 622, + 36, + 2, + 140, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 728, + 70, + 730, + 70, + 742, + 56, + 744, + 56, + 752, + 46, + 754, + 46, + 766, + 32, + 768, + 32, + 780, + 16, + 784, + 16, + 470029 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000211:0000", + "experimental_retained_index": 0, + "ism_score": 0.48949089646339417, + "R": [ + [ + 0.6676745414733887, + 0.15477751195430756, + -0.7280891537666321 + ], + [ + -0.6058856248855591, + 0.6812761425971985, + -0.41060709953308105 + ], + [ + 0.4326266348361969, + 0.715364933013916, + 0.5486765503883362 + ] + ], + "t": [ + -142.84698486328125, + 50.343753814697266, + 379.20953369140625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000211/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000211/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000211:0000", + "TubeHolder:000211:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000211.png" + }, + { + "frame_id": 219, + "image_path": "/workspace/data/0008_/images/000219.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000219.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 282, + 186, + 326, + 204 + ], + "score": 0.4741869568824768, + "time": 0.0, + "segmentation": { + "counts": [ + 225039, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 5612, + 6, + 794, + 6, + 792, + 18, + 782, + 18, + 782, + 24, + 776, + 24, + 744, + 6, + 26, + 34, + 734, + 6, + 26, + 34, + 734, + 8, + 26, + 42, + 724, + 8, + 26, + 42, + 724, + 8, + 26, + 48, + 718, + 8, + 26, + 48, + 718, + 6, + 28, + 54, + 712, + 6, + 28, + 54, + 746, + 60, + 740, + 60, + 740, + 68, + 732, + 68, + 732, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 720, + 86, + 714, + 86, + 704, + 100, + 700, + 100, + 698, + 106, + 694, + 106, + 694, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 676, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 668, + 136, + 664, + 136, + 640, + 4, + 20, + 148, + 628, + 4, + 20, + 148, + 624, + 8, + 22, + 158, + 612, + 8, + 22, + 158, + 612, + 8, + 24, + 160, + 608, + 8, + 24, + 160, + 608, + 6, + 30, + 158, + 606, + 6, + 30, + 158, + 606, + 4, + 34, + 158, + 604, + 4, + 34, + 158, + 634, + 166, + 634, + 166, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 636, + 164, + 636, + 164, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 674, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 696, + 102, + 698, + 102, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 710, + 90, + 710, + 90, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 722, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 736, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 748, + 38, + 762, + 38, + 535687 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000219:0000", + "experimental_retained_index": 0, + "ism_score": 0.483247846364975, + "R": [ + [ + 0.9058752655982971, + -0.084199458360672, + -0.4150906801223755 + ], + [ + -0.3300475478172302, + 0.4738703966140747, + -0.816403329372406 + ], + [ + 0.26544004678726196, + 0.8765596747398376, + 0.40147799253463745 + ] + ], + "t": [ + -210.3427276611328, + -65.635986328125, + 425.6817932128906 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 282, + 186, + 326, + 204 + ], + "score": 0.4741869568824768, + "time": 0.0, + "segmentation": { + "counts": [ + 225039, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 5612, + 6, + 794, + 6, + 792, + 18, + 782, + 18, + 782, + 24, + 776, + 24, + 744, + 6, + 26, + 34, + 734, + 6, + 26, + 34, + 734, + 8, + 26, + 42, + 724, + 8, + 26, + 42, + 724, + 8, + 26, + 48, + 718, + 8, + 26, + 48, + 718, + 6, + 28, + 54, + 712, + 6, + 28, + 54, + 746, + 60, + 740, + 60, + 740, + 68, + 732, + 68, + 732, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 720, + 86, + 714, + 86, + 704, + 100, + 700, + 100, + 698, + 106, + 694, + 106, + 694, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 676, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 668, + 136, + 664, + 136, + 640, + 4, + 20, + 148, + 628, + 4, + 20, + 148, + 624, + 8, + 22, + 158, + 612, + 8, + 22, + 158, + 612, + 8, + 24, + 160, + 608, + 8, + 24, + 160, + 608, + 6, + 30, + 158, + 606, + 6, + 30, + 158, + 606, + 4, + 34, + 158, + 604, + 4, + 34, + 158, + 634, + 166, + 634, + 166, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 636, + 164, + 636, + 164, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 668, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 674, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 696, + 102, + 698, + 102, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 710, + 90, + 710, + 90, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 722, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 736, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 748, + 38, + 762, + 38, + 535687 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000219:0000", + "experimental_retained_index": 0, + "ism_score": 0.483247846364975, + "R": [ + [ + 0.9058752655982971, + -0.084199458360672, + -0.4150906801223755 + ], + [ + -0.3300475478172302, + 0.4738703966140747, + -0.816403329372406 + ], + [ + 0.26544004678726196, + 0.8765596747398376, + 0.40147799253463745 + ] + ], + "t": [ + -210.3427276611328, + -65.635986328125, + 425.6817932128906 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000219/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000219/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000219:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000219.png" + }, + { + "frame_id": 222, + "image_path": "/workspace/data/0008_/images/000222.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000222.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 230, + 266, + 332, + 212 + ], + "score": 0.46533918380737305, + "time": 0.0, + "segmentation": { + "counts": [ + 183533, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 8778, + 4, + 796, + 4, + 794, + 6, + 30, + 8, + 756, + 6, + 30, + 8, + 756, + 8, + 18, + 4, + 2, + 24, + 744, + 8, + 18, + 4, + 2, + 24, + 744, + 8, + 16, + 46, + 730, + 8, + 16, + 46, + 730, + 8, + 12, + 64, + 716, + 8, + 12, + 64, + 734, + 74, + 726, + 74, + 724, + 84, + 716, + 84, + 712, + 102, + 698, + 102, + 696, + 120, + 680, + 120, + 680, + 130, + 670, + 130, + 670, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 616, + 4, + 10, + 168, + 618, + 4, + 10, + 168, + 618, + 4, + 18, + 160, + 618, + 4, + 18, + 160, + 612, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 8, + 24, + 154, + 614, + 8, + 24, + 154, + 614, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 6, + 26, + 152, + 616, + 6, + 26, + 152, + 634, + 12, + 2, + 150, + 636, + 12, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 650, + 148, + 652, + 148, + 630, + 12, + 2, + 156, + 630, + 12, + 2, + 156, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 652, + 148, + 652, + 148, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 670, + 128, + 672, + 128, + 680, + 120, + 680, + 120, + 684, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 702, + 98, + 702, + 98, + 708, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 720, + 78, + 722, + 78, + 728, + 72, + 728, + 72, + 734, + 66, + 734, + 66, + 740, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 758, + 40, + 760, + 40, + 766, + 30, + 770, + 30, + 572393 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000222:0000", + "experimental_retained_index": 0, + "ism_score": 0.4772709608078003, + "R": [ + [ + -0.9321992993354797, + -0.12446404993534088, + 0.34024420380592346 + ], + [ + 0.27713462710380554, + 0.3597049415111542, + 0.8907517790794373 + ], + [ + -0.2332860678434372, + 0.9245468974113464, + -0.30065709352493286 + ] + ], + "t": [ + -44.447792053222656, + 11.03554916381836, + 436.443359375 + ] + }, + { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 406, + 468, + 216, + 152 + ], + "score": 0.18716749548912048, + "time": 0.0, + "segmentation": { + "counts": [ + 324581, + 26, + 774, + 26, + 762, + 38, + 762, + 38, + 754, + 46, + 754, + 46, + 742, + 58, + 742, + 58, + 730, + 72, + 728, + 72, + 716, + 84, + 716, + 84, + 704, + 96, + 704, + 96, + 696, + 104, + 696, + 104, + 686, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 674, + 126, + 674, + 126, + 666, + 134, + 666, + 134, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 48, + 28, + 66, + 658, + 48, + 28, + 66, + 658, + 44, + 32, + 66, + 658, + 44, + 32, + 66, + 658, + 42, + 36, + 66, + 656, + 42, + 36, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 38, + 66, + 658, + 38, + 38, + 66, + 658, + 40, + 34, + 68, + 658, + 40, + 34, + 68, + 658, + 40, + 34, + 70, + 656, + 40, + 34, + 70, + 656, + 42, + 30, + 72, + 656, + 42, + 30, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 660, + 42, + 26, + 70, + 662, + 42, + 26, + 70, + 662, + 42, + 28, + 64, + 666, + 42, + 28, + 64, + 666, + 42, + 32, + 44, + 682, + 42, + 32, + 44, + 682, + 42, + 36, + 6, + 716, + 42, + 36, + 6, + 716, + 40, + 760, + 40, + 762, + 26, + 774, + 26, + 524289 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000222:0001", + "experimental_retained_index": 1, + "ism_score": 0.39146143198013306, + "R": [ + [ + -0.9945158362388611, + -0.01025834959000349, + 0.10240793973207474 + ], + [ + -0.048458538949489594, + 0.9249564409255981, + -0.377074271440506 + ], + [ + -0.09088306874036789, + -0.3800801634788513, + -0.9204140901565552 + ] + ], + "t": [ + 20.474933624267578, + 89.99085998535156, + 307.2510986328125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 230, + 266, + 332, + 212 + ], + "score": 0.46533918380737305, + "time": 0.0, + "segmentation": { + "counts": [ + 183533, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 8778, + 4, + 796, + 4, + 794, + 6, + 30, + 8, + 756, + 6, + 30, + 8, + 756, + 8, + 18, + 4, + 2, + 24, + 744, + 8, + 18, + 4, + 2, + 24, + 744, + 8, + 16, + 46, + 730, + 8, + 16, + 46, + 730, + 8, + 12, + 64, + 716, + 8, + 12, + 64, + 734, + 74, + 726, + 74, + 724, + 84, + 716, + 84, + 712, + 102, + 698, + 102, + 696, + 120, + 680, + 120, + 680, + 130, + 670, + 130, + 670, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 616, + 4, + 10, + 168, + 618, + 4, + 10, + 168, + 618, + 4, + 18, + 160, + 618, + 4, + 18, + 160, + 612, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 8, + 24, + 154, + 614, + 8, + 24, + 154, + 614, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 6, + 26, + 152, + 616, + 6, + 26, + 152, + 634, + 12, + 2, + 150, + 636, + 12, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 650, + 148, + 652, + 148, + 630, + 12, + 2, + 156, + 630, + 12, + 2, + 156, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 652, + 148, + 652, + 148, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 670, + 128, + 672, + 128, + 680, + 120, + 680, + 120, + 684, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 702, + 98, + 702, + 98, + 708, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 720, + 78, + 722, + 78, + 728, + 72, + 728, + 72, + 734, + 66, + 734, + 66, + 740, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 758, + 40, + 760, + 40, + 766, + 30, + 770, + 30, + 572393 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000222:0000", + "experimental_retained_index": 0, + "ism_score": 0.4772709608078003, + "R": [ + [ + -0.9321992993354797, + -0.12446404993534088, + 0.34024420380592346 + ], + [ + 0.27713462710380554, + 0.3597049415111542, + 0.8907517790794373 + ], + [ + -0.2332860678434372, + 0.9245468974113464, + -0.30065709352493286 + ] + ], + "t": [ + -44.447792053222656, + 11.03554916381836, + 436.443359375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000222/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000222/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000222:0000", + "TubeHolder:000222:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000222.png" + }, + { + "frame_id": 227, + "image_path": "/workspace/data/0008_/images/000227.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000227.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 224, + 136, + 344, + 284 + ], + "score": 0.4639973044395447, + "time": 0.0, + "segmentation": { + "counts": [ + 178657, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 626, + 4, + 48, + 122, + 626, + 4, + 48, + 122, + 622, + 8, + 46, + 124, + 622, + 8, + 46, + 124, + 622, + 8, + 44, + 128, + 620, + 8, + 44, + 128, + 622, + 6, + 40, + 132, + 622, + 6, + 40, + 132, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 620, + 4, + 28, + 150, + 618, + 4, + 28, + 150, + 618, + 4, + 26, + 152, + 618, + 4, + 26, + 152, + 646, + 156, + 644, + 156, + 610, + 6, + 26, + 158, + 610, + 6, + 26, + 158, + 610, + 6, + 16, + 170, + 608, + 6, + 16, + 170, + 608, + 8, + 14, + 170, + 608, + 8, + 14, + 170, + 608, + 8, + 12, + 174, + 606, + 8, + 12, + 174, + 606, + 6, + 14, + 174, + 606, + 6, + 14, + 174, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 76, + 724, + 76, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 758, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 776, + 16, + 784, + 16, + 567711 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000227:0000", + "experimental_retained_index": 0, + "ism_score": 0.4805150032043457, + "R": [ + [ + 0.8954073786735535, + -0.1968807578086853, + 0.3995566964149475 + ], + [ + 0.44214072823524475, + 0.2805776298046112, + -0.8518700003623962 + ], + [ + 0.05566106364130974, + 0.9392709732055664, + 0.33819931745529175 + ] + ], + "t": [ + -201.63758850097656, + -138.48016357421875, + 425.36920166015625 + ] + }, + { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 34, + 374, + 488, + 308 + ], + "score": 0.4111117720603943, + "time": 0.0, + "segmentation": { + "counts": [ + 27061, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 155790, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 776, + 26, + 774, + 26, + 770, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 710, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 690, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 650, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 186, + 614, + 186, + 612, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 202, + 598, + 202, + 596, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 224, + 576, + 224, + 574, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 562, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 570, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 220, + 580, + 220, + 582, + 216, + 584, + 216, + 586, + 210, + 590, + 210, + 594, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 196, + 604, + 196, + 608, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 640, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 650, + 146, + 654, + 146, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 658, + 144, + 656, + 144, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 662, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 142, + 658, + 142, + 660, + 84, + 4, + 54, + 658, + 84, + 4, + 54, + 662, + 80, + 6, + 54, + 660, + 80, + 6, + 54, + 662, + 78, + 10, + 52, + 660, + 78, + 10, + 52, + 662, + 74, + 14, + 52, + 660, + 74, + 14, + 52, + 664, + 68, + 20, + 50, + 662, + 68, + 20, + 50, + 664, + 66, + 22, + 50, + 662, + 66, + 22, + 50, + 664, + 62, + 26, + 52, + 660, + 62, + 26, + 52, + 662, + 60, + 30, + 50, + 660, + 60, + 30, + 50, + 662, + 56, + 34, + 50, + 660, + 56, + 34, + 50, + 664, + 52, + 36, + 48, + 664, + 52, + 36, + 48, + 666, + 48, + 40, + 48, + 664, + 48, + 40, + 48, + 666, + 44, + 44, + 50, + 662, + 44, + 44, + 50, + 664, + 40, + 48, + 50, + 662, + 40, + 48, + 50, + 666, + 36, + 50, + 50, + 664, + 36, + 50, + 50, + 666, + 30, + 56, + 50, + 664, + 30, + 56, + 50, + 666, + 26, + 60, + 48, + 666, + 26, + 60, + 48, + 668, + 24, + 64, + 48, + 664, + 24, + 64, + 48, + 666, + 20, + 68, + 50, + 662, + 20, + 68, + 50, + 664, + 16, + 72, + 48, + 664, + 16, + 72, + 48, + 668, + 10, + 76, + 48, + 666, + 10, + 76, + 48, + 668, + 4, + 84, + 46, + 666, + 4, + 84, + 46, + 756, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 756, + 44, + 756, + 44, + 760, + 40, + 760, + 40, + 762, + 40, + 760, + 40, + 762, + 40, + 760, + 40, + 766, + 36, + 764, + 36, + 770, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 32, + 768, + 32, + 776, + 26, + 774, + 26, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 780, + 22, + 778, + 22, + 782, + 4, + 2, + 12, + 782, + 4, + 2, + 12, + 792, + 8, + 792, + 8, + 604115 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000227:0002", + "experimental_retained_index": 1, + "ism_score": 0.4271290898323059, + "R": [ + [ + 0.6503043174743652, + -0.23106437921524048, + 0.7234121561050415 + ], + [ + 0.7544263601303101, + 0.30821430683135986, + -0.5797385573387146 + ], + [ + -0.08899646997451782, + 0.9230514764785767, + 0.37465810775756836 + ] + ], + "t": [ + -179.8079833984375, + -6.370085716247559, + 442.30902099609375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 224, + 136, + 344, + 284 + ], + "score": 0.4639973044395447, + "time": 0.0, + "segmentation": { + "counts": [ + 178657, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 626, + 4, + 48, + 122, + 626, + 4, + 48, + 122, + 622, + 8, + 46, + 124, + 622, + 8, + 46, + 124, + 622, + 8, + 44, + 128, + 620, + 8, + 44, + 128, + 622, + 6, + 40, + 132, + 622, + 6, + 40, + 132, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 620, + 4, + 28, + 150, + 618, + 4, + 28, + 150, + 618, + 4, + 26, + 152, + 618, + 4, + 26, + 152, + 646, + 156, + 644, + 156, + 610, + 6, + 26, + 158, + 610, + 6, + 26, + 158, + 610, + 6, + 16, + 170, + 608, + 6, + 16, + 170, + 608, + 8, + 14, + 170, + 608, + 8, + 14, + 170, + 608, + 8, + 12, + 174, + 606, + 8, + 12, + 174, + 606, + 6, + 14, + 174, + 606, + 6, + 14, + 174, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 76, + 724, + 76, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 758, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 776, + 16, + 784, + 16, + 567711 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000227:0000", + "experimental_retained_index": 0, + "ism_score": 0.4805150032043457, + "R": [ + [ + 0.8954073786735535, + -0.1968807578086853, + 0.3995566964149475 + ], + [ + 0.44214072823524475, + 0.2805776298046112, + -0.8518700003623962 + ], + [ + 0.05566106364130974, + 0.9392709732055664, + 0.33819931745529175 + ] + ], + "t": [ + -201.63758850097656, + -138.48016357421875, + 425.36920166015625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000227/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000227/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000227:0000", + "TubeHolder:000227:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000227.png" + }, + { + "frame_id": 230, + "image_path": "/workspace/data/0008_/images/000230.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000230.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 332, + 130, + 298, + 284 + ], + "score": 0.45027709007263184, + "time": 0.0, + "segmentation": { + "counts": [ + 264999, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 28, + 772, + 28, + 770, + 36, + 764, + 36, + 764, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 754, + 54, + 746, + 54, + 744, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 708, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 648, + 62, + 4, + 88, + 646, + 62, + 4, + 88, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 634, + 68, + 2, + 98, + 632, + 68, + 2, + 98, + 632, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 586, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 16, + 2, + 204, + 578, + 16, + 2, + 204, + 576, + 18, + 2, + 208, + 572, + 18, + 2, + 208, + 572, + 18, + 2, + 208, + 572, + 18, + 2, + 208, + 574, + 16, + 2, + 210, + 572, + 16, + 2, + 210, + 572, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 762, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 776, + 18, + 782, + 18, + 784, + 8, + 792, + 8, + 518099 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000230:0001", + "experimental_retained_index": 0, + "ism_score": 0.4531089961528778, + "R": [ + [ + 0.7028205394744873, + -0.17083823680877686, + 0.6907609105110168 + ], + [ + 0.7030777931213379, + 0.31485679745674133, + -0.6377642750740051 + ], + [ + -0.10845163464546204, + 0.9336775541305542, + 0.34132641553878784 + ] + ], + "t": [ + -125.02399444580078, + -166.41452026367188, + 461.6040344238281 + ] + }, + { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 280, + 328, + 194, + 234 + ], + "score": 0.016674257814884186, + "time": 0.0, + "segmentation": { + "counts": [ + 223573, + 14, + 786, + 14, + 784, + 24, + 776, + 24, + 772, + 34, + 766, + 34, + 762, + 44, + 756, + 44, + 754, + 54, + 746, + 54, + 746, + 62, + 738, + 62, + 736, + 72, + 728, + 72, + 728, + 78, + 722, + 78, + 720, + 88, + 712, + 88, + 712, + 96, + 704, + 96, + 704, + 102, + 698, + 102, + 696, + 112, + 688, + 112, + 688, + 118, + 682, + 118, + 682, + 126, + 674, + 126, + 674, + 134, + 666, + 134, + 666, + 140, + 660, + 140, + 658, + 148, + 652, + 148, + 652, + 158, + 642, + 158, + 642, + 164, + 636, + 164, + 634, + 178, + 622, + 178, + 622, + 184, + 616, + 184, + 616, + 190, + 610, + 190, + 608, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 206, + 594, + 206, + 592, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 138, + 8, + 72, + 582, + 138, + 8, + 72, + 582, + 136, + 16, + 64, + 584, + 136, + 16, + 64, + 584, + 136, + 18, + 62, + 584, + 136, + 18, + 62, + 582, + 136, + 24, + 56, + 584, + 136, + 24, + 56, + 584, + 134, + 28, + 54, + 584, + 134, + 28, + 54, + 584, + 134, + 30, + 52, + 584, + 134, + 30, + 52, + 584, + 134, + 34, + 46, + 586, + 134, + 34, + 46, + 584, + 134, + 40, + 42, + 584, + 134, + 40, + 42, + 584, + 134, + 46, + 34, + 586, + 134, + 46, + 34, + 586, + 132, + 52, + 30, + 586, + 132, + 52, + 30, + 584, + 134, + 56, + 26, + 584, + 134, + 56, + 26, + 584, + 134, + 60, + 20, + 586, + 134, + 60, + 20, + 586, + 132, + 68, + 14, + 586, + 132, + 68, + 14, + 586, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 656, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 634, + 172, + 628, + 172, + 630, + 174, + 626, + 174, + 628, + 176, + 624, + 176, + 628, + 180, + 620, + 180, + 626, + 178, + 622, + 178, + 628, + 176, + 624, + 176, + 632, + 170, + 630, + 170, + 634, + 168, + 632, + 168, + 638, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 648, + 152, + 648, + 152, + 654, + 146, + 654, + 146, + 660, + 138, + 662, + 138, + 668, + 132, + 668, + 132, + 672, + 126, + 674, + 126, + 680, + 120, + 680, + 120, + 686, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 698, + 100, + 700, + 100, + 704, + 96, + 704, + 96, + 710, + 88, + 712, + 88, + 718, + 82, + 718, + 82, + 724, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 738, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 758, + 42, + 758, + 42, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 776, + 24, + 776, + 24, + 782, + 16, + 784, + 16, + 790, + 8, + 792, + 8, + 642689 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000230:0000", + "experimental_retained_index": 1, + "ism_score": 0.38112589716911316, + "R": [ + [ + 0.7438262104988098, + 0.2860410511493683, + 0.604147732257843 + ], + [ + -0.07439007610082626, + -0.8628365397453308, + 0.5001155734062195 + ], + [ + 0.6642796397209167, + -0.41687852144241333, + -0.6205664873123169 + ] + ], + "t": [ + -155.9544677734375, + 10.682103157043457, + 301.73992919921875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 332, + 130, + 298, + 284 + ], + "score": 0.45027709007263184, + "time": 0.0, + "segmentation": { + "counts": [ + 264999, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 28, + 772, + 28, + 770, + 36, + 764, + 36, + 764, + 40, + 760, + 40, + 758, + 46, + 754, + 46, + 754, + 54, + 746, + 54, + 744, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 708, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 648, + 62, + 4, + 88, + 646, + 62, + 4, + 88, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 634, + 68, + 2, + 98, + 632, + 68, + 2, + 98, + 632, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 586, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 16, + 2, + 204, + 578, + 16, + 2, + 204, + 576, + 18, + 2, + 208, + 572, + 18, + 2, + 208, + 572, + 18, + 2, + 208, + 572, + 18, + 2, + 208, + 574, + 16, + 2, + 210, + 572, + 16, + 2, + 210, + 572, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 762, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 776, + 18, + 782, + 18, + 784, + 8, + 792, + 8, + 518099 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000230:0001", + "experimental_retained_index": 0, + "ism_score": 0.4531089961528778, + "R": [ + [ + 0.7028205394744873, + -0.17083823680877686, + 0.6907609105110168 + ], + [ + 0.7030777931213379, + 0.31485679745674133, + -0.6377642750740051 + ], + [ + -0.10845163464546204, + 0.9336775541305542, + 0.34132641553878784 + ] + ], + "t": [ + -125.02399444580078, + -166.41452026367188, + 461.6040344238281 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000230/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000230/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000230:0001", + "TubeHolder:000230:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000230.png" + }, + { + "frame_id": 234, + "image_path": "/workspace/data/0008_/images/000234.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000234.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 330, + 186, + 360, + 504 + ], + "score": 0.43560144305229187, + "time": 0.0, + "segmentation": { + "counts": [ + 263785, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 85266, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 788, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 776, + 32, + 768, + 32, + 766, + 48, + 752, + 48, + 752, + 56, + 744, + 56, + 744, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 90, + 332, + 10, + 368, + 90, + 332, + 10, + 368, + 94, + 328, + 10, + 368, + 94, + 328, + 10, + 368, + 98, + 324, + 8, + 370, + 98, + 324, + 8, + 370, + 100, + 316, + 4, + 4, + 6, + 370, + 100, + 316, + 4, + 4, + 6, + 368, + 106, + 312, + 4, + 378, + 106, + 312, + 4, + 378, + 110, + 330, + 4, + 356, + 110, + 330, + 4, + 356, + 114, + 292, + 4, + 30, + 4, + 356, + 114, + 292, + 4, + 30, + 4, + 354, + 118, + 288, + 8, + 28, + 4, + 354, + 118, + 288, + 8, + 28, + 4, + 354, + 122, + 282, + 10, + 386, + 122, + 282, + 10, + 386, + 128, + 276, + 10, + 386, + 128, + 276, + 10, + 384, + 132, + 276, + 8, + 384, + 132, + 276, + 8, + 384, + 136, + 272, + 8, + 384, + 136, + 272, + 8, + 382, + 142, + 270, + 4, + 384, + 142, + 270, + 4, + 384, + 146, + 654, + 146, + 654, + 150, + 302, + 4, + 344, + 150, + 302, + 4, + 344, + 154, + 298, + 8, + 340, + 154, + 298, + 8, + 338, + 160, + 294, + 8, + 338, + 160, + 294, + 8, + 338, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 172, + 628, + 172, + 628, + 176, + 624, + 176, + 624, + 182, + 618, + 182, + 616, + 186, + 248, + 4, + 362, + 186, + 248, + 4, + 362, + 188, + 210, + 4, + 30, + 6, + 362, + 188, + 210, + 4, + 30, + 6, + 362, + 194, + 204, + 4, + 30, + 6, + 362, + 194, + 204, + 4, + 30, + 6, + 360, + 200, + 150, + 4, + 446, + 200, + 150, + 4, + 446, + 204, + 146, + 4, + 446, + 204, + 146, + 4, + 444, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 218, + 582, + 218, + 580, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 536, + 8, + 26, + 234, + 532, + 8, + 26, + 234, + 532, + 14, + 20, + 236, + 530, + 14, + 20, + 236, + 530, + 14, + 20, + 242, + 524, + 14, + 20, + 242, + 524, + 26, + 6, + 246, + 522, + 26, + 6, + 246, + 522, + 30, + 2, + 252, + 516, + 30, + 2, + 252, + 516, + 286, + 514, + 286, + 514, + 16, + 2, + 272, + 510, + 16, + 2, + 272, + 510, + 294, + 506, + 294, + 508, + 298, + 502, + 298, + 504, + 300, + 500, + 300, + 502, + 6, + 6, + 290, + 498, + 6, + 6, + 290, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 524, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 534, + 264, + 536, + 264, + 540, + 260, + 168, + 6, + 366, + 260, + 168, + 6, + 368, + 256, + 134, + 18, + 18, + 6, + 368, + 256, + 134, + 18, + 18, + 6, + 372, + 250, + 136, + 18, + 18, + 6, + 372, + 250, + 136, + 18, + 18, + 6, + 374, + 248, + 172, + 6, + 374, + 248, + 172, + 6, + 376, + 246, + 172, + 6, + 376, + 246, + 172, + 6, + 380, + 240, + 174, + 6, + 380, + 240, + 174, + 6, + 384, + 236, + 174, + 6, + 384, + 236, + 174, + 6, + 386, + 232, + 178, + 4, + 386, + 232, + 178, + 4, + 392, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 594, + 204, + 596, + 204, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 624, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 636, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 730, + 70, + 730, + 70, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 752, + 44, + 756, + 44, + 760, + 34, + 766, + 34, + 768, + 26, + 774, + 26, + 778, + 16, + 784, + 16, + 788, + 8, + 792, + 8, + 469993 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000234:0001", + "experimental_retained_index": 0, + "ism_score": 0.45257291197776794, + "R": [ + [ + 0.5255159139633179, + -0.08803918212652206, + 0.8462161421775818 + ], + [ + 0.7780925035476685, + 0.45201414823532104, + -0.43618258833885193 + ], + [ + -0.34410056471824646, + 0.88765549659729, + 0.3060433864593506 + ] + ], + "t": [ + -55.79564666748047, + -107.65116882324219, + 483.0684814453125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 330, + 186, + 360, + 504 + ], + "score": 0.43560144305229187, + "time": 0.0, + "segmentation": { + "counts": [ + 263785, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 85266, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 788, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 776, + 32, + 768, + 32, + 766, + 48, + 752, + 48, + 752, + 56, + 744, + 56, + 744, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 90, + 332, + 10, + 368, + 90, + 332, + 10, + 368, + 94, + 328, + 10, + 368, + 94, + 328, + 10, + 368, + 98, + 324, + 8, + 370, + 98, + 324, + 8, + 370, + 100, + 316, + 4, + 4, + 6, + 370, + 100, + 316, + 4, + 4, + 6, + 368, + 106, + 312, + 4, + 378, + 106, + 312, + 4, + 378, + 110, + 330, + 4, + 356, + 110, + 330, + 4, + 356, + 114, + 292, + 4, + 30, + 4, + 356, + 114, + 292, + 4, + 30, + 4, + 354, + 118, + 288, + 8, + 28, + 4, + 354, + 118, + 288, + 8, + 28, + 4, + 354, + 122, + 282, + 10, + 386, + 122, + 282, + 10, + 386, + 128, + 276, + 10, + 386, + 128, + 276, + 10, + 384, + 132, + 276, + 8, + 384, + 132, + 276, + 8, + 384, + 136, + 272, + 8, + 384, + 136, + 272, + 8, + 382, + 142, + 270, + 4, + 384, + 142, + 270, + 4, + 384, + 146, + 654, + 146, + 654, + 150, + 302, + 4, + 344, + 150, + 302, + 4, + 344, + 154, + 298, + 8, + 340, + 154, + 298, + 8, + 338, + 160, + 294, + 8, + 338, + 160, + 294, + 8, + 338, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 632, + 172, + 628, + 172, + 628, + 176, + 624, + 176, + 624, + 182, + 618, + 182, + 616, + 186, + 248, + 4, + 362, + 186, + 248, + 4, + 362, + 188, + 210, + 4, + 30, + 6, + 362, + 188, + 210, + 4, + 30, + 6, + 362, + 194, + 204, + 4, + 30, + 6, + 362, + 194, + 204, + 4, + 30, + 6, + 360, + 200, + 150, + 4, + 446, + 200, + 150, + 4, + 446, + 204, + 146, + 4, + 446, + 204, + 146, + 4, + 444, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 218, + 582, + 218, + 580, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 536, + 8, + 26, + 234, + 532, + 8, + 26, + 234, + 532, + 14, + 20, + 236, + 530, + 14, + 20, + 236, + 530, + 14, + 20, + 242, + 524, + 14, + 20, + 242, + 524, + 26, + 6, + 246, + 522, + 26, + 6, + 246, + 522, + 30, + 2, + 252, + 516, + 30, + 2, + 252, + 516, + 286, + 514, + 286, + 514, + 16, + 2, + 272, + 510, + 16, + 2, + 272, + 510, + 294, + 506, + 294, + 508, + 298, + 502, + 298, + 504, + 300, + 500, + 300, + 502, + 6, + 6, + 290, + 498, + 6, + 6, + 290, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 524, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 534, + 264, + 536, + 264, + 540, + 260, + 168, + 6, + 366, + 260, + 168, + 6, + 368, + 256, + 134, + 18, + 18, + 6, + 368, + 256, + 134, + 18, + 18, + 6, + 372, + 250, + 136, + 18, + 18, + 6, + 372, + 250, + 136, + 18, + 18, + 6, + 374, + 248, + 172, + 6, + 374, + 248, + 172, + 6, + 376, + 246, + 172, + 6, + 376, + 246, + 172, + 6, + 380, + 240, + 174, + 6, + 380, + 240, + 174, + 6, + 384, + 236, + 174, + 6, + 384, + 236, + 174, + 6, + 386, + 232, + 178, + 4, + 386, + 232, + 178, + 4, + 392, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 594, + 204, + 596, + 204, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 610, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 624, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 636, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 684, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 722, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 730, + 70, + 730, + 70, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 752, + 44, + 756, + 44, + 760, + 34, + 766, + 34, + 768, + 26, + 774, + 26, + 778, + 16, + 784, + 16, + 788, + 8, + 792, + 8, + 469993 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000234:0001", + "experimental_retained_index": 0, + "ism_score": 0.45257291197776794, + "R": [ + [ + 0.5255159139633179, + -0.08803918212652206, + 0.8462161421775818 + ], + [ + 0.7780925035476685, + 0.45201414823532104, + -0.43618258833885193 + ], + [ + -0.34410056471824646, + 0.88765549659729, + 0.3060433864593506 + ] + ], + "t": [ + -55.79564666748047, + -107.65116882324219, + 483.0684814453125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000234/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000234/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000234:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000234.png" + }, + { + "frame_id": 238, + "image_path": "/workspace/data/0008_/images/000238.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000238.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 480, + 26, + 288, + 534 + ], + "score": 0.39075514674186707, + "time": 0.0, + "segmentation": { + "counts": [ + 383435, + 6, + 794, + 6, + 794, + 8, + 12, + 4, + 776, + 8, + 12, + 4, + 776, + 8, + 12, + 4, + 776, + 8, + 12, + 4, + 776, + 6, + 794, + 6, + 10400, + 10, + 4, + 6, + 780, + 10, + 4, + 6, + 780, + 10, + 2, + 10, + 778, + 10, + 2, + 10, + 778, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 6, + 2, + 8, + 2, + 6, + 776, + 6, + 2, + 8, + 2, + 6, + 48830, + 10, + 790, + 10, + 786, + 38, + 6, + 8, + 748, + 38, + 6, + 8, + 748, + 70, + 730, + 70, + 730, + 84, + 716, + 84, + 716, + 102, + 698, + 102, + 696, + 118, + 682, + 118, + 682, + 126, + 674, + 126, + 674, + 144, + 656, + 144, + 656, + 158, + 642, + 158, + 642, + 172, + 628, + 172, + 628, + 190, + 610, + 190, + 610, + 204, + 596, + 204, + 596, + 226, + 574, + 226, + 574, + 240, + 560, + 240, + 560, + 262, + 538, + 262, + 536, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 264, + 4, + 256, + 276, + 264, + 4, + 256, + 276, + 264, + 6, + 252, + 278, + 264, + 6, + 252, + 278, + 264, + 6, + 252, + 278, + 264, + 6, + 252, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 522, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 496, + 14, + 12, + 278, + 496, + 14, + 12, + 278, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 508, + 4, + 14, + 272, + 510, + 4, + 14, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 538, + 262, + 538, + 262, + 542, + 256, + 544, + 256, + 550, + 250, + 550, + 250, + 558, + 242, + 558, + 242, + 564, + 236, + 564, + 236, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 584, + 214, + 586, + 214, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 608, + 192, + 608, + 192, + 614, + 186, + 614, + 186, + 620, + 180, + 620, + 180, + 626, + 174, + 626, + 174, + 634, + 166, + 634, + 166, + 640, + 160, + 640, + 160, + 644, + 154, + 646, + 154, + 654, + 146, + 654, + 146, + 660, + 140, + 660, + 140, + 668, + 132, + 668, + 132, + 674, + 126, + 674, + 126, + 682, + 118, + 682, + 118, + 688, + 110, + 690, + 110, + 696, + 102, + 698, + 102, + 706, + 90, + 710, + 90, + 714, + 82, + 718, + 82, + 726, + 68, + 732, + 68, + 738, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 756, + 40, + 760, + 40, + 766, + 32, + 768, + 32, + 776, + 20, + 780, + 20, + 786, + 10, + 790, + 10, + 407493 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000238:0001", + "experimental_retained_index": 0, + "ism_score": 0.4181995093822479, + "R": [ + [ + -0.15775702893733978, + -0.026059869676828384, + -0.9871339201927185 + ], + [ + -0.8210920691490173, + 0.5587872266769409, + 0.11646948754787445 + ], + [ + 0.54856276512146, + 0.828901469707489, + -0.10955026745796204 + ] + ], + "t": [ + -15.728887557983398, + 98.83860778808594, + 374.4073486328125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 480, + 26, + 288, + 534 + ], + "score": 0.39075514674186707, + "time": 0.0, + "segmentation": { + "counts": [ + 383435, + 6, + 794, + 6, + 794, + 8, + 12, + 4, + 776, + 8, + 12, + 4, + 776, + 8, + 12, + 4, + 776, + 8, + 12, + 4, + 776, + 6, + 794, + 6, + 10400, + 10, + 4, + 6, + 780, + 10, + 4, + 6, + 780, + 10, + 2, + 10, + 778, + 10, + 2, + 10, + 778, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 6, + 2, + 8, + 2, + 6, + 776, + 6, + 2, + 8, + 2, + 6, + 48830, + 10, + 790, + 10, + 786, + 38, + 6, + 8, + 748, + 38, + 6, + 8, + 748, + 70, + 730, + 70, + 730, + 84, + 716, + 84, + 716, + 102, + 698, + 102, + 696, + 118, + 682, + 118, + 682, + 126, + 674, + 126, + 674, + 144, + 656, + 144, + 656, + 158, + 642, + 158, + 642, + 172, + 628, + 172, + 628, + 190, + 610, + 190, + 610, + 204, + 596, + 204, + 596, + 226, + 574, + 226, + 574, + 240, + 560, + 240, + 560, + 262, + 538, + 262, + 536, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 264, + 4, + 256, + 276, + 264, + 4, + 256, + 276, + 264, + 6, + 252, + 278, + 264, + 6, + 252, + 278, + 264, + 6, + 252, + 278, + 264, + 6, + 252, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 522, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 496, + 14, + 12, + 278, + 496, + 14, + 12, + 278, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 508, + 4, + 14, + 272, + 510, + 4, + 14, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 538, + 262, + 538, + 262, + 542, + 256, + 544, + 256, + 550, + 250, + 550, + 250, + 558, + 242, + 558, + 242, + 564, + 236, + 564, + 236, + 570, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 584, + 214, + 586, + 214, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 608, + 192, + 608, + 192, + 614, + 186, + 614, + 186, + 620, + 180, + 620, + 180, + 626, + 174, + 626, + 174, + 634, + 166, + 634, + 166, + 640, + 160, + 640, + 160, + 644, + 154, + 646, + 154, + 654, + 146, + 654, + 146, + 660, + 140, + 660, + 140, + 668, + 132, + 668, + 132, + 674, + 126, + 674, + 126, + 682, + 118, + 682, + 118, + 688, + 110, + 690, + 110, + 696, + 102, + 698, + 102, + 706, + 90, + 710, + 90, + 714, + 82, + 718, + 82, + 726, + 68, + 732, + 68, + 738, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 756, + 40, + 760, + 40, + 766, + 32, + 768, + 32, + 776, + 20, + 780, + 20, + 786, + 10, + 790, + 10, + 407493 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000238:0001", + "experimental_retained_index": 0, + "ism_score": 0.4181995093822479, + "R": [ + [ + -0.15775702893733978, + -0.026059869676828384, + -0.9871339201927185 + ], + [ + -0.8210920691490173, + 0.5587872266769409, + 0.11646948754787445 + ], + [ + 0.54856276512146, + 0.828901469707489, + -0.10955026745796204 + ] + ], + "t": [ + -15.728887557983398, + 98.83860778808594, + 374.4073486328125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000238/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000238/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000238:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000238.png" + }, + { + "frame_id": 243, + "image_path": "/workspace/data/0008_/images/000243.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000243.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 296, + 234, + 502, + 368 + ], + "score": 0.3552396893501282, + "time": 0.0, + "segmentation": { + "counts": [ + 236571, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 59862, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 24728, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 16776, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 120944, + 6, + 794, + 6, + 786, + 16, + 784, + 16, + 776, + 26, + 774, + 26, + 768, + 32, + 768, + 32, + 760, + 42, + 758, + 42, + 744, + 56, + 744, + 56, + 738, + 62, + 738, + 62, + 730, + 72, + 728, + 72, + 722, + 78, + 722, + 78, + 714, + 86, + 714, + 86, + 708, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 692, + 108, + 692, + 108, + 686, + 114, + 82, + 4, + 600, + 114, + 82, + 4, + 592, + 124, + 80, + 4, + 592, + 124, + 80, + 4, + 586, + 130, + 670, + 130, + 664, + 136, + 664, + 136, + 656, + 144, + 656, + 144, + 648, + 154, + 646, + 154, + 638, + 162, + 638, + 162, + 632, + 168, + 632, + 168, + 626, + 174, + 626, + 174, + 616, + 186, + 614, + 186, + 608, + 192, + 608, + 192, + 600, + 200, + 600, + 200, + 592, + 210, + 590, + 210, + 584, + 216, + 584, + 216, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 562, + 238, + 562, + 238, + 556, + 246, + 554, + 246, + 546, + 254, + 546, + 254, + 536, + 264, + 536, + 264, + 528, + 274, + 526, + 274, + 520, + 280, + 520, + 280, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 512, + 284, + 516, + 284, + 516, + 280, + 520, + 280, + 520, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 530, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 534, + 264, + 536, + 264, + 532, + 266, + 534, + 266, + 514, + 14, + 2, + 268, + 516, + 14, + 2, + 268, + 512, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 516, + 278, + 522, + 278, + 522, + 258, + 542, + 258, + 542, + 34, + 6, + 194, + 566, + 34, + 6, + 194, + 566, + 32, + 8, + 158, + 602, + 32, + 8, + 158, + 604, + 18, + 20, + 134, + 628, + 18, + 20, + 134, + 630, + 14, + 22, + 112, + 652, + 14, + 22, + 112, + 654, + 10, + 26, + 86, + 678, + 10, + 26, + 86, + 714, + 68, + 732, + 68, + 734, + 42, + 758, + 42, + 760, + 16, + 784, + 16, + 383705 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000243:0002", + "experimental_retained_index": 0, + "ism_score": 0.5262809991836548, + "R": [ + [ + -0.22312256693840027, + 0.12679554522037506, + -0.9665270447731018 + ], + [ + 0.9169301986694336, + -0.3099016845226288, + -0.2521646022796631 + ], + [ + -0.3314497172832489, + -0.94241863489151, + -0.047087907791137695 + ] + ], + "t": [ + 19.246389389038086, + -119.1758804321289, + 368.0220947265625 + ] + }, + { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 360, + 304, + 246, + 212 + ], + "score": 0.09367026388645172, + "time": 0.0, + "segmentation": { + "counts": [ + 287625, + 10, + 790, + 10, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 770, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 42, + 10, + 686, + 62, + 42, + 10, + 684, + 64, + 40, + 14, + 682, + 64, + 40, + 14, + 682, + 62, + 40, + 18, + 680, + 62, + 40, + 18, + 678, + 62, + 40, + 22, + 676, + 62, + 40, + 22, + 674, + 62, + 40, + 24, + 674, + 62, + 40, + 24, + 672, + 60, + 40, + 30, + 670, + 60, + 40, + 30, + 670, + 44, + 54, + 34, + 668, + 44, + 54, + 34, + 666, + 44, + 54, + 38, + 664, + 44, + 54, + 38, + 662, + 44, + 54, + 42, + 660, + 44, + 54, + 42, + 658, + 44, + 54, + 46, + 656, + 44, + 54, + 46, + 654, + 44, + 52, + 50, + 654, + 44, + 52, + 50, + 654, + 44, + 50, + 54, + 652, + 44, + 50, + 54, + 650, + 44, + 50, + 58, + 648, + 44, + 50, + 58, + 646, + 48, + 46, + 62, + 644, + 48, + 46, + 62, + 642, + 50, + 42, + 68, + 640, + 50, + 42, + 68, + 640, + 52, + 38, + 72, + 638, + 52, + 38, + 72, + 636, + 56, + 34, + 76, + 634, + 56, + 34, + 76, + 632, + 58, + 32, + 78, + 632, + 58, + 32, + 78, + 630, + 62, + 30, + 80, + 628, + 62, + 30, + 80, + 626, + 66, + 26, + 84, + 624, + 66, + 26, + 84, + 622, + 70, + 24, + 86, + 620, + 70, + 24, + 86, + 620, + 70, + 24, + 88, + 618, + 70, + 24, + 88, + 616, + 74, + 20, + 90, + 616, + 74, + 20, + 90, + 614, + 78, + 18, + 92, + 612, + 78, + 18, + 92, + 612, + 80, + 14, + 94, + 612, + 80, + 14, + 94, + 610, + 86, + 6, + 98, + 610, + 86, + 6, + 98, + 608, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 610, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 614, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 790, + 8, + 792, + 8, + 537219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000243:0001", + "experimental_retained_index": 1, + "ism_score": 0.3842882513999939, + "R": [ + [ + 0.7701733112335205, + 0.13116797804832458, + -0.6240344047546387 + ], + [ + 0.588230550289154, + -0.5232665538787842, + 0.616117537021637 + ], + [ + -0.245863676071167, + -0.8419647216796875, + -0.4802115261554718 + ] + ], + "t": [ + -205.50338745117188, + -44.299522399902344, + 388.6646728515625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 296, + 234, + 502, + 368 + ], + "score": 0.3552396893501282, + "time": 0.0, + "segmentation": { + "counts": [ + 236571, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 59862, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 24728, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 16776, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 120944, + 6, + 794, + 6, + 786, + 16, + 784, + 16, + 776, + 26, + 774, + 26, + 768, + 32, + 768, + 32, + 760, + 42, + 758, + 42, + 744, + 56, + 744, + 56, + 738, + 62, + 738, + 62, + 730, + 72, + 728, + 72, + 722, + 78, + 722, + 78, + 714, + 86, + 714, + 86, + 708, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 692, + 108, + 692, + 108, + 686, + 114, + 82, + 4, + 600, + 114, + 82, + 4, + 592, + 124, + 80, + 4, + 592, + 124, + 80, + 4, + 586, + 130, + 670, + 130, + 664, + 136, + 664, + 136, + 656, + 144, + 656, + 144, + 648, + 154, + 646, + 154, + 638, + 162, + 638, + 162, + 632, + 168, + 632, + 168, + 626, + 174, + 626, + 174, + 616, + 186, + 614, + 186, + 608, + 192, + 608, + 192, + 600, + 200, + 600, + 200, + 592, + 210, + 590, + 210, + 584, + 216, + 584, + 216, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 562, + 238, + 562, + 238, + 556, + 246, + 554, + 246, + 546, + 254, + 546, + 254, + 536, + 264, + 536, + 264, + 528, + 274, + 526, + 274, + 520, + 280, + 520, + 280, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 512, + 284, + 516, + 284, + 516, + 280, + 520, + 280, + 520, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 530, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 534, + 264, + 536, + 264, + 532, + 266, + 534, + 266, + 514, + 14, + 2, + 268, + 516, + 14, + 2, + 268, + 512, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 516, + 278, + 522, + 278, + 522, + 258, + 542, + 258, + 542, + 34, + 6, + 194, + 566, + 34, + 6, + 194, + 566, + 32, + 8, + 158, + 602, + 32, + 8, + 158, + 604, + 18, + 20, + 134, + 628, + 18, + 20, + 134, + 630, + 14, + 22, + 112, + 652, + 14, + 22, + 112, + 654, + 10, + 26, + 86, + 678, + 10, + 26, + 86, + 714, + 68, + 732, + 68, + 734, + 42, + 758, + 42, + 760, + 16, + 784, + 16, + 383705 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000243:0002", + "experimental_retained_index": 0, + "ism_score": 0.5262809991836548, + "R": [ + [ + -0.22312256693840027, + 0.12679554522037506, + -0.9665270447731018 + ], + [ + 0.9169301986694336, + -0.3099016845226288, + -0.2521646022796631 + ], + [ + -0.3314497172832489, + -0.94241863489151, + -0.047087907791137695 + ] + ], + "t": [ + 19.246389389038086, + -119.1758804321289, + 368.0220947265625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000243/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000243/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000243:0002", + "TubeHolder:000243:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000243.png" + }, + { + "frame_id": 248, + "image_path": "/workspace/data/0008_/images/000248.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000248.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 612, + 256, + 298, + 326 + ], + "score": 0.4130733013153076, + "time": 0.0, + "segmentation": { + "counts": [ + 489281, + 8, + 792, + 8, + 786, + 16, + 784, + 16, + 776, + 26, + 774, + 26, + 768, + 34, + 766, + 34, + 754, + 46, + 754, + 46, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 634, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 536, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 528, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 506, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 302, + 498, + 302, + 494, + 306, + 494, + 306, + 492, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 482, + 316, + 484, + 316, + 482, + 316, + 484, + 316, + 480, + 318, + 482, + 318, + 482, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 490, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 498, + 300, + 500, + 300, + 500, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 506, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 512, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 522, + 274, + 526, + 274, + 528, + 270, + 530, + 270, + 530, + 266, + 534, + 266, + 536, + 260, + 540, + 260, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 566, + 230, + 570, + 230, + 570, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 202, + 598, + 202, + 600, + 196, + 604, + 196, + 604, + 194, + 606, + 194, + 608, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 624, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 670, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 680, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 94, + 706, + 94, + 704, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 722, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 4, + 4, + 60, + 732, + 4, + 4, + 60, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 740, + 4, + 8, + 46, + 742, + 4, + 8, + 46, + 742, + 4, + 10, + 40, + 746, + 4, + 10, + 40, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 792, + 4, + 796, + 4, + 294071 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.42639824748039246, + "R": [ + [ + -0.5872783064842224, + 0.11428894102573395, + -0.801394522190094 + ], + [ + 0.6319075226783752, + -0.5542734861373901, + -0.5417615175247192 + ], + [ + -0.5059952139854431, + -0.8243781924247742, + 0.253216415643692 + ] + ], + "t": [ + 95.75840759277344, + -91.40667724609375, + 389.587890625 + ] + }, + { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 434, + 280, + 244, + 174 + ], + "score": 0.2569248080253601, + "time": 0.0, + "segmentation": { + "counts": [ + 346751, + 4, + 796, + 4, + 790, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 38, + 34, + 12, + 716, + 38, + 34, + 12, + 716, + 38, + 34, + 14, + 714, + 38, + 34, + 14, + 712, + 40, + 32, + 20, + 708, + 40, + 32, + 20, + 708, + 40, + 30, + 26, + 704, + 40, + 30, + 26, + 704, + 38, + 30, + 30, + 702, + 38, + 30, + 30, + 702, + 36, + 32, + 34, + 698, + 36, + 32, + 34, + 696, + 38, + 30, + 40, + 692, + 38, + 30, + 40, + 692, + 36, + 30, + 46, + 688, + 36, + 30, + 46, + 686, + 38, + 30, + 50, + 682, + 38, + 30, + 50, + 682, + 36, + 32, + 52, + 680, + 36, + 32, + 52, + 680, + 34, + 32, + 58, + 676, + 34, + 32, + 58, + 674, + 36, + 32, + 62, + 670, + 36, + 32, + 62, + 670, + 36, + 30, + 68, + 666, + 36, + 30, + 68, + 666, + 34, + 32, + 72, + 662, + 34, + 32, + 72, + 660, + 34, + 32, + 74, + 660, + 34, + 32, + 74, + 660, + 24, + 40, + 78, + 658, + 24, + 40, + 78, + 658, + 22, + 40, + 80, + 658, + 22, + 40, + 80, + 656, + 22, + 42, + 80, + 656, + 22, + 42, + 80, + 656, + 22, + 40, + 82, + 656, + 22, + 40, + 82, + 656, + 20, + 40, + 84, + 656, + 20, + 40, + 84, + 654, + 22, + 40, + 82, + 656, + 22, + 40, + 82, + 656, + 22, + 40, + 82, + 656, + 22, + 40, + 82, + 656, + 22, + 40, + 80, + 658, + 22, + 40, + 80, + 656, + 24, + 40, + 80, + 656, + 24, + 40, + 80, + 656, + 26, + 38, + 78, + 658, + 26, + 38, + 78, + 658, + 30, + 32, + 80, + 658, + 30, + 32, + 80, + 656, + 36, + 28, + 78, + 658, + 36, + 28, + 78, + 658, + 38, + 24, + 80, + 658, + 38, + 24, + 80, + 658, + 42, + 20, + 80, + 658, + 42, + 20, + 80, + 656, + 46, + 16, + 80, + 658, + 46, + 16, + 80, + 658, + 48, + 14, + 80, + 658, + 48, + 14, + 80, + 658, + 52, + 4, + 84, + 660, + 52, + 4, + 84, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 688, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 730, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 766, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 479637 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000248:0001", + "experimental_retained_index": 1, + "ism_score": 0.3915044665336609, + "R": [ + [ + 0.8637795448303223, + 0.03697440028190613, + 0.5027028918266296 + ], + [ + -0.2747667133808136, + -0.8011655211448669, + 0.531202495098114 + ], + [ + 0.4221266806125641, + -0.597014307975769, + -0.681810736656189 + ] + ], + "t": [ + -76.12419891357422, + 4.524320602416992, + 330.4390563964844 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 612, + 256, + 298, + 326 + ], + "score": 0.4130733013153076, + "time": 0.0, + "segmentation": { + "counts": [ + 489281, + 8, + 792, + 8, + 786, + 16, + 784, + 16, + 776, + 26, + 774, + 26, + 768, + 34, + 766, + 34, + 754, + 46, + 754, + 46, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 634, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 608, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 536, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 528, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 506, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 302, + 498, + 302, + 494, + 306, + 494, + 306, + 492, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 482, + 316, + 484, + 316, + 482, + 316, + 484, + 316, + 480, + 318, + 482, + 318, + 482, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 490, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 498, + 300, + 500, + 300, + 500, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 506, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 512, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 522, + 274, + 526, + 274, + 528, + 270, + 530, + 270, + 530, + 266, + 534, + 266, + 536, + 260, + 540, + 260, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 566, + 230, + 570, + 230, + 570, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 202, + 598, + 202, + 600, + 196, + 604, + 196, + 604, + 194, + 606, + 194, + 608, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 624, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 670, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 680, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 700, + 98, + 702, + 98, + 702, + 94, + 706, + 94, + 704, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 722, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 4, + 4, + 60, + 732, + 4, + 4, + 60, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 740, + 4, + 8, + 46, + 742, + 4, + 8, + 46, + 742, + 4, + 10, + 40, + 746, + 4, + 10, + 40, + 762, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 792, + 4, + 796, + 4, + 294071 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.42639824748039246, + "R": [ + [ + -0.5872783064842224, + 0.11428894102573395, + -0.801394522190094 + ], + [ + 0.6319075226783752, + -0.5542734861373901, + -0.5417615175247192 + ], + [ + -0.5059952139854431, + -0.8243781924247742, + 0.253216415643692 + ] + ], + "t": [ + 95.75840759277344, + -91.40667724609375, + 389.587890625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000248/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000248/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000248:0000", + "TubeHolder:000248:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000248.png" + }, + { + "frame_id": 249, + "image_path": "/workspace/data/0008_/images/000249.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000249.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 610, + 274, + 312, + 322 + ], + "score": 0.4016043245792389, + "time": 0.0, + "segmentation": { + "counts": [ + 487685, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 768, + 34, + 766, + 34, + 758, + 42, + 758, + 42, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 606, + 194, + 606, + 194, + 604, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 244, + 556, + 244, + 552, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 542, + 260, + 540, + 260, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 528, + 274, + 526, + 274, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 518, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 508, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 284, + 516, + 284, + 514, + 284, + 516, + 284, + 514, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 518, + 280, + 520, + 280, + 518, + 280, + 520, + 280, + 518, + 280, + 520, + 280, + 516, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 518, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 538, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 556, + 242, + 558, + 242, + 558, + 238, + 562, + 238, + 562, + 234, + 566, + 234, + 568, + 230, + 570, + 230, + 570, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 284443 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000249:0000", + "experimental_retained_index": 0, + "ism_score": 0.42135536670684814, + "R": [ + [ + -0.6318610310554504, + 0.12235400080680847, + -0.7653635144233704 + ], + [ + 0.5949001312255859, + -0.5564155578613281, + -0.5800830721855164 + ], + [ + -0.49683552980422974, + -0.8218462467193604, + 0.2787889540195465 + ] + ], + "t": [ + 105.44098663330078, + -80.62820434570312, + 389.65643310546875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 610, + 274, + 312, + 322 + ], + "score": 0.4016043245792389, + "time": 0.0, + "segmentation": { + "counts": [ + 487685, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 768, + 34, + 766, + 34, + 758, + 42, + 758, + 42, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 606, + 194, + 606, + 194, + 604, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 244, + 556, + 244, + 552, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 542, + 260, + 540, + 260, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 528, + 274, + 526, + 274, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 518, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 508, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 284, + 516, + 284, + 514, + 284, + 516, + 284, + 514, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 518, + 280, + 520, + 280, + 518, + 280, + 520, + 280, + 518, + 280, + 520, + 280, + 516, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 518, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 538, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 556, + 242, + 558, + 242, + 558, + 238, + 562, + 238, + 562, + 234, + 566, + 234, + 568, + 230, + 570, + 230, + 570, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 728, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 284443 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "TubeHolder:000249:0000", + "experimental_retained_index": 0, + "ism_score": 0.42135536670684814, + "R": [ + [ + -0.6318610310554504, + 0.12235400080680847, + -0.7653635144233704 + ], + [ + 0.5949001312255859, + -0.5564155578613281, + -0.5800830721855164 + ], + [ + -0.49683552980422974, + -0.8218462467193604, + 0.2787889540195465 + ] + ], + "t": [ + 105.44098663330078, + -80.62820434570312, + 389.65643310546875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000249/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/frames/000249/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "TubeHolder:000249:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/TubeHolder/visualizations/000249.png" + } + ] +} diff --git a/0008_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_poses_per_frame.json b/0008_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_poses_per_frame.json new file mode 100644 index 0000000000000000000000000000000000000000..bc24f4eaa54a3cacb5ef85400cb97ac888e80e87 --- /dev/null +++ b/0008_/experimental_multi_instance/pem/eppendorf_tarto/eppendorf_tarto_poses_per_frame.json @@ -0,0 +1,132535 @@ +{ + "format": "label_factory_experimental_multi_instance_poses_per_frame_v1", + "experimental": true, + "changes_current_pipeline": false, + "object_name": "eppendorf_tarto", + "object_identity": { + "object_name": "eppendorf_tarto", + "cad_path": "/workspace/data/0008_/objects/stl/eppendorf_tarto.stl", + "cad_sha256": "7d698d64d81473da4ef3e670b532046ae03c6d76df03022f6f00a0770163feef", + "templates_identity": "7d698d64d81473da4ef3e670b532046ae03c6d76df03022f6f00a0770163feef" + }, + "config_path": "/workspace/scripts/configs/default.yaml", + "dataset_dir": "/workspace/data/0008_", + "cad_path": "/workspace/data/0008_/objects/stl/eppendorf_tarto.stl", + "camera_path": "/workspace/data/0008_/sam6d_sequences/eppendorf_tarto/camera_depth_mm.json", + "depth_unit": "millimetre", + "source_audit": "/workspace/data/0008_/experimental_multi_instance/ism_candidate_audit/summary.json", + "experimental_pem_manifest": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/experimental_pem_manifest.json", + "statistics": { + "frames": 57, + "frames_with_candidates": 55, + "frames_with_poses": 55, + "input_candidates": 139, + "pose_candidates": 126, + "candidates_without_pose": 13 + }, + "frames": [ + { + "frame_id": 0, + "image_path": "/workspace/data/0008_/images/000000.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000000.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 0, + "category_id": 1, + "bbox": [ + 416, + 280, + 214, + 174 + ], + "score": 0.47949472069740295, + "time": 0.0, + "segmentation": { + "counts": [ + 332377, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 754, + 46, + 32, + 10, + 712, + 46, + 32, + 10, + 710, + 46, + 32, + 12, + 710, + 46, + 32, + 12, + 710, + 44, + 32, + 16, + 708, + 44, + 32, + 16, + 706, + 44, + 32, + 20, + 704, + 44, + 32, + 20, + 702, + 44, + 32, + 24, + 700, + 44, + 32, + 24, + 700, + 42, + 32, + 28, + 698, + 42, + 32, + 28, + 696, + 44, + 30, + 32, + 694, + 44, + 30, + 32, + 692, + 28, + 10, + 4, + 32, + 36, + 690, + 28, + 10, + 4, + 32, + 36, + 690, + 26, + 46, + 38, + 690, + 26, + 46, + 38, + 688, + 26, + 46, + 42, + 686, + 26, + 46, + 42, + 684, + 26, + 44, + 48, + 682, + 26, + 44, + 48, + 682, + 26, + 42, + 52, + 680, + 26, + 42, + 52, + 678, + 28, + 40, + 56, + 676, + 28, + 40, + 56, + 674, + 30, + 38, + 60, + 672, + 30, + 38, + 60, + 672, + 32, + 36, + 62, + 670, + 32, + 36, + 62, + 668, + 36, + 32, + 66, + 666, + 36, + 32, + 66, + 664, + 38, + 30, + 70, + 662, + 38, + 30, + 70, + 662, + 40, + 28, + 70, + 662, + 40, + 28, + 70, + 660, + 44, + 24, + 74, + 658, + 44, + 24, + 74, + 656, + 48, + 20, + 78, + 654, + 48, + 20, + 78, + 652, + 52, + 16, + 80, + 652, + 52, + 16, + 80, + 650, + 56, + 14, + 80, + 650, + 56, + 14, + 80, + 650, + 58, + 10, + 82, + 650, + 58, + 10, + 82, + 648, + 62, + 2, + 88, + 648, + 62, + 2, + 88, + 648, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 780, + 16, + 784, + 16, + 518053 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000000:0000", + "experimental_retained_index": 0, + "ism_score": 0.48865705728530884, + "R": [ + [ + 0.7428003549575806, + 0.06343375146389008, + -0.666500985622406 + ], + [ + 0.570551335811615, + -0.5808553695678711, + 0.5805845260620117 + ], + [ + -0.35031190514564514, + -0.811531662940979, + -0.4676517844200134 + ] + ], + "t": [ + -54.677467346191406, + -46.34878158569336, + 441.3630676269531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 0, + "category_id": 1, + "bbox": [ + 416, + 280, + 214, + 174 + ], + "score": 0.47949472069740295, + "time": 0.0, + "segmentation": { + "counts": [ + 332377, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 754, + 46, + 32, + 10, + 712, + 46, + 32, + 10, + 710, + 46, + 32, + 12, + 710, + 46, + 32, + 12, + 710, + 44, + 32, + 16, + 708, + 44, + 32, + 16, + 706, + 44, + 32, + 20, + 704, + 44, + 32, + 20, + 702, + 44, + 32, + 24, + 700, + 44, + 32, + 24, + 700, + 42, + 32, + 28, + 698, + 42, + 32, + 28, + 696, + 44, + 30, + 32, + 694, + 44, + 30, + 32, + 692, + 28, + 10, + 4, + 32, + 36, + 690, + 28, + 10, + 4, + 32, + 36, + 690, + 26, + 46, + 38, + 690, + 26, + 46, + 38, + 688, + 26, + 46, + 42, + 686, + 26, + 46, + 42, + 684, + 26, + 44, + 48, + 682, + 26, + 44, + 48, + 682, + 26, + 42, + 52, + 680, + 26, + 42, + 52, + 678, + 28, + 40, + 56, + 676, + 28, + 40, + 56, + 674, + 30, + 38, + 60, + 672, + 30, + 38, + 60, + 672, + 32, + 36, + 62, + 670, + 32, + 36, + 62, + 668, + 36, + 32, + 66, + 666, + 36, + 32, + 66, + 664, + 38, + 30, + 70, + 662, + 38, + 30, + 70, + 662, + 40, + 28, + 70, + 662, + 40, + 28, + 70, + 660, + 44, + 24, + 74, + 658, + 44, + 24, + 74, + 656, + 48, + 20, + 78, + 654, + 48, + 20, + 78, + 652, + 52, + 16, + 80, + 652, + 52, + 16, + 80, + 650, + 56, + 14, + 80, + 650, + 56, + 14, + 80, + 650, + 58, + 10, + 82, + 650, + 58, + 10, + 82, + 648, + 62, + 2, + 88, + 648, + 62, + 2, + 88, + 648, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 780, + 16, + 784, + 16, + 518053 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000000:0000", + "experimental_retained_index": 0, + "ism_score": 0.48865705728530884, + "R": [ + [ + 0.7428003549575806, + 0.06343375146389008, + -0.666500985622406 + ], + [ + 0.570551335811615, + -0.5808553695678711, + 0.5805845260620117 + ], + [ + -0.35031190514564514, + -0.811531662940979, + -0.4676517844200134 + ] + ], + "t": [ + -54.677467346191406, + -46.34878158569336, + 441.3630676269531 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000000/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000000/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000000:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000000.png" + }, + { + "frame_id": 5, + "image_path": "/workspace/data/0008_/images/000005.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000005.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 5, + "category_id": 1, + "bbox": [ + 462, + 270, + 198, + 160 + ], + "score": 0.44985151290893555, + "time": 0.0, + "segmentation": { + "counts": [ + 369159, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 758, + 40, + 32, + 4, + 724, + 40, + 32, + 4, + 724, + 38, + 32, + 8, + 722, + 38, + 32, + 8, + 720, + 40, + 30, + 12, + 718, + 40, + 30, + 12, + 716, + 40, + 30, + 16, + 714, + 40, + 30, + 16, + 712, + 38, + 32, + 18, + 712, + 38, + 32, + 18, + 712, + 36, + 32, + 22, + 710, + 36, + 32, + 22, + 708, + 36, + 32, + 26, + 706, + 36, + 32, + 26, + 706, + 32, + 34, + 30, + 704, + 32, + 34, + 30, + 702, + 24, + 40, + 36, + 700, + 24, + 40, + 36, + 698, + 24, + 42, + 38, + 696, + 24, + 42, + 38, + 696, + 22, + 40, + 42, + 696, + 22, + 40, + 42, + 694, + 22, + 40, + 46, + 692, + 22, + 40, + 46, + 690, + 24, + 38, + 50, + 688, + 24, + 38, + 50, + 686, + 26, + 36, + 54, + 684, + 26, + 36, + 54, + 684, + 28, + 34, + 56, + 682, + 28, + 34, + 56, + 680, + 30, + 32, + 60, + 678, + 30, + 32, + 60, + 676, + 34, + 28, + 64, + 674, + 34, + 28, + 64, + 674, + 36, + 26, + 66, + 672, + 36, + 26, + 66, + 670, + 40, + 22, + 70, + 668, + 40, + 22, + 70, + 666, + 44, + 18, + 72, + 666, + 44, + 18, + 72, + 664, + 48, + 14, + 76, + 662, + 48, + 14, + 76, + 662, + 50, + 12, + 76, + 662, + 50, + 12, + 76, + 660, + 54, + 6, + 80, + 660, + 54, + 6, + 80, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 494069 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000005:0000", + "experimental_retained_index": 0, + "ism_score": 0.45991209149360657, + "R": [ + [ + 0.7578353881835938, + 0.012607507407665253, + -0.6523233652114868 + ], + [ + 0.5419837832450867, + -0.568786084651947, + 0.6186564564704895 + ], + [ + -0.3632326126098633, + -0.8223890066146851, + -0.437879741191864 + ] + ], + "t": [ + -35.48760223388672, + -60.46051788330078, + 474.5717468261719 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 5, + "category_id": 1, + "bbox": [ + 462, + 270, + 198, + 160 + ], + "score": 0.44985151290893555, + "time": 0.0, + "segmentation": { + "counts": [ + 369159, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 758, + 40, + 32, + 4, + 724, + 40, + 32, + 4, + 724, + 38, + 32, + 8, + 722, + 38, + 32, + 8, + 720, + 40, + 30, + 12, + 718, + 40, + 30, + 12, + 716, + 40, + 30, + 16, + 714, + 40, + 30, + 16, + 712, + 38, + 32, + 18, + 712, + 38, + 32, + 18, + 712, + 36, + 32, + 22, + 710, + 36, + 32, + 22, + 708, + 36, + 32, + 26, + 706, + 36, + 32, + 26, + 706, + 32, + 34, + 30, + 704, + 32, + 34, + 30, + 702, + 24, + 40, + 36, + 700, + 24, + 40, + 36, + 698, + 24, + 42, + 38, + 696, + 24, + 42, + 38, + 696, + 22, + 40, + 42, + 696, + 22, + 40, + 42, + 694, + 22, + 40, + 46, + 692, + 22, + 40, + 46, + 690, + 24, + 38, + 50, + 688, + 24, + 38, + 50, + 686, + 26, + 36, + 54, + 684, + 26, + 36, + 54, + 684, + 28, + 34, + 56, + 682, + 28, + 34, + 56, + 680, + 30, + 32, + 60, + 678, + 30, + 32, + 60, + 676, + 34, + 28, + 64, + 674, + 34, + 28, + 64, + 674, + 36, + 26, + 66, + 672, + 36, + 26, + 66, + 670, + 40, + 22, + 70, + 668, + 40, + 22, + 70, + 666, + 44, + 18, + 72, + 666, + 44, + 18, + 72, + 664, + 48, + 14, + 76, + 662, + 48, + 14, + 76, + 662, + 50, + 12, + 76, + 662, + 50, + 12, + 76, + 660, + 54, + 6, + 80, + 660, + 54, + 6, + 80, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 494069 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000005:0000", + "experimental_retained_index": 0, + "ism_score": 0.45991209149360657, + "R": [ + [ + 0.7578353881835938, + 0.012607507407665253, + -0.6523233652114868 + ], + [ + 0.5419837832450867, + -0.568786084651947, + 0.6186564564704895 + ], + [ + -0.3632326126098633, + -0.8223890066146851, + -0.437879741191864 + ] + ], + "t": [ + -35.48760223388672, + -60.46051788330078, + 474.5717468261719 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000005/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000005/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000005:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000005.png" + }, + { + "frame_id": 11, + "image_path": "/workspace/data/0008_/images/000011.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000011.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 11, + "category_id": 1, + "bbox": [ + 474, + 292, + 172, + 210 + ], + "score": 0.5211653113365173, + "time": 0.0, + "segmentation": { + "counts": [ + 378881, + 10, + 790, + 10, + 764, + 40, + 760, + 40, + 750, + 50, + 750, + 50, + 740, + 60, + 740, + 60, + 730, + 70, + 730, + 70, + 722, + 78, + 722, + 78, + 714, + 86, + 714, + 86, + 704, + 96, + 704, + 96, + 698, + 102, + 698, + 102, + 688, + 114, + 686, + 114, + 678, + 122, + 678, + 122, + 664, + 136, + 664, + 136, + 654, + 146, + 654, + 146, + 646, + 154, + 646, + 154, + 638, + 162, + 638, + 162, + 630, + 170, + 630, + 170, + 622, + 178, + 622, + 178, + 612, + 188, + 612, + 188, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 596, + 124, + 16, + 46, + 614, + 124, + 16, + 46, + 614, + 120, + 24, + 6, + 650, + 120, + 24, + 6, + 650, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 70, + 20, + 594, + 116, + 70, + 20, + 594, + 116, + 50, + 40, + 594, + 116, + 50, + 40, + 594, + 116, + 28, + 62, + 594, + 116, + 28, + 62, + 594, + 118, + 22, + 68, + 592, + 118, + 22, + 68, + 592, + 120, + 14, + 74, + 592, + 120, + 14, + 74, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 594, + 192, + 608, + 192, + 608, + 168, + 632, + 168, + 632, + 142, + 658, + 142, + 658, + 124, + 676, + 124, + 676, + 90, + 710, + 90, + 714, + 54, + 746, + 54, + 752, + 26, + 774, + 26, + 505267 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000011:0000", + "experimental_retained_index": 0, + "ism_score": 0.5294377207756042, + "R": [ + [ + 0.9970545768737793, + 0.005659848917275667, + -0.0764884278178215 + ], + [ + 0.06986190378665924, + -0.47857558727264404, + 0.8752629160881042 + ], + [ + -0.031651630997657776, + -0.8780283331871033, + -0.477561354637146 + ] + ], + "t": [ + -36.444766998291016, + -26.227651596069336, + 372.3851623535156 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 11, + "category_id": 1, + "bbox": [ + 474, + 292, + 172, + 210 + ], + "score": 0.5211653113365173, + "time": 0.0, + "segmentation": { + "counts": [ + 378881, + 10, + 790, + 10, + 764, + 40, + 760, + 40, + 750, + 50, + 750, + 50, + 740, + 60, + 740, + 60, + 730, + 70, + 730, + 70, + 722, + 78, + 722, + 78, + 714, + 86, + 714, + 86, + 704, + 96, + 704, + 96, + 698, + 102, + 698, + 102, + 688, + 114, + 686, + 114, + 678, + 122, + 678, + 122, + 664, + 136, + 664, + 136, + 654, + 146, + 654, + 146, + 646, + 154, + 646, + 154, + 638, + 162, + 638, + 162, + 630, + 170, + 630, + 170, + 622, + 178, + 622, + 178, + 612, + 188, + 612, + 188, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 596, + 124, + 16, + 46, + 614, + 124, + 16, + 46, + 614, + 120, + 24, + 6, + 650, + 120, + 24, + 6, + 650, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 116, + 70, + 20, + 594, + 116, + 70, + 20, + 594, + 116, + 50, + 40, + 594, + 116, + 50, + 40, + 594, + 116, + 28, + 62, + 594, + 116, + 28, + 62, + 594, + 118, + 22, + 68, + 592, + 118, + 22, + 68, + 592, + 120, + 14, + 74, + 592, + 120, + 14, + 74, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 594, + 192, + 608, + 192, + 608, + 168, + 632, + 168, + 632, + 142, + 658, + 142, + 658, + 124, + 676, + 124, + 676, + 90, + 710, + 90, + 714, + 54, + 746, + 54, + 752, + 26, + 774, + 26, + 505267 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000011:0000", + "experimental_retained_index": 0, + "ism_score": 0.5294377207756042, + "R": [ + [ + 0.9970545768737793, + 0.005659848917275667, + -0.0764884278178215 + ], + [ + 0.06986190378665924, + -0.47857558727264404, + 0.8752629160881042 + ], + [ + -0.031651630997657776, + -0.8780283331871033, + -0.477561354637146 + ] + ], + "t": [ + -36.444766998291016, + -26.227651596069336, + 372.3851623535156 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000011/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000011/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000011:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000011.png" + }, + { + "frame_id": 17, + "image_path": "/workspace/data/0008_/images/000017.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000017.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 444, + 270, + 232, + 240 + ], + "score": 0.45904144644737244, + "time": 0.0, + "segmentation": { + "counts": [ + 354733, + 12, + 788, + 12, + 782, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 768, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 760, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 748, + 56, + 744, + 56, + 744, + 60, + 740, + 60, + 740, + 64, + 736, + 64, + 734, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 76, + 724, + 76, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 714, + 90, + 710, + 90, + 708, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 662, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 652, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 634, + 170, + 630, + 170, + 628, + 176, + 624, + 176, + 624, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 200, + 600, + 200, + 598, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 588, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 574, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 128, + 2, + 104, + 566, + 128, + 2, + 104, + 564, + 126, + 14, + 94, + 566, + 126, + 14, + 94, + 566, + 124, + 18, + 92, + 566, + 124, + 18, + 92, + 566, + 122, + 22, + 88, + 568, + 122, + 22, + 88, + 570, + 118, + 26, + 84, + 572, + 118, + 26, + 84, + 574, + 116, + 28, + 82, + 574, + 116, + 28, + 82, + 576, + 112, + 28, + 82, + 578, + 112, + 28, + 82, + 580, + 108, + 30, + 80, + 582, + 108, + 30, + 80, + 586, + 104, + 30, + 80, + 586, + 104, + 30, + 80, + 588, + 100, + 34, + 76, + 590, + 100, + 34, + 76, + 592, + 98, + 36, + 74, + 592, + 98, + 36, + 74, + 596, + 94, + 38, + 70, + 598, + 94, + 38, + 70, + 600, + 90, + 44, + 66, + 600, + 90, + 44, + 66, + 602, + 88, + 46, + 62, + 604, + 88, + 46, + 62, + 608, + 84, + 50, + 56, + 610, + 84, + 50, + 56, + 612, + 82, + 56, + 50, + 612, + 82, + 56, + 50, + 616, + 78, + 62, + 42, + 618, + 78, + 62, + 42, + 620, + 76, + 66, + 38, + 620, + 76, + 66, + 38, + 622, + 76, + 68, + 32, + 624, + 76, + 68, + 32, + 628, + 74, + 68, + 30, + 628, + 74, + 68, + 30, + 630, + 74, + 70, + 24, + 632, + 74, + 70, + 24, + 634, + 76, + 72, + 18, + 634, + 76, + 72, + 18, + 638, + 80, + 66, + 14, + 640, + 80, + 66, + 14, + 642, + 82, + 66, + 8, + 644, + 82, + 66, + 8, + 648, + 82, + 64, + 4, + 650, + 82, + 64, + 4, + 652, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 716, + 88, + 712, + 88, + 716, + 88, + 712, + 88, + 714, + 88, + 712, + 88, + 716, + 88, + 712, + 88, + 714, + 90, + 710, + 90, + 712, + 90, + 710, + 90, + 714, + 88, + 712, + 88, + 714, + 90, + 710, + 90, + 712, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 712, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 750, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 772, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 481165 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000017:0000", + "experimental_retained_index": 0, + "ism_score": 0.4708116948604584, + "R": [ + [ + -0.8712025880813599, + 0.004739765077829361, + -0.49089983105659485 + ], + [ + 0.42423495650291443, + -0.4959273636341095, + -0.7576810121536255 + ], + [ + -0.24704180657863617, + -0.8683510422706604, + 0.4300425052642822 + ] + ], + "t": [ + -27.210458755493164, + 4.906086444854736, + 345.10791015625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 17, + "category_id": 1, + "bbox": [ + 444, + 270, + 232, + 240 + ], + "score": 0.45904144644737244, + "time": 0.0, + "segmentation": { + "counts": [ + 354733, + 12, + 788, + 12, + 782, + 22, + 778, + 22, + 776, + 28, + 772, + 28, + 768, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 760, + 44, + 756, + 44, + 754, + 50, + 750, + 50, + 748, + 56, + 744, + 56, + 744, + 60, + 740, + 60, + 740, + 64, + 736, + 64, + 734, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 76, + 724, + 76, + 722, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 714, + 90, + 710, + 90, + 708, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 700, + 104, + 696, + 104, + 694, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 666, + 138, + 662, + 138, + 662, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 652, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 634, + 170, + 630, + 170, + 628, + 176, + 624, + 176, + 624, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 200, + 600, + 200, + 598, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 588, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 574, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 128, + 2, + 104, + 566, + 128, + 2, + 104, + 564, + 126, + 14, + 94, + 566, + 126, + 14, + 94, + 566, + 124, + 18, + 92, + 566, + 124, + 18, + 92, + 566, + 122, + 22, + 88, + 568, + 122, + 22, + 88, + 570, + 118, + 26, + 84, + 572, + 118, + 26, + 84, + 574, + 116, + 28, + 82, + 574, + 116, + 28, + 82, + 576, + 112, + 28, + 82, + 578, + 112, + 28, + 82, + 580, + 108, + 30, + 80, + 582, + 108, + 30, + 80, + 586, + 104, + 30, + 80, + 586, + 104, + 30, + 80, + 588, + 100, + 34, + 76, + 590, + 100, + 34, + 76, + 592, + 98, + 36, + 74, + 592, + 98, + 36, + 74, + 596, + 94, + 38, + 70, + 598, + 94, + 38, + 70, + 600, + 90, + 44, + 66, + 600, + 90, + 44, + 66, + 602, + 88, + 46, + 62, + 604, + 88, + 46, + 62, + 608, + 84, + 50, + 56, + 610, + 84, + 50, + 56, + 612, + 82, + 56, + 50, + 612, + 82, + 56, + 50, + 616, + 78, + 62, + 42, + 618, + 78, + 62, + 42, + 620, + 76, + 66, + 38, + 620, + 76, + 66, + 38, + 622, + 76, + 68, + 32, + 624, + 76, + 68, + 32, + 628, + 74, + 68, + 30, + 628, + 74, + 68, + 30, + 630, + 74, + 70, + 24, + 632, + 74, + 70, + 24, + 634, + 76, + 72, + 18, + 634, + 76, + 72, + 18, + 638, + 80, + 66, + 14, + 640, + 80, + 66, + 14, + 642, + 82, + 66, + 8, + 644, + 82, + 66, + 8, + 648, + 82, + 64, + 4, + 650, + 82, + 64, + 4, + 652, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 716, + 88, + 712, + 88, + 716, + 88, + 712, + 88, + 714, + 88, + 712, + 88, + 716, + 88, + 712, + 88, + 714, + 90, + 710, + 90, + 712, + 90, + 710, + 90, + 714, + 88, + 712, + 88, + 714, + 90, + 710, + 90, + 712, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 712, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 750, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 772, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 481165 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000017:0000", + "experimental_retained_index": 0, + "ism_score": 0.4708116948604584, + "R": [ + [ + -0.8712025880813599, + 0.004739765077829361, + -0.49089983105659485 + ], + [ + 0.42423495650291443, + -0.4959273636341095, + -0.7576810121536255 + ], + [ + -0.24704180657863617, + -0.8683510422706604, + 0.4300425052642822 + ] + ], + "t": [ + -27.210458755493164, + 4.906086444854736, + 345.10791015625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000017/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000017/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000017:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000017.png" + }, + { + "frame_id": 29, + "image_path": "/workspace/data/0008_/images/000029.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000029.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 506, + 368, + 246, + 280 + ], + "score": 0.4994054436683655, + "time": 0.0, + "segmentation": { + "counts": [ + 404445, + 12, + 788, + 12, + 786, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 746, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 722, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 152, + 648, + 152, + 646, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 610, + 194, + 606, + 194, + 606, + 200, + 600, + 200, + 598, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 572, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 240, + 560, + 240, + 558, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 548, + 258, + 542, + 258, + 540, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 520, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 528, + 270, + 530, + 270, + 532, + 178, + 10, + 80, + 532, + 178, + 10, + 80, + 536, + 172, + 14, + 76, + 538, + 172, + 14, + 76, + 540, + 168, + 20, + 70, + 542, + 168, + 20, + 70, + 546, + 162, + 24, + 68, + 546, + 162, + 24, + 68, + 548, + 158, + 30, + 62, + 550, + 158, + 30, + 62, + 554, + 152, + 32, + 60, + 556, + 152, + 32, + 60, + 558, + 148, + 36, + 56, + 560, + 148, + 36, + 56, + 564, + 144, + 38, + 54, + 564, + 144, + 38, + 54, + 566, + 140, + 42, + 50, + 568, + 140, + 42, + 50, + 572, + 134, + 48, + 44, + 574, + 134, + 48, + 44, + 576, + 132, + 48, + 44, + 576, + 132, + 48, + 44, + 580, + 126, + 50, + 42, + 582, + 126, + 50, + 42, + 584, + 124, + 54, + 36, + 586, + 124, + 54, + 36, + 590, + 118, + 60, + 32, + 590, + 118, + 60, + 32, + 594, + 114, + 62, + 28, + 596, + 114, + 62, + 28, + 598, + 112, + 64, + 26, + 598, + 112, + 64, + 26, + 600, + 110, + 68, + 20, + 602, + 110, + 68, + 20, + 606, + 108, + 68, + 16, + 608, + 108, + 68, + 16, + 610, + 106, + 70, + 12, + 612, + 106, + 70, + 12, + 616, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 698, + 106, + 694, + 106, + 696, + 108, + 692, + 108, + 696, + 112, + 688, + 112, + 690, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 114, + 686, + 114, + 688, + 116, + 684, + 116, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 690, + 114, + 686, + 114, + 688, + 116, + 684, + 116, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 690, + 112, + 688, + 112, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 420233 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000029:0000", + "experimental_retained_index": 0, + "ism_score": 0.5041316747665405, + "R": [ + [ + 0.8384718894958496, + -0.0749998465180397, + 0.5398324131965637 + ], + [ + -0.5390903353691101, + -0.2578098177909851, + 0.8019236922264099 + ], + [ + 0.07904940098524094, + -0.9634489417076111, + -0.2565469741821289 + ] + ], + "t": [ + -17.972488403320312, + 38.863075256347656, + 345.8050842285156 + ] + }, + { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 416, + 98, + 474, + 534 + ], + "score": 0.3110741078853607, + "time": 0.0, + "segmentation": { + "counts": [ + 332275, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 72762, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 758, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 744, + 62, + 738, + 62, + 734, + 70, + 730, + 70, + 728, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 716, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 698, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 600, + 6, + 48, + 146, + 600, + 6, + 48, + 146, + 596, + 12, + 44, + 150, + 594, + 12, + 44, + 150, + 592, + 16, + 40, + 152, + 592, + 16, + 40, + 152, + 592, + 16, + 38, + 156, + 590, + 16, + 38, + 156, + 590, + 18, + 32, + 160, + 590, + 18, + 32, + 160, + 588, + 22, + 28, + 164, + 586, + 22, + 28, + 164, + 586, + 24, + 22, + 168, + 586, + 24, + 22, + 168, + 586, + 28, + 16, + 172, + 584, + 28, + 16, + 172, + 582, + 30, + 14, + 176, + 580, + 30, + 14, + 176, + 580, + 34, + 6, + 182, + 578, + 34, + 6, + 182, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 576, + 224, + 576, + 224, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 220, + 278, + 4, + 298, + 220, + 278, + 4, + 298, + 222, + 276, + 4, + 298, + 222, + 276, + 4, + 300, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 558, + 6, + 6, + 232, + 556, + 6, + 6, + 232, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 568, + 234, + 566, + 234, + 566, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 582, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 606, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 626, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 686, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 726, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 738, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 772, + 24, + 776, + 24, + 778, + 18, + 782, + 18, + 784, + 14, + 786, + 14, + 788, + 8, + 792, + 8, + 310127 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000029:0002", + "experimental_retained_index": 1, + "ism_score": 0.3950147330760956, + "R": [ + [ + 0.5726689696311951, + -0.08917954564094543, + 0.8147546052932739 + ], + [ + -0.8094527125358582, + -0.21757535636425018, + 0.5449455380439758 + ], + [ + 0.12873530387878418, + -0.9720361828804016, + -0.19678275287151337 + ] + ], + "t": [ + 27.523386001586914, + -68.48249053955078, + 317.3643798828125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 29, + "category_id": 1, + "bbox": [ + 506, + 368, + 246, + 280 + ], + "score": 0.4994054436683655, + "time": 0.0, + "segmentation": { + "counts": [ + 404445, + 12, + 788, + 12, + 786, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 746, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 722, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 698, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 652, + 152, + 648, + 152, + 646, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 610, + 194, + 606, + 194, + 606, + 200, + 600, + 200, + 598, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 586, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 572, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 240, + 560, + 240, + 558, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 548, + 258, + 542, + 258, + 540, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 532, + 272, + 528, + 272, + 526, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 520, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 528, + 270, + 530, + 270, + 532, + 178, + 10, + 80, + 532, + 178, + 10, + 80, + 536, + 172, + 14, + 76, + 538, + 172, + 14, + 76, + 540, + 168, + 20, + 70, + 542, + 168, + 20, + 70, + 546, + 162, + 24, + 68, + 546, + 162, + 24, + 68, + 548, + 158, + 30, + 62, + 550, + 158, + 30, + 62, + 554, + 152, + 32, + 60, + 556, + 152, + 32, + 60, + 558, + 148, + 36, + 56, + 560, + 148, + 36, + 56, + 564, + 144, + 38, + 54, + 564, + 144, + 38, + 54, + 566, + 140, + 42, + 50, + 568, + 140, + 42, + 50, + 572, + 134, + 48, + 44, + 574, + 134, + 48, + 44, + 576, + 132, + 48, + 44, + 576, + 132, + 48, + 44, + 580, + 126, + 50, + 42, + 582, + 126, + 50, + 42, + 584, + 124, + 54, + 36, + 586, + 124, + 54, + 36, + 590, + 118, + 60, + 32, + 590, + 118, + 60, + 32, + 594, + 114, + 62, + 28, + 596, + 114, + 62, + 28, + 598, + 112, + 64, + 26, + 598, + 112, + 64, + 26, + 600, + 110, + 68, + 20, + 602, + 110, + 68, + 20, + 606, + 108, + 68, + 16, + 608, + 108, + 68, + 16, + 610, + 106, + 70, + 12, + 612, + 106, + 70, + 12, + 616, + 106, + 694, + 106, + 696, + 106, + 694, + 106, + 698, + 106, + 694, + 106, + 696, + 108, + 692, + 108, + 696, + 112, + 688, + 112, + 690, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 114, + 686, + 114, + 688, + 116, + 684, + 116, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 690, + 114, + 686, + 114, + 688, + 116, + 684, + 116, + 688, + 114, + 686, + 114, + 688, + 114, + 686, + 114, + 690, + 112, + 688, + 112, + 692, + 110, + 690, + 110, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 420233 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000029:0000", + "experimental_retained_index": 0, + "ism_score": 0.5041316747665405, + "R": [ + [ + 0.8384718894958496, + -0.0749998465180397, + 0.5398324131965637 + ], + [ + -0.5390903353691101, + -0.2578098177909851, + 0.8019236922264099 + ], + [ + 0.07904940098524094, + -0.9634489417076111, + -0.2565469741821289 + ] + ], + "t": [ + -17.972488403320312, + 38.863075256347656, + 345.8050842285156 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000029/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000029/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000029:0000", + "eppendorf_tarto:000029:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000029.png" + }, + { + "frame_id": 34, + "image_path": "/workspace/data/0008_/images/000034.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000034.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 4, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 502, + 440, + 168, + 252 + ], + "score": 0.5106287002563477, + "time": 0.0, + "segmentation": { + "counts": [ + 401355, + 122, + 678, + 122, + 584, + 226, + 574, + 226, + 570, + 236, + 564, + 236, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 196, + 6, + 48, + 550, + 196, + 6, + 48, + 550, + 182, + 24, + 44, + 550, + 182, + 24, + 44, + 548, + 182, + 30, + 40, + 548, + 182, + 30, + 40, + 548, + 180, + 34, + 38, + 548, + 180, + 34, + 38, + 548, + 180, + 36, + 36, + 548, + 180, + 36, + 36, + 550, + 176, + 50, + 22, + 552, + 176, + 50, + 22, + 552, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 182, + 28, + 4, + 586, + 182, + 28, + 4, + 586, + 188, + 18, + 32, + 562, + 188, + 18, + 32, + 562, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 550, + 250, + 550, + 250, + 588, + 212, + 588, + 212, + 664, + 136, + 664, + 136, + 694, + 104, + 696, + 104, + 730, + 70, + 730, + 70, + 768, + 30, + 770, + 30, + 485709 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000034:0003", + "experimental_retained_index": 0, + "ism_score": 0.5154611468315125, + "R": [ + [ + 0.9952276945114136, + -0.08984202891588211, + 0.03745367377996445 + ], + [ + -0.05799319967627525, + -0.23834460973739624, + 0.9693483710289001 + ], + [ + -0.07814124971628189, + -0.9670664072036743, + -0.24251805245876312 + ] + ], + "t": [ + -27.46996307373047, + 64.91918182373047, + 336.2613525390625 + ] + }, + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 604, + 178, + 354, + 416 + ], + "score": 0.3609229624271393, + "time": 0.0, + "segmentation": { + "counts": [ + 482673, + 8, + 792, + 8, + 790, + 16, + 784, + 16, + 782, + 22, + 778, + 22, + 778, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 770, + 34, + 766, + 34, + 764, + 42, + 758, + 42, + 758, + 48, + 752, + 48, + 750, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 728, + 76, + 724, + 76, + 724, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 712, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 690, + 114, + 686, + 114, + 684, + 120, + 680, + 120, + 680, + 124, + 676, + 124, + 676, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 662, + 142, + 658, + 142, + 656, + 148, + 652, + 148, + 652, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 642, + 162, + 638, + 162, + 638, + 166, + 634, + 166, + 632, + 172, + 628, + 172, + 628, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 620, + 184, + 616, + 184, + 614, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 604, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 596, + 210, + 590, + 210, + 588, + 216, + 584, + 216, + 584, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 576, + 228, + 572, + 228, + 570, + 234, + 566, + 234, + 566, + 240, + 560, + 240, + 560, + 244, + 556, + 244, + 554, + 248, + 552, + 248, + 550, + 254, + 546, + 254, + 546, + 260, + 540, + 260, + 538, + 266, + 534, + 266, + 534, + 270, + 530, + 270, + 530, + 274, + 526, + 274, + 524, + 278, + 522, + 278, + 522, + 282, + 518, + 282, + 516, + 288, + 512, + 288, + 512, + 292, + 508, + 292, + 506, + 298, + 502, + 298, + 468, + 8, + 26, + 300, + 466, + 8, + 26, + 300, + 464, + 12, + 22, + 308, + 458, + 12, + 22, + 308, + 458, + 20, + 12, + 314, + 454, + 20, + 12, + 314, + 454, + 20, + 12, + 318, + 450, + 20, + 12, + 318, + 450, + 354, + 446, + 354, + 448, + 356, + 444, + 356, + 444, + 360, + 440, + 360, + 440, + 364, + 436, + 364, + 436, + 368, + 432, + 368, + 430, + 374, + 426, + 374, + 426, + 378, + 422, + 378, + 424, + 380, + 420, + 380, + 420, + 384, + 416, + 384, + 416, + 390, + 410, + 390, + 412, + 392, + 408, + 392, + 414, + 390, + 410, + 390, + 412, + 392, + 408, + 392, + 408, + 396, + 404, + 396, + 406, + 396, + 404, + 396, + 406, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 402, + 398, + 402, + 400, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 402, + 398, + 402, + 398, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 412, + 386, + 414, + 386, + 416, + 384, + 416, + 384, + 420, + 378, + 422, + 378, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 432, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 440, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 448, + 350, + 450, + 350, + 454, + 346, + 454, + 346, + 456, + 342, + 458, + 342, + 462, + 338, + 462, + 338, + 464, + 334, + 466, + 334, + 470, + 330, + 470, + 330, + 474, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 482, + 318, + 482, + 318, + 486, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 494, + 304, + 496, + 304, + 498, + 300, + 500, + 300, + 504, + 296, + 504, + 296, + 508, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 520, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 530, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 534, + 264, + 536, + 264, + 542, + 258, + 542, + 258, + 552, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 560, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 568, + 230, + 570, + 230, + 572, + 228, + 572, + 228, + 576, + 222, + 578, + 222, + 582, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 590, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 614, + 186, + 614, + 186, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 626, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 636, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 650, + 148, + 652, + 148, + 654, + 146, + 654, + 146, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 696, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 778, + 20, + 780, + 20, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 255495 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000034:0001", + "experimental_retained_index": 1, + "ism_score": 0.4547061026096344, + "R": [ + [ + -0.8989962339401245, + -0.13670122623443604, + -0.41643843054771423 + ], + [ + 0.4374232590198517, + -0.22559775412082672, + -0.8702168464660645 + ], + [ + 0.025067128241062164, + -0.9644600749015808, + 0.2626838684082031 + ] + ], + "t": [ + 77.27633666992188, + 12.104372024536133, + 283.96746826171875 + ] + }, + { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 0, + 2, + 1278, + 794 + ], + "score": 0.07828284800052643, + "time": 0.0, + "segmentation": { + "counts": [ + 347, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 342, + 458, + 342, + 458, + 340, + 460, + 340, + 460, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 336, + 464, + 336, + 464, + 334, + 466, + 334, + 466, + 332, + 468, + 332, + 468, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 484, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 308, + 492, + 308, + 492, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 496, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 298, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 296, + 504, + 296, + 504, + 294, + 506, + 294, + 506, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 278, + 522, + 278, + 522, + 276, + 524, + 276, + 524, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 208, + 386, + 16, + 190, + 208, + 386, + 16, + 190, + 208, + 376, + 36, + 180, + 208, + 376, + 36, + 180, + 206, + 372, + 48, + 174, + 206, + 372, + 48, + 174, + 204, + 370, + 54, + 172, + 204, + 370, + 54, + 172, + 202, + 370, + 58, + 168, + 204, + 370, + 58, + 168, + 202, + 370, + 62, + 168, + 200, + 370, + 62, + 168, + 200, + 364, + 72, + 164, + 200, + 364, + 72, + 164, + 198, + 364, + 76, + 162, + 198, + 364, + 76, + 162, + 198, + 362, + 78, + 162, + 198, + 362, + 78, + 162, + 196, + 364, + 80, + 160, + 196, + 364, + 80, + 160, + 194, + 362, + 84, + 160, + 194, + 362, + 84, + 160, + 192, + 362, + 88, + 158, + 192, + 362, + 88, + 158, + 192, + 360, + 90, + 158, + 192, + 360, + 90, + 158, + 192, + 360, + 92, + 156, + 192, + 360, + 92, + 156, + 190, + 362, + 92, + 154, + 192, + 362, + 92, + 154, + 190, + 362, + 94, + 156, + 188, + 362, + 94, + 156, + 186, + 364, + 96, + 154, + 186, + 364, + 96, + 154, + 184, + 364, + 98, + 154, + 184, + 364, + 98, + 154, + 182, + 366, + 98, + 154, + 182, + 366, + 98, + 154, + 182, + 364, + 100, + 154, + 182, + 364, + 100, + 154, + 180, + 366, + 100, + 154, + 180, + 366, + 100, + 154, + 180, + 364, + 102, + 154, + 180, + 364, + 102, + 154, + 178, + 366, + 102, + 154, + 178, + 366, + 102, + 154, + 178, + 366, + 102, + 154, + 178, + 366, + 102, + 154, + 176, + 368, + 102, + 154, + 176, + 368, + 102, + 154, + 174, + 370, + 102, + 154, + 174, + 370, + 102, + 154, + 172, + 372, + 102, + 154, + 172, + 372, + 102, + 154, + 170, + 374, + 102, + 154, + 170, + 374, + 102, + 154, + 168, + 376, + 100, + 156, + 168, + 376, + 100, + 156, + 168, + 374, + 102, + 156, + 168, + 374, + 102, + 156, + 166, + 378, + 100, + 156, + 166, + 378, + 100, + 156, + 166, + 378, + 98, + 158, + 166, + 378, + 98, + 158, + 164, + 380, + 98, + 158, + 164, + 380, + 98, + 158, + 162, + 382, + 98, + 158, + 162, + 382, + 98, + 158, + 162, + 382, + 98, + 158, + 162, + 382, + 98, + 158, + 160, + 382, + 98, + 160, + 160, + 382, + 98, + 160, + 160, + 382, + 98, + 160, + 160, + 382, + 98, + 160, + 158, + 386, + 96, + 160, + 158, + 386, + 96, + 160, + 158, + 386, + 96, + 160, + 158, + 386, + 96, + 160, + 156, + 388, + 96, + 160, + 156, + 388, + 96, + 160, + 152, + 392, + 94, + 162, + 152, + 392, + 94, + 162, + 152, + 392, + 94, + 162, + 152, + 392, + 94, + 162, + 150, + 394, + 94, + 162, + 150, + 394, + 94, + 162, + 150, + 396, + 90, + 162, + 152, + 396, + 90, + 162, + 150, + 398, + 88, + 164, + 150, + 398, + 88, + 164, + 148, + 402, + 84, + 168, + 146, + 402, + 84, + 168, + 144, + 406, + 80, + 170, + 144, + 406, + 80, + 170, + 144, + 406, + 80, + 170, + 144, + 406, + 80, + 170, + 142, + 410, + 78, + 170, + 142, + 410, + 78, + 170, + 140, + 412, + 78, + 170, + 140, + 412, + 78, + 170, + 140, + 412, + 78, + 170, + 140, + 412, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 414, + 78, + 170, + 138, + 416, + 74, + 172, + 138, + 416, + 74, + 172, + 134, + 420, + 74, + 170, + 136, + 420, + 74, + 170, + 134, + 422, + 74, + 172, + 132, + 422, + 74, + 172, + 130, + 422, + 76, + 172, + 130, + 422, + 76, + 172, + 128, + 424, + 74, + 174, + 128, + 424, + 74, + 174, + 128, + 426, + 72, + 174, + 128, + 426, + 72, + 174, + 126, + 428, + 72, + 174, + 126, + 428, + 72, + 174, + 126, + 428, + 72, + 174, + 126, + 428, + 72, + 174, + 124, + 430, + 70, + 176, + 124, + 430, + 70, + 176, + 124, + 430, + 70, + 176, + 124, + 430, + 70, + 176, + 122, + 432, + 70, + 174, + 124, + 432, + 70, + 174, + 122, + 434, + 70, + 174, + 122, + 434, + 70, + 174, + 122, + 434, + 68, + 178, + 120, + 434, + 68, + 178, + 118, + 436, + 68, + 178, + 118, + 436, + 68, + 178, + 118, + 328, + 10, + 98, + 68, + 178, + 118, + 328, + 10, + 98, + 68, + 178, + 116, + 326, + 14, + 98, + 68, + 178, + 116, + 326, + 14, + 98, + 68, + 178, + 114, + 324, + 18, + 98, + 68, + 176, + 116, + 324, + 18, + 98, + 68, + 176, + 114, + 322, + 24, + 96, + 68, + 178, + 112, + 322, + 24, + 96, + 68, + 178, + 110, + 320, + 28, + 96, + 66, + 180, + 110, + 320, + 28, + 96, + 66, + 180, + 110, + 314, + 36, + 94, + 66, + 180, + 110, + 314, + 36, + 94, + 66, + 180, + 110, + 312, + 38, + 94, + 66, + 178, + 112, + 312, + 38, + 94, + 66, + 178, + 110, + 310, + 42, + 94, + 66, + 178, + 110, + 310, + 42, + 94, + 66, + 178, + 108, + 308, + 46, + 94, + 66, + 180, + 106, + 308, + 46, + 94, + 66, + 180, + 104, + 306, + 52, + 92, + 66, + 180, + 104, + 306, + 52, + 92, + 66, + 180, + 102, + 302, + 60, + 90, + 66, + 180, + 102, + 302, + 60, + 90, + 66, + 180, + 102, + 298, + 64, + 90, + 66, + 180, + 102, + 298, + 64, + 90, + 66, + 180, + 100, + 296, + 70, + 88, + 66, + 178, + 102, + 296, + 70, + 88, + 66, + 178, + 100, + 266, + 2, + 26, + 74, + 88, + 66, + 180, + 98, + 266, + 2, + 26, + 74, + 88, + 66, + 180, + 98, + 266, + 4, + 18, + 82, + 86, + 64, + 182, + 98, + 266, + 4, + 18, + 82, + 86, + 64, + 182, + 98, + 266, + 6, + 12, + 86, + 86, + 64, + 182, + 98, + 266, + 6, + 12, + 86, + 86, + 64, + 182, + 96, + 268, + 8, + 8, + 88, + 86, + 64, + 180, + 98, + 268, + 8, + 8, + 88, + 86, + 64, + 180, + 96, + 270, + 106, + 84, + 64, + 180, + 96, + 270, + 106, + 84, + 64, + 180, + 92, + 274, + 106, + 84, + 64, + 182, + 90, + 274, + 106, + 84, + 64, + 182, + 88, + 274, + 108, + 84, + 64, + 182, + 88, + 274, + 108, + 84, + 64, + 182, + 88, + 274, + 110, + 82, + 64, + 182, + 88, + 274, + 110, + 82, + 64, + 182, + 88, + 270, + 114, + 82, + 64, + 182, + 88, + 270, + 114, + 82, + 64, + 182, + 86, + 268, + 118, + 82, + 64, + 182, + 86, + 268, + 118, + 82, + 64, + 182, + 84, + 266, + 124, + 80, + 64, + 182, + 84, + 266, + 124, + 80, + 64, + 182, + 84, + 260, + 132, + 78, + 62, + 184, + 84, + 260, + 132, + 78, + 62, + 184, + 82, + 260, + 136, + 78, + 60, + 48, + 18, + 118, + 82, + 260, + 136, + 78, + 60, + 48, + 18, + 118, + 80, + 258, + 140, + 78, + 60, + 46, + 26, + 112, + 80, + 258, + 140, + 78, + 60, + 46, + 26, + 112, + 80, + 256, + 142, + 78, + 58, + 48, + 28, + 110, + 80, + 256, + 142, + 78, + 58, + 48, + 28, + 110, + 78, + 254, + 146, + 78, + 58, + 46, + 30, + 110, + 78, + 254, + 146, + 78, + 58, + 46, + 30, + 110, + 78, + 248, + 152, + 80, + 54, + 48, + 32, + 108, + 78, + 248, + 152, + 80, + 54, + 48, + 32, + 108, + 76, + 246, + 158, + 78, + 54, + 46, + 42, + 100, + 76, + 246, + 158, + 78, + 54, + 46, + 42, + 100, + 74, + 244, + 162, + 78, + 54, + 46, + 44, + 4, + 2, + 92, + 74, + 244, + 162, + 78, + 54, + 46, + 44, + 4, + 2, + 92, + 72, + 244, + 164, + 78, + 54, + 44, + 54, + 90, + 72, + 244, + 164, + 78, + 54, + 44, + 54, + 90, + 70, + 244, + 166, + 78, + 52, + 46, + 58, + 86, + 70, + 244, + 166, + 78, + 52, + 46, + 58, + 86, + 70, + 244, + 168, + 78, + 50, + 44, + 66, + 80, + 70, + 244, + 168, + 78, + 50, + 44, + 66, + 80, + 68, + 246, + 168, + 78, + 50, + 44, + 74, + 72, + 68, + 246, + 168, + 78, + 50, + 44, + 74, + 72, + 68, + 246, + 168, + 78, + 48, + 46, + 78, + 68, + 68, + 246, + 168, + 78, + 48, + 46, + 78, + 68, + 66, + 248, + 168, + 80, + 44, + 46, + 90, + 58, + 66, + 248, + 168, + 80, + 44, + 46, + 90, + 58, + 64, + 252, + 168, + 78, + 40, + 50, + 96, + 52, + 64, + 252, + 168, + 78, + 40, + 50, + 96, + 52, + 64, + 252, + 168, + 80, + 38, + 50, + 104, + 44, + 64, + 252, + 168, + 80, + 38, + 50, + 104, + 44, + 62, + 256, + 168, + 82, + 32, + 50, + 120, + 30, + 62, + 256, + 168, + 82, + 32, + 50, + 120, + 30, + 60, + 258, + 168, + 84, + 26, + 54, + 126, + 24, + 60, + 258, + 168, + 84, + 26, + 54, + 126, + 24, + 60, + 260, + 166, + 90, + 14, + 60, + 132, + 18, + 60, + 260, + 166, + 90, + 14, + 60, + 132, + 18, + 58, + 262, + 166, + 164, + 138, + 12, + 58, + 262, + 166, + 164, + 138, + 12, + 58, + 262, + 168, + 162, + 208, + 262, + 168, + 162, + 206, + 264, + 168, + 162, + 206, + 264, + 168, + 162, + 204, + 268, + 166, + 162, + 204, + 268, + 166, + 162, + 202, + 270, + 166, + 162, + 202, + 270, + 166, + 162, + 200, + 270, + 168, + 166, + 196, + 270, + 168, + 166, + 194, + 268, + 172, + 172, + 12, + 8, + 168, + 268, + 172, + 172, + 12, + 8, + 168, + 262, + 178, + 178, + 2, + 18, + 162, + 262, + 178, + 178, + 2, + 18, + 162, + 256, + 184, + 204, + 156, + 256, + 184, + 204, + 152, + 258, + 184, + 212, + 146, + 258, + 184, + 212, + 146, + 256, + 182, + 224, + 138, + 256, + 182, + 224, + 136, + 252, + 184, + 238, + 126, + 252, + 184, + 238, + 126, + 252, + 182, + 246, + 120, + 252, + 182, + 246, + 118, + 252, + 180, + 256, + 112, + 252, + 180, + 256, + 112, + 250, + 174, + 272, + 104, + 250, + 174, + 272, + 102, + 252, + 170, + 284, + 94, + 252, + 170, + 284, + 94, + 248, + 170, + 296, + 86, + 248, + 170, + 296, + 82, + 250, + 166, + 306, + 78, + 250, + 166, + 306, + 78, + 248, + 166, + 314, + 72, + 248, + 166, + 314, + 70, + 250, + 158, + 328, + 64, + 250, + 158, + 328, + 62, + 252, + 156, + 342, + 50, + 252, + 156, + 342, + 50, + 250, + 150, + 356, + 44, + 250, + 150, + 356, + 42, + 252, + 148, + 362, + 38, + 252, + 148, + 362, + 38, + 252, + 142, + 374, + 32, + 252, + 142, + 374, + 28, + 254, + 140, + 380, + 26, + 254, + 140, + 380, + 26, + 254, + 134, + 388, + 24, + 254, + 134, + 388, + 22, + 256, + 132, + 390, + 22, + 256, + 132, + 390, + 20, + 258, + 128, + 394, + 20, + 258, + 128, + 394, + 20, + 258, + 124, + 398, + 20, + 258, + 124, + 398, + 18, + 260, + 120, + 402, + 18, + 260, + 120, + 402, + 18, + 260, + 114, + 408, + 18, + 260, + 114, + 408, + 16, + 262, + 110, + 412, + 16, + 262, + 110, + 412, + 14, + 264, + 108, + 414, + 14, + 264, + 108, + 414, + 12, + 266, + 106, + 416, + 12, + 266, + 106, + 416, + 12, + 266, + 106, + 416, + 12, + 266, + 106, + 416, + 10, + 268, + 106, + 416, + 10, + 268, + 106, + 416, + 8, + 272, + 106, + 224, + 52, + 8, + 8, + 122, + 8, + 272, + 106, + 224, + 52, + 8, + 8, + 122, + 8, + 272, + 106, + 112, + 188, + 114, + 8, + 272, + 106, + 112, + 188, + 114, + 6, + 274, + 108, + 74, + 6, + 8, + 214, + 110, + 6, + 274, + 108, + 74, + 6, + 8, + 214, + 110, + 6, + 274, + 108, + 70, + 236, + 106, + 6, + 274, + 108, + 70, + 236, + 106, + 4, + 278, + 108, + 64, + 242, + 104, + 4, + 278, + 108, + 64, + 242, + 104, + 4, + 278, + 110, + 60, + 244, + 104, + 4, + 278, + 110, + 60, + 244, + 104, + 4, + 280, + 108, + 58, + 246, + 104, + 4, + 280, + 108, + 58, + 246, + 104, + 4, + 280, + 110, + 56, + 246, + 104, + 4, + 280, + 110, + 56, + 246, + 104, + 4, + 284, + 108, + 52, + 248, + 102, + 6, + 284, + 108, + 52, + 248, + 102, + 4, + 288, + 108, + 50, + 248, + 104, + 2, + 288, + 108, + 50, + 248, + 104, + 2, + 290, + 108, + 48, + 248, + 104, + 2, + 290, + 108, + 48, + 248, + 104, + 2, + 292, + 106, + 48, + 248, + 104, + 2, + 292, + 106, + 48, + 248, + 104, + 2, + 296, + 104, + 46, + 248, + 104, + 2, + 296, + 104, + 46, + 248, + 104, + 2, + 298, + 104, + 44, + 248, + 104, + 2, + 298, + 104, + 44, + 248, + 104, + 2, + 300, + 104, + 42, + 248, + 104, + 2, + 300, + 104, + 42, + 248, + 104, + 2, + 302, + 104, + 38, + 250, + 104, + 2, + 302, + 104, + 38, + 250, + 104, + 2, + 308, + 100, + 36, + 250, + 104, + 2, + 308, + 100, + 36, + 250, + 104, + 4, + 308, + 98, + 36, + 250, + 102, + 6, + 308, + 98, + 36, + 250, + 102, + 6, + 314, + 94, + 34, + 250, + 102, + 6, + 314, + 94, + 34, + 250, + 102, + 6, + 322, + 88, + 32, + 250, + 104, + 4, + 322, + 88, + 32, + 250, + 104, + 2, + 328, + 86, + 30, + 250, + 104, + 2, + 328, + 86, + 30, + 250, + 104, + 2, + 330, + 86, + 28, + 250, + 104, + 2, + 330, + 86, + 28, + 250, + 104, + 4, + 330, + 84, + 28, + 250, + 104, + 4, + 330, + 84, + 28, + 250, + 104, + 4, + 334, + 80, + 28, + 250, + 104, + 4, + 334, + 80, + 28, + 250, + 104, + 4, + 336, + 80, + 26, + 250, + 104, + 4, + 336, + 80, + 26, + 250, + 104, + 4, + 338, + 78, + 26, + 250, + 104, + 4, + 338, + 78, + 26, + 250, + 104, + 4, + 340, + 76, + 26, + 250, + 104, + 4, + 340, + 76, + 26, + 250, + 104, + 4, + 344, + 72, + 26, + 252, + 102, + 4, + 344, + 72, + 26, + 252, + 102, + 4, + 346, + 70, + 26, + 252, + 102, + 4, + 346, + 70, + 26, + 252, + 102, + 4, + 350, + 66, + 26, + 252, + 102, + 4, + 350, + 66, + 26, + 252, + 102, + 4, + 354, + 62, + 26, + 256, + 98, + 4, + 354, + 62, + 26, + 256, + 98, + 4, + 356, + 58, + 28, + 274, + 80, + 4, + 356, + 58, + 28, + 274, + 80, + 4, + 358, + 56, + 28, + 294, + 60, + 4, + 358, + 56, + 28, + 294, + 60, + 4, + 360, + 54, + 28, + 324, + 30, + 4, + 360, + 54, + 28, + 324, + 30, + 4, + 364, + 46, + 32, + 342, + 10, + 6, + 364, + 46, + 32, + 342, + 10, + 6, + 366, + 42, + 34, + 358, + 366, + 42, + 34, + 358, + 370, + 38, + 32, + 360, + 370, + 38, + 32, + 360, + 372, + 34, + 36, + 358, + 372, + 34, + 36, + 358, + 376, + 28, + 38, + 358, + 376, + 28, + 38, + 358, + 380, + 18, + 42, + 360, + 380, + 18, + 42, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 270, + 8, + 160, + 254, + 22, + 86, + 270, + 8, + 160, + 254, + 22, + 86, + 268, + 12, + 158, + 252, + 50, + 60, + 268, + 12, + 158, + 252, + 50, + 60, + 268, + 16, + 154, + 252, + 68, + 42, + 268, + 16, + 154, + 252, + 68, + 42, + 266, + 22, + 150, + 252, + 90, + 20, + 266, + 22, + 150, + 252, + 90, + 20, + 266, + 28, + 144, + 252, + 104, + 6, + 266, + 28, + 144, + 252, + 104, + 6, + 264, + 34, + 140, + 252, + 106, + 4, + 264, + 34, + 140, + 252, + 106, + 4, + 262, + 40, + 134, + 254, + 106, + 4, + 262, + 40, + 134, + 254, + 106, + 4, + 260, + 48, + 128, + 254, + 106, + 4, + 260, + 48, + 128, + 254, + 106, + 4, + 260, + 54, + 122, + 254, + 106, + 4, + 260, + 54, + 122, + 254, + 106, + 4, + 260, + 60, + 116, + 254, + 106, + 4, + 260, + 60, + 116, + 254, + 106, + 4, + 258, + 66, + 112, + 254, + 106, + 4, + 258, + 66, + 112, + 254, + 106, + 4, + 258, + 68, + 110, + 254, + 106, + 4, + 258, + 68, + 110, + 254, + 106, + 4, + 256, + 72, + 108, + 254, + 106, + 4, + 256, + 72, + 108, + 254, + 106, + 4, + 256, + 78, + 102, + 254, + 106, + 4, + 256, + 78, + 102, + 254, + 106, + 4, + 256, + 84, + 96, + 254, + 106, + 4, + 256, + 84, + 96, + 254, + 106, + 4, + 254, + 90, + 92, + 254, + 106, + 4, + 254, + 90, + 92, + 254, + 106, + 4, + 254, + 92, + 90, + 254, + 106, + 4, + 254, + 92, + 90, + 254, + 106, + 4, + 252, + 96, + 88, + 254, + 106, + 4, + 252, + 96, + 88, + 254, + 106, + 4, + 250, + 104, + 82, + 254, + 106, + 4, + 250, + 104, + 82, + 254, + 106, + 4, + 248, + 110, + 78, + 254, + 106, + 4, + 248, + 110, + 78, + 254, + 106, + 4, + 248, + 114, + 74, + 254, + 106, + 4, + 248, + 114, + 74, + 254, + 106, + 4, + 248, + 116, + 72, + 254, + 106, + 4, + 248, + 116, + 72, + 254, + 106, + 4, + 246, + 122, + 68, + 254, + 106, + 4, + 246, + 122, + 68, + 254, + 106, + 4, + 244, + 128, + 64, + 254, + 106, + 4, + 244, + 128, + 64, + 254, + 106, + 4, + 244, + 132, + 60, + 256, + 104, + 4, + 244, + 132, + 60, + 256, + 104, + 4, + 242, + 138, + 56, + 256, + 104, + 4, + 242, + 138, + 56, + 256, + 104, + 4, + 240, + 144, + 52, + 256, + 104, + 4, + 240, + 144, + 52, + 256, + 104, + 4, + 240, + 146, + 52, + 254, + 102, + 6, + 240, + 146, + 52, + 254, + 102, + 6, + 240, + 152, + 48, + 252, + 102, + 6, + 240, + 152, + 48, + 252, + 102, + 6, + 238, + 158, + 76, + 218, + 102, + 8, + 238, + 158, + 76, + 218, + 102, + 8, + 238, + 162, + 132, + 6, + 4, + 148, + 100, + 10, + 238, + 162, + 132, + 6, + 4, + 148, + 100, + 10, + 238, + 164, + 164, + 124, + 96, + 14, + 238, + 164, + 164, + 124, + 96, + 14, + 236, + 170, + 194, + 90, + 92, + 18, + 236, + 170, + 194, + 90, + 92, + 18, + 236, + 174, + 220, + 58, + 90, + 22, + 236, + 174, + 220, + 58, + 90, + 22, + 234, + 180, + 254, + 14, + 92, + 26, + 234, + 180, + 254, + 14, + 92, + 26, + 234, + 184, + 352, + 30, + 234, + 184, + 352, + 30, + 232, + 188, + 346, + 34, + 232, + 188, + 346, + 34, + 232, + 192, + 338, + 38, + 232, + 192, + 338, + 38, + 230, + 198, + 328, + 44, + 230, + 198, + 328, + 44, + 228, + 206, + 318, + 48, + 228, + 206, + 318, + 48, + 228, + 210, + 310, + 52, + 228, + 210, + 310, + 52, + 226, + 212, + 306, + 56, + 226, + 212, + 306, + 56, + 226, + 216, + 298, + 60, + 226, + 216, + 298, + 60, + 226, + 222, + 286, + 66, + 226, + 222, + 286, + 66, + 224, + 228, + 280, + 68, + 224, + 228, + 280, + 68, + 224, + 232, + 272, + 72, + 224, + 232, + 272, + 72, + 222, + 236, + 266, + 76, + 222, + 236, + 266, + 76, + 220, + 244, + 256, + 80, + 220, + 244, + 256, + 80, + 220, + 248, + 246, + 86, + 220, + 248, + 246, + 86, + 218, + 254, + 240, + 88, + 218, + 254, + 240, + 88, + 218, + 258, + 232, + 92, + 218, + 258, + 232, + 92, + 218, + 260, + 228, + 94, + 218, + 260, + 228, + 94, + 216, + 266, + 220, + 98, + 216, + 266, + 220, + 98, + 214, + 274, + 208, + 104, + 214, + 274, + 208, + 104, + 214, + 278, + 202, + 106, + 214, + 278, + 202, + 106, + 214, + 282, + 194, + 110, + 214, + 282, + 194, + 110, + 212, + 286, + 188, + 114, + 212, + 286, + 188, + 114, + 178, + 2, + 32, + 290, + 180, + 118, + 178, + 2, + 32, + 290, + 180, + 118, + 174, + 8, + 28, + 298, + 168, + 124, + 174, + 8, + 28, + 298, + 168, + 124, + 172, + 16, + 20, + 304, + 160, + 128, + 172, + 16, + 20, + 304, + 160, + 128, + 170, + 28, + 8, + 310, + 154, + 130, + 170, + 28, + 8, + 310, + 154, + 130, + 168, + 350, + 148, + 134, + 168, + 350, + 148, + 134, + 168, + 354, + 138, + 140, + 168, + 354, + 138, + 140, + 168, + 360, + 132, + 140, + 168, + 360, + 132, + 140, + 168, + 364, + 126, + 134, + 4, + 4, + 168, + 364, + 126, + 134, + 4, + 4, + 170, + 366, + 124, + 122, + 14, + 4, + 170, + 366, + 124, + 122, + 14, + 4, + 170, + 368, + 122, + 118, + 18, + 4, + 170, + 368, + 122, + 118, + 18, + 4, + 170, + 374, + 118, + 114, + 20, + 4, + 170, + 374, + 118, + 114, + 20, + 4, + 170, + 378, + 114, + 110, + 24, + 4, + 170, + 378, + 114, + 110, + 24, + 4, + 170, + 382, + 112, + 104, + 28, + 4, + 170, + 382, + 112, + 104, + 28, + 4, + 170, + 386, + 110, + 96, + 34, + 4, + 170, + 386, + 110, + 96, + 34, + 4, + 170, + 388, + 108, + 92, + 38, + 4, + 170, + 388, + 108, + 92, + 38, + 4, + 172, + 390, + 106, + 88, + 40, + 4, + 172, + 390, + 106, + 88, + 40, + 4, + 174, + 394, + 100, + 84, + 44, + 4, + 174, + 394, + 100, + 84, + 44, + 4, + 174, + 398, + 98, + 78, + 48, + 4, + 174, + 398, + 98, + 78, + 48, + 4, + 176, + 402, + 92, + 72, + 54, + 4, + 176, + 402, + 92, + 72, + 54, + 4, + 178, + 402, + 92, + 66, + 58, + 4, + 178, + 402, + 92, + 66, + 58, + 4, + 182, + 402, + 90, + 58, + 64, + 4, + 182, + 402, + 90, + 58, + 64, + 4, + 186, + 400, + 88, + 54, + 66, + 6, + 186, + 400, + 88, + 54, + 66, + 6, + 188, + 400, + 88, + 50, + 68, + 6, + 188, + 400, + 88, + 50, + 68, + 6, + 188, + 402, + 86, + 44, + 76, + 4, + 188, + 402, + 86, + 44, + 76, + 4, + 190, + 400, + 88, + 36, + 82, + 4, + 190, + 400, + 88, + 36, + 82, + 4, + 192, + 400, + 86, + 32, + 86, + 4, + 192, + 400, + 86, + 32, + 86, + 4, + 196, + 398, + 86, + 26, + 90, + 4, + 196, + 398, + 86, + 26, + 90, + 4, + 198, + 396, + 88, + 20, + 94, + 4, + 198, + 396, + 88, + 20, + 94, + 4, + 198, + 396, + 90, + 14, + 98, + 4, + 198, + 396, + 90, + 14, + 98, + 4, + 200, + 394, + 90, + 10, + 102, + 4, + 200, + 394, + 90, + 10, + 102, + 4, + 206, + 386, + 204, + 4, + 206, + 386, + 204, + 4, + 208, + 384, + 204, + 4, + 208, + 384, + 204, + 4, + 212, + 378, + 206, + 4, + 212, + 378, + 206, + 4, + 214, + 376, + 206, + 4, + 214, + 376, + 206, + 4, + 216, + 372, + 208, + 4, + 216, + 372, + 208, + 4, + 220, + 368, + 208, + 4, + 220, + 368, + 208, + 4, + 226, + 360, + 210, + 4, + 226, + 360, + 210, + 4, + 228, + 358, + 210, + 4, + 228, + 358, + 210, + 4, + 232, + 354, + 210, + 4, + 232, + 354, + 210, + 4, + 234, + 350, + 206, + 10, + 234, + 350, + 206, + 10, + 236, + 348, + 176, + 40, + 236, + 348, + 176, + 40, + 238, + 344, + 170, + 48, + 238, + 344, + 170, + 48, + 246, + 336, + 170, + 48, + 246, + 336, + 170, + 48, + 248, + 332, + 172, + 48, + 248, + 332, + 172, + 48, + 250, + 330, + 172, + 48, + 250, + 330, + 172, + 48, + 254, + 324, + 174, + 48, + 254, + 324, + 174, + 48, + 256, + 322, + 174, + 48, + 256, + 322, + 174, + 48, + 260, + 316, + 176, + 48, + 260, + 316, + 176, + 48, + 266, + 310, + 178, + 46, + 266, + 310, + 178, + 46, + 266, + 308, + 180, + 46, + 266, + 308, + 180, + 46, + 268, + 306, + 180, + 46, + 268, + 306, + 180, + 46, + 274, + 298, + 182, + 46, + 274, + 298, + 182, + 46, + 276, + 296, + 182, + 46, + 276, + 296, + 182, + 46, + 278, + 292, + 184, + 46, + 278, + 292, + 184, + 46, + 280, + 288, + 188, + 44, + 280, + 288, + 188, + 44, + 286, + 282, + 188, + 44, + 286, + 282, + 188, + 44, + 288, + 278, + 192, + 42, + 288, + 278, + 192, + 42, + 290, + 276, + 192, + 42, + 290, + 276, + 192, + 42, + 292, + 274, + 192, + 42, + 292, + 274, + 192, + 42, + 294, + 270, + 76, + 12, + 106, + 42, + 294, + 270, + 76, + 12, + 106, + 42, + 294, + 270, + 72, + 20, + 102, + 42, + 294, + 270, + 72, + 20, + 102, + 42, + 296, + 266, + 70, + 24, + 102, + 42, + 296, + 266, + 70, + 24, + 102, + 42, + 300, + 262, + 68, + 28, + 102, + 40, + 300, + 262, + 68, + 28, + 102, + 40, + 306, + 254, + 68, + 32, + 100, + 40, + 306, + 254, + 68, + 32, + 100, + 40, + 312, + 248, + 68, + 32, + 100, + 40, + 312, + 248, + 68, + 32, + 100, + 40, + 316, + 242, + 68, + 34, + 100, + 40, + 316, + 242, + 68, + 34, + 100, + 40, + 318, + 240, + 68, + 34, + 100, + 40, + 318, + 240, + 68, + 34, + 100, + 40, + 326, + 230, + 70, + 34, + 102, + 38, + 326, + 230, + 70, + 34, + 102, + 38, + 328, + 228, + 68, + 36, + 102, + 38, + 328, + 228, + 68, + 36, + 102, + 38, + 330, + 226, + 68, + 36, + 102, + 38, + 330, + 226, + 68, + 36, + 102, + 38, + 332, + 222, + 70, + 36, + 102, + 38, + 332, + 222, + 70, + 36, + 102, + 38, + 336, + 216, + 72, + 36, + 104, + 36, + 336, + 216, + 72, + 36, + 104, + 36, + 338, + 214, + 72, + 36, + 104, + 36, + 338, + 214, + 72, + 36, + 104, + 36, + 340, + 210, + 74, + 36, + 104, + 36, + 340, + 210, + 74, + 36, + 104, + 36, + 344, + 206, + 74, + 36, + 104, + 36, + 344, + 206, + 74, + 36, + 104, + 36, + 348, + 200, + 78, + 34, + 104, + 36, + 348, + 200, + 78, + 34, + 104, + 36, + 352, + 194, + 80, + 32, + 108, + 34, + 352, + 194, + 80, + 32, + 108, + 34, + 356, + 190, + 82, + 30, + 108, + 34, + 356, + 190, + 82, + 30, + 108, + 34, + 358, + 188, + 90, + 22, + 108, + 34, + 358, + 188, + 90, + 22, + 108, + 34, + 360, + 186, + 96, + 14, + 110, + 34, + 360, + 186, + 96, + 14, + 110, + 34, + 362, + 182, + 102, + 8, + 114, + 32, + 362, + 182, + 102, + 8, + 114, + 32, + 366, + 176, + 226, + 32, + 366, + 176, + 226, + 32, + 370, + 172, + 226, + 32, + 370, + 172, + 226, + 32, + 372, + 168, + 228, + 32, + 372, + 168, + 228, + 32, + 374, + 166, + 228, + 32, + 374, + 166, + 228, + 32, + 378, + 160, + 232, + 30, + 378, + 160, + 232, + 30, + 382, + 156, + 232, + 30, + 382, + 156, + 232, + 30, + 386, + 150, + 234, + 30, + 386, + 150, + 234, + 30, + 390, + 146, + 234, + 30, + 390, + 146, + 234, + 30, + 392, + 144, + 234, + 30, + 392, + 144, + 234, + 30, + 394, + 140, + 236, + 30, + 394, + 140, + 236, + 30, + 396, + 138, + 238, + 28, + 396, + 138, + 238, + 28, + 400, + 132, + 240, + 28, + 400, + 132, + 240, + 28, + 404, + 126, + 242, + 28, + 404, + 126, + 242, + 28, + 406, + 124, + 242, + 28, + 406, + 124, + 242, + 28, + 410, + 118, + 244, + 28, + 410, + 118, + 244, + 28, + 414, + 114, + 244, + 28, + 414, + 114, + 244, + 28, + 416, + 110, + 248, + 26, + 416, + 110, + 248, + 26, + 418, + 108, + 248, + 26, + 418, + 108, + 248, + 26, + 420, + 106, + 248, + 26, + 420, + 106, + 248, + 26, + 424, + 100, + 250, + 26, + 424, + 100, + 250, + 26, + 428, + 96, + 250, + 26, + 428, + 96, + 250, + 26, + 430, + 92, + 252, + 26, + 430, + 92, + 252, + 26, + 434, + 88, + 252, + 26, + 434, + 88, + 252, + 26, + 436, + 84, + 256, + 24, + 436, + 84, + 256, + 24, + 440, + 80, + 256, + 24, + 440, + 80, + 256, + 24, + 444, + 74, + 258, + 24, + 444, + 74, + 258, + 24, + 448, + 68, + 262, + 22, + 448, + 68, + 262, + 22, + 450, + 66, + 262, + 22, + 450, + 66, + 262, + 22, + 452, + 62, + 264, + 22, + 452, + 62, + 264, + 22, + 456, + 58, + 264, + 22, + 456, + 58, + 264, + 22, + 458, + 54, + 266, + 22, + 458, + 54, + 266, + 22, + 462, + 50, + 266, + 22, + 462, + 50, + 266, + 22, + 466, + 44, + 270, + 20, + 466, + 44, + 270, + 20, + 468, + 40, + 272, + 20, + 468, + 40, + 272, + 20, + 472, + 36, + 272, + 20, + 472, + 36, + 272, + 20, + 476, + 30, + 274, + 20, + 476, + 30, + 274, + 20, + 478, + 28, + 274, + 20, + 478, + 28, + 274, + 20, + 480, + 26, + 274, + 20, + 480, + 26, + 274, + 20, + 484, + 20, + 276, + 20, + 484, + 20, + 276, + 20, + 486, + 18, + 278, + 18, + 486, + 18, + 278, + 18, + 490, + 10, + 282, + 18, + 490, + 10, + 282, + 18, + 496, + 2, + 284, + 18, + 496, + 2, + 284, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 3 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000034:0000", + "experimental_retained_index": 3, + "ism_score": 0.3578644394874573, + "R": [ + [ + 0.572467029094696, + 0.41543763875961304, + -0.7065780162811279 + ], + [ + 0.7995387315750122, + -0.09238603711128235, + 0.5933223962783813 + ], + [ + 0.1813429892063141, + -0.9047501087188721, + -0.3851175308227539 + ] + ], + "t": [ + -33.81678771972656, + -15.209332466125488, + 369.6817626953125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 34, + "category_id": 1, + "bbox": [ + 502, + 440, + 168, + 252 + ], + "score": 0.5106287002563477, + "time": 0.0, + "segmentation": { + "counts": [ + 401355, + 122, + 678, + 122, + 584, + 226, + 574, + 226, + 570, + 236, + 564, + 236, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 196, + 6, + 48, + 550, + 196, + 6, + 48, + 550, + 182, + 24, + 44, + 550, + 182, + 24, + 44, + 548, + 182, + 30, + 40, + 548, + 182, + 30, + 40, + 548, + 180, + 34, + 38, + 548, + 180, + 34, + 38, + 548, + 180, + 36, + 36, + 548, + 180, + 36, + 36, + 550, + 176, + 50, + 22, + 552, + 176, + 50, + 22, + 552, + 176, + 624, + 176, + 622, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 182, + 28, + 4, + 586, + 182, + 28, + 4, + 586, + 188, + 18, + 32, + 562, + 188, + 18, + 32, + 562, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 548, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 550, + 250, + 550, + 250, + 588, + 212, + 588, + 212, + 664, + 136, + 664, + 136, + 694, + 104, + 696, + 104, + 730, + 70, + 730, + 70, + 768, + 30, + 770, + 30, + 485709 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000034:0003", + "experimental_retained_index": 0, + "ism_score": 0.5154611468315125, + "R": [ + [ + 0.9952276945114136, + -0.08984202891588211, + 0.03745367377996445 + ], + [ + -0.05799319967627525, + -0.23834460973739624, + 0.9693483710289001 + ], + [ + -0.07814124971628189, + -0.9670664072036743, + -0.24251805245876312 + ] + ], + "t": [ + -27.46996307373047, + 64.91918182373047, + 336.2613525390625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000034/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000034/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000034:0003", + "eppendorf_tarto:000034:0001", + "eppendorf_tarto:000034:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000034.png" + }, + { + "frame_id": 36, + "image_path": "/workspace/data/0008_/images/000036.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000036.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 392, + 374, + 210, + 258 + ], + "score": 0.4922942817211151, + "time": 0.0, + "segmentation": { + "counts": [ + 313367, + 12, + 788, + 12, + 782, + 30, + 770, + 30, + 762, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 732, + 68, + 732, + 68, + 726, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 708, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 694, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 684, + 116, + 684, + 116, + 678, + 124, + 676, + 124, + 670, + 130, + 670, + 130, + 664, + 136, + 664, + 136, + 658, + 144, + 656, + 144, + 650, + 150, + 650, + 150, + 644, + 156, + 644, + 156, + 638, + 160, + 640, + 160, + 634, + 162, + 638, + 162, + 634, + 158, + 642, + 158, + 636, + 132, + 2, + 24, + 642, + 132, + 2, + 24, + 636, + 126, + 24, + 6, + 644, + 126, + 24, + 6, + 638, + 128, + 672, + 128, + 668, + 130, + 670, + 130, + 664, + 136, + 664, + 136, + 660, + 138, + 662, + 138, + 656, + 144, + 656, + 144, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 636, + 164, + 70, + 6, + 560, + 164, + 70, + 6, + 560, + 164, + 60, + 18, + 558, + 164, + 60, + 18, + 556, + 166, + 50, + 28, + 556, + 166, + 50, + 28, + 556, + 166, + 36, + 44, + 554, + 166, + 36, + 44, + 554, + 168, + 30, + 48, + 554, + 168, + 30, + 48, + 556, + 166, + 28, + 50, + 556, + 166, + 28, + 50, + 556, + 168, + 24, + 52, + 556, + 168, + 24, + 52, + 556, + 170, + 20, + 56, + 554, + 170, + 20, + 56, + 554, + 174, + 10, + 62, + 554, + 174, + 10, + 62, + 554, + 246, + 554, + 246, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 560, + 230, + 570, + 230, + 570, + 224, + 576, + 224, + 578, + 216, + 584, + 216, + 584, + 208, + 592, + 208, + 592, + 202, + 598, + 202, + 598, + 194, + 606, + 194, + 608, + 186, + 614, + 186, + 614, + 180, + 620, + 180, + 620, + 174, + 626, + 174, + 628, + 164, + 636, + 164, + 636, + 158, + 642, + 158, + 642, + 152, + 648, + 152, + 648, + 144, + 656, + 144, + 658, + 136, + 664, + 136, + 664, + 128, + 672, + 128, + 672, + 120, + 680, + 120, + 680, + 114, + 686, + 114, + 688, + 104, + 696, + 104, + 696, + 98, + 702, + 98, + 702, + 92, + 708, + 92, + 708, + 84, + 716, + 84, + 716, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 730, + 64, + 736, + 64, + 736, + 56, + 744, + 56, + 746, + 46, + 754, + 46, + 754, + 40, + 760, + 40, + 760, + 32, + 768, + 32, + 770, + 24, + 776, + 24, + 776, + 16, + 784, + 16, + 540381 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000036:0004", + "experimental_retained_index": 0, + "ism_score": 0.4922942817211151, + "R": [ + [ + 0.9660446643829346, + -0.011300621554255486, + -0.2586076557636261 + ], + [ + 0.24626511335372925, + -0.26676222681999207, + 0.9316514134407043 + ], + [ + -0.07953880727291107, + -0.9635979533195496, + -0.25493186712265015 + ] + ], + "t": [ + -66.76236724853516, + 29.990371704101562, + 351.2328186035156 + ] + }, + { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 592, + 178, + 254, + 390 + ], + "score": 0.36967411637306213, + "time": 0.0, + "segmentation": { + "counts": [ + 473037, + 10, + 790, + 10, + 788, + 24, + 776, + 24, + 774, + 38, + 762, + 38, + 762, + 54, + 746, + 54, + 746, + 66, + 734, + 66, + 734, + 78, + 722, + 78, + 722, + 94, + 706, + 94, + 704, + 108, + 692, + 108, + 692, + 122, + 678, + 122, + 678, + 134, + 666, + 134, + 666, + 144, + 656, + 144, + 656, + 160, + 640, + 160, + 640, + 176, + 624, + 176, + 624, + 188, + 612, + 188, + 610, + 202, + 598, + 202, + 598, + 214, + 586, + 214, + 586, + 232, + 568, + 232, + 568, + 244, + 556, + 244, + 556, + 262, + 538, + 262, + 536, + 276, + 524, + 276, + 524, + 286, + 514, + 286, + 514, + 304, + 496, + 304, + 494, + 322, + 478, + 322, + 478, + 336, + 464, + 336, + 464, + 340, + 460, + 340, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 348, + 452, + 348, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 448, + 352, + 448, + 352, + 448, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 446, + 354, + 446, + 354, + 420, + 6, + 20, + 354, + 420, + 6, + 20, + 354, + 416, + 14, + 16, + 354, + 416, + 14, + 16, + 354, + 416, + 18, + 12, + 352, + 418, + 18, + 12, + 352, + 416, + 22, + 8, + 354, + 416, + 22, + 8, + 354, + 416, + 22, + 6, + 356, + 416, + 22, + 6, + 356, + 416, + 22, + 6, + 356, + 416, + 22, + 6, + 356, + 416, + 20, + 6, + 358, + 416, + 20, + 6, + 358, + 426, + 12, + 4, + 358, + 426, + 12, + 4, + 358, + 428, + 10, + 2, + 360, + 428, + 10, + 2, + 360, + 428, + 370, + 430, + 370, + 422, + 4, + 4, + 370, + 422, + 4, + 4, + 370, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 424, + 374, + 426, + 374, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 444, + 356, + 444, + 356, + 444, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 456, + 344, + 456, + 344, + 464, + 334, + 466, + 334, + 474, + 326, + 474, + 326, + 480, + 320, + 480, + 320, + 490, + 310, + 490, + 310, + 498, + 302, + 498, + 302, + 506, + 292, + 508, + 292, + 516, + 284, + 516, + 284, + 524, + 276, + 524, + 276, + 532, + 268, + 532, + 268, + 540, + 260, + 540, + 260, + 548, + 252, + 548, + 252, + 558, + 242, + 558, + 242, + 564, + 234, + 566, + 234, + 574, + 226, + 574, + 226, + 582, + 218, + 582, + 218, + 592, + 208, + 592, + 208, + 598, + 202, + 598, + 202, + 606, + 192, + 608, + 192, + 618, + 182, + 618, + 182, + 626, + 174, + 626, + 174, + 632, + 168, + 632, + 168, + 638, + 162, + 638, + 162, + 646, + 152, + 648, + 152, + 656, + 144, + 656, + 144, + 664, + 136, + 664, + 136, + 672, + 128, + 672, + 128, + 680, + 120, + 680, + 120, + 688, + 110, + 690, + 110, + 698, + 102, + 698, + 102, + 706, + 94, + 706, + 94, + 712, + 88, + 712, + 88, + 720, + 78, + 722, + 78, + 730, + 70, + 730, + 70, + 738, + 60, + 740, + 60, + 746, + 54, + 746, + 54, + 754, + 46, + 754, + 46, + 762, + 36, + 764, + 36, + 774, + 26, + 774, + 26, + 782, + 16, + 784, + 16, + 792, + 6, + 794, + 6, + 345067 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000036:0001", + "experimental_retained_index": 1, + "ism_score": 0.47129762172698975, + "R": [ + [ + 0.9830139875411987, + -0.08619023859500885, + 0.1608630269765854 + ], + [ + -0.17877568304538727, + -0.27579423785209656, + 0.9444196224212646 + ], + [ + -0.0370495468378067, + -0.9575002789497375, + -0.2865299880504608 + ] + ], + "t": [ + 33.77678298950195, + -12.889178276062012, + 301.6699523925781 + ] + }, + { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 0, + 0, + 526, + 188 + ], + "score": 0.09050421416759491, + "time": 0.0, + "segmentation": { + "counts": [ + 0, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 191, + 609, + 189, + 611, + 189, + 611, + 189, + 611, + 189, + 611, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 181, + 619, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 179, + 621, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 161, + 639, + 159, + 641, + 159, + 641, + 159, + 641, + 159, + 641, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 651, + 149, + 651, + 149, + 651, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 601597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000036:0000", + "experimental_retained_index": 2, + "ism_score": 0.42590218782424927, + "R": [ + [ + 0.38509663939476013, + -0.02631951868534088, + 0.9225934743881226 + ], + [ + -0.8010343313217163, + -0.5062414407730103, + 0.31992602348327637 + ], + [ + 0.4584457576274872, + -0.8619146347045898, + -0.21592727303504944 + ] + ], + "t": [ + -338.92816162109375, + -238.67901611328125, + 460.5774841308594 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 36, + "category_id": 1, + "bbox": [ + 392, + 374, + 210, + 258 + ], + "score": 0.4922942817211151, + "time": 0.0, + "segmentation": { + "counts": [ + 313367, + 12, + 788, + 12, + 782, + 30, + 770, + 30, + 762, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 732, + 68, + 732, + 68, + 726, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 708, + 92, + 708, + 92, + 702, + 100, + 700, + 100, + 694, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 684, + 116, + 684, + 116, + 678, + 124, + 676, + 124, + 670, + 130, + 670, + 130, + 664, + 136, + 664, + 136, + 658, + 144, + 656, + 144, + 650, + 150, + 650, + 150, + 644, + 156, + 644, + 156, + 638, + 160, + 640, + 160, + 634, + 162, + 638, + 162, + 634, + 158, + 642, + 158, + 636, + 132, + 2, + 24, + 642, + 132, + 2, + 24, + 636, + 126, + 24, + 6, + 644, + 126, + 24, + 6, + 638, + 128, + 672, + 128, + 668, + 130, + 670, + 130, + 664, + 136, + 664, + 136, + 660, + 138, + 662, + 138, + 656, + 144, + 656, + 144, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 636, + 164, + 70, + 6, + 560, + 164, + 70, + 6, + 560, + 164, + 60, + 18, + 558, + 164, + 60, + 18, + 556, + 166, + 50, + 28, + 556, + 166, + 50, + 28, + 556, + 166, + 36, + 44, + 554, + 166, + 36, + 44, + 554, + 168, + 30, + 48, + 554, + 168, + 30, + 48, + 556, + 166, + 28, + 50, + 556, + 166, + 28, + 50, + 556, + 168, + 24, + 52, + 556, + 168, + 24, + 52, + 556, + 170, + 20, + 56, + 554, + 170, + 20, + 56, + 554, + 174, + 10, + 62, + 554, + 174, + 10, + 62, + 554, + 246, + 554, + 246, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 560, + 230, + 570, + 230, + 570, + 224, + 576, + 224, + 578, + 216, + 584, + 216, + 584, + 208, + 592, + 208, + 592, + 202, + 598, + 202, + 598, + 194, + 606, + 194, + 608, + 186, + 614, + 186, + 614, + 180, + 620, + 180, + 620, + 174, + 626, + 174, + 628, + 164, + 636, + 164, + 636, + 158, + 642, + 158, + 642, + 152, + 648, + 152, + 648, + 144, + 656, + 144, + 658, + 136, + 664, + 136, + 664, + 128, + 672, + 128, + 672, + 120, + 680, + 120, + 680, + 114, + 686, + 114, + 688, + 104, + 696, + 104, + 696, + 98, + 702, + 98, + 702, + 92, + 708, + 92, + 708, + 84, + 716, + 84, + 716, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 730, + 64, + 736, + 64, + 736, + 56, + 744, + 56, + 746, + 46, + 754, + 46, + 754, + 40, + 760, + 40, + 760, + 32, + 768, + 32, + 770, + 24, + 776, + 24, + 776, + 16, + 784, + 16, + 540381 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000036:0004", + "experimental_retained_index": 0, + "ism_score": 0.4922942817211151, + "R": [ + [ + 0.9660446643829346, + -0.011300621554255486, + -0.2586076557636261 + ], + [ + 0.24626511335372925, + -0.26676222681999207, + 0.9316514134407043 + ], + [ + -0.07953880727291107, + -0.9635979533195496, + -0.25493186712265015 + ] + ], + "t": [ + -66.76236724853516, + 29.990371704101562, + 351.2328186035156 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000036/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000036/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000036:0004", + "eppendorf_tarto:000036:0001", + "eppendorf_tarto:000036:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000036.png" + }, + { + "frame_id": 38, + "image_path": "/workspace/data/0008_/images/000038.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000038.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 38, + "category_id": 1, + "bbox": [ + 370, + 268, + 236, + 242 + ], + "score": 0.4169778823852539, + "time": 0.0, + "segmentation": { + "counts": [ + 295625, + 10, + 790, + 10, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 754, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 72, + 728, + 72, + 724, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 70, + 730, + 70, + 726, + 70, + 730, + 70, + 728, + 68, + 732, + 68, + 730, + 54, + 746, + 54, + 744, + 52, + 748, + 52, + 746, + 52, + 748, + 52, + 746, + 52, + 748, + 52, + 744, + 54, + 746, + 54, + 744, + 56, + 68, + 12, + 664, + 56, + 68, + 12, + 662, + 58, + 66, + 16, + 660, + 58, + 66, + 16, + 658, + 60, + 64, + 18, + 658, + 60, + 64, + 18, + 656, + 62, + 58, + 26, + 654, + 62, + 58, + 26, + 650, + 68, + 54, + 30, + 648, + 68, + 54, + 30, + 646, + 72, + 48, + 34, + 646, + 72, + 48, + 34, + 642, + 76, + 44, + 40, + 640, + 76, + 44, + 40, + 638, + 80, + 38, + 46, + 636, + 80, + 38, + 46, + 634, + 82, + 34, + 52, + 632, + 82, + 34, + 52, + 628, + 88, + 30, + 54, + 628, + 88, + 30, + 54, + 626, + 90, + 28, + 58, + 624, + 90, + 28, + 58, + 622, + 94, + 24, + 62, + 620, + 94, + 24, + 62, + 616, + 100, + 22, + 62, + 616, + 100, + 22, + 62, + 614, + 102, + 18, + 68, + 612, + 102, + 18, + 68, + 610, + 106, + 14, + 72, + 608, + 106, + 14, + 72, + 606, + 110, + 8, + 76, + 606, + 110, + 8, + 76, + 604, + 198, + 602, + 198, + 598, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 558, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 560, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 602, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 784, + 12, + 788, + 12, + 537257 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000038:0000", + "experimental_retained_index": 0, + "ism_score": 0.42225608229637146, + "R": [ + [ + -0.8258029818534851, + -0.0513632632791996, + 0.5616148114204407 + ], + [ + -0.5143086314201355, + -0.33998218178749084, + -0.7873360514640808 + ], + [ + 0.23137927055358887, + -0.9390281438827515, + 0.25434181094169617 + ] + ], + "t": [ + -89.1994857788086, + 8.444622993469238, + 353.7582702636719 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 38, + "category_id": 1, + "bbox": [ + 370, + 268, + 236, + 242 + ], + "score": 0.4169778823852539, + "time": 0.0, + "segmentation": { + "counts": [ + 295625, + 10, + 790, + 10, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 754, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 724, + 74, + 726, + 74, + 724, + 72, + 728, + 72, + 724, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 726, + 70, + 730, + 70, + 726, + 70, + 730, + 70, + 728, + 68, + 732, + 68, + 730, + 54, + 746, + 54, + 744, + 52, + 748, + 52, + 746, + 52, + 748, + 52, + 746, + 52, + 748, + 52, + 744, + 54, + 746, + 54, + 744, + 56, + 68, + 12, + 664, + 56, + 68, + 12, + 662, + 58, + 66, + 16, + 660, + 58, + 66, + 16, + 658, + 60, + 64, + 18, + 658, + 60, + 64, + 18, + 656, + 62, + 58, + 26, + 654, + 62, + 58, + 26, + 650, + 68, + 54, + 30, + 648, + 68, + 54, + 30, + 646, + 72, + 48, + 34, + 646, + 72, + 48, + 34, + 642, + 76, + 44, + 40, + 640, + 76, + 44, + 40, + 638, + 80, + 38, + 46, + 636, + 80, + 38, + 46, + 634, + 82, + 34, + 52, + 632, + 82, + 34, + 52, + 628, + 88, + 30, + 54, + 628, + 88, + 30, + 54, + 626, + 90, + 28, + 58, + 624, + 90, + 28, + 58, + 622, + 94, + 24, + 62, + 620, + 94, + 24, + 62, + 616, + 100, + 22, + 62, + 616, + 100, + 22, + 62, + 614, + 102, + 18, + 68, + 612, + 102, + 18, + 68, + 610, + 106, + 14, + 72, + 608, + 106, + 14, + 72, + 606, + 110, + 8, + 76, + 606, + 110, + 8, + 76, + 604, + 198, + 602, + 198, + 598, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 558, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 560, + 236, + 564, + 236, + 564, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 602, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 624, + 172, + 628, + 172, + 630, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 784, + 12, + 788, + 12, + 537257 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000038:0000", + "experimental_retained_index": 0, + "ism_score": 0.42225608229637146, + "R": [ + [ + -0.8258029818534851, + -0.0513632632791996, + 0.5616148114204407 + ], + [ + -0.5143086314201355, + -0.33998218178749084, + -0.7873360514640808 + ], + [ + 0.23137927055358887, + -0.9390281438827515, + 0.25434181094169617 + ] + ], + "t": [ + -89.1994857788086, + 8.444622993469238, + 353.7582702636719 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000038/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000038/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000038:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000038.png" + }, + { + "frame_id": 40, + "image_path": "/workspace/data/0008_/images/000040.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000040.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 40, + "category_id": 1, + "bbox": [ + 396, + 226, + 236, + 212 + ], + "score": 0.46177545189857483, + "time": 0.0, + "segmentation": { + "counts": [ + 316341, + 8, + 792, + 8, + 784, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 46, + 42, + 6, + 706, + 46, + 42, + 6, + 704, + 46, + 40, + 14, + 700, + 46, + 40, + 14, + 700, + 44, + 40, + 18, + 698, + 44, + 40, + 18, + 696, + 34, + 4, + 6, + 38, + 26, + 692, + 34, + 4, + 6, + 38, + 26, + 690, + 32, + 50, + 30, + 688, + 32, + 50, + 30, + 686, + 32, + 52, + 32, + 684, + 32, + 52, + 32, + 682, + 32, + 50, + 38, + 680, + 32, + 50, + 38, + 680, + 30, + 50, + 44, + 676, + 30, + 50, + 44, + 674, + 32, + 48, + 48, + 672, + 32, + 48, + 48, + 670, + 34, + 46, + 52, + 668, + 34, + 46, + 52, + 666, + 36, + 46, + 54, + 664, + 36, + 46, + 54, + 664, + 38, + 40, + 60, + 662, + 38, + 40, + 60, + 660, + 42, + 34, + 68, + 656, + 42, + 34, + 68, + 656, + 42, + 30, + 74, + 654, + 42, + 30, + 74, + 652, + 46, + 28, + 76, + 650, + 46, + 28, + 76, + 648, + 50, + 26, + 78, + 646, + 50, + 26, + 78, + 644, + 54, + 24, + 82, + 640, + 54, + 24, + 82, + 640, + 56, + 22, + 84, + 638, + 56, + 22, + 84, + 636, + 60, + 18, + 88, + 634, + 60, + 18, + 88, + 632, + 64, + 16, + 88, + 632, + 64, + 16, + 88, + 630, + 68, + 10, + 92, + 630, + 68, + 10, + 92, + 630, + 72, + 2, + 96, + 630, + 72, + 2, + 96, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 758, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 516501 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000040:0000", + "experimental_retained_index": 0, + "ism_score": 0.46177545189857483, + "R": [ + [ + 0.6523323655128479, + -0.051727570593357086, + -0.7561771273612976 + ], + [ + 0.6836516857147217, + -0.3908471465110779, + 0.6164471507072449 + ], + [ + -0.32765403389930725, + -0.9187336564064026, + -0.21953153610229492 + ] + ], + "t": [ + -52.09366226196289, + -64.43643951416016, + 384.1064147949219 + ] + }, + { + "scene_id": 0, + "image_id": 40, + "category_id": 1, + "bbox": [ + 316, + 146, + 554, + 364 + ], + "score": 0.3009209930896759, + "time": 0.0, + "segmentation": { + "counts": [ + 252483, + 8, + 792, + 8, + 784, + 6, + 2, + 8, + 784, + 6, + 2, + 8, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 16, + 784, + 16, + 782, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 782, + 6, + 4, + 4, + 786, + 6, + 4, + 4, + 786, + 6, + 794, + 6, + 195940, + 14, + 786, + 14, + 784, + 22, + 778, + 22, + 772, + 34, + 766, + 34, + 764, + 42, + 758, + 42, + 754, + 52, + 748, + 52, + 744, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 730, + 72, + 728, + 72, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 660, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 636, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 174, + 626, + 174, + 622, + 178, + 622, + 178, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 604, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 206, + 594, + 206, + 590, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 566, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 550, + 252, + 548, + 252, + 542, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 534, + 266, + 534, + 266, + 530, + 272, + 528, + 272, + 524, + 276, + 524, + 276, + 520, + 282, + 518, + 282, + 514, + 286, + 514, + 286, + 510, + 290, + 510, + 290, + 508, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 500, + 300, + 500, + 300, + 494, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 482, + 320, + 480, + 320, + 476, + 324, + 476, + 324, + 472, + 330, + 470, + 330, + 466, + 334, + 466, + 334, + 464, + 338, + 462, + 338, + 460, + 340, + 460, + 340, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 456, + 340, + 460, + 340, + 460, + 336, + 464, + 336, + 464, + 332, + 468, + 332, + 470, + 324, + 476, + 324, + 476, + 318, + 482, + 318, + 482, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 492, + 302, + 498, + 302, + 498, + 298, + 502, + 298, + 502, + 292, + 508, + 292, + 510, + 284, + 516, + 284, + 516, + 280, + 520, + 280, + 522, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 262, + 538, + 262, + 538, + 256, + 544, + 256, + 544, + 252, + 548, + 252, + 550, + 244, + 556, + 244, + 556, + 240, + 560, + 240, + 560, + 234, + 566, + 234, + 568, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 204, + 596, + 204, + 596, + 198, + 602, + 198, + 602, + 194, + 606, + 194, + 606, + 188, + 612, + 188, + 612, + 184, + 616, + 184, + 618, + 178, + 622, + 178, + 622, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 632, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 136, + 664, + 136, + 662, + 132, + 668, + 132, + 636, + 162, + 638, + 162, + 636, + 158, + 642, + 158, + 640, + 154, + 646, + 154, + 642, + 154, + 646, + 154, + 646, + 148, + 652, + 148, + 652, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 662, + 46, + 2, + 86, + 666, + 46, + 2, + 86, + 666, + 46, + 2, + 82, + 670, + 46, + 2, + 82, + 674, + 42, + 2, + 76, + 680, + 42, + 2, + 76, + 680, + 36, + 8, + 72, + 684, + 36, + 8, + 72, + 686, + 18, + 24, + 66, + 692, + 18, + 24, + 66, + 692, + 16, + 26, + 60, + 698, + 16, + 26, + 60, + 702, + 8, + 32, + 54, + 706, + 8, + 32, + 54, + 746, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 760, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 768, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 780, + 14, + 786, + 14, + 788, + 8, + 792, + 8, + 326191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000040:0002", + "experimental_retained_index": 2, + "ism_score": 0.40976473689079285, + "R": [ + [ + -0.91595458984375, + 0.1683792769908905, + -0.36464858055114746 + ], + [ + -0.28657010197639465, + 0.3622778654098511, + 0.8869439959526062 + ], + [ + 0.2815222144126892, + 0.916933536529541, + -0.28353169560432434 + ] + ], + "t": [ + 55.226139068603516, + -45.619380950927734, + 325.1310729980469 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 40, + "category_id": 1, + "bbox": [ + 396, + 226, + 236, + 212 + ], + "score": 0.46177545189857483, + "time": 0.0, + "segmentation": { + "counts": [ + 316341, + 8, + 792, + 8, + 784, + 18, + 782, + 18, + 778, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 46, + 42, + 6, + 706, + 46, + 42, + 6, + 704, + 46, + 40, + 14, + 700, + 46, + 40, + 14, + 700, + 44, + 40, + 18, + 698, + 44, + 40, + 18, + 696, + 34, + 4, + 6, + 38, + 26, + 692, + 34, + 4, + 6, + 38, + 26, + 690, + 32, + 50, + 30, + 688, + 32, + 50, + 30, + 686, + 32, + 52, + 32, + 684, + 32, + 52, + 32, + 682, + 32, + 50, + 38, + 680, + 32, + 50, + 38, + 680, + 30, + 50, + 44, + 676, + 30, + 50, + 44, + 674, + 32, + 48, + 48, + 672, + 32, + 48, + 48, + 670, + 34, + 46, + 52, + 668, + 34, + 46, + 52, + 666, + 36, + 46, + 54, + 664, + 36, + 46, + 54, + 664, + 38, + 40, + 60, + 662, + 38, + 40, + 60, + 660, + 42, + 34, + 68, + 656, + 42, + 34, + 68, + 656, + 42, + 30, + 74, + 654, + 42, + 30, + 74, + 652, + 46, + 28, + 76, + 650, + 46, + 28, + 76, + 648, + 50, + 26, + 78, + 646, + 50, + 26, + 78, + 644, + 54, + 24, + 82, + 640, + 54, + 24, + 82, + 640, + 56, + 22, + 84, + 638, + 56, + 22, + 84, + 636, + 60, + 18, + 88, + 634, + 60, + 18, + 88, + 632, + 64, + 16, + 88, + 632, + 64, + 16, + 88, + 630, + 68, + 10, + 92, + 630, + 68, + 10, + 92, + 630, + 72, + 2, + 96, + 630, + 72, + 2, + 96, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 758, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 516501 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000040:0000", + "experimental_retained_index": 0, + "ism_score": 0.46177545189857483, + "R": [ + [ + 0.6523323655128479, + -0.051727570593357086, + -0.7561771273612976 + ], + [ + 0.6836516857147217, + -0.3908471465110779, + 0.6164471507072449 + ], + [ + -0.32765403389930725, + -0.9187336564064026, + -0.21953153610229492 + ] + ], + "t": [ + -52.09366226196289, + -64.43643951416016, + 384.1064147949219 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000040/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000040/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000040:0000", + "eppendorf_tarto:000040:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000040.png" + }, + { + "frame_id": 43, + "image_path": "/workspace/data/0008_/images/000043.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000043.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 366, + 154, + 244, + 194 + ], + "score": 0.42781656980514526, + "time": 0.0, + "segmentation": { + "counts": [ + 292255, + 6, + 794, + 6, + 786, + 18, + 782, + 18, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 764, + 34, + 44, + 8, + 714, + 34, + 44, + 8, + 712, + 34, + 44, + 12, + 710, + 34, + 44, + 12, + 710, + 32, + 44, + 18, + 706, + 32, + 44, + 18, + 704, + 34, + 40, + 24, + 702, + 34, + 40, + 24, + 702, + 32, + 42, + 26, + 700, + 32, + 42, + 26, + 698, + 30, + 44, + 30, + 696, + 30, + 44, + 30, + 696, + 28, + 44, + 34, + 694, + 28, + 44, + 34, + 692, + 28, + 44, + 40, + 688, + 28, + 44, + 40, + 686, + 24, + 48, + 44, + 684, + 24, + 48, + 44, + 684, + 20, + 52, + 46, + 682, + 20, + 52, + 46, + 680, + 20, + 52, + 50, + 678, + 20, + 52, + 50, + 678, + 18, + 52, + 54, + 676, + 18, + 52, + 54, + 674, + 20, + 50, + 58, + 672, + 20, + 50, + 58, + 672, + 18, + 50, + 62, + 670, + 18, + 50, + 62, + 668, + 20, + 48, + 68, + 664, + 20, + 48, + 68, + 664, + 20, + 46, + 72, + 662, + 20, + 46, + 72, + 660, + 24, + 42, + 76, + 658, + 24, + 42, + 76, + 658, + 26, + 38, + 82, + 654, + 26, + 38, + 82, + 652, + 30, + 34, + 86, + 650, + 30, + 34, + 86, + 650, + 32, + 32, + 88, + 648, + 32, + 32, + 88, + 646, + 36, + 30, + 88, + 646, + 36, + 30, + 88, + 646, + 38, + 26, + 90, + 646, + 38, + 26, + 90, + 644, + 42, + 24, + 90, + 644, + 42, + 24, + 90, + 642, + 46, + 20, + 92, + 642, + 46, + 20, + 92, + 642, + 48, + 18, + 92, + 642, + 48, + 18, + 92, + 640, + 52, + 14, + 94, + 640, + 52, + 14, + 94, + 640, + 56, + 8, + 94, + 642, + 56, + 8, + 94, + 640, + 60, + 2, + 96, + 642, + 60, + 2, + 96, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 4, + 796, + 4, + 534181 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000043:0000", + "experimental_retained_index": 0, + "ism_score": 0.43738436698913574, + "R": [ + [ + 0.6645702719688416, + 0.0668347179889679, + -0.7443894743919373 + ], + [ + 0.6861215233802795, + -0.4493529200553894, + 0.5721777081489563 + ], + [ + -0.29606059193611145, + -0.8910375237464905, + -0.34452900290489197 + ] + ], + "t": [ + -63.42898941040039, + -109.62135314941406, + 375.80572509765625 + ] + }, + { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 276, + 72, + 572, + 352 + ], + "score": 0.20139345526695251, + "time": 0.0, + "segmentation": { + "counts": [ + 220373, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 221518, + 12, + 788, + 12, + 784, + 26, + 774, + 26, + 772, + 40, + 760, + 40, + 756, + 64, + 736, + 64, + 734, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 656, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 638, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 630, + 172, + 628, + 172, + 624, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 612, + 190, + 610, + 190, + 606, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 204, + 596, + 204, + 592, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 576, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 234, + 566, + 234, + 562, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 552, + 248, + 552, + 248, + 548, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 540, + 260, + 540, + 260, + 538, + 264, + 536, + 264, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 526, + 276, + 524, + 276, + 520, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 512, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 502, + 300, + 500, + 300, + 486, + 8, + 6, + 300, + 486, + 8, + 6, + 300, + 484, + 316, + 484, + 316, + 482, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 478, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 470, + 326, + 474, + 326, + 474, + 324, + 476, + 324, + 478, + 318, + 482, + 318, + 482, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 490, + 304, + 496, + 304, + 496, + 300, + 500, + 300, + 500, + 294, + 506, + 294, + 508, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 518, + 278, + 522, + 278, + 524, + 272, + 528, + 272, + 528, + 268, + 532, + 268, + 532, + 264, + 536, + 264, + 536, + 260, + 540, + 260, + 540, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 554, + 240, + 560, + 240, + 560, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 568, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 600, + 196, + 604, + 196, + 604, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 172, + 628, + 172, + 628, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 664, + 132, + 668, + 132, + 658, + 140, + 660, + 140, + 636, + 10, + 2, + 148, + 640, + 10, + 2, + 148, + 638, + 158, + 642, + 158, + 640, + 154, + 646, + 154, + 644, + 152, + 648, + 152, + 646, + 150, + 650, + 150, + 648, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 128, + 672, + 128, + 674, + 50, + 6, + 64, + 680, + 50, + 6, + 64, + 680, + 38, + 18, + 60, + 684, + 38, + 18, + 60, + 686, + 28, + 26, + 52, + 694, + 28, + 26, + 52, + 696, + 18, + 36, + 46, + 700, + 18, + 36, + 46, + 702, + 8, + 44, + 42, + 706, + 8, + 44, + 42, + 760, + 34, + 766, + 34, + 766, + 28, + 772, + 28, + 772, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 343853 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000043:0001", + "experimental_retained_index": 1, + "ism_score": 0.39296284317970276, + "R": [ + [ + -0.9170626997947693, + 0.018223492428660393, + 0.3983477056026459 + ], + [ + -0.3699626326560974, + -0.41218101978302, + -0.8328033685684204 + ], + [ + 0.1490112990140915, + -0.9106932282447815, + 0.38470447063446045 + ] + ], + "t": [ + 34.242435455322266, + -68.1283187866211, + 306.2835693359375 + ] + }, + { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 322, + 258, + 112, + 96 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 257145, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 26, + 774, + 26, + 772, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 776, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 786, + 10, + 790, + 10, + 792, + 6, + 794, + 6, + 674935 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000043:0002", + "experimental_retained_index": 2, + "ism_score": 0.39069151878356934, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 43, + "category_id": 1, + "bbox": [ + 366, + 154, + 244, + 194 + ], + "score": 0.42781656980514526, + "time": 0.0, + "segmentation": { + "counts": [ + 292255, + 6, + 794, + 6, + 786, + 18, + 782, + 18, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 764, + 34, + 44, + 8, + 714, + 34, + 44, + 8, + 712, + 34, + 44, + 12, + 710, + 34, + 44, + 12, + 710, + 32, + 44, + 18, + 706, + 32, + 44, + 18, + 704, + 34, + 40, + 24, + 702, + 34, + 40, + 24, + 702, + 32, + 42, + 26, + 700, + 32, + 42, + 26, + 698, + 30, + 44, + 30, + 696, + 30, + 44, + 30, + 696, + 28, + 44, + 34, + 694, + 28, + 44, + 34, + 692, + 28, + 44, + 40, + 688, + 28, + 44, + 40, + 686, + 24, + 48, + 44, + 684, + 24, + 48, + 44, + 684, + 20, + 52, + 46, + 682, + 20, + 52, + 46, + 680, + 20, + 52, + 50, + 678, + 20, + 52, + 50, + 678, + 18, + 52, + 54, + 676, + 18, + 52, + 54, + 674, + 20, + 50, + 58, + 672, + 20, + 50, + 58, + 672, + 18, + 50, + 62, + 670, + 18, + 50, + 62, + 668, + 20, + 48, + 68, + 664, + 20, + 48, + 68, + 664, + 20, + 46, + 72, + 662, + 20, + 46, + 72, + 660, + 24, + 42, + 76, + 658, + 24, + 42, + 76, + 658, + 26, + 38, + 82, + 654, + 26, + 38, + 82, + 652, + 30, + 34, + 86, + 650, + 30, + 34, + 86, + 650, + 32, + 32, + 88, + 648, + 32, + 32, + 88, + 646, + 36, + 30, + 88, + 646, + 36, + 30, + 88, + 646, + 38, + 26, + 90, + 646, + 38, + 26, + 90, + 644, + 42, + 24, + 90, + 644, + 42, + 24, + 90, + 642, + 46, + 20, + 92, + 642, + 46, + 20, + 92, + 642, + 48, + 18, + 92, + 642, + 48, + 18, + 92, + 640, + 52, + 14, + 94, + 640, + 52, + 14, + 94, + 640, + 56, + 8, + 94, + 642, + 56, + 8, + 94, + 640, + 60, + 2, + 96, + 642, + 60, + 2, + 96, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 792, + 4, + 796, + 4, + 534181 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000043:0000", + "experimental_retained_index": 0, + "ism_score": 0.43738436698913574, + "R": [ + [ + 0.6645702719688416, + 0.0668347179889679, + -0.7443894743919373 + ], + [ + 0.6861215233802795, + -0.4493529200553894, + 0.5721777081489563 + ], + [ + -0.29606059193611145, + -0.8910375237464905, + -0.34452900290489197 + ] + ], + "t": [ + -63.42898941040039, + -109.62135314941406, + 375.80572509765625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000043/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000043/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000043:0000", + "eppendorf_tarto:000043:0001", + "eppendorf_tarto:000043:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000043.png" + }, + { + "frame_id": 51, + "image_path": "/workspace/data/0008_/images/000051.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000051.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 51, + "category_id": 1, + "bbox": [ + 434, + 282, + 220, + 224 + ], + "score": 0.38817310333251953, + "time": 0.0, + "segmentation": { + "counts": [ + 346853, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 764, + 6, + 6, + 26, + 762, + 6, + 6, + 26, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 718, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 650, + 146, + 654, + 146, + 648, + 146, + 654, + 146, + 652, + 144, + 656, + 144, + 652, + 144, + 656, + 144, + 654, + 142, + 658, + 142, + 654, + 140, + 660, + 140, + 656, + 140, + 660, + 140, + 656, + 138, + 662, + 138, + 658, + 136, + 664, + 136, + 662, + 100, + 4, + 28, + 668, + 100, + 4, + 28, + 664, + 100, + 22, + 4, + 674, + 100, + 22, + 4, + 670, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 100, + 8, + 590, + 102, + 100, + 8, + 590, + 102, + 92, + 18, + 588, + 102, + 92, + 18, + 588, + 102, + 86, + 24, + 588, + 102, + 86, + 24, + 588, + 102, + 80, + 30, + 588, + 102, + 80, + 30, + 588, + 102, + 72, + 38, + 588, + 102, + 72, + 38, + 588, + 102, + 66, + 46, + 586, + 102, + 66, + 46, + 586, + 104, + 58, + 52, + 586, + 104, + 58, + 52, + 586, + 104, + 52, + 58, + 586, + 104, + 52, + 58, + 586, + 106, + 42, + 68, + 584, + 106, + 42, + 68, + 584, + 106, + 36, + 74, + 584, + 106, + 36, + 74, + 584, + 106, + 32, + 78, + 584, + 106, + 32, + 78, + 586, + 106, + 28, + 80, + 586, + 106, + 28, + 80, + 586, + 106, + 26, + 84, + 584, + 106, + 26, + 84, + 584, + 108, + 18, + 90, + 584, + 108, + 18, + 90, + 584, + 112, + 10, + 94, + 584, + 112, + 10, + 94, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 202, + 598, + 202, + 598, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 180, + 620, + 180, + 620, + 174, + 626, + 174, + 626, + 168, + 632, + 168, + 632, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 646, + 146, + 654, + 146, + 654, + 140, + 660, + 140, + 660, + 134, + 666, + 134, + 668, + 124, + 676, + 124, + 676, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 690, + 102, + 698, + 102, + 700, + 94, + 706, + 94, + 706, + 88, + 712, + 88, + 712, + 82, + 718, + 82, + 718, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 738, + 54, + 746, + 54, + 746, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 760, + 34, + 766, + 34, + 770, + 22, + 778, + 22, + 498867 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000051:0000", + "experimental_retained_index": 0, + "ism_score": 0.42832890152931213, + "R": [ + [ + 0.9648773074150085, + 0.10876911878585815, + -0.2381850779056549 + ], + [ + 0.25665220618247986, + -0.5737590193748474, + 0.777788519859314 + ], + [ + -0.05208759009838104, + -0.8115205764770508, + -0.5815925002098083 + ] + ], + "t": [ + -36.965457916259766, + -30.590715408325195, + 351.6217041015625 + ] + }, + { + "scene_id": 0, + "image_id": 51, + "category_id": 1, + "bbox": [ + 324, + 408, + 50, + 152 + ], + "score": 0.184743732213974, + "time": 0.0, + "segmentation": { + "counts": [ + 258949, + 6, + 794, + 6, + 786, + 16, + 784, + 16, + 772, + 28, + 772, + 28, + 762, + 38, + 762, + 38, + 750, + 50, + 750, + 50, + 740, + 60, + 740, + 60, + 728, + 72, + 728, + 72, + 708, + 92, + 708, + 92, + 690, + 4, + 2, + 104, + 690, + 4, + 2, + 104, + 668, + 134, + 666, + 134, + 656, + 144, + 656, + 144, + 648, + 4, + 2, + 148, + 646, + 4, + 2, + 148, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 140, + 660, + 140, + 660, + 130, + 670, + 130, + 670, + 116, + 684, + 116, + 686, + 104, + 696, + 104, + 696, + 92, + 708, + 92, + 708, + 80, + 720, + 80, + 722, + 64, + 736, + 64, + 738, + 50, + 750, + 50, + 750, + 38, + 762, + 38, + 764, + 26, + 774, + 26, + 778, + 4, + 796, + 4, + 722775 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000051:0001", + "experimental_retained_index": 1, + "ism_score": 0.3582908809185028, + "R": [ + [ + 0.07325716316699982, + 0.9190377593040466, + 0.3875230848789215 + ], + [ + 0.8873938322067261, + 0.11736686527729034, + -0.44608989357948303 + ], + [ + -0.45540302991867065, + 0.37645918130874634, + -0.8069111108779907 + ] + ], + "t": [ + -104.05081939697266, + 19.283985137939453, + 261.2120361328125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 51, + "category_id": 1, + "bbox": [ + 434, + 282, + 220, + 224 + ], + "score": 0.38817310333251953, + "time": 0.0, + "segmentation": { + "counts": [ + 346853, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 764, + 6, + 6, + 26, + 762, + 6, + 6, + 26, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 718, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 684, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 650, + 146, + 654, + 146, + 648, + 146, + 654, + 146, + 652, + 144, + 656, + 144, + 652, + 144, + 656, + 144, + 654, + 142, + 658, + 142, + 654, + 140, + 660, + 140, + 656, + 140, + 660, + 140, + 656, + 138, + 662, + 138, + 658, + 136, + 664, + 136, + 662, + 100, + 4, + 28, + 668, + 100, + 4, + 28, + 664, + 100, + 22, + 4, + 674, + 100, + 22, + 4, + 670, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 100, + 8, + 590, + 102, + 100, + 8, + 590, + 102, + 92, + 18, + 588, + 102, + 92, + 18, + 588, + 102, + 86, + 24, + 588, + 102, + 86, + 24, + 588, + 102, + 80, + 30, + 588, + 102, + 80, + 30, + 588, + 102, + 72, + 38, + 588, + 102, + 72, + 38, + 588, + 102, + 66, + 46, + 586, + 102, + 66, + 46, + 586, + 104, + 58, + 52, + 586, + 104, + 58, + 52, + 586, + 104, + 52, + 58, + 586, + 104, + 52, + 58, + 586, + 106, + 42, + 68, + 584, + 106, + 42, + 68, + 584, + 106, + 36, + 74, + 584, + 106, + 36, + 74, + 584, + 106, + 32, + 78, + 584, + 106, + 32, + 78, + 586, + 106, + 28, + 80, + 586, + 106, + 28, + 80, + 586, + 106, + 26, + 84, + 584, + 106, + 26, + 84, + 584, + 108, + 18, + 90, + 584, + 108, + 18, + 90, + 584, + 112, + 10, + 94, + 584, + 112, + 10, + 94, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 202, + 598, + 202, + 598, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 180, + 620, + 180, + 620, + 174, + 626, + 174, + 626, + 168, + 632, + 168, + 632, + 160, + 640, + 160, + 642, + 154, + 646, + 154, + 646, + 146, + 654, + 146, + 654, + 140, + 660, + 140, + 660, + 134, + 666, + 134, + 668, + 124, + 676, + 124, + 676, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 690, + 102, + 698, + 102, + 700, + 94, + 706, + 94, + 706, + 88, + 712, + 88, + 712, + 82, + 718, + 82, + 718, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 738, + 54, + 746, + 54, + 746, + 48, + 752, + 48, + 754, + 40, + 760, + 40, + 760, + 34, + 766, + 34, + 770, + 22, + 778, + 22, + 498867 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000051:0000", + "experimental_retained_index": 0, + "ism_score": 0.42832890152931213, + "R": [ + [ + 0.9648773074150085, + 0.10876911878585815, + -0.2381850779056549 + ], + [ + 0.25665220618247986, + -0.5737590193748474, + 0.777788519859314 + ], + [ + -0.05208759009838104, + -0.8115205764770508, + -0.5815925002098083 + ] + ], + "t": [ + -36.965457916259766, + -30.590715408325195, + 351.6217041015625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000051/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000051/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000051:0000", + "eppendorf_tarto:000051:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000051.png" + }, + { + "frame_id": 55, + "image_path": "/workspace/data/0008_/images/000055.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000055.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 0, + 0, + 646, + 58 + ], + "score": 0.010077876970171928, + "time": 0.0, + "segmentation": { + "counts": [ + 0, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 766, + 34, + 766, + 34, + 774, + 26, + 774, + 26, + 782, + 16, + 784, + 16, + 790, + 10, + 790, + 10, + 64765, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 56804, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 50386, + 4, + 796, + 4, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 3991, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 505597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000055:0000", + "experimental_retained_index": 0, + "ism_score": 0.46070295572280884, + "R": [ + [ + 0.03973398357629776, + -0.49125736951828003, + 0.8701076507568359 + ], + [ + -0.9975854754447937, + -0.06914608925580978, + 0.006515882909297943 + ], + [ + 0.05696352943778038, + -0.8682651519775391, + -0.4928184151649475 + ] + ], + "t": [ + -338.9544677734375, + -215.74984741210938, + 402.24700927734375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 55, + "category_id": 1, + "bbox": [ + 0, + 0, + 646, + 58 + ], + "score": 0.010077876970171928, + "time": 0.0, + "segmentation": { + "counts": [ + 0, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 766, + 34, + 766, + 34, + 774, + 26, + 774, + 26, + 782, + 16, + 784, + 16, + 790, + 10, + 790, + 10, + 64765, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 56804, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 50386, + 4, + 796, + 4, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 794, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 3991, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 505597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000055:0000", + "experimental_retained_index": 0, + "ism_score": 0.46070295572280884, + "R": [ + [ + 0.03973398357629776, + -0.49125736951828003, + 0.8701076507568359 + ], + [ + -0.9975854754447937, + -0.06914608925580978, + 0.006515882909297943 + ], + [ + 0.05696352943778038, + -0.8682651519775391, + -0.4928184151649475 + ] + ], + "t": [ + -338.9544677734375, + -215.74984741210938, + 402.24700927734375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000055/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000055/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000055:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000055.png" + }, + { + "frame_id": 60, + "image_path": "/workspace/data/0008_/images/000060.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000060.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 574, + 572, + 160, + 88 + ], + "score": 0.10968991369009018, + "time": 0.0, + "segmentation": { + "counts": [ + 458971, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 6, + 794, + 6, + 434543 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000060:0000", + "experimental_retained_index": 0, + "ism_score": 0.4178663194179535, + "R": [ + [ + 0.7543383240699768, + 0.5250481367111206, + -0.3940794765949249 + ], + [ + 0.6496117115020752, + -0.683635950088501, + 0.3326358199119568 + ], + [ + -0.09475699067115784, + -0.5069186091423035, + -0.8567697405815125 + ] + ], + "t": [ + -2.4848616123199463, + 93.69200134277344, + 231.5962371826172 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 60, + "category_id": 1, + "bbox": [ + 574, + 572, + 160, + 88 + ], + "score": 0.10968991369009018, + "time": 0.0, + "segmentation": { + "counts": [ + 458971, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 790, + 6, + 794, + 6, + 434543 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000060:0000", + "experimental_retained_index": 0, + "ism_score": 0.4178663194179535, + "R": [ + [ + 0.7543383240699768, + 0.5250481367111206, + -0.3940794765949249 + ], + [ + 0.6496117115020752, + -0.683635950088501, + 0.3326358199119568 + ], + [ + -0.09475699067115784, + -0.5069186091423035, + -0.8567697405815125 + ] + ], + "t": [ + -2.4848616123199463, + 93.69200134277344, + 231.5962371826172 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000060/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000060/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000060:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000060.png" + }, + { + "frame_id": 64, + "image_path": "/workspace/data/0008_/images/000064.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000064.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 476, + 356, + 266, + 206 + ], + "score": 0.21946504712104797, + "time": 0.0, + "segmentation": { + "counts": [ + 380465, + 18, + 782, + 18, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 732, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 668, + 112, + 688, + 112, + 684, + 108, + 692, + 108, + 688, + 102, + 698, + 102, + 696, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 50, + 94, + 8, + 648, + 50, + 94, + 8, + 648, + 52, + 90, + 10, + 648, + 52, + 90, + 10, + 648, + 54, + 78, + 22, + 646, + 54, + 78, + 22, + 648, + 54, + 74, + 26, + 646, + 54, + 74, + 26, + 646, + 56, + 68, + 30, + 646, + 56, + 68, + 30, + 646, + 58, + 62, + 34, + 646, + 58, + 62, + 34, + 648, + 60, + 50, + 44, + 646, + 60, + 50, + 44, + 646, + 64, + 40, + 50, + 646, + 64, + 40, + 50, + 646, + 70, + 26, + 58, + 646, + 70, + 26, + 58, + 648, + 76, + 8, + 70, + 646, + 76, + 8, + 70, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 154, + 646, + 154, + 646, + 44, + 10, + 100, + 646, + 44, + 10, + 100, + 648, + 34, + 22, + 98, + 646, + 34, + 22, + 98, + 646, + 30, + 26, + 98, + 646, + 30, + 26, + 98, + 646, + 28, + 30, + 96, + 646, + 28, + 30, + 96, + 646, + 24, + 34, + 98, + 644, + 24, + 34, + 98, + 646, + 20, + 36, + 98, + 646, + 20, + 36, + 98, + 646, + 18, + 40, + 96, + 646, + 18, + 40, + 96, + 648, + 14, + 42, + 98, + 646, + 14, + 42, + 98, + 646, + 12, + 46, + 96, + 646, + 12, + 46, + 96, + 648, + 10, + 46, + 96, + 648, + 10, + 46, + 96, + 648, + 12, + 42, + 100, + 646, + 12, + 42, + 100, + 648, + 10, + 42, + 100, + 648, + 10, + 42, + 100, + 648, + 10, + 44, + 100, + 646, + 10, + 44, + 100, + 648, + 8, + 44, + 100, + 648, + 8, + 44, + 100, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 100, + 646, + 10, + 44, + 100, + 646, + 12, + 44, + 98, + 646, + 12, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 12, + 42, + 98, + 648, + 12, + 42, + 98, + 650, + 14, + 40, + 96, + 650, + 14, + 40, + 96, + 650, + 16, + 38, + 96, + 650, + 16, + 38, + 96, + 650, + 16, + 40, + 92, + 652, + 16, + 40, + 92, + 654, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 18, + 38, + 76, + 668, + 18, + 38, + 76, + 668, + 20, + 38, + 64, + 678, + 20, + 38, + 64, + 680, + 20, + 38, + 56, + 686, + 20, + 38, + 56, + 686, + 22, + 36, + 50, + 692, + 22, + 36, + 50, + 692, + 22, + 36, + 40, + 702, + 22, + 36, + 40, + 702, + 22, + 36, + 30, + 712, + 22, + 36, + 30, + 714, + 22, + 36, + 20, + 722, + 22, + 36, + 20, + 722, + 22, + 40, + 6, + 732, + 22, + 40, + 6, + 732, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 428357 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000064:0000", + "experimental_retained_index": 0, + "ism_score": 0.41069477796554565, + "R": [ + [ + -0.3168593645095825, + 0.01656721718609333, + -0.9483278393745422 + ], + [ + 0.8045212030410767, + -0.524856448173523, + -0.2779789865016937 + ], + [ + -0.5023409724235535, + -0.8510298728942871, + 0.15297701954841614 + ] + ], + "t": [ + 14.159029960632324, + 29.984540939331055, + 321.4654235839844 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 64, + "category_id": 1, + "bbox": [ + 476, + 356, + 266, + 206 + ], + "score": 0.21946504712104797, + "time": 0.0, + "segmentation": { + "counts": [ + 380465, + 18, + 782, + 18, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 732, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 668, + 112, + 688, + 112, + 684, + 108, + 692, + 108, + 688, + 102, + 698, + 102, + 696, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 752, + 50, + 94, + 8, + 648, + 50, + 94, + 8, + 648, + 52, + 90, + 10, + 648, + 52, + 90, + 10, + 648, + 54, + 78, + 22, + 646, + 54, + 78, + 22, + 648, + 54, + 74, + 26, + 646, + 54, + 74, + 26, + 646, + 56, + 68, + 30, + 646, + 56, + 68, + 30, + 646, + 58, + 62, + 34, + 646, + 58, + 62, + 34, + 648, + 60, + 50, + 44, + 646, + 60, + 50, + 44, + 646, + 64, + 40, + 50, + 646, + 64, + 40, + 50, + 646, + 70, + 26, + 58, + 646, + 70, + 26, + 58, + 648, + 76, + 8, + 70, + 646, + 76, + 8, + 70, + 646, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 648, + 154, + 646, + 154, + 646, + 44, + 10, + 100, + 646, + 44, + 10, + 100, + 648, + 34, + 22, + 98, + 646, + 34, + 22, + 98, + 646, + 30, + 26, + 98, + 646, + 30, + 26, + 98, + 646, + 28, + 30, + 96, + 646, + 28, + 30, + 96, + 646, + 24, + 34, + 98, + 644, + 24, + 34, + 98, + 646, + 20, + 36, + 98, + 646, + 20, + 36, + 98, + 646, + 18, + 40, + 96, + 646, + 18, + 40, + 96, + 648, + 14, + 42, + 98, + 646, + 14, + 42, + 98, + 646, + 12, + 46, + 96, + 646, + 12, + 46, + 96, + 648, + 10, + 46, + 96, + 648, + 10, + 46, + 96, + 648, + 12, + 42, + 100, + 646, + 12, + 42, + 100, + 648, + 10, + 42, + 100, + 648, + 10, + 42, + 100, + 648, + 10, + 44, + 100, + 646, + 10, + 44, + 100, + 648, + 8, + 44, + 100, + 648, + 8, + 44, + 100, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 100, + 646, + 10, + 44, + 100, + 646, + 12, + 44, + 98, + 646, + 12, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 10, + 44, + 98, + 648, + 12, + 42, + 98, + 648, + 12, + 42, + 98, + 650, + 14, + 40, + 96, + 650, + 14, + 40, + 96, + 650, + 16, + 38, + 96, + 650, + 16, + 38, + 96, + 650, + 16, + 40, + 92, + 652, + 16, + 40, + 92, + 654, + 14, + 40, + 88, + 658, + 14, + 40, + 88, + 658, + 18, + 38, + 76, + 668, + 18, + 38, + 76, + 668, + 20, + 38, + 64, + 678, + 20, + 38, + 64, + 680, + 20, + 38, + 56, + 686, + 20, + 38, + 56, + 686, + 22, + 36, + 50, + 692, + 22, + 36, + 50, + 692, + 22, + 36, + 40, + 702, + 22, + 36, + 40, + 702, + 22, + 36, + 30, + 712, + 22, + 36, + 30, + 714, + 22, + 36, + 20, + 722, + 22, + 36, + 20, + 722, + 22, + 40, + 6, + 732, + 22, + 40, + 6, + 732, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 428357 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000064:0000", + "experimental_retained_index": 0, + "ism_score": 0.41069477796554565, + "R": [ + [ + -0.3168593645095825, + 0.01656721718609333, + -0.9483278393745422 + ], + [ + 0.8045212030410767, + -0.524856448173523, + -0.2779789865016937 + ], + [ + -0.5023409724235535, + -0.8510298728942871, + 0.15297701954841614 + ] + ], + "t": [ + 14.159029960632324, + 29.984540939331055, + 321.4654235839844 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000064/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000064/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000064:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000064.png" + }, + { + "frame_id": 70, + "image_path": "/workspace/data/0008_/images/000070.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000070.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 70, + "category_id": 1, + "bbox": [ + 608, + 366, + 264, + 238 + ], + "score": 0.3926270604133606, + "time": 0.0, + "segmentation": { + "counts": [ + 486083, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 776, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 756, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 688, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 668, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 632, + 68, + 10, + 92, + 630, + 68, + 10, + 92, + 632, + 60, + 18, + 90, + 632, + 60, + 18, + 90, + 632, + 58, + 24, + 86, + 632, + 58, + 24, + 86, + 634, + 52, + 28, + 88, + 632, + 52, + 28, + 88, + 632, + 50, + 32, + 86, + 632, + 50, + 32, + 86, + 634, + 46, + 36, + 86, + 632, + 46, + 36, + 86, + 634, + 42, + 40, + 84, + 634, + 42, + 40, + 84, + 634, + 40, + 42, + 84, + 634, + 40, + 42, + 84, + 636, + 38, + 44, + 82, + 636, + 38, + 44, + 82, + 638, + 34, + 48, + 80, + 638, + 34, + 48, + 80, + 638, + 34, + 48, + 80, + 638, + 34, + 48, + 80, + 640, + 32, + 48, + 80, + 640, + 32, + 48, + 80, + 642, + 30, + 48, + 80, + 642, + 30, + 48, + 80, + 642, + 30, + 48, + 78, + 644, + 30, + 48, + 78, + 646, + 28, + 48, + 78, + 646, + 28, + 48, + 78, + 646, + 30, + 46, + 76, + 648, + 30, + 46, + 76, + 650, + 28, + 48, + 72, + 652, + 28, + 48, + 72, + 654, + 28, + 46, + 72, + 654, + 28, + 46, + 72, + 654, + 30, + 46, + 68, + 656, + 30, + 46, + 68, + 656, + 32, + 44, + 64, + 660, + 32, + 44, + 64, + 662, + 30, + 46, + 56, + 668, + 30, + 46, + 56, + 668, + 32, + 46, + 46, + 676, + 32, + 46, + 46, + 678, + 36, + 40, + 40, + 684, + 36, + 40, + 40, + 686, + 38, + 38, + 30, + 694, + 38, + 38, + 30, + 694, + 40, + 38, + 22, + 700, + 40, + 38, + 22, + 702, + 38, + 40, + 16, + 706, + 38, + 40, + 16, + 706, + 40, + 42, + 4, + 714, + 40, + 42, + 4, + 716, + 40, + 760, + 40, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 772, + 22, + 778, + 22, + 780, + 14, + 786, + 14, + 324311 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000070:0001", + "experimental_retained_index": 0, + "ism_score": 0.44239670038223267, + "R": [ + [ + -0.43950650095939636, + -0.23497892916202545, + 0.8669602274894714 + ], + [ + 0.714773952960968, + 0.493045449256897, + 0.49598947167396545 + ], + [ + -0.5439981818199158, + 0.8376704454421997, + -0.048739608377218246 + ] + ], + "t": [ + 44.665950775146484, + 35.97731018066406, + 352.7237548828125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 70, + "category_id": 1, + "bbox": [ + 608, + 366, + 264, + 238 + ], + "score": 0.3926270604133606, + "time": 0.0, + "segmentation": { + "counts": [ + 486083, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 776, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 756, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 708, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 694, + 108, + 692, + 108, + 688, + 112, + 688, + 112, + 684, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 668, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 622, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 624, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 632, + 68, + 10, + 92, + 630, + 68, + 10, + 92, + 632, + 60, + 18, + 90, + 632, + 60, + 18, + 90, + 632, + 58, + 24, + 86, + 632, + 58, + 24, + 86, + 634, + 52, + 28, + 88, + 632, + 52, + 28, + 88, + 632, + 50, + 32, + 86, + 632, + 50, + 32, + 86, + 634, + 46, + 36, + 86, + 632, + 46, + 36, + 86, + 634, + 42, + 40, + 84, + 634, + 42, + 40, + 84, + 634, + 40, + 42, + 84, + 634, + 40, + 42, + 84, + 636, + 38, + 44, + 82, + 636, + 38, + 44, + 82, + 638, + 34, + 48, + 80, + 638, + 34, + 48, + 80, + 638, + 34, + 48, + 80, + 638, + 34, + 48, + 80, + 640, + 32, + 48, + 80, + 640, + 32, + 48, + 80, + 642, + 30, + 48, + 80, + 642, + 30, + 48, + 80, + 642, + 30, + 48, + 78, + 644, + 30, + 48, + 78, + 646, + 28, + 48, + 78, + 646, + 28, + 48, + 78, + 646, + 30, + 46, + 76, + 648, + 30, + 46, + 76, + 650, + 28, + 48, + 72, + 652, + 28, + 48, + 72, + 654, + 28, + 46, + 72, + 654, + 28, + 46, + 72, + 654, + 30, + 46, + 68, + 656, + 30, + 46, + 68, + 656, + 32, + 44, + 64, + 660, + 32, + 44, + 64, + 662, + 30, + 46, + 56, + 668, + 30, + 46, + 56, + 668, + 32, + 46, + 46, + 676, + 32, + 46, + 46, + 678, + 36, + 40, + 40, + 684, + 36, + 40, + 40, + 686, + 38, + 38, + 30, + 694, + 38, + 38, + 30, + 694, + 40, + 38, + 22, + 700, + 40, + 38, + 22, + 702, + 38, + 40, + 16, + 706, + 38, + 40, + 16, + 706, + 40, + 42, + 4, + 714, + 40, + 42, + 4, + 716, + 40, + 760, + 40, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 772, + 22, + 778, + 22, + 780, + 14, + 786, + 14, + 324311 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000070:0001", + "experimental_retained_index": 0, + "ism_score": 0.44239670038223267, + "R": [ + [ + -0.43950650095939636, + -0.23497892916202545, + 0.8669602274894714 + ], + [ + 0.714773952960968, + 0.493045449256897, + 0.49598947167396545 + ], + [ + -0.5439981818199158, + 0.8376704454421997, + -0.048739608377218246 + ] + ], + "t": [ + 44.665950775146484, + 35.97731018066406, + 352.7237548828125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000070/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000070/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000070:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000070.png" + }, + { + "frame_id": 73, + "image_path": "/workspace/data/0008_/images/000073.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000073.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 4, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 626, + 512, + 274, + 284 + ], + "score": 0.18441389501094818, + "time": 0.0, + "segmentation": { + "counts": [ + 500601, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 22, + 778, + 22, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 734, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 132, + 668, + 132, + 668, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 624, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 598, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 590, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 578, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 566, + 234, + 566, + 234, + 562, + 240, + 560, + 240, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 552, + 252, + 548, + 252, + 550, + 252, + 548, + 252, + 550, + 252, + 548, + 252, + 550, + 254, + 546, + 254, + 548, + 254, + 546, + 254, + 548, + 254, + 546, + 254, + 548, + 254, + 546, + 254, + 550, + 252, + 548, + 252, + 550, + 252, + 548, + 252, + 550, + 252, + 548, + 252, + 550, + 252, + 548, + 252, + 550, + 252, + 548, + 252, + 550, + 254, + 546, + 254, + 550, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 572, + 226, + 574, + 226, + 578, + 222, + 578, + 222, + 580, + 116, + 12, + 92, + 580, + 116, + 12, + 92, + 582, + 110, + 22, + 84, + 584, + 110, + 22, + 84, + 586, + 104, + 30, + 78, + 588, + 104, + 30, + 78, + 592, + 98, + 36, + 74, + 592, + 98, + 36, + 74, + 594, + 94, + 38, + 70, + 598, + 94, + 38, + 70, + 600, + 90, + 44, + 64, + 602, + 90, + 44, + 64, + 604, + 86, + 46, + 62, + 606, + 86, + 46, + 62, + 608, + 82, + 50, + 56, + 612, + 82, + 50, + 56, + 614, + 80, + 52, + 52, + 616, + 80, + 52, + 52, + 618, + 78, + 54, + 48, + 620, + 78, + 54, + 48, + 622, + 76, + 54, + 44, + 626, + 76, + 54, + 44, + 628, + 72, + 58, + 40, + 630, + 72, + 58, + 40, + 632, + 70, + 58, + 36, + 636, + 70, + 58, + 36, + 638, + 70, + 58, + 32, + 640, + 70, + 58, + 32, + 642, + 68, + 58, + 28, + 646, + 68, + 58, + 28, + 648, + 66, + 62, + 20, + 652, + 66, + 62, + 20, + 654, + 66, + 62, + 16, + 656, + 66, + 62, + 16, + 658, + 64, + 64, + 10, + 662, + 64, + 64, + 10, + 666, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 742, + 62, + 738, + 62, + 740, + 62, + 738, + 62, + 740, + 64, + 736, + 64, + 738, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 756, + 42, + 758, + 42, + 760, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 301719 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000073:0002", + "experimental_retained_index": 0, + "ism_score": 0.479775995016098, + "R": [ + [ + 0.6404496431350708, + 0.41563135385513306, + -0.6460849642753601 + ], + [ + 0.7493174076080322, + -0.5225322246551514, + 0.4067153334617615 + ], + [ + -0.16831031441688538, + -0.744438886642456, + -0.6459774971008301 + ] + ], + "t": [ + 98.14917755126953, + 134.0657958984375, + 320.13623046875 + ] + }, + { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 616, + 232, + 366, + 308 + ], + "score": 0.3530537784099579, + "time": 0.0, + "segmentation": { + "counts": [ + 492405, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 774, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 710, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 698, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 666, + 134, + 666, + 134, + 662, + 140, + 660, + 140, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 646, + 156, + 644, + 156, + 640, + 160, + 640, + 160, + 636, + 166, + 634, + 166, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 606, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 8, + 12, + 200, + 580, + 8, + 12, + 200, + 582, + 6, + 12, + 202, + 580, + 6, + 12, + 202, + 576, + 14, + 8, + 202, + 576, + 14, + 8, + 202, + 576, + 18, + 4, + 204, + 574, + 18, + 4, + 204, + 574, + 18, + 4, + 204, + 574, + 18, + 4, + 204, + 574, + 18, + 6, + 204, + 572, + 18, + 6, + 204, + 574, + 16, + 4, + 208, + 572, + 16, + 4, + 208, + 574, + 6, + 2, + 8, + 2, + 212, + 570, + 6, + 2, + 8, + 2, + 212, + 578, + 222, + 578, + 222, + 578, + 226, + 574, + 226, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 24, + 8, + 190, + 578, + 24, + 8, + 190, + 578, + 20, + 4, + 6, + 4, + 188, + 578, + 20, + 4, + 6, + 4, + 188, + 578, + 18, + 6, + 200, + 576, + 18, + 6, + 200, + 578, + 14, + 8, + 202, + 576, + 14, + 8, + 202, + 578, + 10, + 10, + 6, + 2, + 194, + 578, + 10, + 10, + 6, + 2, + 194, + 580, + 6, + 8, + 208, + 578, + 6, + 8, + 208, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 582, + 8, + 4, + 208, + 580, + 8, + 4, + 208, + 580, + 10, + 2, + 210, + 578, + 10, + 2, + 210, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 4, + 4, + 218, + 574, + 4, + 4, + 218, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 626, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 636, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 650, + 128, + 672, + 128, + 672, + 122, + 678, + 122, + 680, + 110, + 690, + 110, + 690, + 102, + 698, + 102, + 700, + 92, + 708, + 92, + 708, + 80, + 720, + 80, + 722, + 68, + 732, + 68, + 732, + 60, + 740, + 60, + 742, + 48, + 752, + 48, + 754, + 36, + 764, + 36, + 766, + 22, + 778, + 22, + 780, + 14, + 786, + 14, + 236405 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000073:0000", + "experimental_retained_index": 1, + "ism_score": 0.4501083791255951, + "R": [ + [ + 0.3883714973926544, + -0.24813394248485565, + -0.8873007893562317 + ], + [ + -0.8684523701667786, + 0.2240428328514099, + -0.4427310526371002 + ], + [ + 0.3085268437862396, + 0.9424618482589722, + -0.1284506469964981 + ] + ], + "t": [ + 98.68302154541016, + 4.363268852233887, + 325.7235412597656 + ] + }, + { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 0, + 0, + 274, + 490 + ], + "score": 0.004919946193695068, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 8, + 4, + 4, + 26, + 4, + 4, + 440, + 310, + 8, + 4, + 4, + 26, + 448, + 310, + 8, + 4, + 4, + 26, + 448, + 307, + 21, + 20, + 450, + 309, + 21, + 20, + 450, + 309, + 25, + 16, + 446, + 313, + 25, + 16, + 446, + 313, + 27, + 12, + 444, + 317, + 27, + 12, + 444, + 317, + 29, + 8, + 444, + 319, + 29, + 8, + 444, + 319, + 31, + 2, + 444, + 323, + 31, + 2, + 444, + 323, + 473, + 327, + 473, + 327, + 471, + 329, + 471, + 329, + 467, + 333, + 467, + 333, + 463, + 337, + 463, + 337, + 459, + 341, + 459, + 341, + 455, + 345, + 455, + 345, + 451, + 349, + 451, + 349, + 447, + 353, + 447, + 353, + 445, + 355, + 445, + 355, + 441, + 359, + 441, + 359, + 439, + 361, + 439, + 361, + 435, + 365, + 435, + 365, + 431, + 369, + 431, + 369, + 427, + 373, + 427, + 373, + 425, + 375, + 425, + 375, + 421, + 379, + 421, + 379, + 417, + 383, + 417, + 383, + 413, + 387, + 413, + 387, + 409, + 391, + 409, + 391, + 405, + 395, + 405, + 395, + 403, + 397, + 403, + 397, + 399, + 401, + 399, + 401, + 395, + 405, + 395, + 405, + 393, + 407, + 393, + 407, + 389, + 411, + 389, + 411, + 385, + 415, + 385, + 415, + 381, + 419, + 381, + 419, + 377, + 423, + 377, + 423, + 375, + 425, + 375, + 425, + 371, + 429, + 371, + 429, + 367, + 433, + 367, + 433, + 365, + 435, + 365, + 435, + 359, + 441, + 359, + 441, + 357, + 443, + 357, + 443, + 353, + 447, + 353, + 447, + 349, + 451, + 349, + 451, + 345, + 455, + 345, + 455, + 343, + 457, + 343, + 457, + 339, + 461, + 339, + 461, + 335, + 465, + 335, + 465, + 331, + 469, + 331, + 469, + 329, + 471, + 329, + 471, + 325, + 475, + 325, + 475, + 321, + 479, + 321, + 479, + 317, + 483, + 317, + 483, + 313, + 487, + 313, + 487, + 311, + 489, + 311, + 489, + 307, + 493, + 307, + 493, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 297, + 503, + 297, + 503, + 293, + 507, + 293, + 507, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 283, + 517, + 283, + 517, + 279, + 521, + 279, + 521, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 269, + 531, + 269, + 531, + 265, + 535, + 265, + 535, + 261, + 539, + 261, + 539, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 251, + 549, + 251, + 549, + 247, + 553, + 247, + 553, + 243, + 557, + 243, + 557, + 239, + 561, + 239, + 561, + 235, + 565, + 235, + 565, + 233, + 567, + 233, + 567, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 223, + 577, + 223, + 577, + 219, + 581, + 219, + 581, + 215, + 585, + 215, + 585, + 211, + 589, + 211, + 589, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 201, + 599, + 201, + 599, + 197, + 603, + 197, + 603, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 187, + 613, + 187, + 613, + 183, + 617, + 183, + 617, + 179, + 621, + 179, + 621, + 175, + 625, + 175, + 625, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 159, + 641, + 159, + 641, + 155, + 645, + 155, + 645, + 151, + 649, + 151, + 649, + 147, + 653, + 147, + 653, + 145, + 655, + 145, + 655, + 141, + 659, + 141, + 659, + 137, + 663, + 137, + 663, + 133, + 667, + 133, + 667, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 109, + 691, + 109, + 691, + 105, + 695, + 105, + 695, + 101, + 699, + 101, + 699, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 85, + 715, + 85, + 715, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 41, + 759, + 41, + 759, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 31, + 769, + 31, + 769, + 27, + 773, + 27, + 773, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 17, + 783, + 17, + 783, + 13, + 787, + 13, + 787, + 9, + 791, + 9, + 803191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000073:0001", + "experimental_retained_index": 3, + "ism_score": 0.39359569549560547, + "R": [ + [ + 0.49417662620544434, + -0.06846785545349121, + 0.8667446970939636 + ], + [ + -0.2805781364440918, + -0.9558892846107483, + 0.08449102193117142 + ], + [ + 0.8229191899299622, + -0.2849230170249939, + -0.4915541708469391 + ] + ], + "t": [ + -260.440185546875, + -127.8475341796875, + 346.3533935546875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 73, + "category_id": 1, + "bbox": [ + 616, + 232, + 366, + 308 + ], + "score": 0.3530537784099579, + "time": 0.0, + "segmentation": { + "counts": [ + 492405, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 774, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 732, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 710, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 698, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 128, + 672, + 128, + 666, + 134, + 666, + 134, + 662, + 140, + 660, + 140, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 646, + 156, + 644, + 156, + 640, + 160, + 640, + 160, + 636, + 166, + 634, + 166, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 612, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 606, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 8, + 12, + 200, + 580, + 8, + 12, + 200, + 582, + 6, + 12, + 202, + 580, + 6, + 12, + 202, + 576, + 14, + 8, + 202, + 576, + 14, + 8, + 202, + 576, + 18, + 4, + 204, + 574, + 18, + 4, + 204, + 574, + 18, + 4, + 204, + 574, + 18, + 4, + 204, + 574, + 18, + 6, + 204, + 572, + 18, + 6, + 204, + 574, + 16, + 4, + 208, + 572, + 16, + 4, + 208, + 574, + 6, + 2, + 8, + 2, + 212, + 570, + 6, + 2, + 8, + 2, + 212, + 578, + 222, + 578, + 222, + 578, + 226, + 574, + 226, + 578, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 574, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 24, + 8, + 190, + 578, + 24, + 8, + 190, + 578, + 20, + 4, + 6, + 4, + 188, + 578, + 20, + 4, + 6, + 4, + 188, + 578, + 18, + 6, + 200, + 576, + 18, + 6, + 200, + 578, + 14, + 8, + 202, + 576, + 14, + 8, + 202, + 578, + 10, + 10, + 6, + 2, + 194, + 578, + 10, + 10, + 6, + 2, + 194, + 580, + 6, + 8, + 208, + 578, + 6, + 8, + 208, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 582, + 8, + 4, + 208, + 580, + 8, + 4, + 208, + 580, + 10, + 2, + 210, + 578, + 10, + 2, + 210, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 574, + 4, + 4, + 218, + 574, + 4, + 4, + 218, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 626, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 636, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 650, + 128, + 672, + 128, + 672, + 122, + 678, + 122, + 680, + 110, + 690, + 110, + 690, + 102, + 698, + 102, + 700, + 92, + 708, + 92, + 708, + 80, + 720, + 80, + 722, + 68, + 732, + 68, + 732, + 60, + 740, + 60, + 742, + 48, + 752, + 48, + 754, + 36, + 764, + 36, + 766, + 22, + 778, + 22, + 780, + 14, + 786, + 14, + 236405 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000073:0000", + "experimental_retained_index": 1, + "ism_score": 0.4501083791255951, + "R": [ + [ + 0.3883714973926544, + -0.24813394248485565, + -0.8873007893562317 + ], + [ + -0.8684523701667786, + 0.2240428328514099, + -0.4427310526371002 + ], + [ + 0.3085268437862396, + 0.9424618482589722, + -0.1284506469964981 + ] + ], + "t": [ + 98.68302154541016, + 4.363268852233887, + 325.7235412597656 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000073/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000073/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000073:0002", + "eppendorf_tarto:000073:0000", + "eppendorf_tarto:000073:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000073.png" + }, + { + "frame_id": 77, + "image_path": "/workspace/data/0008_/images/000077.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000077.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 596, + 318, + 388, + 412 + ], + "score": 0.3476679027080536, + "time": 0.0, + "segmentation": { + "counts": [ + 476445, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 676, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 668, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 182, + 618, + 182, + 616, + 188, + 612, + 188, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 606, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 548, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 538, + 266, + 534, + 266, + 532, + 270, + 530, + 270, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 504, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 496, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 486, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 484, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 318, + 482, + 318, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 490, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 496, + 302, + 498, + 302, + 500, + 300, + 500, + 300, + 502, + 296, + 504, + 296, + 506, + 292, + 508, + 292, + 510, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 532, + 266, + 534, + 266, + 536, + 262, + 538, + 262, + 540, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 548, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 554, + 244, + 556, + 244, + 558, + 240, + 560, + 240, + 564, + 234, + 566, + 234, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 224, + 576, + 224, + 578, + 218, + 582, + 218, + 584, + 214, + 586, + 214, + 590, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 198, + 602, + 198, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 614, + 184, + 616, + 184, + 618, + 180, + 620, + 180, + 622, + 176, + 624, + 176, + 626, + 172, + 628, + 172, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 132, + 668, + 132, + 670, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 778, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 788, + 10, + 790, + 10, + 234595 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000077:0001", + "experimental_retained_index": 0, + "ism_score": 0.44680213928222656, + "R": [ + [ + -0.7545618414878845, + 0.04780443012714386, + -0.6544004082679749 + ], + [ + 0.6547842025756836, + -0.006109122186899185, + -0.7558201551437378 + ], + [ + -0.04013080894947052, + -0.9990211129188538, + -0.02669563889503479 + ] + ], + "t": [ + 80.6095962524414, + 59.819942474365234, + 284.58819580078125 + ] + }, + { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 0, + 0, + 364, + 406 + ], + "score": 0.1738661676645279, + "time": 0.0, + "segmentation": { + "counts": [ + 3, + 406, + 392, + 408, + 392, + 408, + 391, + 407, + 393, + 407, + 393, + 405, + 395, + 405, + 395, + 403, + 397, + 403, + 397, + 401, + 399, + 401, + 399, + 399, + 401, + 399, + 401, + 397, + 403, + 397, + 403, + 395, + 405, + 395, + 405, + 393, + 407, + 393, + 407, + 391, + 409, + 391, + 409, + 387, + 413, + 387, + 413, + 385, + 415, + 385, + 415, + 383, + 417, + 383, + 417, + 381, + 419, + 381, + 419, + 379, + 421, + 379, + 421, + 377, + 423, + 377, + 423, + 375, + 425, + 375, + 425, + 371, + 429, + 371, + 429, + 369, + 431, + 369, + 431, + 367, + 433, + 367, + 433, + 365, + 435, + 365, + 435, + 363, + 437, + 363, + 437, + 361, + 439, + 361, + 439, + 357, + 443, + 357, + 443, + 355, + 445, + 355, + 445, + 353, + 447, + 353, + 447, + 351, + 449, + 351, + 449, + 349, + 451, + 349, + 451, + 347, + 453, + 347, + 453, + 345, + 455, + 345, + 455, + 343, + 457, + 343, + 457, + 341, + 459, + 341, + 459, + 337, + 463, + 337, + 463, + 335, + 465, + 335, + 465, + 333, + 467, + 333, + 467, + 331, + 469, + 331, + 469, + 329, + 471, + 329, + 471, + 327, + 473, + 327, + 473, + 325, + 475, + 325, + 475, + 323, + 477, + 323, + 477, + 321, + 479, + 321, + 479, + 319, + 481, + 319, + 481, + 315, + 485, + 315, + 485, + 313, + 487, + 313, + 487, + 313, + 487, + 313, + 487, + 309, + 491, + 309, + 491, + 307, + 493, + 307, + 493, + 305, + 495, + 305, + 495, + 303, + 497, + 303, + 497, + 301, + 499, + 301, + 499, + 299, + 501, + 299, + 501, + 297, + 503, + 297, + 503, + 295, + 505, + 295, + 505, + 293, + 507, + 293, + 507, + 289, + 511, + 289, + 511, + 287, + 513, + 287, + 513, + 285, + 515, + 285, + 515, + 283, + 517, + 283, + 517, + 281, + 519, + 281, + 519, + 279, + 521, + 279, + 521, + 275, + 525, + 275, + 525, + 273, + 527, + 273, + 527, + 271, + 529, + 271, + 529, + 269, + 531, + 269, + 531, + 267, + 533, + 267, + 533, + 265, + 535, + 265, + 535, + 263, + 537, + 263, + 537, + 261, + 539, + 261, + 539, + 257, + 543, + 257, + 543, + 255, + 545, + 255, + 545, + 253, + 547, + 253, + 547, + 251, + 549, + 251, + 549, + 249, + 551, + 249, + 551, + 247, + 553, + 247, + 553, + 245, + 555, + 245, + 555, + 243, + 557, + 243, + 557, + 241, + 559, + 241, + 559, + 237, + 563, + 237, + 563, + 235, + 565, + 235, + 565, + 235, + 565, + 235, + 565, + 231, + 569, + 231, + 569, + 229, + 571, + 229, + 571, + 227, + 573, + 227, + 573, + 225, + 575, + 225, + 575, + 223, + 577, + 223, + 577, + 221, + 579, + 221, + 579, + 219, + 581, + 219, + 581, + 217, + 583, + 217, + 583, + 215, + 585, + 215, + 585, + 213, + 587, + 213, + 587, + 209, + 591, + 209, + 591, + 207, + 593, + 207, + 593, + 205, + 595, + 205, + 595, + 203, + 597, + 203, + 597, + 201, + 599, + 201, + 599, + 199, + 601, + 199, + 601, + 197, + 603, + 197, + 603, + 195, + 605, + 195, + 605, + 193, + 607, + 193, + 607, + 191, + 609, + 191, + 609, + 187, + 613, + 187, + 613, + 185, + 615, + 185, + 615, + 183, + 617, + 183, + 617, + 181, + 619, + 181, + 619, + 177, + 623, + 177, + 623, + 175, + 625, + 175, + 625, + 173, + 627, + 173, + 627, + 171, + 629, + 171, + 629, + 169, + 631, + 169, + 631, + 167, + 633, + 167, + 633, + 165, + 635, + 165, + 635, + 163, + 637, + 163, + 637, + 161, + 639, + 161, + 639, + 157, + 643, + 157, + 643, + 155, + 645, + 155, + 645, + 153, + 647, + 153, + 647, + 151, + 649, + 151, + 649, + 149, + 651, + 149, + 652, + 146, + 654, + 146, + 653, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 659, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 133, + 667, + 133, + 667, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 121, + 679, + 121, + 679, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 107, + 693, + 107, + 693, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 7, + 793, + 7, + 793, + 3, + 797, + 3, + 731197 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000077:0000", + "experimental_retained_index": 1, + "ism_score": 0.43808797001838684, + "R": [ + [ + -0.7583295106887817, + -0.3321029543876648, + 0.5613473057746887 + ], + [ + -0.6150361895561218, + 0.6508421301841736, + -0.4453788697719574 + ], + [ + -0.21759074926376343, + -0.6829613447189331, + -0.6976181864738464 + ] + ], + "t": [ + -251.9712677001953, + -88.0150146484375, + 346.0760498046875 + ] + }, + { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 538, + 568, + 202, + 230 + ], + "score": 0.4228503108024597, + "time": 0.0, + "segmentation": { + "counts": [ + 430273, + 8, + 792, + 8, + 790, + 18, + 782, + 18, + 782, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 768, + 36, + 764, + 36, + 764, + 42, + 758, + 42, + 758, + 46, + 754, + 46, + 752, + 52, + 748, + 52, + 748, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 68, + 732, + 68, + 730, + 76, + 724, + 76, + 722, + 88, + 712, + 88, + 710, + 96, + 704, + 96, + 702, + 106, + 694, + 106, + 692, + 116, + 684, + 116, + 682, + 140, + 660, + 140, + 656, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 640, + 160, + 640, + 160, + 634, + 166, + 634, + 166, + 628, + 173, + 627, + 173, + 593, + 207, + 593, + 207, + 593, + 207, + 593, + 207, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 577, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 582, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 588, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 588, + 214, + 586, + 214, + 590, + 218, + 582, + 218, + 588, + 214, + 586, + 214, + 594, + 210, + 590, + 210, + 598, + 204, + 596, + 204, + 602, + 199, + 601, + 199, + 607, + 193, + 607, + 193, + 615, + 185, + 615, + 185, + 621, + 179, + 621, + 179, + 627, + 173, + 627, + 173, + 635, + 165, + 635, + 165, + 641, + 159, + 641, + 159, + 647, + 153, + 647, + 153, + 653, + 147, + 653, + 147, + 659, + 141, + 659, + 141, + 667, + 133, + 667, + 133, + 673, + 127, + 673, + 127, + 679, + 121, + 679, + 121, + 687, + 113, + 687, + 113, + 693, + 107, + 693, + 107, + 699, + 101, + 699, + 101, + 705, + 95, + 705, + 95, + 713, + 87, + 713, + 87, + 719, + 81, + 719, + 81, + 725, + 75, + 725, + 75, + 733, + 67, + 733, + 67, + 741, + 59, + 741, + 59, + 747, + 53, + 747, + 53, + 753, + 47, + 753, + 47, + 761, + 39, + 761, + 39, + 769, + 31, + 769, + 31, + 773, + 27, + 773, + 27, + 781, + 18, + 782, + 18, + 790, + 10, + 790, + 10, + 429601 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000077:0002", + "experimental_retained_index": 2, + "ism_score": 0.4228503108024597, + "R": [ + [ + 0.9497330188751221, + 0.10536962747573853, + 0.2949156165122986 + ], + [ + -0.2881837487220764, + -0.07418343424797058, + 0.9546552896499634 + ], + [ + 0.12246529757976532, + -0.991431713104248, + -0.040106549859046936 + ] + ], + "t": [ + -6.200186729431152, + 142.06167602539062, + 325.85736083984375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 77, + "category_id": 1, + "bbox": [ + 538, + 568, + 202, + 230 + ], + "score": 0.4228503108024597, + "time": 0.0, + "segmentation": { + "counts": [ + 430273, + 8, + 792, + 8, + 790, + 18, + 782, + 18, + 782, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 768, + 36, + 764, + 36, + 764, + 42, + 758, + 42, + 758, + 46, + 754, + 46, + 752, + 52, + 748, + 52, + 748, + 56, + 744, + 56, + 742, + 62, + 738, + 62, + 738, + 68, + 732, + 68, + 730, + 76, + 724, + 76, + 722, + 88, + 712, + 88, + 710, + 96, + 704, + 96, + 702, + 106, + 694, + 106, + 692, + 116, + 684, + 116, + 682, + 140, + 660, + 140, + 656, + 150, + 650, + 150, + 648, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 640, + 160, + 640, + 160, + 634, + 166, + 634, + 166, + 628, + 173, + 627, + 173, + 593, + 207, + 593, + 207, + 593, + 207, + 593, + 207, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 577, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 216, + 584, + 216, + 582, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 588, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 208, + 592, + 208, + 592, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 588, + 214, + 586, + 214, + 590, + 218, + 582, + 218, + 588, + 214, + 586, + 214, + 594, + 210, + 590, + 210, + 598, + 204, + 596, + 204, + 602, + 199, + 601, + 199, + 607, + 193, + 607, + 193, + 615, + 185, + 615, + 185, + 621, + 179, + 621, + 179, + 627, + 173, + 627, + 173, + 635, + 165, + 635, + 165, + 641, + 159, + 641, + 159, + 647, + 153, + 647, + 153, + 653, + 147, + 653, + 147, + 659, + 141, + 659, + 141, + 667, + 133, + 667, + 133, + 673, + 127, + 673, + 127, + 679, + 121, + 679, + 121, + 687, + 113, + 687, + 113, + 693, + 107, + 693, + 107, + 699, + 101, + 699, + 101, + 705, + 95, + 705, + 95, + 713, + 87, + 713, + 87, + 719, + 81, + 719, + 81, + 725, + 75, + 725, + 75, + 733, + 67, + 733, + 67, + 741, + 59, + 741, + 59, + 747, + 53, + 747, + 53, + 753, + 47, + 753, + 47, + 761, + 39, + 761, + 39, + 769, + 31, + 769, + 31, + 773, + 27, + 773, + 27, + 781, + 18, + 782, + 18, + 790, + 10, + 790, + 10, + 429601 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000077:0002", + "experimental_retained_index": 2, + "ism_score": 0.4228503108024597, + "R": [ + [ + 0.9497330188751221, + 0.10536962747573853, + 0.2949156165122986 + ], + [ + -0.2881837487220764, + -0.07418343424797058, + 0.9546552896499634 + ], + [ + 0.12246529757976532, + -0.991431713104248, + -0.040106549859046936 + ] + ], + "t": [ + -6.200186729431152, + 142.06167602539062, + 325.85736083984375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000077/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000077/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000077:0001", + "eppendorf_tarto:000077:0000", + "eppendorf_tarto:000077:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000077.png" + }, + { + "frame_id": 80, + "image_path": "/workspace/data/0008_/images/000080.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000080.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 394, + 580, + 170, + 218 + ], + "score": 0.44144874811172485, + "time": 0.0, + "segmentation": { + "counts": [ + 315161, + 4, + 796, + 4, + 784, + 26, + 774, + 26, + 726, + 98, + 702, + 98, + 672, + 128, + 672, + 128, + 638, + 163, + 637, + 163, + 611, + 189, + 611, + 189, + 603, + 197, + 603, + 197, + 599, + 201, + 599, + 201, + 597, + 203, + 597, + 203, + 595, + 205, + 595, + 205, + 589, + 211, + 589, + 211, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 208, + 592, + 208, + 594, + 194, + 606, + 194, + 608, + 168, + 632, + 168, + 638, + 130, + 670, + 130, + 674, + 94, + 706, + 94, + 714, + 56, + 744, + 56, + 750, + 18, + 782, + 18, + 570563 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000080:0001", + "experimental_retained_index": 0, + "ism_score": 0.4571637511253357, + "R": [ + [ + 0.9871103763580322, + -0.12985198199748993, + -0.09075772017240524 + ], + [ + 0.0699147880077362, + -0.15686309337615967, + 0.9848936200141907 + ], + [ + -0.14217346906661987, + -0.978971540927887, + -0.14577320218086243 + ] + ], + "t": [ + -81.54844665527344, + 141.4605255126953, + 334.4093933105469 + ] + }, + { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 510, + 378, + 328, + 420 + ], + "score": 0.37427443265914917, + "time": 0.0, + "segmentation": { + "counts": [ + 407645, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 28, + 772, + 28, + 772, + 34, + 766, + 34, + 764, + 40, + 760, + 40, + 760, + 48, + 752, + 48, + 750, + 54, + 746, + 54, + 746, + 62, + 738, + 62, + 738, + 66, + 734, + 66, + 732, + 74, + 726, + 74, + 726, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 92, + 708, + 92, + 708, + 98, + 702, + 98, + 700, + 106, + 694, + 106, + 694, + 112, + 688, + 112, + 688, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 678, + 128, + 672, + 128, + 670, + 136, + 664, + 136, + 664, + 144, + 656, + 144, + 656, + 150, + 650, + 150, + 648, + 158, + 642, + 158, + 642, + 164, + 636, + 164, + 634, + 170, + 630, + 170, + 630, + 176, + 624, + 176, + 624, + 180, + 620, + 180, + 618, + 190, + 610, + 190, + 610, + 194, + 606, + 194, + 606, + 202, + 598, + 202, + 596, + 210, + 590, + 210, + 590, + 214, + 586, + 214, + 584, + 224, + 576, + 224, + 576, + 228, + 572, + 228, + 572, + 234, + 566, + 234, + 564, + 242, + 558, + 242, + 558, + 248, + 552, + 248, + 550, + 256, + 544, + 256, + 544, + 262, + 538, + 262, + 538, + 268, + 532, + 268, + 530, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 520, + 288, + 512, + 288, + 510, + 296, + 504, + 296, + 504, + 302, + 498, + 302, + 496, + 310, + 490, + 310, + 490, + 316, + 484, + 316, + 482, + 324, + 476, + 324, + 476, + 330, + 470, + 330, + 468, + 338, + 462, + 338, + 462, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 450, + 358, + 442, + 358, + 442, + 364, + 436, + 364, + 436, + 370, + 430, + 370, + 428, + 376, + 424, + 376, + 424, + 382, + 418, + 382, + 416, + 392, + 408, + 392, + 408, + 396, + 404, + 396, + 402, + 400, + 400, + 400, + 394, + 408, + 392, + 408, + 390, + 410, + 390, + 410, + 388, + 412, + 388, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 411, + 389, + 411, + 389, + 411, + 389, + 411, + 387, + 413, + 387, + 413, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 385, + 415, + 383, + 417, + 383, + 417, + 383, + 417, + 383, + 417, + 381, + 419, + 381, + 419, + 381, + 419, + 381, + 419, + 381, + 418, + 382, + 418, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 423, + 377, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 384, + 416, + 384, + 416, + 388, + 412, + 388, + 412, + 394, + 406, + 394, + 406, + 400, + 400, + 400, + 400, + 406, + 394, + 406, + 394, + 410, + 390, + 410, + 390, + 416, + 384, + 416, + 384, + 420, + 380, + 420, + 380, + 426, + 374, + 426, + 374, + 430, + 370, + 430, + 370, + 436, + 364, + 436, + 364, + 442, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 456, + 344, + 456, + 344, + 460, + 340, + 460, + 340, + 466, + 332, + 468, + 332, + 472, + 328, + 472, + 328, + 476, + 324, + 476, + 324, + 482, + 316, + 484, + 316, + 490, + 310, + 490, + 310, + 496, + 304, + 496, + 304, + 500, + 300, + 500, + 300, + 506, + 292, + 508, + 292, + 514, + 286, + 514, + 286, + 518, + 280, + 520, + 280, + 526, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 536, + 262, + 538, + 262, + 542, + 258, + 542, + 258, + 548, + 252, + 548, + 252, + 554, + 244, + 556, + 244, + 560, + 240, + 560, + 240, + 566, + 234, + 566, + 234, + 572, + 228, + 572, + 228, + 576, + 222, + 578, + 222, + 584, + 216, + 584, + 216, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 600, + 198, + 602, + 198, + 606, + 194, + 606, + 194, + 610, + 190, + 610, + 190, + 616, + 182, + 618, + 182, + 624, + 176, + 624, + 176, + 628, + 172, + 628, + 172, + 634, + 164, + 636, + 164, + 642, + 158, + 642, + 158, + 646, + 152, + 648, + 152, + 652, + 148, + 652, + 148, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 670, + 130, + 670, + 130, + 676, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 688, + 112, + 688, + 112, + 692, + 108, + 692, + 108, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 710, + 90, + 710, + 90, + 714, + 86, + 714, + 86, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 732, + 68, + 732, + 68, + 738, + 60, + 740, + 60, + 744, + 56, + 744, + 56, + 750, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 766, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 776, + 22, + 778, + 22, + 784, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 351245 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000080:0000", + "experimental_retained_index": 1, + "ism_score": 0.4452335238456726, + "R": [ + [ + -0.9339051246643066, + -0.124961718916893, + -0.33531761169433594 + ], + [ + 0.3465953767299652, + -0.08178843557834625, + -0.9342949390411377 + ], + [ + 0.08932075649499893, + -0.9889519810676575, + 0.11968361586332321 + ] + ], + "t": [ + 18.826692581176758, + 87.44721984863281, + 276.292724609375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 80, + "category_id": 1, + "bbox": [ + 394, + 580, + 170, + 218 + ], + "score": 0.44144874811172485, + "time": 0.0, + "segmentation": { + "counts": [ + 315161, + 4, + 796, + 4, + 784, + 26, + 774, + 26, + 726, + 98, + 702, + 98, + 672, + 128, + 672, + 128, + 638, + 163, + 637, + 163, + 611, + 189, + 611, + 189, + 603, + 197, + 603, + 197, + 599, + 201, + 599, + 201, + 597, + 203, + 597, + 203, + 595, + 205, + 595, + 205, + 589, + 211, + 589, + 211, + 583, + 217, + 583, + 217, + 583, + 217, + 583, + 217, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 581, + 219, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 221, + 579, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 585, + 215, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 587, + 213, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 209, + 591, + 208, + 592, + 208, + 594, + 194, + 606, + 194, + 608, + 168, + 632, + 168, + 638, + 130, + 670, + 130, + 674, + 94, + 706, + 94, + 714, + 56, + 744, + 56, + 750, + 18, + 782, + 18, + 570563 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000080:0001", + "experimental_retained_index": 0, + "ism_score": 0.4571637511253357, + "R": [ + [ + 0.9871103763580322, + -0.12985198199748993, + -0.09075772017240524 + ], + [ + 0.0699147880077362, + -0.15686309337615967, + 0.9848936200141907 + ], + [ + -0.14217346906661987, + -0.978971540927887, + -0.14577320218086243 + ] + ], + "t": [ + -81.54844665527344, + 141.4605255126953, + 334.4093933105469 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000080/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000080/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000080:0001", + "eppendorf_tarto:000080:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000080.png" + }, + { + "frame_id": 82, + "image_path": "/workspace/data/0008_/images/000082.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000082.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 216, + 550, + 228, + 248 + ], + "score": 0.4504660665988922, + "time": 0.0, + "segmentation": { + "counts": [ + 172775, + 16, + 784, + 16, + 774, + 30, + 770, + 30, + 764, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 50, + 750, + 50, + 744, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 98, + 702, + 98, + 700, + 84, + 716, + 84, + 712, + 84, + 716, + 84, + 712, + 84, + 716, + 84, + 712, + 80, + 720, + 80, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 714, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 710, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 698, + 100, + 700, + 100, + 692, + 108, + 692, + 108, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 668, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 648, + 152, + 42, + 4, + 602, + 152, + 42, + 4, + 598, + 158, + 34, + 10, + 598, + 158, + 34, + 10, + 594, + 164, + 26, + 17, + 593, + 164, + 26, + 17, + 589, + 168, + 22, + 21, + 589, + 168, + 22, + 21, + 587, + 174, + 10, + 29, + 587, + 174, + 10, + 29, + 581, + 219, + 581, + 219, + 577, + 223, + 577, + 223, + 573, + 227, + 573, + 227, + 571, + 229, + 571, + 229, + 567, + 233, + 567, + 233, + 565, + 235, + 565, + 235, + 563, + 237, + 563, + 237, + 563, + 237, + 563, + 237, + 561, + 239, + 561, + 239, + 561, + 239, + 561, + 239, + 559, + 241, + 559, + 241, + 557, + 243, + 557, + 243, + 555, + 245, + 555, + 245, + 551, + 249, + 551, + 249, + 551, + 249, + 551, + 249, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 552, + 249, + 551, + 249, + 553, + 247, + 553, + 247, + 555, + 245, + 555, + 245, + 555, + 245, + 555, + 245, + 555, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 228, + 572, + 228, + 572, + 224, + 576, + 224, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 588, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 196, + 604, + 196, + 604, + 192, + 608, + 192, + 610, + 184, + 616, + 184, + 616, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 626, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 680, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 718, + 78, + 722, + 78, + 722, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 736, + 46, + 754, + 46, + 758, + 14, + 786, + 14, + 666585 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000082:0001", + "experimental_retained_index": 0, + "ism_score": 0.46499723196029663, + "R": [ + [ + 0.9483657479286194, + -0.039150670170784, + -0.3142322301864624 + ], + [ + 0.28264567255973816, + -0.34300997853279114, + 0.8955501317977905 + ], + [ + -0.14292815327644348, + -0.9385526180267334, + -0.31439799070358276 + ] + ], + "t": [ + -149.2010040283203, + 131.646240234375, + 336.4515380859375 + ] + }, + { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 436, + 436, + 222, + 362 + ], + "score": 0.43034762144088745, + "time": 0.0, + "segmentation": { + "counts": [ + 348769, + 30, + 770, + 30, + 740, + 60, + 740, + 60, + 714, + 86, + 714, + 86, + 684, + 116, + 684, + 116, + 650, + 150, + 650, + 150, + 620, + 180, + 620, + 180, + 582, + 218, + 582, + 218, + 544, + 16, + 6, + 234, + 544, + 16, + 6, + 234, + 508, + 292, + 508, + 292, + 470, + 330, + 470, + 330, + 448, + 352, + 448, + 352, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 354, + 446, + 354, + 444, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 361, + 439, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 18, + 2, + 340, + 440, + 18, + 2, + 340, + 440, + 16, + 4, + 340, + 440, + 16, + 4, + 340, + 442, + 16, + 2, + 340, + 442, + 16, + 2, + 340, + 442, + 16, + 2, + 340, + 442, + 16, + 2, + 340, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 4, + 6, + 348, + 442, + 4, + 6, + 348, + 440, + 8, + 12, + 340, + 440, + 8, + 12, + 340, + 438, + 12, + 10, + 340, + 438, + 12, + 10, + 340, + 436, + 16, + 6, + 342, + 436, + 16, + 6, + 342, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 442, + 358, + 442, + 358, + 452, + 348, + 452, + 348, + 456, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 468, + 332, + 468, + 332, + 544, + 256, + 544, + 256, + 630, + 170, + 630, + 170, + 682, + 118, + 682, + 118, + 738, + 62, + 738, + 62, + 790, + 6, + 794, + 6, + 495205 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000082:0000", + "experimental_retained_index": 1, + "ism_score": 0.4500367343425751, + "R": [ + [ + 0.9962060451507568, + -0.08054609596729279, + 0.027299948036670685 + ], + [ + -0.04904067516326904, + -0.2818784713745117, + 0.958114743232727 + ], + [ + -0.06944851577281952, + -0.9561234712600708, + -0.28475242853164673 + ] + ], + "t": [ + -43.689979553222656, + 67.62742614746094, + 294.6891174316406 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 82, + "category_id": 1, + "bbox": [ + 216, + 550, + 228, + 248 + ], + "score": 0.4504660665988922, + "time": 0.0, + "segmentation": { + "counts": [ + 172775, + 16, + 784, + 16, + 774, + 30, + 770, + 30, + 764, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 50, + 750, + 50, + 744, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 98, + 702, + 98, + 700, + 84, + 716, + 84, + 712, + 84, + 716, + 84, + 712, + 84, + 716, + 84, + 712, + 80, + 720, + 80, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 714, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 710, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 698, + 100, + 700, + 100, + 692, + 108, + 692, + 108, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 668, + 132, + 668, + 132, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 652, + 148, + 652, + 148, + 648, + 152, + 42, + 4, + 602, + 152, + 42, + 4, + 598, + 158, + 34, + 10, + 598, + 158, + 34, + 10, + 594, + 164, + 26, + 17, + 593, + 164, + 26, + 17, + 589, + 168, + 22, + 21, + 589, + 168, + 22, + 21, + 587, + 174, + 10, + 29, + 587, + 174, + 10, + 29, + 581, + 219, + 581, + 219, + 577, + 223, + 577, + 223, + 573, + 227, + 573, + 227, + 571, + 229, + 571, + 229, + 567, + 233, + 567, + 233, + 565, + 235, + 565, + 235, + 563, + 237, + 563, + 237, + 563, + 237, + 563, + 237, + 561, + 239, + 561, + 239, + 561, + 239, + 561, + 239, + 559, + 241, + 559, + 241, + 557, + 243, + 557, + 243, + 555, + 245, + 555, + 245, + 551, + 249, + 551, + 249, + 551, + 249, + 551, + 249, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 251, + 549, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 552, + 249, + 551, + 249, + 553, + 247, + 553, + 247, + 555, + 245, + 555, + 245, + 555, + 245, + 555, + 245, + 555, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 568, + 228, + 572, + 228, + 572, + 224, + 576, + 224, + 578, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 588, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 196, + 604, + 196, + 604, + 192, + 608, + 192, + 610, + 184, + 616, + 184, + 616, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 626, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 680, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 712, + 84, + 716, + 84, + 718, + 78, + 722, + 78, + 722, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 736, + 46, + 754, + 46, + 758, + 14, + 786, + 14, + 666585 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000082:0001", + "experimental_retained_index": 0, + "ism_score": 0.46499723196029663, + "R": [ + [ + 0.9483657479286194, + -0.039150670170784, + -0.3142322301864624 + ], + [ + 0.28264567255973816, + -0.34300997853279114, + 0.8955501317977905 + ], + [ + -0.14292815327644348, + -0.9385526180267334, + -0.31439799070358276 + ] + ], + "t": [ + -149.2010040283203, + 131.646240234375, + 336.4515380859375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000082/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000082/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000082:0001", + "eppendorf_tarto:000082:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000082.png" + }, + { + "frame_id": 84, + "image_path": "/workspace/data/0008_/images/000084.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000084.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 92, + 500, + 272, + 294 + ], + "score": 0.4638453722000122, + "time": 0.0, + "segmentation": { + "counts": [ + 73477, + 16, + 784, + 16, + 776, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 758, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 60, + 740, + 60, + 738, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 742, + 54, + 746, + 54, + 744, + 50, + 750, + 50, + 748, + 46, + 754, + 46, + 752, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 754, + 42, + 758, + 42, + 756, + 42, + 72, + 10, + 676, + 42, + 72, + 10, + 674, + 42, + 68, + 18, + 672, + 42, + 68, + 18, + 670, + 42, + 68, + 22, + 668, + 42, + 68, + 22, + 666, + 42, + 68, + 26, + 664, + 42, + 68, + 26, + 662, + 44, + 66, + 32, + 658, + 44, + 66, + 32, + 656, + 46, + 64, + 36, + 654, + 46, + 64, + 36, + 652, + 46, + 64, + 40, + 650, + 46, + 64, + 40, + 648, + 48, + 62, + 46, + 644, + 48, + 62, + 46, + 642, + 50, + 58, + 52, + 640, + 50, + 58, + 52, + 638, + 52, + 54, + 58, + 636, + 52, + 54, + 58, + 634, + 54, + 52, + 62, + 632, + 54, + 52, + 62, + 630, + 56, + 50, + 68, + 626, + 56, + 50, + 68, + 624, + 58, + 48, + 74, + 620, + 58, + 48, + 74, + 620, + 60, + 44, + 78, + 618, + 60, + 44, + 78, + 616, + 62, + 44, + 80, + 614, + 62, + 44, + 80, + 612, + 64, + 44, + 82, + 610, + 64, + 44, + 82, + 608, + 68, + 40, + 86, + 606, + 68, + 40, + 86, + 604, + 70, + 38, + 90, + 602, + 70, + 38, + 90, + 600, + 72, + 38, + 92, + 598, + 72, + 38, + 92, + 598, + 74, + 30, + 98, + 598, + 74, + 30, + 98, + 596, + 78, + 26, + 100, + 596, + 78, + 26, + 100, + 594, + 82, + 22, + 102, + 594, + 82, + 22, + 102, + 592, + 86, + 18, + 104, + 592, + 86, + 18, + 104, + 590, + 90, + 10, + 112, + 588, + 90, + 10, + 112, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 572, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 604, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 108, + 692, + 108, + 694, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 82, + 718, + 82, + 720, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 756, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 768, + 26, + 774, + 26, + 776, + 18, + 782, + 18, + 784, + 10, + 790, + 10, + 730627 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000084:0002", + "experimental_retained_index": 0, + "ism_score": 0.4697168171405792, + "R": [ + [ + 0.8459210991859436, + 0.009546581655740738, + -0.5329378843307495 + ], + [ + 0.4676365256309509, + -0.4932396411895752, + 0.7332976460456848 + ], + [ + -0.2559576630592346, + -0.8697771430015564, + -0.42192214727401733 + ] + ], + "t": [ + -194.0558319091797, + 100.58370971679688, + 341.4359436035156 + ] + }, + { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 274, + 426, + 326, + 372 + ], + "score": 0.3950684368610382, + "time": 0.0, + "segmentation": { + "counts": [ + 219181, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 750, + 52, + 748, + 52, + 744, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 730, + 72, + 728, + 72, + 724, + 76, + 724, + 76, + 720, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 702, + 98, + 702, + 98, + 698, + 102, + 698, + 102, + 694, + 106, + 694, + 106, + 688, + 113, + 687, + 113, + 683, + 117, + 683, + 117, + 679, + 121, + 679, + 121, + 675, + 125, + 675, + 125, + 669, + 131, + 669, + 131, + 665, + 135, + 665, + 135, + 661, + 139, + 661, + 139, + 657, + 143, + 657, + 143, + 653, + 147, + 653, + 147, + 649, + 151, + 649, + 151, + 645, + 155, + 645, + 155, + 639, + 161, + 639, + 161, + 635, + 165, + 635, + 165, + 629, + 171, + 629, + 171, + 625, + 175, + 625, + 175, + 621, + 179, + 621, + 179, + 615, + 185, + 615, + 185, + 611, + 189, + 611, + 189, + 607, + 193, + 607, + 193, + 603, + 197, + 603, + 197, + 599, + 201, + 599, + 201, + 593, + 207, + 593, + 207, + 589, + 211, + 589, + 211, + 585, + 215, + 585, + 215, + 579, + 221, + 579, + 221, + 575, + 225, + 575, + 225, + 569, + 231, + 569, + 231, + 565, + 235, + 565, + 235, + 563, + 237, + 563, + 237, + 555, + 245, + 555, + 245, + 551, + 249, + 551, + 249, + 547, + 253, + 547, + 253, + 543, + 257, + 543, + 257, + 537, + 263, + 537, + 263, + 533, + 267, + 533, + 267, + 527, + 273, + 527, + 273, + 525, + 275, + 525, + 275, + 521, + 279, + 521, + 279, + 517, + 283, + 517, + 283, + 517, + 283, + 517, + 283, + 505, + 4, + 10, + 281, + 505, + 4, + 10, + 281, + 505, + 4, + 12, + 279, + 505, + 4, + 12, + 279, + 521, + 279, + 521, + 279, + 489, + 8, + 24, + 279, + 489, + 8, + 24, + 279, + 485, + 12, + 24, + 279, + 485, + 12, + 24, + 279, + 481, + 18, + 22, + 279, + 481, + 18, + 22, + 279, + 477, + 22, + 22, + 279, + 477, + 22, + 22, + 279, + 471, + 28, + 22, + 279, + 471, + 28, + 22, + 279, + 467, + 30, + 24, + 279, + 467, + 30, + 24, + 279, + 461, + 38, + 20, + 281, + 461, + 38, + 20, + 281, + 457, + 44, + 18, + 281, + 457, + 44, + 18, + 281, + 453, + 50, + 16, + 280, + 454, + 50, + 16, + 280, + 450, + 58, + 14, + 278, + 450, + 58, + 14, + 278, + 444, + 66, + 20, + 270, + 444, + 66, + 20, + 270, + 440, + 82, + 6, + 272, + 440, + 82, + 6, + 272, + 436, + 364, + 436, + 364, + 430, + 370, + 430, + 370, + 428, + 372, + 428, + 372, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 446, + 346, + 454, + 346, + 454, + 340, + 460, + 340, + 462, + 332, + 468, + 332, + 468, + 326, + 474, + 326, + 474, + 318, + 482, + 318, + 484, + 310, + 490, + 310, + 494, + 298, + 502, + 298, + 506, + 288, + 512, + 288, + 516, + 276, + 524, + 276, + 526, + 266, + 534, + 266, + 534, + 260, + 540, + 260, + 544, + 248, + 552, + 248, + 556, + 238, + 562, + 238, + 564, + 228, + 572, + 228, + 574, + 218, + 582, + 218, + 584, + 210, + 590, + 210, + 594, + 196, + 604, + 196, + 606, + 190, + 610, + 190, + 610, + 182, + 618, + 182, + 618, + 174, + 626, + 174, + 624, + 168, + 632, + 168, + 632, + 162, + 638, + 162, + 616, + 6, + 14, + 158, + 622, + 6, + 14, + 158, + 622, + 8, + 10, + 154, + 628, + 8, + 10, + 154, + 626, + 164, + 636, + 164, + 636, + 158, + 642, + 158, + 642, + 150, + 650, + 150, + 650, + 144, + 656, + 144, + 656, + 138, + 662, + 138, + 664, + 130, + 670, + 130, + 670, + 122, + 678, + 122, + 678, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 692, + 98, + 702, + 98, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 732, + 62, + 738, + 62, + 756, + 36, + 764, + 36, + 772, + 22, + 778, + 22, + 786, + 4, + 796, + 4, + 541901 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000084:0000", + "experimental_retained_index": 1, + "ism_score": 0.41861554980278015, + "R": [ + [ + -0.9580805897712708, + -0.024811726063489914, + 0.28590473532676697 + ], + [ + -0.24257594347000122, + -0.46153607964515686, + -0.8534067273139954 + ], + [ + 0.15312355756759644, + -0.8869667053222656, + 0.4361310601234436 + ] + ], + "t": [ + -81.09949493408203, + 101.18505096435547, + 290.5964050292969 + ] + }, + { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 90, + 0, + 416, + 78 + ], + "score": 0.11538014560937881, + "time": 0.0, + "segmentation": { + "counts": [ + 71200, + 7, + 793, + 7, + 793, + 11, + 789, + 11, + 789, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 23, + 777, + 23, + 777, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 35, + 765, + 35, + 765, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 73, + 727, + 73, + 727, + 65, + 735, + 65, + 735, + 57, + 743, + 57, + 743, + 51, + 749, + 51, + 749, + 45, + 755, + 45, + 755, + 33, + 767, + 33, + 768, + 22, + 778, + 22, + 782, + 6, + 794, + 6, + 617589 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000084:0001", + "experimental_retained_index": 2, + "ism_score": 0.3846004605293274, + "R": [ + [ + 0.4239909052848816, + -0.011011537164449692, + 0.9054684638977051 + ], + [ + 0.5406445264816284, + -0.7995005249977112, + -0.2628729045391083 + ], + [ + 0.7267094254493713, + 0.6007232069969177, + -0.3329802453517914 + ] + ], + "t": [ + -248.04989624023438, + -258.22149658203125, + 497.5960388183594 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 84, + "category_id": 1, + "bbox": [ + 92, + 500, + 272, + 294 + ], + "score": 0.4638453722000122, + "time": 0.0, + "segmentation": { + "counts": [ + 73477, + 16, + 784, + 16, + 776, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 758, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 60, + 740, + 60, + 738, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 742, + 54, + 746, + 54, + 744, + 50, + 750, + 50, + 748, + 46, + 754, + 46, + 752, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 754, + 44, + 756, + 44, + 754, + 42, + 758, + 42, + 756, + 42, + 72, + 10, + 676, + 42, + 72, + 10, + 674, + 42, + 68, + 18, + 672, + 42, + 68, + 18, + 670, + 42, + 68, + 22, + 668, + 42, + 68, + 22, + 666, + 42, + 68, + 26, + 664, + 42, + 68, + 26, + 662, + 44, + 66, + 32, + 658, + 44, + 66, + 32, + 656, + 46, + 64, + 36, + 654, + 46, + 64, + 36, + 652, + 46, + 64, + 40, + 650, + 46, + 64, + 40, + 648, + 48, + 62, + 46, + 644, + 48, + 62, + 46, + 642, + 50, + 58, + 52, + 640, + 50, + 58, + 52, + 638, + 52, + 54, + 58, + 636, + 52, + 54, + 58, + 634, + 54, + 52, + 62, + 632, + 54, + 52, + 62, + 630, + 56, + 50, + 68, + 626, + 56, + 50, + 68, + 624, + 58, + 48, + 74, + 620, + 58, + 48, + 74, + 620, + 60, + 44, + 78, + 618, + 60, + 44, + 78, + 616, + 62, + 44, + 80, + 614, + 62, + 44, + 80, + 612, + 64, + 44, + 82, + 610, + 64, + 44, + 82, + 608, + 68, + 40, + 86, + 606, + 68, + 40, + 86, + 604, + 70, + 38, + 90, + 602, + 70, + 38, + 90, + 600, + 72, + 38, + 92, + 598, + 72, + 38, + 92, + 598, + 74, + 30, + 98, + 598, + 74, + 30, + 98, + 596, + 78, + 26, + 100, + 596, + 78, + 26, + 100, + 594, + 82, + 22, + 102, + 594, + 82, + 22, + 102, + 592, + 86, + 18, + 104, + 592, + 86, + 18, + 104, + 590, + 90, + 10, + 112, + 588, + 90, + 10, + 112, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 572, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 586, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 594, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 202, + 598, + 202, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 604, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 108, + 692, + 108, + 694, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 82, + 718, + 82, + 720, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 756, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 768, + 26, + 774, + 26, + 776, + 18, + 782, + 18, + 784, + 10, + 790, + 10, + 730627 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000084:0002", + "experimental_retained_index": 0, + "ism_score": 0.4697168171405792, + "R": [ + [ + 0.8459210991859436, + 0.009546581655740738, + -0.5329378843307495 + ], + [ + 0.4676365256309509, + -0.4932396411895752, + 0.7332976460456848 + ], + [ + -0.2559576630592346, + -0.8697771430015564, + -0.42192214727401733 + ] + ], + "t": [ + -194.0558319091797, + 100.58370971679688, + 341.4359436035156 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000084/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000084/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000084:0002", + "eppendorf_tarto:000084:0000", + "eppendorf_tarto:000084:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000084.png" + }, + { + "frame_id": 86, + "image_path": "/workspace/data/0008_/images/000086.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000086.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 266, + 524, + 372, + 274 + ], + "score": 0.46601662039756775, + "time": 0.0, + "segmentation": { + "counts": [ + 212793, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 57, + 743, + 57, + 741, + 59, + 741, + 59, + 737, + 63, + 737, + 63, + 735, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 81, + 719, + 81, + 717, + 83, + 717, + 83, + 715, + 85, + 715, + 85, + 713, + 86, + 714, + 86, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 143, + 657, + 143, + 655, + 145, + 655, + 145, + 653, + 147, + 653, + 147, + 651, + 149, + 651, + 149, + 649, + 151, + 649, + 151, + 647, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 183, + 617, + 183, + 615, + 185, + 615, + 185, + 611, + 189, + 611, + 189, + 609, + 191, + 609, + 191, + 607, + 193, + 607, + 193, + 605, + 195, + 605, + 195, + 603, + 197, + 603, + 197, + 601, + 199, + 601, + 199, + 597, + 203, + 597, + 203, + 597, + 203, + 597, + 203, + 593, + 207, + 593, + 207, + 591, + 209, + 591, + 209, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 593, + 207, + 593, + 207, + 597, + 202, + 598, + 202, + 606, + 195, + 605, + 195, + 609, + 191, + 609, + 191, + 571, + 8, + 18, + 4, + 10, + 189, + 571, + 8, + 18, + 4, + 10, + 189, + 571, + 8, + 18, + 4, + 12, + 187, + 571, + 8, + 18, + 4, + 12, + 187, + 573, + 6, + 32, + 189, + 573, + 6, + 32, + 189, + 561, + 10, + 40, + 189, + 561, + 10, + 40, + 189, + 559, + 14, + 36, + 191, + 559, + 14, + 36, + 191, + 557, + 16, + 32, + 195, + 557, + 16, + 32, + 195, + 555, + 20, + 20, + 205, + 555, + 20, + 20, + 205, + 551, + 26, + 16, + 207, + 551, + 26, + 16, + 207, + 549, + 36, + 6, + 209, + 549, + 36, + 6, + 209, + 545, + 255, + 545, + 255, + 543, + 257, + 543, + 257, + 541, + 259, + 541, + 259, + 539, + 260, + 540, + 260, + 538, + 263, + 537, + 263, + 535, + 265, + 535, + 265, + 533, + 267, + 533, + 267, + 529, + 271, + 529, + 271, + 527, + 273, + 527, + 273, + 525, + 275, + 525, + 275, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 554, + 242, + 558, + 242, + 560, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 572, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 582, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 616, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 638, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 652, + 144, + 656, + 144, + 662, + 136, + 664, + 136, + 668, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 686, + 110, + 690, + 110, + 694, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 68, + 732, + 68, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 54, + 746, + 54, + 746, + 30, + 770, + 30, + 772, + 16, + 784, + 16, + 511391 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000086:0000", + "experimental_retained_index": 0, + "ism_score": 0.4795026183128357, + "R": [ + [ + -0.8850314021110535, + 0.05391620099544525, + 0.46271947026252747 + ], + [ + -0.35544371604919434, + -0.7200605869293213, + -0.5957249999046326 + ], + [ + 0.3012794554233551, + -0.6917080283164978, + 0.6562583446502686 + ] + ], + "t": [ + -73.4078598022461, + 141.86630249023438, + 289.99774169921875 + ] + }, + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 110, + 560, + 280, + 236 + ], + "score": 0.4437468349933624, + "time": 0.0, + "segmentation": { + "counts": [ + 87881, + 10, + 790, + 10, + 788, + 24, + 776, + 24, + 774, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 754, + 44, + 46, + 6, + 704, + 44, + 46, + 6, + 702, + 44, + 44, + 24, + 688, + 44, + 44, + 24, + 688, + 44, + 42, + 40, + 674, + 44, + 42, + 40, + 672, + 46, + 42, + 50, + 662, + 46, + 42, + 50, + 662, + 44, + 42, + 54, + 660, + 44, + 42, + 54, + 658, + 46, + 42, + 54, + 658, + 46, + 42, + 54, + 656, + 46, + 42, + 56, + 656, + 46, + 42, + 56, + 656, + 46, + 40, + 58, + 656, + 46, + 40, + 58, + 656, + 44, + 38, + 62, + 656, + 44, + 38, + 62, + 654, + 44, + 40, + 62, + 654, + 44, + 40, + 62, + 652, + 44, + 40, + 64, + 652, + 44, + 40, + 64, + 652, + 36, + 48, + 64, + 652, + 36, + 48, + 64, + 650, + 34, + 50, + 66, + 650, + 34, + 50, + 66, + 650, + 32, + 50, + 68, + 650, + 32, + 50, + 68, + 650, + 30, + 50, + 70, + 650, + 30, + 50, + 70, + 648, + 30, + 50, + 72, + 648, + 30, + 50, + 72, + 648, + 28, + 52, + 72, + 648, + 28, + 52, + 72, + 646, + 28, + 54, + 72, + 646, + 28, + 54, + 72, + 646, + 28, + 50, + 76, + 646, + 28, + 50, + 76, + 644, + 28, + 50, + 78, + 644, + 28, + 50, + 78, + 644, + 28, + 48, + 80, + 644, + 28, + 48, + 80, + 642, + 28, + 50, + 80, + 642, + 28, + 50, + 80, + 642, + 28, + 48, + 82, + 642, + 28, + 48, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 640, + 28, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 638, + 30, + 50, + 82, + 636, + 34, + 48, + 82, + 636, + 34, + 48, + 82, + 636, + 34, + 46, + 84, + 636, + 34, + 46, + 84, + 634, + 38, + 42, + 86, + 634, + 38, + 42, + 86, + 634, + 40, + 38, + 88, + 634, + 40, + 38, + 88, + 632, + 42, + 36, + 90, + 632, + 42, + 36, + 90, + 632, + 44, + 32, + 92, + 632, + 44, + 32, + 92, + 630, + 48, + 30, + 92, + 630, + 48, + 30, + 92, + 630, + 52, + 24, + 94, + 630, + 52, + 24, + 94, + 628, + 58, + 18, + 96, + 628, + 58, + 18, + 96, + 628, + 60, + 12, + 98, + 630, + 60, + 12, + 98, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 688, + 110, + 690, + 110, + 696, + 100, + 700, + 100, + 704, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 72, + 728, + 72, + 734, + 64, + 736, + 64, + 740, + 56, + 744, + 56, + 748, + 50, + 750, + 50, + 754, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 766, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 784, + 12, + 788, + 12, + 709751 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000086:0001", + "experimental_retained_index": 1, + "ism_score": 0.46864354610443115, + "R": [ + [ + 0.6278875470161438, + 0.02607380971312523, + -0.7777661681175232 + ], + [ + 0.5282800197601318, + -0.7479067444801331, + 0.4014328420162201 + ], + [ + -0.5713984370231628, + -0.6630398035049438, + -0.4835258424282074 + ] + ], + "t": [ + -185.72157287597656, + 132.37728881835938, + 354.1061706542969 + ] + }, + { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 244, + 0, + 144, + 48 + ], + "score": 0.02804356999695301, + "time": 0.0, + "segmentation": { + "counts": [ + 194439, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 766, + 34, + 766, + 34, + 711953 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000086:0002", + "experimental_retained_index": 2, + "ism_score": 0.44869711995124817, + "R": [ + [ + 0.021031834185123444, + 0.7548407316207886, + 0.6556624174118042 + ], + [ + -0.19406789541244507, + -0.6399819850921631, + 0.7430906295776367 + ], + [ + 0.9806758165359497, + -0.14272457361221313, + 0.133158877491951 + ] + ], + "t": [ + -302.36822509765625, + -355.4892578125, + 659.7505493164062 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 86, + "category_id": 1, + "bbox": [ + 266, + 524, + 372, + 274 + ], + "score": 0.46601662039756775, + "time": 0.0, + "segmentation": { + "counts": [ + 212793, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 57, + 743, + 57, + 741, + 59, + 741, + 59, + 737, + 63, + 737, + 63, + 735, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 81, + 719, + 81, + 717, + 83, + 717, + 83, + 715, + 85, + 715, + 85, + 713, + 86, + 714, + 86, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 658, + 143, + 657, + 143, + 655, + 145, + 655, + 145, + 653, + 147, + 653, + 147, + 651, + 149, + 651, + 149, + 649, + 151, + 649, + 151, + 647, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 183, + 617, + 183, + 615, + 185, + 615, + 185, + 611, + 189, + 611, + 189, + 609, + 191, + 609, + 191, + 607, + 193, + 607, + 193, + 605, + 195, + 605, + 195, + 603, + 197, + 603, + 197, + 601, + 199, + 601, + 199, + 597, + 203, + 597, + 203, + 597, + 203, + 597, + 203, + 593, + 207, + 593, + 207, + 591, + 209, + 591, + 209, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 589, + 211, + 593, + 207, + 593, + 207, + 597, + 202, + 598, + 202, + 606, + 195, + 605, + 195, + 609, + 191, + 609, + 191, + 571, + 8, + 18, + 4, + 10, + 189, + 571, + 8, + 18, + 4, + 10, + 189, + 571, + 8, + 18, + 4, + 12, + 187, + 571, + 8, + 18, + 4, + 12, + 187, + 573, + 6, + 32, + 189, + 573, + 6, + 32, + 189, + 561, + 10, + 40, + 189, + 561, + 10, + 40, + 189, + 559, + 14, + 36, + 191, + 559, + 14, + 36, + 191, + 557, + 16, + 32, + 195, + 557, + 16, + 32, + 195, + 555, + 20, + 20, + 205, + 555, + 20, + 20, + 205, + 551, + 26, + 16, + 207, + 551, + 26, + 16, + 207, + 549, + 36, + 6, + 209, + 549, + 36, + 6, + 209, + 545, + 255, + 545, + 255, + 543, + 257, + 543, + 257, + 541, + 259, + 541, + 259, + 539, + 260, + 540, + 260, + 538, + 263, + 537, + 263, + 535, + 265, + 535, + 265, + 533, + 267, + 533, + 267, + 529, + 271, + 529, + 271, + 527, + 273, + 527, + 273, + 525, + 275, + 525, + 275, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 277, + 523, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 534, + 266, + 534, + 266, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 550, + 248, + 552, + 248, + 554, + 242, + 558, + 242, + 560, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 572, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 582, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 196, + 604, + 196, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 616, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 638, + 158, + 642, + 158, + 644, + 152, + 648, + 152, + 652, + 144, + 656, + 144, + 662, + 136, + 664, + 136, + 668, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 686, + 110, + 690, + 110, + 694, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 68, + 732, + 68, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 54, + 746, + 54, + 746, + 30, + 770, + 30, + 772, + 16, + 784, + 16, + 511391 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000086:0000", + "experimental_retained_index": 0, + "ism_score": 0.4795026183128357, + "R": [ + [ + -0.8850314021110535, + 0.05391620099544525, + 0.46271947026252747 + ], + [ + -0.35544371604919434, + -0.7200605869293213, + -0.5957249999046326 + ], + [ + 0.3012794554233551, + -0.6917080283164978, + 0.6562583446502686 + ] + ], + "t": [ + -73.4078598022461, + 141.86630249023438, + 289.99774169921875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000086/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000086/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000086:0000", + "eppendorf_tarto:000086:0001", + "eppendorf_tarto:000086:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000086.png" + }, + { + "frame_id": 87, + "image_path": "/workspace/data/0008_/images/000087.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000087.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 888, + 0, + 390, + 144 + ], + "score": 0.25020208954811096, + "time": 0.0, + "segmentation": { + "counts": [ + 709675, + 4, + 796, + 4, + 790, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 764, + 36, + 764, + 36, + 756, + 44, + 756, + 44, + 750, + 50, + 750, + 50, + 746, + 56, + 744, + 56, + 740, + 60, + 740, + 60, + 734, + 66, + 734, + 66, + 728, + 72, + 728, + 72, + 722, + 80, + 720, + 80, + 714, + 86, + 714, + 86, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 123, + 677, + 123, + 677, + 123, + 677, + 123, + 677, + 125, + 675, + 125, + 675, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 129, + 671, + 129, + 671, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 139, + 661, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 145, + 655, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653, + 147, + 653 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000087:0002", + "experimental_retained_index": 0, + "ism_score": 0.4852404296398163, + "R": [ + [ + -0.3531045913696289, + 0.4069975018501282, + -0.842605710029602 + ], + [ + -0.5757227540016174, + 0.6154030561447144, + 0.5383700132369995 + ], + [ + 0.7376534342765808, + 0.675182580947876, + 0.01713021658360958 + ] + ], + "t": [ + 488.1842041015625, + -389.6632995605469, + 739.935302734375 + ] + }, + { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 126, + 594, + 272, + 204 + ], + "score": 0.4682718813419342, + "time": 0.0, + "segmentation": { + "counts": [ + 100693, + 22, + 778, + 22, + 776, + 28, + 46, + 28, + 698, + 28, + 46, + 28, + 694, + 32, + 42, + 38, + 688, + 32, + 42, + 38, + 686, + 34, + 40, + 41, + 685, + 34, + 40, + 41, + 683, + 36, + 38, + 43, + 683, + 36, + 38, + 43, + 681, + 38, + 38, + 43, + 681, + 38, + 38, + 43, + 679, + 38, + 40, + 43, + 679, + 38, + 40, + 43, + 675, + 40, + 42, + 42, + 676, + 40, + 42, + 42, + 676, + 38, + 42, + 44, + 676, + 38, + 42, + 44, + 674, + 38, + 42, + 46, + 674, + 38, + 42, + 46, + 672, + 40, + 42, + 46, + 672, + 40, + 42, + 46, + 672, + 40, + 40, + 48, + 672, + 40, + 40, + 48, + 670, + 42, + 38, + 50, + 670, + 42, + 38, + 50, + 670, + 42, + 36, + 52, + 670, + 42, + 36, + 52, + 670, + 40, + 38, + 52, + 670, + 40, + 38, + 52, + 668, + 38, + 40, + 55, + 667, + 38, + 40, + 55, + 667, + 38, + 38, + 57, + 667, + 38, + 38, + 57, + 667, + 36, + 38, + 59, + 667, + 36, + 38, + 59, + 665, + 36, + 40, + 59, + 665, + 36, + 40, + 59, + 665, + 26, + 48, + 61, + 665, + 26, + 48, + 61, + 665, + 26, + 48, + 61, + 665, + 26, + 48, + 61, + 663, + 26, + 48, + 63, + 663, + 26, + 48, + 63, + 663, + 26, + 48, + 63, + 663, + 26, + 48, + 63, + 663, + 24, + 50, + 63, + 663, + 24, + 50, + 63, + 661, + 24, + 52, + 63, + 661, + 24, + 52, + 63, + 661, + 24, + 52, + 63, + 661, + 24, + 52, + 63, + 661, + 22, + 52, + 64, + 662, + 22, + 52, + 64, + 660, + 24, + 52, + 65, + 659, + 24, + 52, + 65, + 659, + 24, + 52, + 65, + 659, + 24, + 52, + 65, + 657, + 26, + 50, + 67, + 657, + 26, + 50, + 67, + 657, + 26, + 50, + 67, + 657, + 26, + 50, + 67, + 655, + 28, + 48, + 68, + 656, + 28, + 48, + 68, + 656, + 28, + 46, + 70, + 656, + 28, + 46, + 70, + 654, + 30, + 46, + 70, + 654, + 30, + 46, + 70, + 654, + 30, + 44, + 72, + 654, + 30, + 44, + 72, + 654, + 32, + 40, + 74, + 654, + 32, + 40, + 74, + 652, + 38, + 36, + 74, + 652, + 38, + 36, + 74, + 652, + 42, + 30, + 76, + 652, + 42, + 30, + 76, + 652, + 44, + 26, + 78, + 652, + 44, + 26, + 78, + 650, + 50, + 20, + 80, + 650, + 50, + 20, + 80, + 650, + 58, + 10, + 82, + 650, + 58, + 10, + 82, + 650, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 710, + 88, + 712, + 88, + 716, + 80, + 720, + 80, + 726, + 72, + 728, + 72, + 734, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 746, + 50, + 750, + 50, + 756, + 42, + 758, + 42, + 764, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 780, + 18, + 782, + 18, + 703311 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000087:0001", + "experimental_retained_index": 1, + "ism_score": 0.4833773970603943, + "R": [ + [ + 0.502481997013092, + 0.11142721027135849, + -0.8573631048202515 + ], + [ + 0.5158687829971313, + -0.8343177437782288, + 0.19388915598392487 + ], + [ + -0.6936593651771545, + -0.5398682355880737, + -0.47681406140327454 + ] + ], + "t": [ + -181.368408203125, + 149.85464477539062, + 359.6303405761719 + ] + }, + { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 290, + 572, + 362, + 226 + ], + "score": 0.41331082582473755, + "time": 0.0, + "segmentation": { + "counts": [ + 231995, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 790, + 10, + 790, + 10, + 788, + 13, + 787, + 13, + 785, + 15, + 785, + 15, + 783, + 17, + 783, + 17, + 781, + 19, + 781, + 19, + 779, + 21, + 779, + 21, + 777, + 23, + 777, + 23, + 775, + 25, + 775, + 25, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 771, + 29, + 771, + 29, + 769, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 726, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 88, + 712, + 88, + 710, + 91, + 709, + 91, + 707, + 93, + 707, + 93, + 707, + 92, + 708, + 92, + 706, + 95, + 705, + 95, + 703, + 97, + 703, + 97, + 699, + 101, + 699, + 101, + 697, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 120, + 680, + 120, + 678, + 122, + 678, + 122, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 135, + 665, + 135, + 663, + 137, + 663, + 137, + 661, + 139, + 661, + 139, + 659, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 652, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 634, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 633, + 167, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 631, + 169, + 637, + 163, + 637, + 163, + 651, + 149, + 651, + 149, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 655, + 145, + 655, + 145, + 601, + 10, + 40, + 149, + 601, + 10, + 40, + 149, + 601, + 12, + 32, + 155, + 601, + 12, + 32, + 155, + 599, + 14, + 26, + 160, + 600, + 14, + 26, + 160, + 598, + 18, + 22, + 162, + 598, + 18, + 22, + 162, + 596, + 22, + 18, + 164, + 596, + 22, + 18, + 164, + 594, + 28, + 12, + 166, + 594, + 28, + 12, + 166, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 148, + 6, + 74, + 572, + 148, + 6, + 74, + 572, + 150, + 2, + 8, + 2, + 67, + 571, + 150, + 2, + 8, + 2, + 67, + 571, + 150, + 2, + 8, + 12, + 57, + 571, + 150, + 2, + 8, + 12, + 57, + 573, + 148, + 2, + 20, + 2, + 55, + 573, + 148, + 2, + 20, + 2, + 55, + 573, + 130, + 6, + 10, + 10, + 71, + 573, + 130, + 6, + 10, + 10, + 71, + 575, + 130, + 4, + 10, + 10, + 71, + 575, + 130, + 4, + 10, + 10, + 71, + 575, + 130, + 4, + 8, + 22, + 61, + 575, + 130, + 4, + 8, + 22, + 61, + 577, + 130, + 2, + 12, + 2, + 14, + 2, + 60, + 578, + 130, + 2, + 12, + 2, + 14, + 2, + 60, + 580, + 128, + 2, + 90, + 580, + 128, + 2, + 90, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 192, + 608, + 192, + 610, + 188, + 612, + 188, + 614, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 660, + 8, + 2, + 126, + 664, + 8, + 2, + 126, + 686, + 112, + 688, + 112, + 696, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 706, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 710, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 54, + 746, + 54, + 748, + 38, + 762, + 38, + 764, + 26, + 774, + 26, + 776, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 500139 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000087:0000", + "experimental_retained_index": 2, + "ism_score": 0.4294138252735138, + "R": [ + [ + -0.8229891061782837, + 0.1034497395157814, + 0.5582002997398376 + ], + [ + -0.4092518389225006, + -0.7897101044654846, + -0.45712873339653015 + ], + [ + 0.39369431138038635, + -0.6050072908401489, + 0.692192018032074 + ] + ], + "t": [ + -70.50517272949219, + 160.45474243164062, + 292.4278869628906 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 87, + "category_id": 1, + "bbox": [ + 126, + 594, + 272, + 204 + ], + "score": 0.4682718813419342, + "time": 0.0, + "segmentation": { + "counts": [ + 100693, + 22, + 778, + 22, + 776, + 28, + 46, + 28, + 698, + 28, + 46, + 28, + 694, + 32, + 42, + 38, + 688, + 32, + 42, + 38, + 686, + 34, + 40, + 41, + 685, + 34, + 40, + 41, + 683, + 36, + 38, + 43, + 683, + 36, + 38, + 43, + 681, + 38, + 38, + 43, + 681, + 38, + 38, + 43, + 679, + 38, + 40, + 43, + 679, + 38, + 40, + 43, + 675, + 40, + 42, + 42, + 676, + 40, + 42, + 42, + 676, + 38, + 42, + 44, + 676, + 38, + 42, + 44, + 674, + 38, + 42, + 46, + 674, + 38, + 42, + 46, + 672, + 40, + 42, + 46, + 672, + 40, + 42, + 46, + 672, + 40, + 40, + 48, + 672, + 40, + 40, + 48, + 670, + 42, + 38, + 50, + 670, + 42, + 38, + 50, + 670, + 42, + 36, + 52, + 670, + 42, + 36, + 52, + 670, + 40, + 38, + 52, + 670, + 40, + 38, + 52, + 668, + 38, + 40, + 55, + 667, + 38, + 40, + 55, + 667, + 38, + 38, + 57, + 667, + 38, + 38, + 57, + 667, + 36, + 38, + 59, + 667, + 36, + 38, + 59, + 665, + 36, + 40, + 59, + 665, + 36, + 40, + 59, + 665, + 26, + 48, + 61, + 665, + 26, + 48, + 61, + 665, + 26, + 48, + 61, + 665, + 26, + 48, + 61, + 663, + 26, + 48, + 63, + 663, + 26, + 48, + 63, + 663, + 26, + 48, + 63, + 663, + 26, + 48, + 63, + 663, + 24, + 50, + 63, + 663, + 24, + 50, + 63, + 661, + 24, + 52, + 63, + 661, + 24, + 52, + 63, + 661, + 24, + 52, + 63, + 661, + 24, + 52, + 63, + 661, + 22, + 52, + 64, + 662, + 22, + 52, + 64, + 660, + 24, + 52, + 65, + 659, + 24, + 52, + 65, + 659, + 24, + 52, + 65, + 659, + 24, + 52, + 65, + 657, + 26, + 50, + 67, + 657, + 26, + 50, + 67, + 657, + 26, + 50, + 67, + 657, + 26, + 50, + 67, + 655, + 28, + 48, + 68, + 656, + 28, + 48, + 68, + 656, + 28, + 46, + 70, + 656, + 28, + 46, + 70, + 654, + 30, + 46, + 70, + 654, + 30, + 46, + 70, + 654, + 30, + 44, + 72, + 654, + 30, + 44, + 72, + 654, + 32, + 40, + 74, + 654, + 32, + 40, + 74, + 652, + 38, + 36, + 74, + 652, + 38, + 36, + 74, + 652, + 42, + 30, + 76, + 652, + 42, + 30, + 76, + 652, + 44, + 26, + 78, + 652, + 44, + 26, + 78, + 650, + 50, + 20, + 80, + 650, + 50, + 20, + 80, + 650, + 58, + 10, + 82, + 650, + 58, + 10, + 82, + 650, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 646, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 650, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 710, + 88, + 712, + 88, + 716, + 80, + 720, + 80, + 726, + 72, + 728, + 72, + 734, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 746, + 50, + 750, + 50, + 756, + 42, + 758, + 42, + 764, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 780, + 18, + 782, + 18, + 703311 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000087:0001", + "experimental_retained_index": 1, + "ism_score": 0.4833773970603943, + "R": [ + [ + 0.502481997013092, + 0.11142721027135849, + -0.8573631048202515 + ], + [ + 0.5158687829971313, + -0.8343177437782288, + 0.19388915598392487 + ], + [ + -0.6936593651771545, + -0.5398682355880737, + -0.47681406140327454 + ] + ], + "t": [ + -181.368408203125, + 149.85464477539062, + 359.6303405761719 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000087/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000087/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000087:0002", + "eppendorf_tarto:000087:0001", + "eppendorf_tarto:000087:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000087.png" + }, + { + "frame_id": 92, + "image_path": "/workspace/data/0008_/images/000092.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000092.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 92, + "category_id": 1, + "bbox": [ + 42, + 452, + 690, + 344 + ], + "score": 0.1539088785648346, + "time": 0.0, + "segmentation": { + "counts": [ + 33481, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 283946, + 16, + 784, + 16, + 780, + 56, + 12, + 4, + 728, + 56, + 12, + 4, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 600, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 584, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 508, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 496, + 304, + 496, + 304, + 494, + 306, + 494, + 306, + 492, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 482, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 482, + 318, + 482, + 318, + 480, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 482, + 316, + 484, + 316, + 484, + 10, + 4, + 6, + 8, + 284, + 488, + 10, + 4, + 6, + 8, + 284, + 488, + 6, + 24, + 278, + 492, + 6, + 24, + 278, + 492, + 6, + 22, + 278, + 494, + 6, + 22, + 278, + 494, + 6, + 18, + 278, + 498, + 6, + 18, + 278, + 498, + 6, + 16, + 276, + 502, + 6, + 16, + 276, + 488, + 4, + 10, + 6, + 14, + 274, + 492, + 4, + 10, + 6, + 14, + 274, + 492, + 4, + 10, + 4, + 14, + 274, + 494, + 4, + 10, + 4, + 14, + 274, + 518, + 280, + 520, + 280, + 490, + 10, + 16, + 282, + 492, + 10, + 16, + 282, + 488, + 16, + 12, + 278, + 494, + 16, + 12, + 278, + 494, + 16, + 12, + 274, + 498, + 16, + 12, + 274, + 498, + 18, + 8, + 274, + 500, + 18, + 8, + 274, + 500, + 20, + 6, + 270, + 504, + 20, + 6, + 270, + 504, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 514, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 528, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 538, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 562, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 672, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 118, + 682, + 118, + 686, + 112, + 688, + 112, + 690, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 68, + 732, + 68, + 732, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 436277 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000092:0000", + "experimental_retained_index": 1, + "ism_score": 0.4004133343696594, + "R": [ + [ + -0.8558465838432312, + 0.09263338148593903, + -0.5088666081428528 + ], + [ + -0.26230528950691223, + 0.77019864320755, + 0.5813692212104797 + ], + [ + 0.4457824230194092, + 0.6310415267944336, + -0.6348735690116882 + ] + ], + "t": [ + -18.694799423217773, + 100.78953552246094, + 332.7098083496094 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 92, + "category_id": 1, + "bbox": [ + 42, + 452, + 690, + 344 + ], + "score": 0.1539088785648346, + "time": 0.0, + "segmentation": { + "counts": [ + 33481, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 283946, + 16, + 784, + 16, + 780, + 56, + 12, + 4, + 728, + 56, + 12, + 4, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 658, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 174, + 626, + 174, + 624, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 600, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 584, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 540, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 508, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 496, + 304, + 496, + 304, + 494, + 306, + 494, + 306, + 492, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 488, + 312, + 488, + 312, + 486, + 314, + 486, + 314, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 482, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 482, + 318, + 482, + 318, + 480, + 318, + 482, + 318, + 482, + 316, + 484, + 316, + 482, + 316, + 484, + 316, + 484, + 10, + 4, + 6, + 8, + 284, + 488, + 10, + 4, + 6, + 8, + 284, + 488, + 6, + 24, + 278, + 492, + 6, + 24, + 278, + 492, + 6, + 22, + 278, + 494, + 6, + 22, + 278, + 494, + 6, + 18, + 278, + 498, + 6, + 18, + 278, + 498, + 6, + 16, + 276, + 502, + 6, + 16, + 276, + 488, + 4, + 10, + 6, + 14, + 274, + 492, + 4, + 10, + 6, + 14, + 274, + 492, + 4, + 10, + 4, + 14, + 274, + 494, + 4, + 10, + 4, + 14, + 274, + 518, + 280, + 520, + 280, + 490, + 10, + 16, + 282, + 492, + 10, + 16, + 282, + 488, + 16, + 12, + 278, + 494, + 16, + 12, + 278, + 494, + 16, + 12, + 274, + 498, + 16, + 12, + 274, + 498, + 18, + 8, + 274, + 500, + 18, + 8, + 274, + 500, + 20, + 6, + 270, + 504, + 20, + 6, + 270, + 504, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 514, + 282, + 518, + 282, + 518, + 280, + 520, + 280, + 520, + 276, + 524, + 276, + 526, + 272, + 528, + 272, + 528, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 538, + 258, + 542, + 258, + 544, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 562, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 578, + 218, + 582, + 218, + 584, + 212, + 588, + 212, + 588, + 210, + 590, + 210, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 606, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 620, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 664, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 672, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 118, + 682, + 118, + 686, + 112, + 688, + 112, + 690, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 728, + 68, + 732, + 68, + 732, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 42, + 758, + 42, + 760, + 34, + 766, + 34, + 766, + 28, + 772, + 28, + 774, + 20, + 780, + 20, + 782, + 12, + 788, + 12, + 436277 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000092:0000", + "experimental_retained_index": 1, + "ism_score": 0.4004133343696594, + "R": [ + [ + -0.8558465838432312, + 0.09263338148593903, + -0.5088666081428528 + ], + [ + -0.26230528950691223, + 0.77019864320755, + 0.5813692212104797 + ], + [ + 0.4457824230194092, + 0.6310415267944336, + -0.6348735690116882 + ] + ], + "t": [ + -18.694799423217773, + 100.78953552246094, + 332.7098083496094 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000092/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000092/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000092:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000092.png" + }, + { + "frame_id": 95, + "image_path": "/workspace/data/0008_/images/000095.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000095.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 198, + 0, + 100, + 96 + ], + "score": 0.5190573930740356, + "time": 0.0, + "segmentation": { + "counts": [ + 157600, + 5, + 795, + 5, + 795, + 15, + 785, + 15, + 785, + 27, + 773, + 27, + 773, + 33, + 767, + 33, + 767, + 45, + 755, + 45, + 755, + 53, + 747, + 53, + 747, + 63, + 737, + 63, + 737, + 71, + 729, + 71, + 729, + 77, + 723, + 77, + 723, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 712, + 88, + 712, + 88, + 728, + 72, + 728, + 72, + 732, + 70, + 730, + 70, + 736, + 30, + 4, + 30, + 736, + 30, + 4, + 30, + 746, + 8, + 18, + 28, + 746, + 8, + 18, + 28, + 772, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 778, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 788, + 10, + 790, + 10, + 783903 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000095:0002", + "experimental_retained_index": 0, + "ism_score": 0.5190573930740356, + "R": [ + [ + 0.19113241136074066, + 0.17284700274467468, + -0.9663277268409729 + ], + [ + -0.8304704427719116, + -0.4962241053581238, + -0.2531581521034241 + ], + [ + -0.5232131481170654, + 0.8510094881057739, + 0.04871769994497299 + ] + ], + "t": [ + -405.64044189453125, + -387.67120361328125, + 716.7530517578125 + ] + }, + { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 424, + 78, + 270, + 112 + ], + "score": 0.27997907996177673, + "time": 0.0, + "segmentation": { + "counts": [ + 338479, + 12, + 8, + 10, + 770, + 12, + 8, + 10, + 768, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 44, + 756, + 44, + 758, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 774, + 20, + 780, + 20, + 784, + 8, + 792, + 8, + 467055 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000095:0000", + "experimental_retained_index": 2, + "ism_score": 0.4391828775405884, + "R": [ + [ + -0.29118773341178894, + -0.18277226388454437, + -0.9389418363571167 + ], + [ + 0.7222490310668945, + 0.6017119288444519, + -0.34103643894195557 + ], + [ + 0.6274917125701904, + -0.7776532769203186, + -0.04327285662293434 + ] + ], + "t": [ + -70.30842590332031, + -272.0715026855469, + 650.5532836914062 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 95, + "category_id": 1, + "bbox": [ + 198, + 0, + 100, + 96 + ], + "score": 0.5190573930740356, + "time": 0.0, + "segmentation": { + "counts": [ + 157600, + 5, + 795, + 5, + 795, + 15, + 785, + 15, + 785, + 27, + 773, + 27, + 773, + 33, + 767, + 33, + 767, + 45, + 755, + 45, + 755, + 53, + 747, + 53, + 747, + 63, + 737, + 63, + 737, + 71, + 729, + 71, + 729, + 77, + 723, + 77, + 723, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 712, + 88, + 712, + 88, + 728, + 72, + 728, + 72, + 732, + 70, + 730, + 70, + 736, + 30, + 4, + 30, + 736, + 30, + 4, + 30, + 746, + 8, + 18, + 28, + 746, + 8, + 18, + 28, + 772, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 778, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 788, + 10, + 790, + 10, + 783903 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000095:0002", + "experimental_retained_index": 0, + "ism_score": 0.5190573930740356, + "R": [ + [ + 0.19113241136074066, + 0.17284700274467468, + -0.9663277268409729 + ], + [ + -0.8304704427719116, + -0.4962241053581238, + -0.2531581521034241 + ], + [ + -0.5232131481170654, + 0.8510094881057739, + 0.04871769994497299 + ] + ], + "t": [ + -405.64044189453125, + -387.67120361328125, + 716.7530517578125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000095/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000095/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000095:0002", + "eppendorf_tarto:000095:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000095.png" + }, + { + "frame_id": 97, + "image_path": "/workspace/data/0008_/images/000097.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000097.png", + "status": "ok", + "detection_count": 6, + "input_candidate_count": 6, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 1160, + 0, + 118, + 140 + ], + "score": 0.013756745494902134, + "time": 0.0, + "segmentation": { + "counts": [ + 927279, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 778, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 74, + 726, + 74, + 722, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 692, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 677, + 125, + 675, + 125, + 675, + 127, + 673, + 127, + 673, + 129, + 671, + 129, + 671, + 133, + 667, + 133, + 667, + 135, + 665, + 135, + 665, + 137, + 663, + 137, + 663, + 141, + 659, + 141, + 659, + 143, + 657, + 143, + 657, + 143, + 657 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0005", + "experimental_retained_index": 0, + "ism_score": 0.4891287088394165, + "R": [ + [ + 0.3295712172985077, + 0.708469569683075, + -0.6243334412574768 + ], + [ + 0.382640540599823, + 0.5043637156486511, + 0.7739738821983337 + ], + [ + 0.8629106879234314, + -0.4942890703678131, + -0.10472077876329422 + ] + ], + "t": [ + 623.3756103515625, + -386.8794250488281, + 706.1636962890625 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 540, + 460, + 182, + 120 + ], + "score": 0.3717304766178131, + "time": 0.0, + "segmentation": { + "counts": [ + 431715, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 774, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 762, + 40, + 760, + 40, + 732, + 4, + 10, + 4, + 8, + 42, + 732, + 4, + 10, + 4, + 8, + 42, + 730, + 26, + 2, + 42, + 730, + 26, + 2, + 42, + 730, + 26, + 2, + 44, + 728, + 26, + 2, + 44, + 730, + 20, + 6, + 44, + 730, + 20, + 6, + 44, + 730, + 20, + 4, + 48, + 728, + 20, + 4, + 48, + 730, + 18, + 2, + 50, + 730, + 18, + 2, + 50, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 732, + 64, + 736, + 64, + 736, + 58, + 742, + 58, + 744, + 52, + 748, + 52, + 748, + 44, + 756, + 44, + 756, + 38, + 762, + 38, + 762, + 32, + 768, + 32, + 770, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 780, + 16, + 784, + 16, + 786, + 10, + 790, + 10, + 444273 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0003", + "experimental_retained_index": 1, + "ism_score": 0.4739193320274353, + "R": [ + [ + 0.08585856854915619, + 0.32314828038215637, + -0.9424653053283691 + ], + [ + -0.6162022948265076, + -0.7263054847717285, + -0.3051912784576416 + ], + [ + -0.7831399440765381, + 0.6065815687179565, + 0.13670477271080017 + ] + ], + "t": [ + 4.109001636505127, + 45.79778289794922, + 293.3342590332031 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 296, + 0, + 150, + 104 + ], + "score": 0.3996306359767914, + "time": 0.0, + "segmentation": { + "counts": [ + 236000, + 19, + 781, + 19, + 781, + 39, + 761, + 39, + 761, + 53, + 747, + 53, + 747, + 69, + 731, + 69, + 731, + 85, + 715, + 85, + 715, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 25, + 28, + 54, + 693, + 25, + 28, + 54, + 693, + 25, + 34, + 46, + 695, + 25, + 34, + 46, + 695, + 25, + 62, + 16, + 697, + 25, + 62, + 16, + 697, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 792, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 665591 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0004", + "experimental_retained_index": 2, + "ism_score": 0.4276983439922333, + "R": [ + [ + 0.11632560193538666, + 0.18696442246437073, + -0.9755136370658875 + ], + [ + -0.8113003373146057, + -0.548711895942688, + -0.20191241800785065 + ], + [ + -0.5730473399162292, + 0.8150230050086975, + 0.08784675598144531 + ] + ], + "t": [ + -276.8733215332031, + -364.639892578125, + 685.4473876953125 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 398, + 58, + 270, + 116 + ], + "score": 0.2592832148075104, + "time": 0.0, + "segmentation": { + "counts": [ + 317659, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 54, + 746, + 54, + 746, + 46, + 754, + 46, + 754, + 36, + 764, + 36, + 764, + 30, + 770, + 30, + 772, + 16, + 784, + 16, + 784, + 8, + 792, + 8, + 487875 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0001", + "experimental_retained_index": 3, + "ism_score": 0.4254904091358185, + "R": [ + [ + -0.3959169089794159, + -0.0680404081940651, + -0.9159714579582214 + ], + [ + 0.7298578023910522, + 0.5816670656204224, + -0.35865432024002075 + ], + [ + 0.557103157043457, + -0.8106182813644409, + -0.18063467741012573 + ] + ], + "t": [ + -103.05712127685547, + -289.2720031738281, + 654.6543579101562 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 392, + 12, + 290, + 104 + ], + "score": 0.19719083607196808, + "time": 0.0, + "segmentation": { + "counts": [ + 312825, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 754, + 46, + 754, + 46, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 40, + 760, + 40, + 760, + 26, + 774, + 26, + 780, + 8, + 792, + 8, + 476729 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0002", + "experimental_retained_index": 4, + "ism_score": 0.40191763639450073, + "R": [ + [ + 0.625729501247406, + -0.08234649896621704, + -0.7755300402641296 + ], + [ + -0.7599872946739197, + 0.15960267186164856, + -0.6300576329231262 + ], + [ + 0.17571739852428436, + 0.9838920831680298, + 0.037359073758125305 + ] + ], + "t": [ + -68.40837097167969, + -329.8081970214844, + 651.167724609375 + ] + }, + { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 0, + 88, + 1278, + 708 + ], + "score": 0.054770566523075104, + "time": 0.0, + "segmentation": { + "counts": [ + 87, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 370, + 2, + 318, + 110, + 370, + 2, + 318, + 110, + 366, + 10, + 314, + 110, + 366, + 10, + 314, + 110, + 364, + 14, + 314, + 108, + 364, + 14, + 314, + 110, + 358, + 20, + 312, + 110, + 358, + 20, + 312, + 110, + 356, + 24, + 310, + 110, + 356, + 24, + 310, + 110, + 354, + 26, + 310, + 110, + 354, + 26, + 310, + 110, + 354, + 26, + 308, + 112, + 354, + 26, + 308, + 114, + 350, + 30, + 308, + 112, + 350, + 30, + 308, + 112, + 350, + 32, + 306, + 112, + 350, + 32, + 306, + 114, + 346, + 34, + 306, + 114, + 346, + 34, + 306, + 114, + 346, + 32, + 306, + 116, + 346, + 32, + 306, + 116, + 344, + 34, + 306, + 116, + 344, + 34, + 306, + 116, + 340, + 36, + 308, + 116, + 340, + 36, + 308, + 118, + 336, + 36, + 312, + 116, + 336, + 36, + 312, + 116, + 334, + 36, + 314, + 116, + 334, + 36, + 314, + 116, + 330, + 38, + 316, + 116, + 330, + 38, + 316, + 116, + 328, + 40, + 314, + 118, + 328, + 40, + 314, + 120, + 326, + 38, + 316, + 120, + 326, + 38, + 316, + 120, + 324, + 38, + 318, + 120, + 324, + 38, + 318, + 120, + 324, + 36, + 320, + 120, + 324, + 36, + 320, + 120, + 322, + 38, + 320, + 120, + 322, + 38, + 320, + 120, + 320, + 38, + 322, + 120, + 320, + 38, + 322, + 120, + 318, + 40, + 322, + 120, + 318, + 40, + 322, + 122, + 314, + 40, + 326, + 120, + 314, + 40, + 326, + 120, + 312, + 42, + 326, + 120, + 312, + 42, + 326, + 120, + 312, + 40, + 326, + 122, + 312, + 40, + 326, + 122, + 310, + 42, + 326, + 122, + 310, + 42, + 326, + 124, + 306, + 44, + 326, + 124, + 306, + 44, + 326, + 124, + 306, + 42, + 328, + 124, + 306, + 42, + 328, + 126, + 304, + 42, + 328, + 126, + 304, + 42, + 328, + 126, + 302, + 42, + 330, + 126, + 302, + 42, + 330, + 126, + 302, + 42, + 330, + 126, + 302, + 42, + 330, + 126, + 300, + 42, + 332, + 126, + 300, + 42, + 332, + 126, + 298, + 44, + 334, + 124, + 298, + 44, + 334, + 124, + 298, + 42, + 336, + 124, + 298, + 42, + 336, + 124, + 296, + 44, + 334, + 126, + 296, + 44, + 334, + 126, + 296, + 42, + 336, + 126, + 296, + 42, + 336, + 128, + 292, + 42, + 338, + 128, + 292, + 42, + 338, + 128, + 292, + 42, + 338, + 128, + 292, + 42, + 338, + 128, + 290, + 42, + 340, + 128, + 290, + 42, + 340, + 130, + 286, + 44, + 80, + 8, + 252, + 130, + 286, + 44, + 80, + 8, + 252, + 130, + 286, + 42, + 80, + 14, + 248, + 130, + 286, + 42, + 80, + 14, + 248, + 130, + 284, + 42, + 78, + 20, + 246, + 130, + 284, + 42, + 78, + 20, + 246, + 130, + 282, + 44, + 76, + 22, + 248, + 128, + 282, + 44, + 76, + 22, + 248, + 128, + 280, + 44, + 76, + 24, + 248, + 128, + 280, + 44, + 76, + 24, + 248, + 130, + 276, + 46, + 74, + 26, + 246, + 132, + 276, + 46, + 74, + 26, + 246, + 132, + 276, + 44, + 74, + 26, + 248, + 132, + 276, + 44, + 74, + 26, + 248, + 132, + 274, + 46, + 74, + 26, + 248, + 132, + 274, + 46, + 74, + 26, + 248, + 132, + 274, + 44, + 74, + 28, + 248, + 132, + 274, + 44, + 74, + 28, + 248, + 134, + 272, + 42, + 74, + 28, + 250, + 134, + 272, + 42, + 74, + 28, + 250, + 134, + 270, + 44, + 72, + 30, + 250, + 134, + 270, + 44, + 72, + 30, + 250, + 134, + 270, + 42, + 72, + 30, + 252, + 134, + 270, + 42, + 72, + 30, + 252, + 136, + 266, + 42, + 72, + 32, + 252, + 136, + 266, + 42, + 72, + 32, + 252, + 136, + 266, + 42, + 70, + 34, + 252, + 136, + 266, + 42, + 70, + 34, + 252, + 136, + 264, + 42, + 70, + 34, + 254, + 136, + 264, + 42, + 70, + 34, + 254, + 136, + 262, + 44, + 70, + 34, + 254, + 136, + 262, + 44, + 70, + 34, + 254, + 136, + 262, + 42, + 70, + 34, + 256, + 136, + 262, + 42, + 70, + 34, + 256, + 136, + 260, + 42, + 70, + 36, + 256, + 136, + 260, + 42, + 70, + 36, + 256, + 138, + 256, + 44, + 68, + 36, + 258, + 138, + 256, + 44, + 68, + 36, + 258, + 138, + 256, + 42, + 68, + 38, + 258, + 138, + 256, + 42, + 68, + 38, + 258, + 138, + 254, + 42, + 70, + 36, + 260, + 138, + 254, + 42, + 70, + 36, + 260, + 140, + 250, + 44, + 66, + 40, + 260, + 140, + 250, + 44, + 66, + 40, + 260, + 140, + 250, + 42, + 68, + 38, + 262, + 140, + 250, + 42, + 68, + 38, + 262, + 140, + 248, + 42, + 68, + 40, + 262, + 140, + 248, + 42, + 68, + 40, + 262, + 140, + 246, + 44, + 66, + 40, + 264, + 140, + 246, + 44, + 66, + 40, + 264, + 140, + 246, + 42, + 68, + 40, + 264, + 140, + 246, + 42, + 68, + 40, + 264, + 142, + 242, + 42, + 68, + 40, + 266, + 142, + 242, + 42, + 68, + 40, + 266, + 142, + 242, + 40, + 70, + 40, + 268, + 140, + 242, + 40, + 70, + 40, + 268, + 140, + 242, + 40, + 68, + 42, + 268, + 140, + 242, + 40, + 68, + 42, + 268, + 140, + 240, + 40, + 68, + 42, + 270, + 140, + 240, + 40, + 68, + 42, + 270, + 142, + 238, + 40, + 66, + 44, + 268, + 144, + 238, + 40, + 66, + 44, + 268, + 144, + 236, + 40, + 68, + 42, + 270, + 144, + 236, + 40, + 68, + 42, + 270, + 144, + 234, + 42, + 66, + 44, + 270, + 144, + 234, + 42, + 66, + 44, + 270, + 144, + 232, + 42, + 66, + 44, + 272, + 144, + 232, + 42, + 66, + 44, + 272, + 146, + 228, + 42, + 66, + 46, + 272, + 146, + 228, + 42, + 66, + 46, + 272, + 146, + 226, + 42, + 68, + 44, + 274, + 146, + 226, + 42, + 68, + 44, + 274, + 146, + 224, + 44, + 66, + 44, + 276, + 146, + 224, + 44, + 66, + 44, + 276, + 146, + 224, + 42, + 68, + 44, + 276, + 146, + 224, + 42, + 68, + 44, + 276, + 146, + 222, + 44, + 66, + 44, + 278, + 146, + 222, + 44, + 66, + 44, + 278, + 148, + 220, + 44, + 64, + 44, + 280, + 148, + 220, + 44, + 64, + 44, + 280, + 148, + 220, + 42, + 66, + 44, + 280, + 148, + 220, + 42, + 66, + 44, + 280, + 148, + 218, + 42, + 66, + 44, + 282, + 148, + 218, + 42, + 66, + 44, + 282, + 148, + 216, + 42, + 66, + 46, + 282, + 148, + 216, + 42, + 66, + 46, + 282, + 150, + 214, + 40, + 68, + 44, + 284, + 150, + 214, + 40, + 68, + 44, + 284, + 150, + 212, + 42, + 66, + 46, + 284, + 150, + 212, + 42, + 66, + 46, + 284, + 150, + 210, + 42, + 66, + 48, + 284, + 150, + 210, + 42, + 66, + 48, + 284, + 150, + 210, + 42, + 66, + 46, + 286, + 150, + 210, + 42, + 66, + 46, + 286, + 150, + 206, + 44, + 66, + 48, + 286, + 150, + 206, + 44, + 66, + 48, + 286, + 152, + 202, + 46, + 64, + 48, + 290, + 150, + 202, + 46, + 64, + 48, + 290, + 150, + 202, + 44, + 66, + 46, + 292, + 150, + 202, + 44, + 66, + 46, + 292, + 150, + 200, + 44, + 66, + 46, + 292, + 152, + 200, + 44, + 66, + 46, + 292, + 154, + 194, + 48, + 64, + 46, + 76, + 18, + 200, + 154, + 194, + 48, + 64, + 46, + 76, + 18, + 200, + 154, + 192, + 48, + 66, + 46, + 66, + 28, + 200, + 154, + 192, + 48, + 66, + 46, + 66, + 28, + 200, + 156, + 190, + 46, + 66, + 46, + 56, + 40, + 200, + 156, + 190, + 46, + 66, + 46, + 56, + 40, + 200, + 156, + 188, + 48, + 64, + 46, + 52, + 46, + 200, + 156, + 188, + 48, + 64, + 46, + 52, + 46, + 200, + 156, + 188, + 46, + 66, + 46, + 50, + 48, + 200, + 156, + 188, + 46, + 66, + 46, + 50, + 48, + 200, + 156, + 188, + 46, + 64, + 46, + 50, + 50, + 200, + 156, + 188, + 46, + 64, + 46, + 50, + 50, + 200, + 158, + 184, + 46, + 66, + 44, + 52, + 50, + 200, + 158, + 184, + 46, + 66, + 44, + 52, + 50, + 200, + 158, + 184, + 44, + 66, + 44, + 54, + 50, + 200, + 158, + 184, + 44, + 66, + 44, + 54, + 50, + 200, + 180, + 162, + 44, + 64, + 44, + 56, + 50, + 200, + 180, + 162, + 44, + 64, + 44, + 56, + 50, + 200, + 188, + 154, + 44, + 64, + 44, + 54, + 52, + 200, + 188, + 154, + 44, + 64, + 44, + 54, + 52, + 200, + 192, + 150, + 44, + 62, + 44, + 56, + 52, + 200, + 192, + 150, + 44, + 62, + 44, + 56, + 52, + 200, + 194, + 148, + 42, + 62, + 44, + 58, + 52, + 200, + 194, + 148, + 42, + 62, + 44, + 58, + 52, + 200, + 198, + 144, + 42, + 62, + 44, + 58, + 50, + 202, + 198, + 144, + 42, + 62, + 44, + 58, + 50, + 202, + 200, + 144, + 40, + 60, + 44, + 60, + 50, + 202, + 200, + 144, + 40, + 60, + 44, + 60, + 50, + 202, + 222, + 122, + 38, + 60, + 44, + 62, + 50, + 202, + 222, + 122, + 38, + 60, + 44, + 62, + 50, + 202, + 234, + 112, + 36, + 60, + 42, + 64, + 50, + 202, + 234, + 112, + 36, + 60, + 42, + 64, + 50, + 202, + 248, + 98, + 36, + 58, + 42, + 64, + 52, + 202, + 248, + 98, + 36, + 58, + 42, + 64, + 52, + 202, + 262, + 86, + 32, + 58, + 44, + 64, + 50, + 204, + 262, + 86, + 32, + 58, + 44, + 64, + 50, + 204, + 274, + 76, + 30, + 36, + 12, + 10, + 42, + 66, + 50, + 204, + 274, + 76, + 30, + 36, + 12, + 10, + 42, + 66, + 50, + 204, + 282, + 70, + 22, + 42, + 62, + 68, + 50, + 204, + 282, + 70, + 22, + 42, + 62, + 68, + 50, + 204, + 290, + 68, + 12, + 42, + 66, + 68, + 50, + 204, + 290, + 68, + 12, + 42, + 66, + 68, + 50, + 204, + 302, + 106, + 68, + 70, + 50, + 204, + 302, + 106, + 68, + 70, + 50, + 204, + 336, + 68, + 72, + 70, + 50, + 204, + 336, + 68, + 72, + 70, + 50, + 204, + 344, + 58, + 72, + 72, + 50, + 204, + 344, + 58, + 72, + 72, + 50, + 204, + 352, + 50, + 72, + 72, + 50, + 204, + 352, + 50, + 72, + 72, + 50, + 204, + 354, + 44, + 74, + 74, + 50, + 204, + 354, + 44, + 74, + 74, + 50, + 204, + 354, + 42, + 74, + 76, + 50, + 204, + 354, + 42, + 74, + 76, + 50, + 204, + 356, + 40, + 74, + 76, + 48, + 206, + 356, + 40, + 74, + 76, + 48, + 206, + 356, + 40, + 72, + 78, + 48, + 206, + 356, + 40, + 72, + 78, + 48, + 206, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 36, + 72, + 78, + 52, + 204, + 358, + 34, + 72, + 80, + 58, + 198, + 358, + 34, + 72, + 80, + 58, + 198, + 358, + 34, + 72, + 82, + 62, + 192, + 358, + 34, + 72, + 82, + 62, + 192, + 358, + 34, + 72, + 82, + 66, + 188, + 358, + 34, + 72, + 82, + 66, + 188, + 360, + 30, + 74, + 82, + 70, + 184, + 360, + 30, + 74, + 82, + 70, + 184, + 360, + 30, + 74, + 80, + 76, + 180, + 360, + 30, + 74, + 80, + 76, + 180, + 358, + 32, + 76, + 78, + 80, + 178, + 356, + 32, + 76, + 78, + 80, + 178, + 356, + 32, + 76, + 78, + 84, + 174, + 356, + 32, + 76, + 78, + 84, + 174, + 356, + 30, + 82, + 74, + 88, + 170, + 356, + 30, + 82, + 74, + 88, + 170, + 356, + 28, + 84, + 74, + 90, + 166, + 358, + 28, + 84, + 74, + 90, + 166, + 358, + 28, + 86, + 70, + 98, + 160, + 358, + 28, + 86, + 70, + 98, + 160, + 358, + 28, + 90, + 66, + 104, + 154, + 358, + 28, + 90, + 66, + 104, + 154, + 358, + 28, + 90, + 66, + 108, + 150, + 358, + 28, + 90, + 66, + 108, + 150, + 356, + 28, + 94, + 64, + 114, + 144, + 356, + 28, + 94, + 64, + 114, + 144, + 200, + 28, + 128, + 28, + 96, + 62, + 116, + 142, + 200, + 28, + 128, + 28, + 96, + 62, + 116, + 142, + 198, + 60, + 96, + 30, + 98, + 58, + 126, + 134, + 198, + 60, + 96, + 30, + 98, + 58, + 126, + 134, + 192, + 100, + 62, + 28, + 102, + 56, + 128, + 134, + 190, + 100, + 62, + 28, + 102, + 56, + 128, + 134, + 176, + 134, + 40, + 30, + 106, + 52, + 132, + 130, + 176, + 134, + 40, + 30, + 106, + 52, + 132, + 130, + 176, + 148, + 24, + 32, + 108, + 50, + 136, + 126, + 176, + 148, + 24, + 32, + 108, + 50, + 136, + 126, + 174, + 206, + 108, + 48, + 142, + 122, + 174, + 206, + 108, + 48, + 142, + 122, + 174, + 204, + 114, + 44, + 148, + 114, + 176, + 204, + 114, + 44, + 148, + 114, + 178, + 202, + 116, + 40, + 154, + 112, + 176, + 202, + 116, + 40, + 154, + 112, + 176, + 200, + 120, + 38, + 158, + 108, + 176, + 200, + 120, + 38, + 158, + 108, + 176, + 198, + 124, + 36, + 162, + 104, + 176, + 198, + 124, + 36, + 162, + 104, + 176, + 198, + 126, + 32, + 168, + 100, + 176, + 198, + 126, + 32, + 168, + 100, + 176, + 198, + 130, + 28, + 176, + 92, + 176, + 198, + 130, + 28, + 176, + 92, + 178, + 196, + 132, + 26, + 180, + 88, + 178, + 196, + 132, + 26, + 180, + 88, + 178, + 194, + 136, + 22, + 188, + 82, + 178, + 194, + 136, + 22, + 188, + 82, + 178, + 194, + 136, + 22, + 190, + 80, + 178, + 194, + 136, + 22, + 190, + 80, + 178, + 194, + 136, + 20, + 196, + 76, + 178, + 194, + 136, + 20, + 196, + 76, + 178, + 192, + 138, + 20, + 200, + 72, + 178, + 192, + 138, + 20, + 200, + 72, + 178, + 192, + 138, + 20, + 204, + 68, + 178, + 192, + 138, + 20, + 204, + 68, + 180, + 190, + 138, + 18, + 210, + 64, + 180, + 190, + 138, + 18, + 210, + 64, + 180, + 190, + 138, + 18, + 216, + 58, + 180, + 190, + 138, + 18, + 216, + 58, + 180, + 188, + 140, + 18, + 218, + 56, + 180, + 188, + 140, + 18, + 218, + 56, + 182, + 186, + 138, + 18, + 226, + 50, + 182, + 186, + 138, + 18, + 226, + 50, + 182, + 184, + 138, + 20, + 230, + 46, + 182, + 184, + 138, + 20, + 230, + 46, + 182, + 182, + 140, + 18, + 236, + 42, + 182, + 182, + 140, + 18, + 236, + 42, + 184, + 180, + 140, + 18, + 240, + 38, + 184, + 180, + 140, + 18, + 240, + 38, + 184, + 180, + 138, + 20, + 244, + 34, + 184, + 180, + 138, + 20, + 244, + 34, + 184, + 178, + 138, + 20, + 252, + 28, + 184, + 178, + 138, + 20, + 252, + 28, + 184, + 178, + 136, + 22, + 256, + 24, + 184, + 178, + 136, + 22, + 256, + 24, + 184, + 178, + 136, + 20, + 262, + 20, + 184, + 178, + 136, + 20, + 262, + 20, + 186, + 176, + 136, + 20, + 264, + 18, + 186, + 176, + 136, + 20, + 264, + 18, + 186, + 54, + 10, + 110, + 136, + 22, + 266, + 16, + 186, + 54, + 10, + 110, + 136, + 22, + 266, + 16, + 186, + 48, + 30, + 96, + 134, + 24, + 270, + 12, + 186, + 48, + 30, + 96, + 134, + 24, + 270, + 12, + 186, + 48, + 86, + 40, + 134, + 26, + 272, + 6, + 188, + 48, + 86, + 40, + 134, + 26, + 272, + 6, + 188, + 48, + 94, + 32, + 132, + 30, + 464, + 48, + 94, + 32, + 132, + 30, + 466, + 44, + 100, + 28, + 132, + 34, + 462, + 44, + 100, + 28, + 132, + 34, + 462, + 44, + 102, + 24, + 132, + 38, + 460, + 44, + 102, + 24, + 132, + 38, + 460, + 44, + 104, + 22, + 132, + 40, + 458, + 44, + 104, + 22, + 132, + 40, + 458, + 44, + 106, + 20, + 130, + 42, + 458, + 44, + 106, + 20, + 130, + 42, + 458, + 44, + 106, + 18, + 132, + 42, + 458, + 44, + 106, + 18, + 132, + 42, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 42, + 106, + 16, + 132, + 44, + 460, + 40, + 108, + 16, + 130, + 46, + 460, + 40, + 108, + 16, + 130, + 46, + 460, + 42, + 106, + 16, + 130, + 46, + 460, + 42, + 106, + 16, + 130, + 46, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 40, + 106, + 14, + 130, + 48, + 462, + 38, + 108, + 14, + 130, + 48, + 462, + 38, + 108, + 14, + 130, + 48, + 464, + 36, + 108, + 12, + 130, + 52, + 462, + 36, + 108, + 12, + 130, + 52, + 462, + 36, + 108, + 12, + 128, + 60, + 456, + 36, + 108, + 12, + 128, + 60, + 456, + 36, + 108, + 10, + 130, + 72, + 444, + 36, + 108, + 10, + 130, + 72, + 444, + 36, + 108, + 10, + 128, + 98, + 420, + 36, + 108, + 10, + 128, + 98, + 422, + 34, + 108, + 10, + 128, + 102, + 418, + 34, + 108, + 10, + 128, + 102, + 418, + 34, + 108, + 8, + 128, + 106, + 110, + 6, + 300, + 34, + 108, + 8, + 128, + 106, + 110, + 6, + 300, + 34, + 108, + 4, + 130, + 112, + 106, + 6, + 300, + 34, + 108, + 4, + 130, + 112, + 106, + 6, + 302, + 32, + 242, + 116, + 410, + 32, + 242, + 116, + 410, + 32, + 240, + 122, + 406, + 32, + 240, + 122, + 406, + 32, + 240, + 124, + 404, + 32, + 240, + 124, + 404, + 30, + 240, + 128, + 402, + 30, + 240, + 128, + 402, + 30, + 108, + 4, + 128, + 132, + 398, + 30, + 108, + 4, + 128, + 132, + 400, + 26, + 110, + 4, + 126, + 136, + 398, + 26, + 110, + 4, + 126, + 136, + 398, + 24, + 112, + 4, + 126, + 140, + 394, + 24, + 112, + 4, + 126, + 140, + 394, + 22, + 114, + 4, + 126, + 142, + 392, + 22, + 114, + 4, + 126, + 142, + 392, + 18, + 118, + 4, + 124, + 148, + 182, + 6, + 200, + 18, + 118, + 4, + 124, + 148, + 182, + 6, + 202, + 8, + 126, + 4, + 122, + 152, + 178, + 8, + 202, + 8, + 126, + 4, + 122, + 152, + 178, + 8, + 202, + 6, + 128, + 4, + 122, + 156, + 172, + 10, + 202, + 6, + 128, + 4, + 122, + 156, + 172, + 10, + 336, + 4, + 120, + 162, + 166, + 12, + 336, + 4, + 120, + 162, + 166, + 12, + 334, + 6, + 120, + 164, + 162, + 14, + 334, + 6, + 120, + 164, + 162, + 14, + 334, + 6, + 118, + 170, + 156, + 16, + 334, + 6, + 118, + 170, + 156, + 16, + 206, + 6, + 122, + 8, + 116, + 174, + 152, + 16, + 206, + 6, + 122, + 8, + 116, + 174, + 152, + 16, + 204, + 10, + 120, + 8, + 114, + 178, + 148, + 18, + 204, + 10, + 120, + 8, + 114, + 178, + 148, + 18, + 204, + 14, + 116, + 10, + 110, + 182, + 142, + 20, + 206, + 14, + 116, + 10, + 110, + 182, + 142, + 20, + 208, + 14, + 114, + 12, + 108, + 186, + 122, + 38, + 206, + 14, + 114, + 12, + 108, + 186, + 122, + 38, + 206, + 16, + 110, + 16, + 104, + 190, + 108, + 50, + 206, + 16, + 110, + 16, + 104, + 190, + 108, + 50, + 206, + 18, + 108, + 18, + 102, + 194, + 98, + 56, + 206, + 18, + 108, + 18, + 102, + 194, + 98, + 56, + 206, + 18, + 108, + 18, + 100, + 200, + 90, + 60, + 206, + 18, + 108, + 18, + 100, + 200, + 90, + 60, + 206, + 18, + 108, + 18, + 100, + 202, + 84, + 64, + 206, + 18, + 108, + 18, + 100, + 202, + 84, + 64, + 206, + 18, + 108, + 20, + 96, + 206, + 78, + 68, + 206, + 18, + 108, + 20, + 96, + 206, + 78, + 68, + 208, + 18, + 106, + 20, + 96, + 210, + 72, + 70, + 208, + 18, + 106, + 20, + 96, + 210, + 72, + 70, + 208, + 22, + 102, + 22, + 92, + 214, + 68, + 72, + 208, + 22, + 102, + 22, + 92, + 214, + 68, + 72, + 208, + 22, + 102, + 24, + 90, + 218, + 62, + 74, + 208, + 22, + 102, + 24, + 90, + 218, + 62, + 74, + 208, + 22, + 102, + 26, + 86, + 224, + 30, + 14, + 12, + 76, + 208, + 22, + 102, + 26, + 86, + 224, + 30, + 14, + 12, + 76, + 208, + 22, + 102, + 26, + 86, + 226, + 22, + 108, + 208, + 22, + 102, + 26, + 86, + 226, + 22, + 108, + 208, + 22, + 102, + 26, + 84, + 156, + 8, + 68, + 16, + 110, + 208, + 22, + 102, + 26, + 84, + 156, + 8, + 68, + 16, + 110, + 208, + 22, + 106, + 8, + 98, + 152, + 14, + 70, + 10, + 112, + 208, + 22, + 106, + 8, + 98, + 152, + 14, + 70, + 10, + 112, + 208, + 22, + 212, + 72, + 8, + 70, + 18, + 72, + 4, + 112, + 210, + 22, + 212, + 72, + 8, + 70, + 18, + 72, + 4, + 112, + 210, + 22, + 212, + 62, + 20, + 66, + 22, + 186, + 210, + 22, + 212, + 62, + 20, + 66, + 22, + 186, + 212, + 20, + 210, + 58, + 28, + 62, + 26, + 184, + 212, + 20, + 210, + 58, + 28, + 62, + 26, + 184, + 214, + 16, + 212, + 36, + 50, + 60, + 30, + 182, + 214, + 16, + 212, + 36, + 50, + 60, + 30, + 182, + 530, + 52, + 36, + 182, + 530, + 52, + 36, + 182, + 530, + 44, + 46, + 180, + 530, + 44, + 46, + 180, + 530, + 38, + 52, + 180, + 530, + 38, + 52, + 180, + 530, + 32, + 58, + 180, + 530, + 32, + 58, + 180, + 530, + 26, + 64, + 180, + 530, + 26, + 64, + 180, + 532, + 20, + 68, + 180, + 532, + 20, + 68, + 180, + 532, + 16, + 72, + 180, + 532, + 16, + 72, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 150, + 12, + 76, + 180, + 374, + 8, + 152, + 8, + 78, + 180, + 374, + 8, + 152, + 8, + 78, + 180, + 374, + 10, + 152, + 6, + 78, + 180, + 374, + 10, + 152, + 6, + 78, + 180, + 374, + 10, + 154, + 4, + 78, + 180, + 374, + 10, + 154, + 4, + 78, + 180, + 374, + 14, + 230, + 182, + 374, + 14, + 230, + 182, + 374, + 16, + 226, + 184, + 374, + 16, + 226, + 184, + 372, + 20, + 184, + 20, + 20, + 184, + 372, + 20, + 184, + 20, + 20, + 184, + 370, + 22, + 152, + 54, + 16, + 186, + 370, + 22, + 152, + 54, + 16, + 186, + 368, + 24, + 150, + 60, + 8, + 190, + 368, + 24, + 150, + 60, + 8, + 190, + 362, + 30, + 150, + 258, + 362, + 30, + 150, + 258, + 352, + 40, + 150, + 258, + 352, + 40, + 150, + 258, + 334, + 58, + 150, + 258, + 334, + 58, + 150, + 258, + 318, + 72, + 154, + 256, + 318, + 72, + 154, + 256, + 304, + 82, + 158, + 256, + 304, + 82, + 158, + 256, + 292, + 92, + 160, + 256, + 292, + 92, + 160, + 256, + 282, + 102, + 162, + 254, + 282, + 102, + 162, + 254, + 270, + 110, + 166, + 254, + 270, + 110, + 166, + 254, + 260, + 118, + 170, + 252, + 260, + 118, + 170, + 252, + 252, + 124, + 172, + 252, + 252, + 124, + 172, + 252, + 242, + 130, + 176, + 252, + 242, + 130, + 176, + 252, + 232, + 138, + 180, + 250, + 232, + 138, + 180, + 250, + 232, + 136, + 182, + 250, + 232, + 136, + 182, + 250, + 230, + 134, + 186, + 250, + 230, + 134, + 186, + 250, + 230, + 130, + 192, + 248, + 230, + 130, + 192, + 248, + 230, + 128, + 194, + 248, + 230, + 128, + 194, + 248, + 230, + 126, + 196, + 248, + 230, + 126, + 196, + 248, + 230, + 124, + 200, + 246, + 230, + 124, + 200, + 246, + 230, + 120, + 204, + 246, + 230, + 120, + 204, + 246, + 232, + 114, + 208, + 246, + 232, + 114, + 208, + 246, + 232, + 112, + 212, + 244, + 232, + 112, + 212, + 244, + 232, + 110, + 214, + 244, + 232, + 110, + 214, + 244, + 232, + 106, + 220, + 242, + 232, + 106, + 220, + 242, + 232, + 102, + 224, + 242, + 232, + 102, + 224, + 242, + 234, + 98, + 228, + 240, + 234, + 98, + 228, + 240, + 234, + 94, + 234, + 238, + 234, + 94, + 234, + 238, + 234, + 92, + 236, + 238, + 234, + 92, + 236, + 238, + 236, + 86, + 240, + 238, + 236, + 86, + 240, + 238, + 236, + 84, + 242, + 238, + 236, + 84, + 242, + 238, + 236, + 80, + 248, + 236, + 236, + 80, + 248, + 236, + 236, + 78, + 250, + 236, + 236, + 78, + 250, + 236, + 238, + 74, + 252, + 236, + 238, + 74, + 252, + 236, + 238, + 72, + 256, + 234, + 238, + 72, + 256, + 234, + 238, + 68, + 260, + 234, + 238, + 68, + 260, + 234, + 240, + 62, + 264, + 234, + 240, + 62, + 264, + 234, + 240, + 60, + 268, + 232, + 240, + 60, + 268, + 232, + 240, + 56, + 272, + 232, + 240, + 56, + 272, + 232, + 240, + 54, + 276, + 230, + 240, + 54, + 276, + 230, + 240, + 50, + 280, + 230, + 240, + 50, + 280, + 230, + 240, + 50, + 280, + 230, + 240, + 50, + 280, + 230, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 284, + 228, + 242, + 46, + 286, + 226, + 242, + 46, + 286, + 226, + 244, + 46, + 284, + 226, + 244, + 46, + 284, + 226, + 244, + 46, + 286, + 224, + 244, + 46, + 286, + 224, + 244, + 48, + 284, + 224, + 244, + 48, + 284, + 224, + 244, + 48, + 284, + 224, + 244, + 48, + 284, + 224, + 246, + 48, + 284, + 222, + 246, + 48, + 284, + 222, + 246, + 48, + 286, + 220, + 246, + 48, + 286, + 220, + 246, + 50, + 284, + 220, + 246, + 50, + 284, + 220, + 246, + 52, + 282, + 220, + 246, + 52, + 282, + 220, + 248, + 52, + 280, + 220, + 248, + 52, + 280, + 220, + 248, + 54, + 280, + 218, + 248, + 54, + 280, + 218, + 248, + 56, + 278, + 218, + 248, + 56, + 278, + 218, + 248, + 58, + 278, + 216, + 248, + 58, + 278, + 216, + 248, + 58, + 278, + 216, + 248, + 58, + 278, + 216, + 250, + 58, + 278, + 214, + 250, + 58, + 278, + 214, + 250, + 58, + 278, + 214, + 250, + 58, + 278, + 214, + 250, + 60, + 276, + 214, + 250, + 60, + 276, + 214, + 250, + 60, + 278, + 212, + 250, + 60, + 278, + 212, + 250, + 60, + 278, + 212, + 250, + 60, + 278, + 212, + 250, + 62, + 276, + 212, + 250, + 62, + 276, + 212, + 252, + 62, + 274, + 212, + 252, + 62, + 274, + 212, + 252, + 62, + 272, + 214, + 252, + 62, + 272, + 214, + 252, + 64, + 268, + 216, + 252, + 64, + 268, + 216, + 254, + 62, + 266, + 218, + 254, + 62, + 266, + 218, + 254, + 64, + 254, + 228, + 254, + 64, + 254, + 228, + 254, + 64, + 252, + 230, + 254, + 64, + 252, + 230, + 254, + 66, + 246, + 234, + 254, + 66, + 246, + 234, + 256, + 64, + 240, + 240, + 256, + 64, + 240, + 240, + 256, + 64, + 232, + 248, + 256, + 64, + 232, + 248, + 256, + 64, + 226, + 254, + 256, + 64, + 226, + 254, + 256, + 64, + 222, + 258, + 256, + 64, + 222, + 258, + 258, + 62, + 218, + 262, + 258, + 62, + 218, + 262, + 258, + 62, + 214, + 266, + 258, + 62, + 214, + 266, + 258, + 64, + 208, + 270, + 258, + 64, + 208, + 270, + 258, + 64, + 200, + 278, + 258, + 64, + 200, + 278, + 260, + 64, + 194, + 282, + 260, + 64, + 194, + 282, + 260, + 64, + 188, + 288, + 260, + 64, + 188, + 288, + 260, + 64, + 182, + 294, + 260, + 64, + 182, + 294, + 260, + 64, + 170, + 306, + 260, + 64, + 170, + 306, + 260, + 64, + 164, + 312, + 260, + 64, + 164, + 312, + 262, + 62, + 158, + 318, + 262, + 62, + 158, + 318, + 262, + 56, + 158, + 324, + 262, + 56, + 158, + 324, + 262, + 38, + 166, + 334, + 262, + 38, + 166, + 334, + 262, + 32, + 168, + 338, + 262, + 32, + 168, + 338, + 264, + 26, + 158, + 352, + 264, + 26, + 158, + 352, + 264, + 24, + 156, + 356, + 264, + 24, + 156, + 356, + 264, + 22, + 148, + 366, + 264, + 22, + 148, + 366, + 264, + 22, + 142, + 372, + 264, + 22, + 142, + 372, + 266, + 20, + 134, + 380, + 266, + 20, + 134, + 380, + 266, + 20, + 126, + 388, + 266, + 20, + 126, + 388, + 266, + 20, + 120, + 394, + 266, + 20, + 120, + 394, + 266, + 22, + 110, + 402, + 266, + 22, + 110, + 402, + 268, + 20, + 36, + 8, + 58, + 410, + 268, + 20, + 36, + 8, + 58, + 410, + 268, + 22, + 24, + 22, + 48, + 416, + 268, + 22, + 24, + 22, + 48, + 416, + 268, + 24, + 18, + 26, + 44, + 420, + 268, + 24, + 18, + 26, + 44, + 420, + 268, + 26, + 8, + 36, + 32, + 430, + 268, + 26, + 8, + 36, + 32, + 430, + 270, + 68, + 28, + 434, + 270, + 68, + 28, + 434, + 270, + 70, + 16, + 444, + 270, + 70, + 16, + 444, + 270, + 72, + 8, + 450, + 270, + 72, + 8, + 450, + 270, + 530, + 270, + 530, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 276, + 524, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 284, + 516, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 306, + 494, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 318, + 482, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 320, + 480, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 324, + 476, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 326, + 474, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 328, + 472, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 330, + 470, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 334, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 440, + 360, + 440, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0000", + "experimental_retained_index": 5, + "ism_score": 0.3306902050971985, + "R": [ + [ + -0.7843369841575623, + 0.48224812746047974, + -0.3900412321090698 + ], + [ + 0.6116262078285217, + 0.7058234214782715, + -0.3576468229293823 + ], + [ + 0.10293129086494446, + -0.5190324783325195, + -0.8486018776893616 + ] + ], + "t": [ + 36.840667724609375, + 80.94790649414062, + 313.0326232910156 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 97, + "category_id": 1, + "bbox": [ + 296, + 0, + 150, + 104 + ], + "score": 0.3996306359767914, + "time": 0.0, + "segmentation": { + "counts": [ + 236000, + 19, + 781, + 19, + 781, + 39, + 761, + 39, + 761, + 53, + 747, + 53, + 747, + 69, + 731, + 69, + 731, + 85, + 715, + 85, + 715, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 25, + 28, + 54, + 693, + 25, + 28, + 54, + 693, + 25, + 34, + 46, + 695, + 25, + 34, + 46, + 695, + 25, + 62, + 16, + 697, + 25, + 62, + 16, + 697, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 792, + 6, + 794, + 6, + 796, + 4, + 796, + 4, + 665591 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000097:0004", + "experimental_retained_index": 2, + "ism_score": 0.4276983439922333, + "R": [ + [ + 0.11632560193538666, + 0.18696442246437073, + -0.9755136370658875 + ], + [ + -0.8113003373146057, + -0.548711895942688, + -0.20191241800785065 + ], + [ + -0.5730473399162292, + 0.8150230050086975, + 0.08784675598144531 + ] + ], + "t": [ + -276.8733215332031, + -364.639892578125, + 685.4473876953125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000097/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000097/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000097:0005", + "eppendorf_tarto:000097:0003", + "eppendorf_tarto:000097:0004", + "eppendorf_tarto:000097:0001", + "eppendorf_tarto:000097:0002", + "eppendorf_tarto:000097:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000097.png" + }, + { + "frame_id": 100, + "image_path": "/workspace/data/0008_/images/000100.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000100.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 608, + 384, + 186, + 110 + ], + "score": 0.013484775088727474, + "time": 0.0, + "segmentation": { + "counts": [ + 486049, + 4, + 796, + 4, + 794, + 8, + 792, + 8, + 788, + 12, + 788, + 12, + 780, + 22, + 778, + 22, + 770, + 30, + 770, + 30, + 762, + 40, + 760, + 40, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 738, + 62, + 738, + 62, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 734, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 744, + 52, + 748, + 52, + 748, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 758, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 770, + 26, + 774, + 26, + 774, + 22, + 778, + 22, + 778, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 786, + 8, + 792, + 8, + 386767 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000100:0000", + "experimental_retained_index": 0, + "ism_score": 0.5393909811973572, + "R": [ + [ + -0.055110301822423935, + 0.42351263761520386, + -0.9040541648864746 + ], + [ + 0.420568585395813, + -0.8114665150642395, + -0.40594395995140076 + ], + [ + -0.9058676958084106, + -0.40262746810913086, + -0.13347665965557098 + ] + ], + "t": [ + 45.37971878051758, + 47.08704376220703, + 287.08782958984375 + ] + }, + { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 1122, + 224, + 156, + 64 + ], + "score": 0.3639909029006958, + "time": 0.0, + "segmentation": { + "counts": [ + 897047, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000100:0001", + "experimental_retained_index": 1, + "ism_score": 0.4002648890018463, + "R": [ + [ + 0.15574800968170166, + 0.15164601802825928, + 0.9760260581970215 + ], + [ + -0.9684770703315735, + -0.17035754024982452, + 0.1809777468442917 + ], + [ + 0.1936335414648056, + -0.9734291434288025, + 0.12039236724376678 + ] + ], + "t": [ + 630.6158447265625, + -200.6477813720703, + 740.6087646484375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 100, + "category_id": 1, + "bbox": [ + 1122, + 224, + 156, + 64 + ], + "score": 0.3639909029006958, + "time": 0.0, + "segmentation": { + "counts": [ + 897047, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 758, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 44, + 509 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000100:0001", + "experimental_retained_index": 1, + "ism_score": 0.4002648890018463, + "R": [ + [ + 0.15574800968170166, + 0.15164601802825928, + 0.9760260581970215 + ], + [ + -0.9684770703315735, + -0.17035754024982452, + 0.1809777468442917 + ], + [ + 0.1936335414648056, + -0.9734291434288025, + 0.12039236724376678 + ] + ], + "t": [ + 630.6158447265625, + -200.6477813720703, + 740.6087646484375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000100/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000100/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000100:0000", + "eppendorf_tarto:000100:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000100.png" + }, + { + "frame_id": 110, + "image_path": "/workspace/data/0008_/images/000110.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000110.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 526, + 334, + 160, + 166 + ], + "score": 0.3195386826992035, + "time": 0.0, + "segmentation": { + "counts": [ + 420479, + 6, + 794, + 6, + 760, + 44, + 756, + 44, + 726, + 76, + 724, + 76, + 690, + 110, + 690, + 110, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 72, + 14, + 72, + 642, + 72, + 14, + 72, + 644, + 64, + 24, + 68, + 644, + 64, + 24, + 68, + 644, + 62, + 28, + 66, + 644, + 62, + 28, + 66, + 644, + 60, + 60, + 36, + 644, + 60, + 60, + 36, + 644, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 110, + 690, + 110, + 690, + 136, + 664, + 136, + 664, + 150, + 650, + 150, + 650, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 658, + 142, + 658, + 142, + 668, + 132, + 668, + 132, + 676, + 124, + 676, + 124, + 684, + 116, + 684, + 116, + 694, + 106, + 694, + 106, + 702, + 98, + 702, + 98, + 712, + 90, + 710, + 90, + 718, + 82, + 718, + 82, + 728, + 70, + 730, + 70, + 738, + 62, + 738, + 62, + 748, + 52, + 748, + 52, + 760, + 38, + 762, + 38, + 770, + 18, + 782, + 18, + 473113 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000110:0000", + "experimental_retained_index": 0, + "ism_score": 0.4755924642086029, + "R": [ + [ + -0.9823841452598572, + -0.17971862852573395, + 0.0512131005525589 + ], + [ + -0.10231688618659973, + 0.7466065287590027, + 0.6573499441146851 + ], + [ + -0.15637409687042236, + 0.6405295729637146, + -0.7518432140350342 + ] + ], + "t": [ + -13.044238090515137, + 0.3862560987472534, + 402.7788391113281 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 110, + "category_id": 1, + "bbox": [ + 526, + 334, + 160, + 166 + ], + "score": 0.3195386826992035, + "time": 0.0, + "segmentation": { + "counts": [ + 420479, + 6, + 794, + 6, + 760, + 44, + 756, + 44, + 726, + 76, + 724, + 76, + 690, + 110, + 690, + 110, + 656, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 646, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 72, + 14, + 72, + 642, + 72, + 14, + 72, + 644, + 64, + 24, + 68, + 644, + 64, + 24, + 68, + 644, + 62, + 28, + 66, + 644, + 62, + 28, + 66, + 644, + 60, + 60, + 36, + 644, + 60, + 60, + 36, + 644, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 110, + 690, + 110, + 690, + 136, + 664, + 136, + 664, + 150, + 650, + 150, + 650, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 650, + 150, + 650, + 150, + 658, + 142, + 658, + 142, + 668, + 132, + 668, + 132, + 676, + 124, + 676, + 124, + 684, + 116, + 684, + 116, + 694, + 106, + 694, + 106, + 702, + 98, + 702, + 98, + 712, + 90, + 710, + 90, + 718, + 82, + 718, + 82, + 728, + 70, + 730, + 70, + 738, + 62, + 738, + 62, + 748, + 52, + 748, + 52, + 760, + 38, + 762, + 38, + 770, + 18, + 782, + 18, + 473113 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000110:0000", + "experimental_retained_index": 0, + "ism_score": 0.4755924642086029, + "R": [ + [ + -0.9823841452598572, + -0.17971862852573395, + 0.0512131005525589 + ], + [ + -0.10231688618659973, + 0.7466065287590027, + 0.6573499441146851 + ], + [ + -0.15637409687042236, + 0.6405295729637146, + -0.7518432140350342 + ] + ], + "t": [ + -13.044238090515137, + 0.3862560987472534, + 402.7788391113281 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000110/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000110/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000110:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000110.png" + }, + { + "frame_id": 119, + "image_path": "/workspace/data/0008_/images/000119.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000119.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 119, + "category_id": 1, + "bbox": [ + 438, + 266, + 228, + 224 + ], + "score": 0.4588029682636261, + "time": 0.0, + "segmentation": { + "counts": [ + 350005, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 708, + 90, + 710, + 90, + 708, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 714, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 714, + 84, + 54, + 6, + 656, + 84, + 54, + 6, + 654, + 72, + 6, + 6, + 52, + 14, + 650, + 72, + 6, + 6, + 52, + 14, + 648, + 72, + 64, + 18, + 646, + 72, + 64, + 18, + 644, + 72, + 62, + 24, + 642, + 72, + 62, + 24, + 638, + 74, + 62, + 28, + 636, + 74, + 62, + 28, + 634, + 72, + 62, + 32, + 634, + 72, + 62, + 32, + 632, + 74, + 60, + 36, + 630, + 74, + 60, + 36, + 628, + 76, + 58, + 40, + 626, + 76, + 58, + 40, + 624, + 78, + 54, + 46, + 622, + 78, + 54, + 46, + 620, + 82, + 50, + 48, + 620, + 82, + 50, + 48, + 618, + 84, + 48, + 52, + 616, + 84, + 48, + 52, + 614, + 88, + 42, + 58, + 612, + 88, + 42, + 58, + 608, + 92, + 38, + 62, + 608, + 92, + 38, + 62, + 608, + 94, + 32, + 68, + 606, + 94, + 32, + 68, + 602, + 98, + 30, + 72, + 600, + 98, + 30, + 72, + 598, + 102, + 26, + 74, + 598, + 102, + 26, + 74, + 596, + 104, + 26, + 76, + 594, + 104, + 26, + 76, + 592, + 110, + 22, + 78, + 590, + 110, + 22, + 78, + 588, + 114, + 18, + 82, + 586, + 114, + 18, + 82, + 584, + 118, + 14, + 84, + 584, + 118, + 14, + 84, + 580, + 124, + 10, + 88, + 578, + 124, + 10, + 88, + 576, + 128, + 2, + 94, + 576, + 128, + 2, + 94, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 604, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 674, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 489257 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000119:0000", + "experimental_retained_index": 0, + "ism_score": 0.4660855531692505, + "R": [ + [ + 0.8156684041023254, + 0.23061512410640717, + -0.5305672883987427 + ], + [ + 0.5785186886787415, + -0.32674506306648254, + 0.7473644614219666 + ], + [ + -0.0010066479444503784, + -0.9165447950363159, + -0.39993080496788025 + ] + ], + "t": [ + -31.33974266052246, + -37.7828254699707, + 393.0198974609375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 119, + "category_id": 1, + "bbox": [ + 438, + 266, + 228, + 224 + ], + "score": 0.4588029682636261, + "time": 0.0, + "segmentation": { + "counts": [ + 350005, + 4, + 796, + 4, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 706, + 90, + 710, + 90, + 708, + 90, + 710, + 90, + 708, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 712, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 714, + 82, + 718, + 82, + 716, + 82, + 718, + 82, + 714, + 84, + 54, + 6, + 656, + 84, + 54, + 6, + 654, + 72, + 6, + 6, + 52, + 14, + 650, + 72, + 6, + 6, + 52, + 14, + 648, + 72, + 64, + 18, + 646, + 72, + 64, + 18, + 644, + 72, + 62, + 24, + 642, + 72, + 62, + 24, + 638, + 74, + 62, + 28, + 636, + 74, + 62, + 28, + 634, + 72, + 62, + 32, + 634, + 72, + 62, + 32, + 632, + 74, + 60, + 36, + 630, + 74, + 60, + 36, + 628, + 76, + 58, + 40, + 626, + 76, + 58, + 40, + 624, + 78, + 54, + 46, + 622, + 78, + 54, + 46, + 620, + 82, + 50, + 48, + 620, + 82, + 50, + 48, + 618, + 84, + 48, + 52, + 616, + 84, + 48, + 52, + 614, + 88, + 42, + 58, + 612, + 88, + 42, + 58, + 608, + 92, + 38, + 62, + 608, + 92, + 38, + 62, + 608, + 94, + 32, + 68, + 606, + 94, + 32, + 68, + 602, + 98, + 30, + 72, + 600, + 98, + 30, + 72, + 598, + 102, + 26, + 74, + 598, + 102, + 26, + 74, + 596, + 104, + 26, + 76, + 594, + 104, + 26, + 76, + 592, + 110, + 22, + 78, + 590, + 110, + 22, + 78, + 588, + 114, + 18, + 82, + 586, + 114, + 18, + 82, + 584, + 118, + 14, + 84, + 584, + 118, + 14, + 84, + 580, + 124, + 10, + 88, + 578, + 124, + 10, + 88, + 576, + 128, + 2, + 94, + 576, + 128, + 2, + 94, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 224, + 576, + 224, + 576, + 224, + 576, + 224, + 576, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 586, + 210, + 590, + 210, + 590, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 604, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 612, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 618, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 638, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 674, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 716, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 722, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 58, + 742, + 58, + 744, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 782, + 16, + 784, + 16, + 489257 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000119:0000", + "experimental_retained_index": 0, + "ism_score": 0.4660855531692505, + "R": [ + [ + 0.8156684041023254, + 0.23061512410640717, + -0.5305672883987427 + ], + [ + 0.5785186886787415, + -0.32674506306648254, + 0.7473644614219666 + ], + [ + -0.0010066479444503784, + -0.9165447950363159, + -0.39993080496788025 + ] + ], + "t": [ + -31.33974266052246, + -37.7828254699707, + 393.0198974609375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000119/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000119/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000119:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000119.png" + }, + { + "frame_id": 122, + "image_path": "/workspace/data/0008_/images/000122.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000122.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 406, + 276, + 232, + 200 + ], + "score": 0.4624877870082855, + "time": 0.0, + "segmentation": { + "counts": [ + 324365, + 10, + 790, + 10, + 790, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 754, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 62, + 44, + 8, + 686, + 62, + 44, + 8, + 686, + 60, + 44, + 14, + 682, + 60, + 44, + 14, + 680, + 60, + 38, + 24, + 678, + 60, + 38, + 24, + 678, + 60, + 34, + 30, + 676, + 60, + 34, + 30, + 674, + 60, + 34, + 34, + 672, + 60, + 34, + 34, + 670, + 60, + 36, + 38, + 666, + 60, + 36, + 38, + 666, + 60, + 34, + 42, + 664, + 60, + 34, + 42, + 662, + 52, + 44, + 44, + 660, + 52, + 44, + 44, + 660, + 50, + 44, + 52, + 654, + 50, + 44, + 52, + 654, + 48, + 46, + 54, + 652, + 48, + 46, + 54, + 650, + 50, + 44, + 60, + 646, + 50, + 44, + 60, + 646, + 48, + 42, + 66, + 644, + 48, + 42, + 66, + 642, + 50, + 40, + 70, + 640, + 50, + 40, + 70, + 638, + 52, + 38, + 72, + 638, + 52, + 38, + 72, + 638, + 52, + 36, + 74, + 638, + 52, + 36, + 74, + 636, + 56, + 34, + 72, + 638, + 56, + 34, + 72, + 638, + 60, + 30, + 70, + 640, + 60, + 30, + 70, + 638, + 64, + 28, + 70, + 638, + 64, + 28, + 70, + 636, + 68, + 26, + 68, + 638, + 68, + 26, + 68, + 638, + 70, + 24, + 68, + 638, + 70, + 24, + 68, + 638, + 72, + 20, + 68, + 640, + 72, + 20, + 68, + 638, + 78, + 14, + 68, + 640, + 78, + 14, + 68, + 640, + 80, + 10, + 70, + 640, + 80, + 10, + 70, + 636, + 88, + 4, + 70, + 638, + 88, + 4, + 70, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 778, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 788, + 6, + 794, + 6, + 511631 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000122:0000", + "experimental_retained_index": 0, + "ism_score": 0.4639376103878021, + "R": [ + [ + 0.579237163066864, + 0.24447324872016907, + -0.7777616381645203 + ], + [ + 0.8137707114219666, + -0.22933359444141388, + 0.5338436365127563 + ], + [ + -0.04780494421720505, + -0.9422512650489807, + -0.33182674646377563 + ] + ], + "t": [ + -47.17911911010742, + -34.54540252685547, + 418.1301574707031 + ] + }, + { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 588, + 262, + 258, + 306 + ], + "score": 0.3293185234069824, + "time": 0.0, + "segmentation": { + "counts": [ + 470093, + 6, + 794, + 6, + 790, + 14, + 786, + 14, + 782, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 774, + 26, + 774, + 26, + 770, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 756, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 742, + 58, + 742, + 58, + 738, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 716, + 86, + 714, + 86, + 710, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 702, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 672, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 644, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 634, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 626, + 174, + 626, + 174, + 622, + 180, + 620, + 180, + 616, + 184, + 616, + 184, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 602, + 198, + 602, + 198, + 598, + 204, + 596, + 204, + 592, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 578, + 222, + 578, + 222, + 574, + 228, + 572, + 228, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 560, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 550, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 540, + 262, + 538, + 262, + 536, + 266, + 534, + 266, + 530, + 270, + 530, + 270, + 528, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 280, + 520, + 280, + 518, + 282, + 518, + 282, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 510, + 290, + 510, + 290, + 508, + 292, + 508, + 292, + 506, + 294, + 506, + 294, + 502, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 496, + 304, + 496, + 304, + 492, + 308, + 492, + 308, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 490, + 310, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 306, + 494, + 306, + 494, + 304, + 496, + 304, + 498, + 300, + 500, + 300, + 500, + 296, + 504, + 296, + 506, + 288, + 512, + 288, + 514, + 284, + 516, + 284, + 516, + 278, + 522, + 278, + 524, + 272, + 528, + 272, + 530, + 264, + 536, + 264, + 536, + 260, + 540, + 260, + 542, + 254, + 546, + 254, + 548, + 248, + 552, + 248, + 552, + 242, + 558, + 242, + 558, + 238, + 562, + 238, + 564, + 232, + 568, + 232, + 570, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 586, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 598, + 198, + 602, + 198, + 604, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 616, + 180, + 620, + 180, + 622, + 174, + 626, + 174, + 626, + 170, + 630, + 170, + 632, + 164, + 636, + 164, + 638, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 650, + 146, + 654, + 146, + 654, + 142, + 658, + 142, + 660, + 136, + 664, + 136, + 666, + 128, + 672, + 128, + 672, + 124, + 676, + 124, + 678, + 118, + 682, + 118, + 684, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 708, + 84, + 716, + 84, + 716, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 722, + 74, + 726, + 74, + 726, + 70, + 730, + 70, + 730, + 64, + 736, + 64, + 730, + 66, + 734, + 66, + 730, + 66, + 734, + 66, + 732, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 56, + 744, + 56, + 746, + 16, + 8, + 24, + 752, + 16, + 8, + 24, + 776, + 22, + 778, + 22, + 782, + 14, + 786, + 14, + 790, + 4, + 796, + 4, + 345261 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000122:0001", + "experimental_retained_index": 1, + "ism_score": 0.44653359055519104, + "R": [ + [ + -0.8588690161705017, + -0.21081037819385529, + -0.4669308066368103 + ], + [ + -0.509781539440155, + 0.2603467106819153, + 0.8198617696762085 + ], + [ + -0.05131005495786667, + 0.9424412250518799, + -0.3309938907623291 + ] + ], + "t": [ + 63.647865295410156, + 11.367010116577148, + 395.803955078125 + ] + }, + { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 1078, + 20, + 200, + 254 + ], + "score": 0.42892536520957947, + "time": 0.0, + "segmentation": { + "counts": [ + 861751, + 6, + 794, + 6, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 724, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 86, + 714, + 86, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 644, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 616, + 186, + 614, + 186, + 612, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 582, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 556, + 244, + 556, + 244, + 556, + 244, + 523 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000122:0002", + "experimental_retained_index": 2, + "ism_score": 0.42892536520957947, + "R": [ + [ + -0.22635208070278168, + 0.39565354585647583, + 0.8899949789047241 + ], + [ + 0.29618531465530396, + -0.84244304895401, + 0.4500304162502289 + ], + [ + 0.9279813170433044, + 0.36536499857902527, + 0.07360085099935532 + ] + ], + "t": [ + 422.9798889160156, + -205.40762329101562, + 497.49957275390625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 122, + "category_id": 1, + "bbox": [ + 406, + 276, + 232, + 200 + ], + "score": 0.4624877870082855, + "time": 0.0, + "segmentation": { + "counts": [ + 324365, + 10, + 790, + 10, + 790, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 754, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 62, + 44, + 8, + 686, + 62, + 44, + 8, + 686, + 60, + 44, + 14, + 682, + 60, + 44, + 14, + 680, + 60, + 38, + 24, + 678, + 60, + 38, + 24, + 678, + 60, + 34, + 30, + 676, + 60, + 34, + 30, + 674, + 60, + 34, + 34, + 672, + 60, + 34, + 34, + 670, + 60, + 36, + 38, + 666, + 60, + 36, + 38, + 666, + 60, + 34, + 42, + 664, + 60, + 34, + 42, + 662, + 52, + 44, + 44, + 660, + 52, + 44, + 44, + 660, + 50, + 44, + 52, + 654, + 50, + 44, + 52, + 654, + 48, + 46, + 54, + 652, + 48, + 46, + 54, + 650, + 50, + 44, + 60, + 646, + 50, + 44, + 60, + 646, + 48, + 42, + 66, + 644, + 48, + 42, + 66, + 642, + 50, + 40, + 70, + 640, + 50, + 40, + 70, + 638, + 52, + 38, + 72, + 638, + 52, + 38, + 72, + 638, + 52, + 36, + 74, + 638, + 52, + 36, + 74, + 636, + 56, + 34, + 72, + 638, + 56, + 34, + 72, + 638, + 60, + 30, + 70, + 640, + 60, + 30, + 70, + 638, + 64, + 28, + 70, + 638, + 64, + 28, + 70, + 636, + 68, + 26, + 68, + 638, + 68, + 26, + 68, + 638, + 70, + 24, + 68, + 638, + 70, + 24, + 68, + 638, + 72, + 20, + 68, + 640, + 72, + 20, + 68, + 638, + 78, + 14, + 68, + 640, + 78, + 14, + 68, + 640, + 80, + 10, + 70, + 640, + 80, + 10, + 70, + 636, + 88, + 4, + 70, + 638, + 88, + 4, + 70, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 642, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 644, + 156, + 644, + 156, + 644, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 688, + 110, + 690, + 110, + 692, + 106, + 694, + 106, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 778, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 788, + 6, + 794, + 6, + 511631 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000122:0000", + "experimental_retained_index": 0, + "ism_score": 0.4639376103878021, + "R": [ + [ + 0.579237163066864, + 0.24447324872016907, + -0.7777616381645203 + ], + [ + 0.8137707114219666, + -0.22933359444141388, + 0.5338436365127563 + ], + [ + -0.04780494421720505, + -0.9422512650489807, + -0.33182674646377563 + ] + ], + "t": [ + -47.17911911010742, + -34.54540252685547, + 418.1301574707031 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000122/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000122/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000122:0000", + "eppendorf_tarto:000122:0001", + "eppendorf_tarto:000122:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000122.png" + }, + { + "frame_id": 125, + "image_path": "/workspace/data/0008_/images/000125.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000125.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 432, + 316, + 220, + 158 + ], + "score": 0.4654161036014557, + "time": 0.0, + "segmentation": { + "counts": [ + 345155, + 10, + 790, + 10, + 786, + 22, + 778, + 22, + 776, + 32, + 768, + 32, + 768, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 30, + 18, + 708, + 44, + 30, + 18, + 706, + 44, + 32, + 26, + 698, + 44, + 32, + 26, + 698, + 44, + 32, + 32, + 692, + 44, + 32, + 32, + 692, + 42, + 32, + 44, + 682, + 42, + 32, + 44, + 680, + 44, + 32, + 54, + 670, + 44, + 32, + 54, + 670, + 44, + 30, + 62, + 664, + 44, + 30, + 62, + 664, + 44, + 30, + 64, + 662, + 44, + 30, + 64, + 662, + 44, + 28, + 66, + 662, + 44, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 66, + 662, + 44, + 28, + 66, + 662, + 42, + 28, + 68, + 662, + 42, + 28, + 68, + 660, + 42, + 30, + 68, + 660, + 42, + 30, + 68, + 660, + 40, + 32, + 68, + 660, + 40, + 32, + 68, + 660, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 662, + 36, + 34, + 68, + 662, + 36, + 34, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 66, + 664, + 34, + 36, + 66, + 664, + 32, + 38, + 66, + 664, + 32, + 38, + 66, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 66, + 664, + 34, + 36, + 66, + 664, + 38, + 32, + 66, + 664, + 38, + 32, + 66, + 664, + 44, + 26, + 66, + 664, + 44, + 26, + 66, + 664, + 48, + 22, + 66, + 664, + 48, + 22, + 66, + 662, + 56, + 14, + 68, + 662, + 56, + 14, + 68, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 690, + 110, + 690, + 110, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 708, + 92, + 708, + 92, + 714, + 86, + 714, + 86, + 720, + 78, + 722, + 78, + 728, + 72, + 728, + 72, + 732, + 68, + 732, + 68, + 738, + 62, + 738, + 62, + 744, + 54, + 746, + 54, + 752, + 48, + 752, + 48, + 760, + 40, + 760, + 40, + 766, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 778, + 20, + 780, + 20, + 786, + 8, + 792, + 8, + 500377 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000125:0001", + "experimental_retained_index": 0, + "ism_score": 0.4668751060962677, + "R": [ + [ + 0.3154687285423279, + 0.241183802485466, + -0.917938232421875 + ], + [ + 0.9161127209663391, + -0.329158216714859, + 0.2284458428621292 + ], + [ + -0.2470981627702713, + -0.9129812121391296, + -0.32469335198402405 + ] + ], + "t": [ + -33.6102409362793, + -12.522692680358887, + 417.33563232421875 + ] + }, + { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 556, + 344, + 320, + 306 + ], + "score": 0.33509957790374756, + "time": 0.0, + "segmentation": { + "counts": [ + 444529, + 6, + 794, + 6, + 790, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 24, + 776, + 24, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 746, + 56, + 744, + 56, + 742, + 60, + 740, + 60, + 738, + 64, + 736, + 64, + 736, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 96, + 704, + 96, + 702, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 678, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 656, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 640, + 162, + 638, + 162, + 636, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 626, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 210, + 590, + 210, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 560, + 238, + 562, + 238, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 236, + 564, + 236, + 562, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 566, + 232, + 568, + 232, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 568, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 570, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 572, + 226, + 574, + 226, + 572, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 574, + 224, + 576, + 224, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 576, + 222, + 578, + 222, + 578, + 220, + 580, + 220, + 578, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 214, + 586, + 214, + 588, + 210, + 590, + 210, + 592, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 600, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 638, + 162, + 638, + 162, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 664, + 134, + 666, + 134, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 30, + 2, + 26, + 742, + 30, + 2, + 26, + 742, + 26, + 6, + 24, + 744, + 26, + 6, + 24, + 744, + 24, + 12, + 18, + 746, + 24, + 12, + 18, + 748, + 20, + 16, + 14, + 750, + 20, + 16, + 14, + 752, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 14, + 786, + 14, + 321177 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000125:0000", + "experimental_retained_index": 1, + "ism_score": 0.41887450218200684, + "R": [ + [ + 0.6856001019477844, + 0.18881744146347046, + -0.7026322484016418 + ], + [ + 0.7172896265983582, + -0.33986905217170715, + 0.6085060834884644 + ], + [ + -0.12403295189142227, + -0.9214346408843994, + -0.36844688653945923 + ] + ], + "t": [ + 55.597328186035156, + 44.50094223022461, + 357.4434509277344 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 125, + "category_id": 1, + "bbox": [ + 432, + 316, + 220, + 158 + ], + "score": 0.4654161036014557, + "time": 0.0, + "segmentation": { + "counts": [ + 345155, + 10, + 790, + 10, + 786, + 22, + 778, + 22, + 776, + 32, + 768, + 32, + 768, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 30, + 18, + 708, + 44, + 30, + 18, + 706, + 44, + 32, + 26, + 698, + 44, + 32, + 26, + 698, + 44, + 32, + 32, + 692, + 44, + 32, + 32, + 692, + 42, + 32, + 44, + 682, + 42, + 32, + 44, + 680, + 44, + 32, + 54, + 670, + 44, + 32, + 54, + 670, + 44, + 30, + 62, + 664, + 44, + 30, + 62, + 664, + 44, + 30, + 64, + 662, + 44, + 30, + 64, + 662, + 44, + 28, + 66, + 662, + 44, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 46, + 28, + 66, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 68, + 660, + 44, + 28, + 66, + 662, + 44, + 28, + 66, + 662, + 42, + 28, + 68, + 662, + 42, + 28, + 68, + 660, + 42, + 30, + 68, + 660, + 42, + 30, + 68, + 660, + 40, + 32, + 68, + 660, + 40, + 32, + 68, + 660, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 662, + 36, + 34, + 68, + 662, + 36, + 34, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 66, + 664, + 34, + 36, + 66, + 664, + 32, + 38, + 66, + 664, + 32, + 38, + 66, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 66, + 664, + 34, + 36, + 66, + 664, + 38, + 32, + 66, + 664, + 38, + 32, + 66, + 664, + 44, + 26, + 66, + 664, + 44, + 26, + 66, + 664, + 48, + 22, + 66, + 664, + 48, + 22, + 66, + 662, + 56, + 14, + 68, + 662, + 56, + 14, + 68, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 690, + 110, + 690, + 110, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 708, + 92, + 708, + 92, + 714, + 86, + 714, + 86, + 720, + 78, + 722, + 78, + 728, + 72, + 728, + 72, + 732, + 68, + 732, + 68, + 738, + 62, + 738, + 62, + 744, + 54, + 746, + 54, + 752, + 48, + 752, + 48, + 760, + 40, + 760, + 40, + 766, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 778, + 20, + 780, + 20, + 786, + 8, + 792, + 8, + 500377 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000125:0001", + "experimental_retained_index": 0, + "ism_score": 0.4668751060962677, + "R": [ + [ + 0.3154687285423279, + 0.241183802485466, + -0.917938232421875 + ], + [ + 0.9161127209663391, + -0.329158216714859, + 0.2284458428621292 + ], + [ + -0.2470981627702713, + -0.9129812121391296, + -0.32469335198402405 + ] + ], + "t": [ + -33.6102409362793, + -12.522692680358887, + 417.33563232421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000125/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000125/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000125:0001", + "eppendorf_tarto:000125:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000125.png" + }, + { + "frame_id": 127, + "image_path": "/workspace/data/0008_/images/000127.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000127.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 604, + 0, + 158, + 110 + ], + "score": 0.4079592823982239, + "time": 0.0, + "segmentation": { + "counts": [ + 482463, + 16, + 784, + 16, + 772, + 30, + 770, + 30, + 752, + 50, + 750, + 50, + 732, + 68, + 732, + 68, + 720, + 82, + 718, + 82, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 109, + 691, + 109, + 691, + 101, + 699, + 101, + 699, + 91, + 709, + 91, + 709, + 71, + 729, + 71, + 729, + 65, + 735, + 65, + 735, + 55, + 745, + 55, + 745, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 9, + 791, + 9, + 412791 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000127:0001", + "experimental_retained_index": 0, + "ism_score": 0.4197651743888855, + "R": [ + [ + 0.04725596681237221, + -0.6635187268257141, + -0.7467518448829651 + ], + [ + 0.8464089632034302, + 0.42382314801216125, + -0.3229401409626007 + ], + [ + 0.5303825736045837, + -0.6167643070220947, + 0.5816758871078491 + ] + ], + "t": [ + 33.15317153930664, + -350.7413024902344, + 701.515625 + ] + }, + { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 422, + 436, + 210, + 146 + ], + "score": 0.40675705671310425, + "time": 0.0, + "segmentation": { + "counts": [ + 337265, + 12, + 788, + 12, + 784, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 768, + 32, + 30, + 28, + 710, + 32, + 30, + 28, + 708, + 34, + 30, + 56, + 680, + 34, + 30, + 56, + 678, + 36, + 28, + 64, + 672, + 36, + 28, + 64, + 672, + 34, + 30, + 66, + 670, + 34, + 30, + 66, + 668, + 36, + 30, + 66, + 668, + 36, + 30, + 66, + 668, + 36, + 28, + 68, + 668, + 36, + 28, + 68, + 666, + 36, + 30, + 68, + 666, + 36, + 30, + 68, + 666, + 36, + 30, + 68, + 666, + 36, + 30, + 68, + 666, + 36, + 30, + 66, + 668, + 36, + 30, + 66, + 668, + 36, + 30, + 66, + 668, + 36, + 30, + 66, + 668, + 36, + 28, + 68, + 668, + 36, + 28, + 68, + 666, + 38, + 28, + 68, + 666, + 38, + 28, + 68, + 666, + 36, + 30, + 68, + 666, + 36, + 30, + 68, + 666, + 36, + 28, + 70, + 666, + 36, + 28, + 70, + 666, + 36, + 28, + 68, + 668, + 36, + 28, + 68, + 668, + 34, + 28, + 70, + 668, + 34, + 28, + 70, + 668, + 34, + 28, + 70, + 668, + 34, + 28, + 70, + 668, + 32, + 30, + 70, + 668, + 32, + 30, + 70, + 668, + 30, + 32, + 70, + 668, + 30, + 32, + 70, + 666, + 30, + 34, + 70, + 666, + 30, + 34, + 70, + 666, + 28, + 36, + 68, + 668, + 28, + 36, + 68, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 70, + 668, + 28, + 34, + 68, + 670, + 28, + 34, + 68, + 670, + 32, + 28, + 70, + 670, + 32, + 28, + 70, + 670, + 38, + 22, + 70, + 670, + 38, + 22, + 70, + 670, + 48, + 10, + 72, + 670, + 48, + 10, + 72, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 694, + 104, + 696, + 104, + 700, + 100, + 700, + 100, + 708, + 92, + 708, + 92, + 714, + 84, + 716, + 84, + 722, + 78, + 722, + 78, + 730, + 70, + 730, + 70, + 736, + 62, + 738, + 62, + 746, + 52, + 748, + 52, + 756, + 44, + 756, + 44, + 762, + 36, + 764, + 36, + 772, + 26, + 774, + 26, + 780, + 18, + 782, + 18, + 792, + 4, + 796, + 4, + 516261 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000127:0000", + "experimental_retained_index": 1, + "ism_score": 0.4158538579940796, + "R": [ + [ + 0.24790556728839874, + 0.19224365055561066, + -0.9495564699172974 + ], + [ + 0.7915752530097961, + -0.605212926864624, + 0.08412830531597137 + ], + [ + -0.558543860912323, + -0.7722641229629517, + -0.30231747031211853 + ] + ], + "t": [ + -46.13127517700195, + 63.0294075012207, + 426.943359375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 127, + "category_id": 1, + "bbox": [ + 604, + 0, + 158, + 110 + ], + "score": 0.4079592823982239, + "time": 0.0, + "segmentation": { + "counts": [ + 482463, + 16, + 784, + 16, + 772, + 30, + 770, + 30, + 752, + 50, + 750, + 50, + 732, + 68, + 732, + 68, + 720, + 82, + 718, + 82, + 715, + 85, + 715, + 85, + 715, + 87, + 713, + 87, + 713, + 87, + 713, + 87, + 713, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 99, + 701, + 99, + 701, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 105, + 695, + 105, + 695, + 107, + 693, + 107, + 693, + 107, + 693, + 107, + 693, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 111, + 689, + 111, + 689, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 109, + 691, + 109, + 691, + 101, + 699, + 101, + 699, + 91, + 709, + 91, + 709, + 71, + 729, + 71, + 729, + 65, + 735, + 65, + 735, + 55, + 745, + 55, + 745, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 9, + 791, + 9, + 412791 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000127:0001", + "experimental_retained_index": 0, + "ism_score": 0.4197651743888855, + "R": [ + [ + 0.04725596681237221, + -0.6635187268257141, + -0.7467518448829651 + ], + [ + 0.8464089632034302, + 0.42382314801216125, + -0.3229401409626007 + ], + [ + 0.5303825736045837, + -0.6167643070220947, + 0.5816758871078491 + ] + ], + "t": [ + 33.15317153930664, + -350.7413024902344, + 701.515625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000127/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000127/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000127:0001", + "eppendorf_tarto:000127:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000127.png" + }, + { + "frame_id": 139, + "image_path": "/workspace/data/0008_/images/000139.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000139.png", + "status": "ok", + "detection_count": 5, + "input_candidate_count": 5, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 532, + 476, + 198, + 114 + ], + "score": 0.40910276770591736, + "time": 0.0, + "segmentation": { + "counts": [ + 425333, + 8, + 30, + 18, + 744, + 8, + 30, + 18, + 740, + 62, + 738, + 62, + 700, + 16, + 22, + 64, + 698, + 16, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 694, + 18, + 22, + 66, + 694, + 18, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 18, + 24, + 64, + 694, + 18, + 24, + 64, + 694, + 20, + 20, + 66, + 694, + 20, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 20, + 20, + 68, + 692, + 20, + 20, + 68, + 694, + 8, + 28, + 70, + 694, + 8, + 28, + 70, + 694, + 6, + 28, + 72, + 694, + 6, + 28, + 72, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 72, + 696, + 8, + 24, + 72, + 696, + 6, + 26, + 72, + 696, + 6, + 26, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 694, + 8, + 10, + 14, + 2, + 72, + 694, + 8, + 10, + 14, + 2, + 72, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 696, + 6, + 14, + 10, + 2, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 694, + 10, + 6, + 14, + 4, + 72, + 694, + 10, + 6, + 14, + 4, + 72, + 694, + 30, + 4, + 72, + 694, + 30, + 4, + 72, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 764, + 34, + 766, + 34, + 772, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 788, + 12, + 788, + 12, + 790, + 6, + 794, + 6, + 437873 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000139:0001", + "experimental_retained_index": 0, + "ism_score": 0.4848625361919403, + "R": [ + [ + -0.15023691952228546, + 0.05532080680131912, + 0.9872704744338989 + ], + [ + -0.6264936327934265, + -0.7778273224830627, + -0.05169432610273361 + ], + [ + 0.7647405862808228, + -0.6257859468460083, + 0.15156443417072296 + ] + ], + "t": [ + -19.767202377319336, + 86.0158920288086, + 407.4100036621094 + ] + }, + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 1040, + 0, + 158, + 58 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 831249, + 10, + 790, + 10, + 752, + 4, + 30, + 14, + 752, + 4, + 30, + 14, + 752, + 4, + 24, + 20, + 752, + 4, + 24, + 20, + 750, + 6, + 18, + 26, + 750, + 6, + 18, + 26, + 748, + 10, + 10, + 32, + 748, + 10, + 10, + 32, + 748, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 33, + 767, + 33, + 767, + 27, + 24, + 4, + 745, + 27, + 24, + 4, + 745, + 23, + 28, + 4, + 745, + 23, + 28, + 4, + 745, + 15, + 36, + 4, + 745, + 15, + 36, + 4, + 745, + 9, + 791, + 9, + 63991 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000139:0004", + "experimental_retained_index": 1, + "ism_score": 0.46443861722946167, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 210, + 24, + 134, + 64 + ], + "score": 0.02745077572762966, + "time": 0.0, + "segmentation": { + "counts": [ + 167225, + 18, + 782, + 18, + 782, + 26, + 774, + 26, + 774, + 32, + 768, + 32, + 768, + 38, + 762, + 38, + 762, + 44, + 756, + 44, + 756, + 48, + 752, + 48, + 752, + 52, + 748, + 52, + 748, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 750, + 50, + 750, + 50, + 760, + 40, + 760, + 40, + 778, + 22, + 778, + 22, + 792, + 4, + 796, + 4, + 747121 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000139:0000", + "experimental_retained_index": 2, + "ism_score": 0.46232885122299194, + "R": [ + [ + 0.7840773463249207, + 0.39785951375961304, + 0.47633326053619385 + ], + [ + -0.33048784732818604, + -0.38207483291625977, + 0.8632103800773621 + ], + [ + 0.5253331661224365, + -0.8344776630401611, + -0.16822829842567444 + ] + ], + "t": [ + -696.3525390625, + -677.8217163085938, + 1272.2752685546875 + ] + }, + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 364, + 0, + 432, + 82 + ], + "score": 0.3690848648548126, + "time": 0.0, + "segmentation": { + "counts": [ + 290400, + 17, + 783, + 17, + 783, + 31, + 769, + 31, + 769, + 61, + 739, + 61, + 739, + 69, + 731, + 69, + 731, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 75, + 725, + 75, + 725, + 71, + 729, + 71, + 729, + 69, + 731, + 69, + 731, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 59, + 741, + 59, + 741, + 55, + 745, + 55, + 745, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 48, + 4, + 715, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 30, + 4, + 731, + 35, + 30, + 4, + 731, + 35, + 30, + 4, + 731, + 35, + 30, + 4, + 731, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 12, + 6, + 745, + 37, + 8, + 4, + 751, + 37, + 8, + 4, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 21, + 779, + 21, + 779, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 791, + 9, + 791, + 9, + 791, + 7, + 793, + 7, + 793, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 3, + 797, + 3, + 385597 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000139:0002", + "experimental_retained_index": 3, + "ism_score": 0.4613560736179352, + "R": [ + [ + -0.25586017966270447, + 0.7071491479873657, + -0.6591126918792725 + ], + [ + -0.9152225255966187, + -0.3963117003440857, + -0.07019227743148804 + ], + [ + -0.3109317719936371, + 0.5855187773704529, + 0.7490206956863403 + ] + ], + "t": [ + -481.209228515625, + -695.5537719726562, + 1294.7850341796875 + ] + }, + { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 218, + 80, + 146, + 64 + ], + "score": 0.08592981100082397, + "time": 0.0, + "segmentation": { + "counts": [ + 173691, + 4, + 796, + 4, + 784, + 28, + 772, + 28, + 772, + 36, + 764, + 36, + 764, + 40, + 760, + 40, + 764, + 44, + 756, + 44, + 758, + 46, + 754, + 46, + 756, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 754, + 46, + 754, + 46, + 766, + 34, + 766, + 34, + 776, + 24, + 776, + 24, + 786, + 12, + 788, + 12, + 731063 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000139:0003", + "experimental_retained_index": 4, + "ism_score": 0.4230390787124634, + "R": [ + [ + -0.6901474595069885, + -0.399756520986557, + 0.6033665537834167 + ], + [ + -0.6277870535850525, + 0.745471179485321, + -0.22388648986816406 + ], + [ + -0.3602125942707062, + -0.5332351326942444, + -0.7652114629745483 + ] + ], + "t": [ + -707.3989868164062, + -588.5540771484375, + 1307.7957763671875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 139, + "category_id": 1, + "bbox": [ + 532, + 476, + 198, + 114 + ], + "score": 0.40910276770591736, + "time": 0.0, + "segmentation": { + "counts": [ + 425333, + 8, + 30, + 18, + 744, + 8, + 30, + 18, + 740, + 62, + 738, + 62, + 700, + 16, + 22, + 64, + 698, + 16, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 696, + 18, + 22, + 64, + 694, + 18, + 22, + 66, + 694, + 18, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 20, + 22, + 66, + 692, + 18, + 24, + 64, + 694, + 18, + 24, + 64, + 694, + 20, + 20, + 66, + 694, + 20, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 20, + 66, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 22, + 18, + 68, + 692, + 20, + 20, + 68, + 692, + 20, + 20, + 68, + 694, + 8, + 28, + 70, + 694, + 8, + 28, + 70, + 694, + 6, + 28, + 72, + 694, + 6, + 28, + 72, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 74, + 694, + 8, + 24, + 72, + 696, + 8, + 24, + 72, + 696, + 6, + 26, + 72, + 696, + 6, + 26, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 694, + 8, + 10, + 14, + 2, + 72, + 694, + 8, + 10, + 14, + 2, + 72, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 694, + 8, + 10, + 14, + 4, + 70, + 696, + 6, + 14, + 10, + 2, + 72, + 696, + 6, + 14, + 10, + 2, + 72, + 694, + 10, + 6, + 14, + 4, + 72, + 694, + 10, + 6, + 14, + 4, + 72, + 694, + 30, + 4, + 72, + 694, + 30, + 4, + 72, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 708, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 90, + 710, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 750, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 758, + 42, + 758, + 42, + 764, + 34, + 766, + 34, + 772, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 788, + 12, + 788, + 12, + 790, + 6, + 794, + 6, + 437873 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000139:0001", + "experimental_retained_index": 0, + "ism_score": 0.4848625361919403, + "R": [ + [ + -0.15023691952228546, + 0.05532080680131912, + 0.9872704744338989 + ], + [ + -0.6264936327934265, + -0.7778273224830627, + -0.05169432610273361 + ], + [ + 0.7647405862808228, + -0.6257859468460083, + 0.15156443417072296 + ] + ], + "t": [ + -19.767202377319336, + 86.0158920288086, + 407.4100036621094 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000139/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000139/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000139:0001", + "eppendorf_tarto:000139:0004", + "eppendorf_tarto:000139:0000", + "eppendorf_tarto:000139:0002", + "eppendorf_tarto:000139:0003" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000139.png" + }, + { + "frame_id": 142, + "image_path": "/workspace/data/0008_/images/000142.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000142.png", + "status": "ok", + "detection_count": 4, + "input_candidate_count": 5, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 526, + 468, + 204, + 88 + ], + "score": 0.3777388334274292, + "time": 0.0, + "segmentation": { + "counts": [ + 420537, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 762, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 728, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 437877 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000142:0002", + "experimental_retained_index": 0, + "ism_score": 0.46851328015327454, + "R": [ + [ + -0.17191945016384125, + 0.16718746721744537, + -0.9709025621414185 + ], + [ + 0.7080644965171814, + -0.6641371846199036, + -0.23982074856758118 + ], + [ + -0.685090184211731, + -0.7286251187324524, + -0.004150607623159885 + ] + ], + "t": [ + 28.292804718017578, + 80.33804321289062, + 417.17938232421875 + ] + }, + { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 830, + 140, + 136, + 68 + ], + "score": 0.05071105808019638, + "time": 0.0, + "segmentation": { + "counts": [ + 663385, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 52, + 748, + 52, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 728, + 32, + 10, + 20, + 738, + 32, + 10, + 20, + 738, + 26, + 18, + 12, + 744, + 26, + 18, + 12, + 744, + 22, + 778, + 22, + 778, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 790, + 6, + 794, + 6, + 249453 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000142:0004", + "experimental_retained_index": 2, + "ism_score": 0.40568846464157104, + "R": [ + [ + 0.06964834034442902, + -0.9527540802955627, + 0.29549238085746765 + ], + [ + -0.9826195240020752, + -0.014521420001983643, + 0.18526098132133484 + ], + [ + -0.172245591878891, + -0.30323949456214905, + -0.9372690320014954 + ] + ], + "t": [ + 315.3163146972656, + -249.39512634277344, + 726.860107421875 + ] + }, + { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 616, + 70, + 64, + 150 + ], + "score": 0.035919226706027985, + "time": 0.0, + "segmentation": { + "counts": [ + 492179, + 20, + 780, + 20, + 754, + 52, + 748, + 52, + 718, + 82, + 718, + 82, + 680, + 122, + 678, + 122, + 664, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 152, + 648, + 152, + 650, + 82, + 62, + 6, + 650, + 82, + 62, + 6, + 650, + 62, + 738, + 62, + 738, + 46, + 754, + 46, + 754, + 34, + 766, + 34, + 766, + 12, + 788, + 12, + 478317 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000142:0003", + "experimental_retained_index": 3, + "ism_score": 0.3707791268825531, + "R": [ + [ + 0.9851812720298767, + 0.15754592418670654, + -0.06946253776550293 + ], + [ + 0.15082691609859467, + -0.5937387943267822, + 0.7904354333877563 + ], + [ + 0.08332604169845581, + -0.7892282009124756, + -0.6087332963943481 + ] + ], + "t": [ + 48.36305618286133, + -475.69012451171875, + 1170.9891357421875 + ] + }, + { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 464, + 0, + 80, + 100 + ], + "score": 0.30283424258232117, + "time": 0.0, + "segmentation": { + "counts": [ + 370400, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 101, + 699, + 101, + 699, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 103, + 697, + 79, + 4, + 6, + 711, + 79, + 4, + 6, + 711, + 59, + 741, + 59, + 587141 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000142:0001", + "experimental_retained_index": 4, + "ism_score": 0.3643118739128113, + "R": [ + [ + 0.9603318572044373, + -0.2753896117210388, + 0.04592831805348396 + ], + [ + 0.02002742886543274, + -0.09615253657102585, + -0.9950554966926575 + ], + [ + 0.27854397892951965, + 0.9564469456672668, + -0.08679837733507156 + ] + ], + "t": [ + -253.9348602294922, + -747.2628173828125, + 1494.706298828125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 142, + "category_id": 1, + "bbox": [ + 526, + 468, + 204, + 88 + ], + "score": 0.3777388334274292, + "time": 0.0, + "segmentation": { + "counts": [ + 420537, + 14, + 786, + 14, + 778, + 24, + 776, + 24, + 772, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 762, + 38, + 762, + 38, + 756, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 54, + 746, + 54, + 746, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 728, + 72, + 728, + 72, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 756, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 437877 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000142:0002", + "experimental_retained_index": 0, + "ism_score": 0.46851328015327454, + "R": [ + [ + -0.17191945016384125, + 0.16718746721744537, + -0.9709025621414185 + ], + [ + 0.7080644965171814, + -0.6641371846199036, + -0.23982074856758118 + ], + [ + -0.685090184211731, + -0.7286251187324524, + -0.004150607623159885 + ] + ], + "t": [ + 28.292804718017578, + 80.33804321289062, + 417.17938232421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000142/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000142/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000142:0002", + "eppendorf_tarto:000142:0004", + "eppendorf_tarto:000142:0003", + "eppendorf_tarto:000142:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000142.png" + }, + { + "frame_id": 145, + "image_path": "/workspace/data/0008_/images/000145.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000145.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 802, + 80, + 124, + 68 + ], + "score": 0.012463650666177273, + "time": 0.0, + "segmentation": { + "counts": [ + 640929, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 30, + 2, + 38, + 730, + 30, + 2, + 38, + 728, + 26, + 10, + 34, + 730, + 26, + 10, + 34, + 730, + 20, + 18, + 20, + 742, + 20, + 18, + 20, + 742, + 14, + 24, + 12, + 750, + 14, + 24, + 12, + 752, + 8, + 792, + 8, + 281511 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000145:0001", + "experimental_retained_index": 0, + "ism_score": 0.4431520104408264, + "R": [ + [ + 0.9460160732269287, + 0.29873496294021606, + -0.12490596622228622 + ], + [ + 0.2459852546453476, + -0.4122067391872406, + 0.877263069152832 + ], + [ + 0.21062296628952026, + -0.860599160194397, + -0.46342727541923523 + ] + ], + "t": [ + 202.33499145507812, + -344.04925537109375, + 778.2281494140625 + ] + }, + { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 832, + 210, + 370, + 158 + ], + "score": 0.3044217824935913, + "time": 0.0, + "segmentation": { + "counts": [ + 665047, + 18, + 782, + 18, + 772, + 28, + 772, + 28, + 762, + 40, + 760, + 40, + 748, + 54, + 746, + 54, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 752, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 768, + 24, + 776, + 24, + 774, + 22, + 778, + 22, + 778, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 60501 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000145:0000", + "experimental_retained_index": 1, + "ism_score": 0.4388062059879303, + "R": [ + [ + 0.04952019080519676, + -0.8739674687385559, + 0.4832663834095001 + ], + [ + -0.8768604397773743, + 0.19356659054756165, + 0.43981659412384033 + ], + [ + -0.47787752747535706, + -0.4455985426902771, + -0.756975531578064 + ] + ], + "t": [ + 317.390869140625, + -93.55068969726562, + 549.7328491210938 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 145, + "category_id": 1, + "bbox": [ + 832, + 210, + 370, + 158 + ], + "score": 0.3044217824935913, + "time": 0.0, + "segmentation": { + "counts": [ + 665047, + 18, + 782, + 18, + 772, + 28, + 772, + 28, + 762, + 40, + 760, + 40, + 748, + 54, + 746, + 54, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 738, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 736, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 734, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 68, + 732, + 70, + 730, + 70, + 732, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 722, + 78, + 722, + 78, + 722, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 720, + 78, + 722, + 78, + 722, + 78, + 722, + 78, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 752, + 44, + 756, + 44, + 756, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 32, + 768, + 32, + 768, + 24, + 776, + 24, + 774, + 22, + 778, + 22, + 778, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 60501 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000145:0000", + "experimental_retained_index": 1, + "ism_score": 0.4388062059879303, + "R": [ + [ + 0.04952019080519676, + -0.8739674687385559, + 0.4832663834095001 + ], + [ + -0.8768604397773743, + 0.19356659054756165, + 0.43981659412384033 + ], + [ + -0.47787752747535706, + -0.4455985426902771, + -0.756975531578064 + ] + ], + "t": [ + 317.390869140625, + -93.55068969726562, + 549.7328491210938 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000145/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000145/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000145:0001", + "eppendorf_tarto:000145:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000145.png" + }, + { + "frame_id": 150, + "image_path": "/workspace/data/0008_/images/000150.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000150.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000150/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 155, + "image_path": "/workspace/data/0008_/images/000155.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000155.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 1036, + 176, + 242, + 426 + ], + "score": 0.36850109696388245, + "time": 0.0, + "segmentation": { + "counts": [ + 828295, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 776, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 756, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 742, + 60, + 740, + 60, + 736, + 68, + 732, + 68, + 728, + 74, + 726, + 74, + 720, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 708, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 676, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 662, + 140, + 660, + 140, + 656, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 644, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 550, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 534, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 512, + 290, + 510, + 290, + 510, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 310, + 490, + 310, + 492, + 310, + 490, + 310, + 490, + 314, + 486, + 314, + 486, + 22, + 10, + 284, + 484, + 22, + 10, + 284, + 484, + 18, + 16, + 286, + 480, + 18, + 16, + 286, + 482, + 12, + 22, + 286, + 480, + 12, + 22, + 286, + 516, + 286, + 514, + 286, + 516, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 512, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 508, + 296, + 504, + 296, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 504, + 298, + 502, + 298, + 504, + 300, + 500, + 300, + 420, + 4, + 78, + 300, + 418, + 4, + 78, + 300, + 418, + 4, + 80, + 300, + 416, + 4, + 80, + 300, + 416, + 4, + 80, + 302, + 414, + 4, + 80, + 302, + 502, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 500, + 302, + 498, + 302, + 500, + 302, + 498, + 302, + 500, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 496, + 306, + 494, + 306, + 494, + 310, + 490, + 310, + 492, + 310, + 490, + 310, + 492, + 310, + 490, + 310, + 494, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 492, + 306, + 494, + 306, + 496, + 304, + 199 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000155:0000", + "experimental_retained_index": 0, + "ism_score": 0.4319426715373993, + "R": [ + [ + 0.14458444714546204, + 0.9691218733787537, + 0.20046685636043549 + ], + [ + -0.7778356075286865, + 0.2366301268339157, + -0.5823500156402588 + ], + [ + -0.6117250919342041, + -0.07166659832000732, + 0.7875152230262756 + ] + ], + "t": [ + 324.8155517578125, + -54.27705764770508, + 403.6072998046875 + ] + }, + { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 850, + 110, + 428, + 686 + ], + "score": 0.10688386112451553, + "time": 0.0, + "segmentation": { + "counts": [ + 679311, + 14, + 786, + 14, + 784, + 20, + 780, + 20, + 780, + 26, + 774, + 26, + 774, + 32, + 768, + 32, + 768, + 40, + 760, + 40, + 760, + 46, + 754, + 46, + 754, + 50, + 750, + 50, + 750, + 54, + 746, + 54, + 746, + 60, + 740, + 60, + 740, + 66, + 734, + 66, + 734, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 726, + 78, + 722, + 78, + 722, + 84, + 716, + 84, + 716, + 90, + 710, + 90, + 710, + 96, + 704, + 96, + 704, + 100, + 700, + 100, + 702, + 104, + 696, + 104, + 696, + 108, + 692, + 108, + 692, + 114, + 686, + 114, + 686, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 680, + 126, + 674, + 126, + 672, + 132, + 668, + 132, + 668, + 138, + 662, + 138, + 664, + 144, + 656, + 144, + 656, + 148, + 652, + 148, + 652, + 152, + 648, + 152, + 650, + 156, + 644, + 156, + 644, + 162, + 638, + 162, + 640, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 634, + 172, + 628, + 172, + 630, + 174, + 626, + 174, + 628, + 176, + 624, + 176, + 626, + 182, + 618, + 182, + 622, + 182, + 618, + 182, + 620, + 184, + 616, + 184, + 618, + 188, + 612, + 188, + 614, + 192, + 608, + 192, + 610, + 194, + 606, + 194, + 608, + 196, + 604, + 196, + 606, + 198, + 602, + 198, + 604, + 202, + 598, + 202, + 600, + 206, + 594, + 206, + 596, + 210, + 590, + 210, + 594, + 210, + 590, + 210, + 594, + 210, + 590, + 210, + 592, + 216, + 584, + 216, + 584, + 220, + 580, + 220, + 582, + 224, + 576, + 224, + 578, + 226, + 574, + 226, + 578, + 226, + 574, + 226, + 576, + 228, + 572, + 228, + 574, + 232, + 568, + 232, + 568, + 238, + 562, + 238, + 564, + 240, + 560, + 240, + 562, + 244, + 556, + 244, + 558, + 248, + 552, + 248, + 552, + 252, + 548, + 252, + 548, + 258, + 542, + 258, + 544, + 260, + 540, + 260, + 540, + 264, + 536, + 264, + 536, + 270, + 530, + 270, + 530, + 276, + 524, + 276, + 524, + 282, + 518, + 282, + 520, + 284, + 516, + 284, + 536, + 268, + 532, + 268, + 534, + 272, + 528, + 272, + 530, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 524, + 280, + 520, + 280, + 522, + 282, + 518, + 282, + 520, + 286, + 514, + 286, + 516, + 290, + 510, + 290, + 512, + 294, + 506, + 294, + 508, + 296, + 504, + 296, + 506, + 300, + 500, + 300, + 502, + 304, + 496, + 304, + 498, + 306, + 494, + 306, + 494, + 312, + 488, + 312, + 492, + 312, + 488, + 312, + 490, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 320, + 480, + 320, + 482, + 324, + 476, + 324, + 478, + 328, + 472, + 328, + 476, + 330, + 470, + 330, + 472, + 332, + 468, + 332, + 470, + 336, + 464, + 336, + 466, + 340, + 460, + 340, + 462, + 342, + 458, + 342, + 460, + 344, + 456, + 344, + 458, + 346, + 454, + 346, + 454, + 40, + 14, + 298, + 448, + 40, + 14, + 298, + 450, + 34, + 20, + 302, + 444, + 34, + 20, + 302, + 446, + 26, + 30, + 302, + 442, + 26, + 30, + 302, + 446, + 16, + 40, + 304, + 440, + 16, + 40, + 304, + 442, + 10, + 46, + 308, + 436, + 10, + 46, + 308, + 494, + 312, + 488, + 312, + 490, + 314, + 486, + 314, + 490, + 314, + 486, + 314, + 488, + 318, + 482, + 318, + 484, + 322, + 478, + 322, + 480, + 324, + 476, + 324, + 480, + 326, + 474, + 326, + 476, + 328, + 472, + 328, + 474, + 332, + 468, + 332, + 470, + 334, + 466, + 334, + 470, + 336, + 464, + 336, + 466, + 340, + 460, + 340, + 462, + 342, + 458, + 342, + 460, + 344, + 456, + 344, + 460, + 346, + 454, + 346, + 456, + 350, + 450, + 350, + 452, + 354, + 446, + 354, + 448, + 354, + 446, + 354, + 450, + 356, + 444, + 356, + 446, + 360, + 440, + 360, + 442, + 364, + 436, + 364, + 438, + 366, + 434, + 366, + 438, + 368, + 432, + 368, + 434, + 370, + 430, + 370, + 432, + 374, + 426, + 374, + 428, + 376, + 424, + 376, + 428, + 378, + 422, + 378, + 424, + 380, + 420, + 380, + 424, + 382, + 418, + 382, + 422, + 384, + 416, + 384, + 418, + 386, + 414, + 386, + 416, + 388, + 412, + 388, + 414, + 390, + 410, + 390, + 414, + 388, + 412, + 388, + 414, + 388, + 412, + 388, + 414, + 386, + 414, + 386, + 418, + 382, + 418, + 382, + 420, + 380, + 420, + 380, + 422, + 378, + 422, + 378, + 424, + 378, + 422, + 378, + 424, + 376, + 424, + 376, + 426, + 374, + 426, + 374, + 430, + 368, + 432, + 368, + 434, + 368, + 432, + 368, + 434, + 366, + 434, + 366, + 436, + 364, + 436, + 364, + 438, + 362, + 438, + 362, + 442, + 358, + 442, + 358, + 444, + 356, + 444, + 356, + 448, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 454, + 346, + 454, + 346, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 462, + 338, + 462, + 338, + 464, + 336, + 464, + 336, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 476, + 324, + 476, + 324, + 478, + 322, + 478, + 322, + 480, + 320, + 480, + 320, + 484, + 316, + 484, + 316, + 484, + 316, + 484, + 316, + 488, + 312, + 488, + 312, + 490, + 310, + 490, + 310, + 494, + 306, + 494, + 306, + 496, + 304, + 496, + 304, + 498, + 302, + 498, + 302, + 502, + 298, + 502, + 298, + 504, + 296, + 504, + 296, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 516, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 522, + 278, + 522, + 278, + 524, + 276, + 524, + 276, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 532, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 548, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 568, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 572, + 228, + 572, + 228, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 584, + 216, + 584, + 216, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000155:0001", + "experimental_retained_index": 1, + "ism_score": 0.40238630771636963, + "R": [ + [ + -0.1447400599718094, + -0.34808433055877686, + -0.9264214634895325 + ], + [ + 0.5172119140625, + -0.8245299458503723, + 0.2289220243692398 + ], + [ + -0.8433390855789185, + -0.44590187072753906, + 0.299304336309433 + ] + ], + "t": [ + 310.3088684082031, + -71.50918579101562, + 501.1676025390625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 155, + "category_id": 1, + "bbox": [ + 1036, + 176, + 242, + 426 + ], + "score": 0.36850109696388245, + "time": 0.0, + "segmentation": { + "counts": [ + 828295, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 776, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 756, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 742, + 60, + 740, + 60, + 736, + 68, + 732, + 68, + 728, + 74, + 726, + 74, + 720, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 708, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 690, + 112, + 688, + 112, + 676, + 128, + 672, + 128, + 668, + 134, + 666, + 134, + 662, + 140, + 660, + 140, + 656, + 146, + 654, + 146, + 650, + 152, + 648, + 152, + 644, + 160, + 640, + 160, + 638, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 628, + 176, + 624, + 176, + 622, + 180, + 620, + 180, + 618, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 586, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 570, + 232, + 568, + 232, + 570, + 232, + 568, + 232, + 568, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 550, + 252, + 548, + 252, + 550, + 254, + 546, + 254, + 546, + 256, + 544, + 256, + 544, + 258, + 542, + 258, + 542, + 262, + 538, + 262, + 538, + 264, + 536, + 264, + 536, + 266, + 534, + 266, + 534, + 268, + 532, + 268, + 534, + 270, + 530, + 270, + 530, + 272, + 528, + 272, + 528, + 274, + 526, + 274, + 526, + 276, + 524, + 276, + 524, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 512, + 290, + 510, + 290, + 510, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 302, + 498, + 302, + 498, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 494, + 310, + 490, + 310, + 492, + 310, + 490, + 310, + 490, + 314, + 486, + 314, + 486, + 22, + 10, + 284, + 484, + 22, + 10, + 284, + 484, + 18, + 16, + 286, + 480, + 18, + 16, + 286, + 482, + 12, + 22, + 286, + 480, + 12, + 22, + 286, + 516, + 286, + 514, + 286, + 516, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 512, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 510, + 292, + 508, + 292, + 508, + 296, + 504, + 296, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 504, + 298, + 502, + 298, + 504, + 300, + 500, + 300, + 420, + 4, + 78, + 300, + 418, + 4, + 78, + 300, + 418, + 4, + 80, + 300, + 416, + 4, + 80, + 300, + 416, + 4, + 80, + 302, + 414, + 4, + 80, + 302, + 502, + 300, + 500, + 300, + 500, + 302, + 498, + 302, + 500, + 302, + 498, + 302, + 500, + 302, + 498, + 302, + 500, + 304, + 496, + 304, + 496, + 306, + 494, + 306, + 496, + 306, + 494, + 306, + 494, + 310, + 490, + 310, + 492, + 310, + 490, + 310, + 492, + 310, + 490, + 310, + 494, + 310, + 490, + 310, + 490, + 312, + 488, + 312, + 490, + 312, + 488, + 312, + 488, + 314, + 486, + 314, + 488, + 314, + 486, + 314, + 488, + 316, + 484, + 316, + 486, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 486, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 488, + 310, + 490, + 310, + 492, + 306, + 494, + 306, + 496, + 304, + 199 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000155:0000", + "experimental_retained_index": 0, + "ism_score": 0.4319426715373993, + "R": [ + [ + 0.14458444714546204, + 0.9691218733787537, + 0.20046685636043549 + ], + [ + -0.7778356075286865, + 0.2366301268339157, + -0.5823500156402588 + ], + [ + -0.6117250919342041, + -0.07166659832000732, + 0.7875152230262756 + ] + ], + "t": [ + 324.8155517578125, + -54.27705764770508, + 403.6072998046875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000155/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000155/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000155:0000", + "eppendorf_tarto:000155:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000155.png" + }, + { + "frame_id": 170, + "image_path": "/workspace/data/0008_/images/000170.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000170.png", + "status": "ok", + "detection_count": 4, + "input_candidate_count": 4, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 626, + 0, + 160, + 66 + ], + "score": 0.11156706511974335, + "time": 0.0, + "segmentation": { + "counts": [ + 500000, + 3, + 797, + 3, + 797, + 5, + 795, + 5, + 795, + 5, + 795, + 5, + 795, + 7, + 793, + 7, + 793, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 57, + 743, + 57, + 743, + 49, + 751, + 49, + 751, + 39, + 761, + 39, + 761, + 29, + 771, + 29, + 771, + 17, + 783, + 17, + 783, + 5, + 795, + 5, + 393595 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000170:0002", + "experimental_retained_index": 0, + "ism_score": 0.4462682604789734, + "R": [ + [ + -0.2840866446495056, + -0.7838433980941772, + 0.552527666091919 + ], + [ + -0.9315440654754639, + 0.36144620180130005, + 0.03380811959505081 + ], + [ + -0.22617506980895996, + -0.5052376985549927, + -0.8328118920326233 + ] + ], + "t": [ + 139.46006774902344, + -469.8882141113281, + 850.4934692382812 + ] + }, + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 890, + 0, + 170, + 40 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 711200, + 9, + 791, + 9, + 791, + 11, + 789, + 11, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 778, + 16, + 784, + 16, + 786, + 12, + 788, + 12, + 174375 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000170:0003", + "experimental_retained_index": 1, + "ism_score": 0.4323871433734894, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 540, + 538, + 484, + 258 + ], + "score": 0.002540956949815154, + "time": 0.0, + "segmentation": { + "counts": [ + 431815, + 34, + 766, + 34, + 764, + 50, + 750, + 50, + 750, + 68, + 732, + 68, + 730, + 80, + 720, + 80, + 720, + 92, + 708, + 92, + 708, + 106, + 694, + 106, + 694, + 120, + 680, + 120, + 678, + 134, + 666, + 134, + 666, + 144, + 656, + 144, + 656, + 154, + 646, + 154, + 646, + 168, + 632, + 168, + 632, + 180, + 620, + 180, + 620, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 566, + 234, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 562, + 4, + 6, + 228, + 562, + 4, + 6, + 228, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 588, + 128, + 4, + 80, + 588, + 128, + 4, + 80, + 582, + 132, + 6, + 80, + 582, + 132, + 6, + 80, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 132, + 4, + 84, + 580, + 108, + 2, + 14, + 2, + 4, + 6, + 84, + 580, + 108, + 2, + 14, + 2, + 4, + 6, + 84, + 590, + 96, + 4, + 12, + 16, + 82, + 590, + 96, + 4, + 12, + 16, + 82, + 590, + 96, + 6, + 6, + 22, + 80, + 590, + 96, + 6, + 6, + 22, + 80, + 588, + 98, + 6, + 4, + 30, + 74, + 588, + 98, + 6, + 4, + 30, + 74, + 550, + 8, + 26, + 100, + 42, + 74, + 550, + 8, + 26, + 100, + 42, + 74, + 548, + 12, + 20, + 104, + 42, + 74, + 548, + 12, + 20, + 104, + 42, + 74, + 546, + 18, + 8, + 114, + 16, + 4, + 22, + 72, + 546, + 18, + 8, + 114, + 16, + 4, + 22, + 72, + 546, + 142, + 14, + 4, + 20, + 74, + 546, + 142, + 14, + 4, + 20, + 74, + 546, + 144, + 8, + 12, + 6, + 4, + 4, + 76, + 546, + 144, + 8, + 12, + 6, + 4, + 4, + 76, + 546, + 146, + 6, + 102, + 546, + 146, + 6, + 102, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 150, + 6, + 100, + 544, + 152, + 6, + 98, + 544, + 152, + 6, + 98, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 540, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 544, + 256, + 544, + 256, + 546, + 254, + 546, + 254, + 550, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 558, + 242, + 558, + 242, + 562, + 238, + 562, + 238, + 564, + 234, + 566, + 234, + 570, + 230, + 570, + 230, + 574, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 584, + 216, + 584, + 216, + 588, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 594, + 206, + 594, + 206, + 596, + 204, + 596, + 204, + 598, + 202, + 598, + 202, + 602, + 196, + 604, + 196, + 608, + 192, + 608, + 192, + 614, + 184, + 616, + 184, + 618, + 182, + 618, + 182, + 620, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 630, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 640, + 160, + 640, + 160, + 644, + 156, + 644, + 156, + 648, + 150, + 650, + 150, + 652, + 148, + 652, + 148, + 656, + 144, + 656, + 144, + 658, + 52, + 6, + 82, + 660, + 52, + 6, + 82, + 662, + 54, + 2, + 82, + 662, + 54, + 2, + 82, + 664, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 676, + 122, + 678, + 122, + 680, + 20, + 24, + 74, + 682, + 20, + 24, + 74, + 688, + 8, + 32, + 70, + 690, + 8, + 32, + 70, + 730, + 68, + 732, + 68, + 732, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 684, + 6, + 48, + 62, + 684, + 6, + 48, + 62, + 682, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 684, + 16, + 40, + 60, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 754, + 46, + 754, + 46, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 770, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 202459 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000170:0001", + "experimental_retained_index": 2, + "ism_score": 0.40655308961868286, + "R": [ + [ + -0.8567564487457275, + -0.021510839462280273, + 0.5152336359024048 + ], + [ + -0.2299313247203827, + -0.8786287307739258, + -0.41852688789367676 + ], + [ + 0.46166566014289856, + -0.4768599271774292, + 0.7480579614639282 + ] + ], + "t": [ + 64.25287628173828, + 111.649169921875, + 224.00656127929688 + ] + }, + { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 0, + 0, + 1278, + 796 + ], + "score": 0.14757820963859558, + "time": 0.0, + "segmentation": { + "counts": [ + 137, + 662, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 94, + 706, + 94, + 706, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 718, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 790, + 6, + 794, + 6, + 794, + 2, + 798, + 2, + 798, + 1, + 799, + 1, + 799, + 1, + 23, + 4, + 772, + 1, + 23, + 4, + 772, + 1, + 21, + 8, + 770, + 1, + 21, + 8, + 770, + 1, + 19, + 12, + 768, + 1, + 19, + 12, + 768, + 1, + 17, + 14, + 768, + 1, + 17, + 14, + 768, + 1, + 17, + 18, + 764, + 1, + 17, + 18, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 13, + 24, + 762, + 1, + 13, + 24, + 762, + 1, + 11, + 26, + 762, + 1, + 11, + 26, + 762, + 4, + 8, + 26, + 762, + 4, + 8, + 26, + 762, + 6, + 4, + 28, + 762, + 6, + 4, + 28, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 724, + 12, + 26, + 38, + 724, + 12, + 26, + 36, + 724, + 16, + 24, + 36, + 724, + 16, + 24, + 34, + 722, + 20, + 24, + 34, + 722, + 20, + 24, + 32, + 722, + 24, + 22, + 32, + 722, + 24, + 22, + 10, + 12, + 8, + 722, + 28, + 20, + 10, + 12, + 8, + 722, + 28, + 20, + 4, + 746, + 30, + 20, + 4, + 746, + 30, + 20, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 2, + 740, + 40, + 18, + 2, + 740, + 40, + 18, + 2, + 740, + 44, + 14, + 2, + 740, + 44, + 14, + 2, + 736, + 50, + 12, + 2, + 736, + 50, + 12, + 2, + 730, + 58, + 10, + 2, + 730, + 58, + 10, + 2, + 730, + 60, + 8, + 2, + 730, + 60, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 722, + 72, + 4, + 2, + 722, + 72, + 4, + 2, + 720, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 96, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 112, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 117, + 683, + 117, + 683, + 117, + 15, + 2, + 664, + 119, + 15, + 2, + 664, + 120, + 10, + 10, + 652, + 128, + 10, + 10, + 652, + 128, + 10, + 12, + 648, + 130, + 10, + 12, + 648, + 132, + 8, + 14, + 610, + 2, + 34, + 132, + 8, + 14, + 610, + 2, + 34, + 132, + 8, + 14, + 608, + 8, + 28, + 134, + 8, + 14, + 608, + 8, + 28, + 136, + 4, + 18, + 604, + 14, + 22, + 138, + 4, + 18, + 604, + 14, + 22, + 136, + 6, + 18, + 604, + 18, + 14, + 140, + 6, + 18, + 604, + 18, + 14, + 140, + 6, + 20, + 602, + 22, + 6, + 144, + 6, + 20, + 602, + 22, + 6, + 146, + 4, + 26, + 598, + 172, + 4, + 26, + 598, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 212, + 588, + 212, + 588, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 218, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 236, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 238, + 558, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 260, + 538, + 262, + 538, + 260, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 213, + 3, + 48, + 534, + 215, + 3, + 48, + 534, + 215, + 3, + 12, + 8, + 26, + 534, + 217, + 3, + 12, + 8, + 26, + 534, + 222, + 6, + 2, + 12, + 24, + 530, + 226, + 6, + 2, + 12, + 24, + 530, + 224, + 22, + 26, + 526, + 226, + 22, + 26, + 526, + 226, + 22, + 26, + 524, + 228, + 22, + 26, + 524, + 226, + 24, + 26, + 524, + 226, + 24, + 26, + 524, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 228, + 22, + 30, + 520, + 228, + 22, + 30, + 520, + 228, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 32, + 522, + 212, + 6, + 6, + 22, + 32, + 522, + 212, + 6, + 6, + 22, + 32, + 522, + 208, + 12, + 4, + 22, + 32, + 522, + 208, + 12, + 4, + 26, + 28, + 522, + 204, + 16, + 4, + 26, + 28, + 522, + 204, + 16, + 4, + 26, + 28, + 524, + 200, + 18, + 4, + 26, + 28, + 524, + 200, + 18, + 4, + 18, + 2, + 6, + 30, + 522, + 198, + 20, + 4, + 18, + 2, + 6, + 30, + 522, + 198, + 20, + 4, + 12, + 44, + 522, + 192, + 26, + 4, + 12, + 44, + 522, + 192, + 26, + 6, + 6, + 48, + 524, + 186, + 30, + 6, + 6, + 48, + 524, + 186, + 30, + 60, + 524, + 182, + 34, + 60, + 524, + 182, + 34, + 60, + 524, + 178, + 38, + 60, + 524, + 178, + 38, + 60, + 526, + 174, + 40, + 60, + 526, + 174, + 40, + 60, + 526, + 172, + 42, + 60, + 526, + 172, + 42, + 62, + 526, + 164, + 48, + 62, + 526, + 164, + 48, + 62, + 526, + 162, + 50, + 62, + 526, + 162, + 50, + 62, + 528, + 158, + 52, + 62, + 528, + 158, + 52, + 62, + 528, + 156, + 54, + 62, + 528, + 156, + 54, + 62, + 528, + 152, + 58, + 62, + 528, + 152, + 58, + 62, + 528, + 148, + 62, + 62, + 528, + 148, + 62, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 140, + 68, + 62, + 530, + 140, + 68, + 64, + 528, + 138, + 70, + 64, + 528, + 138, + 70, + 64, + 530, + 130, + 76, + 64, + 530, + 130, + 76, + 66, + 528, + 126, + 80, + 66, + 528, + 126, + 80, + 66, + 530, + 122, + 82, + 66, + 530, + 122, + 82, + 66, + 530, + 120, + 84, + 66, + 530, + 120, + 84, + 66, + 532, + 114, + 88, + 66, + 532, + 114, + 88, + 68, + 498, + 2, + 32, + 108, + 92, + 68, + 498, + 2, + 32, + 108, + 92, + 68, + 416, + 6, + 72, + 8, + 30, + 104, + 96, + 68, + 416, + 6, + 72, + 8, + 30, + 104, + 96, + 68, + 412, + 12, + 68, + 14, + 28, + 100, + 98, + 68, + 412, + 12, + 68, + 14, + 28, + 100, + 98, + 68, + 410, + 16, + 62, + 22, + 24, + 98, + 100, + 68, + 410, + 16, + 62, + 22, + 24, + 98, + 100, + 68, + 410, + 16, + 60, + 24, + 26, + 94, + 102, + 68, + 410, + 16, + 60, + 24, + 26, + 94, + 102, + 68, + 408, + 20, + 58, + 26, + 32, + 80, + 108, + 68, + 408, + 20, + 58, + 26, + 32, + 80, + 108, + 54, + 6, + 8, + 408, + 18, + 58, + 30, + 38, + 70, + 110, + 54, + 6, + 8, + 408, + 18, + 58, + 30, + 38, + 70, + 110, + 52, + 10, + 6, + 408, + 18, + 56, + 36, + 36, + 66, + 112, + 52, + 10, + 6, + 408, + 18, + 56, + 36, + 36, + 66, + 112, + 46, + 16, + 6, + 406, + 20, + 56, + 38, + 38, + 58, + 116, + 46, + 16, + 6, + 406, + 20, + 56, + 38, + 38, + 58, + 116, + 46, + 428, + 22, + 52, + 42, + 38, + 52, + 120, + 46, + 428, + 22, + 52, + 42, + 38, + 52, + 120, + 46, + 428, + 22, + 50, + 44, + 42, + 4, + 12, + 28, + 124, + 46, + 428, + 22, + 50, + 44, + 42, + 4, + 12, + 28, + 124, + 48, + 424, + 24, + 50, + 48, + 58, + 20, + 128, + 48, + 424, + 24, + 50, + 48, + 58, + 20, + 128, + 48, + 362, + 8, + 54, + 24, + 48, + 52, + 60, + 14, + 130, + 48, + 362, + 8, + 54, + 24, + 48, + 52, + 60, + 14, + 130, + 48, + 360, + 10, + 54, + 26, + 44, + 56, + 202, + 48, + 360, + 10, + 54, + 26, + 44, + 56, + 202, + 50, + 358, + 12, + 52, + 26, + 44, + 58, + 200, + 50, + 358, + 12, + 52, + 26, + 44, + 58, + 200, + 58, + 348, + 14, + 50, + 28, + 42, + 60, + 200, + 58, + 348, + 14, + 50, + 28, + 42, + 60, + 200, + 60, + 346, + 14, + 50, + 30, + 38, + 66, + 196, + 60, + 346, + 14, + 50, + 30, + 38, + 66, + 196, + 60, + 344, + 16, + 50, + 30, + 36, + 72, + 192, + 60, + 344, + 16, + 50, + 30, + 36, + 72, + 192, + 62, + 342, + 16, + 48, + 32, + 34, + 76, + 190, + 62, + 342, + 16, + 48, + 32, + 34, + 76, + 190, + 66, + 338, + 16, + 48, + 32, + 34, + 76, + 190, + 66, + 338, + 16, + 48, + 32, + 34, + 76, + 190, + 70, + 332, + 18, + 48, + 32, + 34, + 78, + 188, + 70, + 332, + 18, + 48, + 32, + 34, + 78, + 188, + 74, + 328, + 18, + 48, + 32, + 34, + 82, + 184, + 74, + 328, + 18, + 48, + 32, + 34, + 82, + 184, + 78, + 322, + 22, + 46, + 32, + 36, + 82, + 182, + 78, + 322, + 22, + 46, + 32, + 36, + 82, + 182, + 82, + 318, + 22, + 46, + 32, + 38, + 82, + 180, + 82, + 318, + 22, + 46, + 32, + 38, + 82, + 180, + 84, + 316, + 22, + 46, + 32, + 40, + 80, + 180, + 84, + 316, + 22, + 46, + 32, + 40, + 80, + 180, + 86, + 312, + 24, + 46, + 32, + 40, + 82, + 178, + 86, + 312, + 24, + 46, + 32, + 40, + 82, + 178, + 88, + 310, + 24, + 46, + 32, + 42, + 82, + 176, + 88, + 310, + 24, + 46, + 32, + 42, + 82, + 176, + 90, + 308, + 24, + 46, + 32, + 44, + 84, + 172, + 90, + 308, + 24, + 46, + 32, + 44, + 84, + 172, + 90, + 308, + 24, + 46, + 32, + 46, + 84, + 170, + 90, + 308, + 24, + 46, + 32, + 46, + 84, + 170, + 90, + 308, + 24, + 46, + 32, + 48, + 82, + 170, + 90, + 308, + 24, + 46, + 32, + 48, + 82, + 170, + 90, + 306, + 28, + 42, + 34, + 50, + 82, + 168, + 90, + 306, + 28, + 42, + 34, + 50, + 82, + 168, + 90, + 306, + 26, + 44, + 34, + 52, + 82, + 166, + 90, + 306, + 26, + 44, + 34, + 52, + 82, + 166, + 90, + 306, + 26, + 44, + 34, + 52, + 84, + 164, + 90, + 306, + 26, + 44, + 34, + 52, + 84, + 164, + 90, + 306, + 26, + 44, + 34, + 54, + 84, + 162, + 90, + 306, + 26, + 44, + 34, + 54, + 84, + 162, + 90, + 306, + 26, + 44, + 34, + 58, + 82, + 160, + 90, + 306, + 26, + 44, + 34, + 58, + 82, + 160, + 90, + 306, + 26, + 44, + 34, + 60, + 82, + 158, + 90, + 306, + 26, + 44, + 34, + 60, + 82, + 158, + 90, + 306, + 26, + 44, + 34, + 62, + 82, + 156, + 90, + 306, + 26, + 44, + 34, + 62, + 82, + 156, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 66, + 84, + 150, + 90, + 306, + 24, + 46, + 34, + 66, + 84, + 150, + 90, + 306, + 24, + 46, + 34, + 68, + 84, + 148, + 90, + 306, + 24, + 46, + 34, + 68, + 84, + 148, + 88, + 308, + 24, + 46, + 34, + 70, + 84, + 146, + 88, + 308, + 24, + 46, + 34, + 70, + 84, + 146, + 88, + 308, + 24, + 46, + 34, + 72, + 84, + 72, + 32, + 40, + 88, + 308, + 24, + 46, + 34, + 72, + 84, + 72, + 32, + 40, + 88, + 306, + 26, + 46, + 34, + 72, + 86, + 62, + 44, + 36, + 88, + 306, + 26, + 46, + 34, + 72, + 86, + 62, + 44, + 36, + 88, + 306, + 26, + 46, + 34, + 74, + 84, + 58, + 54, + 30, + 88, + 306, + 26, + 46, + 34, + 74, + 84, + 58, + 54, + 30, + 88, + 306, + 26, + 46, + 34, + 76, + 84, + 54, + 58, + 28, + 88, + 306, + 26, + 46, + 34, + 76, + 84, + 54, + 58, + 28, + 88, + 306, + 26, + 46, + 34, + 80, + 80, + 52, + 64, + 24, + 88, + 306, + 26, + 46, + 34, + 80, + 80, + 52, + 64, + 24, + 88, + 306, + 26, + 46, + 34, + 82, + 78, + 52, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 82, + 78, + 52, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 84, + 74, + 54, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 84, + 74, + 54, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 86, + 70, + 56, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 86, + 70, + 56, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 88, + 64, + 60, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 88, + 64, + 60, + 68, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 62, + 62, + 66, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 62, + 62, + 66, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 60, + 64, + 68, + 18, + 86, + 306, + 26, + 48, + 34, + 90, + 60, + 64, + 68, + 18, + 86, + 306, + 26, + 46, + 36, + 92, + 56, + 70, + 64, + 18, + 86, + 306, + 26, + 46, + 36, + 92, + 56, + 70, + 64, + 18, + 86, + 306, + 26, + 46, + 36, + 94, + 52, + 74, + 60, + 20, + 86, + 306, + 26, + 46, + 36, + 94, + 52, + 74, + 60, + 20, + 86, + 306, + 26, + 46, + 36, + 96, + 46, + 80, + 58, + 20, + 86, + 306, + 26, + 46, + 36, + 96, + 46, + 80, + 58, + 20, + 86, + 304, + 28, + 46, + 36, + 98, + 44, + 82, + 56, + 20, + 86, + 304, + 28, + 46, + 36, + 98, + 44, + 82, + 56, + 20, + 84, + 306, + 28, + 46, + 36, + 100, + 40, + 88, + 52, + 20, + 84, + 306, + 28, + 46, + 36, + 100, + 40, + 88, + 52, + 20, + 84, + 306, + 28, + 46, + 36, + 102, + 36, + 92, + 50, + 20, + 84, + 306, + 28, + 46, + 36, + 102, + 36, + 92, + 50, + 20, + 84, + 306, + 28, + 46, + 36, + 104, + 32, + 98, + 42, + 24, + 84, + 306, + 28, + 46, + 36, + 104, + 32, + 98, + 42, + 24, + 84, + 306, + 28, + 46, + 36, + 106, + 26, + 108, + 32, + 28, + 84, + 306, + 28, + 46, + 36, + 106, + 26, + 108, + 32, + 28, + 84, + 306, + 26, + 48, + 36, + 108, + 24, + 112, + 20, + 36, + 84, + 306, + 26, + 48, + 36, + 108, + 24, + 112, + 20, + 36, + 84, + 304, + 28, + 48, + 36, + 50, + 14, + 46, + 20, + 170, + 84, + 304, + 28, + 48, + 36, + 50, + 14, + 46, + 20, + 170, + 84, + 304, + 28, + 48, + 36, + 44, + 22, + 44, + 18, + 172, + 84, + 304, + 28, + 48, + 36, + 44, + 22, + 44, + 18, + 172, + 84, + 304, + 28, + 48, + 36, + 38, + 30, + 44, + 14, + 174, + 84, + 304, + 28, + 48, + 36, + 38, + 30, + 44, + 14, + 174, + 84, + 304, + 28, + 48, + 36, + 34, + 36, + 46, + 6, + 178, + 84, + 304, + 28, + 48, + 36, + 34, + 36, + 46, + 6, + 178, + 84, + 304, + 26, + 50, + 36, + 28, + 42, + 230, + 84, + 304, + 26, + 50, + 36, + 28, + 42, + 230, + 84, + 304, + 26, + 50, + 36, + 20, + 50, + 230, + 84, + 304, + 26, + 50, + 36, + 20, + 50, + 230, + 84, + 304, + 26, + 50, + 36, + 14, + 56, + 230, + 84, + 304, + 26, + 50, + 36, + 14, + 56, + 230, + 84, + 304, + 26, + 50, + 38, + 10, + 58, + 230, + 84, + 304, + 26, + 50, + 38, + 10, + 58, + 230, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 82, + 306, + 26, + 50, + 108, + 228, + 82, + 306, + 26, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 46, + 114, + 226, + 82, + 304, + 28, + 46, + 114, + 226, + 82, + 304, + 28, + 42, + 118, + 226, + 82, + 304, + 28, + 42, + 118, + 226, + 82, + 304, + 26, + 38, + 124, + 226, + 82, + 304, + 26, + 38, + 124, + 226, + 82, + 302, + 28, + 34, + 128, + 226, + 82, + 302, + 28, + 34, + 128, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 30, + 132, + 226, + 82, + 302, + 28, + 30, + 132, + 226, + 80, + 304, + 28, + 30, + 134, + 224, + 80, + 304, + 28, + 30, + 134, + 224, + 80, + 304, + 28, + 28, + 136, + 224, + 80, + 304, + 28, + 28, + 136, + 224, + 80, + 304, + 26, + 30, + 136, + 224, + 80, + 304, + 26, + 30, + 136, + 224, + 80, + 304, + 26, + 28, + 140, + 222, + 80, + 304, + 26, + 28, + 140, + 222, + 80, + 302, + 28, + 28, + 140, + 42, + 14, + 10, + 2, + 154, + 80, + 302, + 28, + 28, + 140, + 42, + 14, + 10, + 2, + 154, + 80, + 304, + 26, + 28, + 140, + 36, + 50, + 136, + 80, + 304, + 26, + 28, + 140, + 36, + 50, + 136, + 80, + 304, + 26, + 28, + 140, + 34, + 72, + 116, + 80, + 304, + 26, + 28, + 140, + 34, + 72, + 116, + 80, + 304, + 26, + 28, + 140, + 34, + 80, + 108, + 80, + 304, + 26, + 28, + 140, + 34, + 80, + 108, + 80, + 304, + 26, + 28, + 140, + 34, + 86, + 102, + 80, + 304, + 26, + 28, + 140, + 34, + 86, + 102, + 80, + 302, + 28, + 28, + 142, + 32, + 102, + 86, + 80, + 302, + 28, + 28, + 142, + 32, + 102, + 86, + 80, + 302, + 26, + 30, + 142, + 30, + 122, + 68, + 80, + 302, + 26, + 30, + 142, + 30, + 122, + 68, + 80, + 298, + 30, + 30, + 142, + 30, + 142, + 48, + 80, + 298, + 30, + 30, + 142, + 30, + 142, + 48, + 80, + 296, + 32, + 30, + 142, + 30, + 148, + 42, + 80, + 296, + 32, + 30, + 142, + 30, + 148, + 42, + 80, + 296, + 34, + 28, + 142, + 30, + 154, + 36, + 80, + 296, + 34, + 28, + 142, + 30, + 154, + 36, + 80, + 296, + 36, + 28, + 140, + 30, + 166, + 24, + 80, + 296, + 36, + 28, + 140, + 30, + 166, + 24, + 80, + 296, + 36, + 28, + 140, + 28, + 272, + 296, + 36, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 272, + 294, + 38, + 28, + 140, + 28, + 272, + 294, + 38, + 28, + 140, + 28, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 268, + 306, + 26, + 34, + 140, + 24, + 270, + 306, + 26, + 34, + 140, + 24, + 270, + 320, + 8, + 38, + 140, + 24, + 270, + 320, + 8, + 38, + 140, + 24, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 202, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 372, + 140, + 16, + 204, + 6, + 62, + 372, + 140, + 16, + 204, + 6, + 62, + 372, + 142, + 14, + 204, + 6, + 62, + 372, + 142, + 14, + 272, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 374, + 140, + 12, + 274, + 374, + 140, + 12, + 274, + 174, + 22, + 178, + 140, + 12, + 274, + 174, + 22, + 178, + 140, + 12, + 274, + 168, + 30, + 106, + 24, + 46, + 140, + 12, + 274, + 168, + 30, + 106, + 24, + 46, + 140, + 12, + 272, + 168, + 36, + 80, + 50, + 42, + 142, + 8, + 274, + 168, + 36, + 80, + 50, + 42, + 142, + 8, + 272, + 168, + 170, + 40, + 142, + 8, + 272, + 168, + 170, + 40, + 142, + 8, + 272, + 166, + 174, + 38, + 142, + 6, + 274, + 166, + 174, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 144, + 4, + 274, + 164, + 176, + 38, + 144, + 4, + 272, + 164, + 180, + 36, + 420, + 164, + 180, + 36, + 420, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 162, + 182, + 38, + 418, + 162, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 424, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 424, + 154, + 182, + 40, + 424, + 154, + 182, + 40, + 426, + 152, + 180, + 42, + 426, + 152, + 180, + 42, + 426, + 152, + 178, + 44, + 426, + 152, + 178, + 44, + 428, + 150, + 176, + 46, + 428, + 150, + 176, + 46, + 370, + 4, + 56, + 148, + 168, + 54, + 370, + 4, + 56, + 148, + 168, + 54, + 370, + 4, + 58, + 146, + 158, + 66, + 368, + 4, + 58, + 146, + 158, + 66, + 372, + 6, + 54, + 146, + 144, + 78, + 372, + 6, + 54, + 146, + 144, + 78, + 372, + 6, + 56, + 144, + 132, + 90, + 372, + 6, + 56, + 144, + 132, + 90, + 372, + 6, + 56, + 144, + 110, + 112, + 372, + 6, + 56, + 144, + 110, + 112, + 372, + 6, + 58, + 144, + 88, + 132, + 372, + 6, + 58, + 144, + 88, + 132, + 436, + 146, + 60, + 158, + 436, + 146, + 60, + 158, + 440, + 144, + 44, + 174, + 438, + 144, + 44, + 174, + 440, + 142, + 42, + 176, + 440, + 142, + 42, + 176, + 440, + 144, + 38, + 178, + 440, + 144, + 38, + 178, + 442, + 144, + 34, + 180, + 442, + 144, + 34, + 180, + 444, + 144, + 28, + 184, + 444, + 144, + 28, + 184, + 446, + 146, + 16, + 192, + 446, + 146, + 16, + 192, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 450, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 464, + 302, + 6, + 30, + 462, + 302, + 6, + 30, + 462, + 286, + 24, + 28, + 462, + 286, + 24, + 28, + 464, + 262, + 48, + 26, + 464, + 262, + 48, + 26, + 466, + 252, + 56, + 26, + 466, + 252, + 56, + 26, + 468, + 244, + 64, + 24, + 468, + 244, + 64, + 24, + 468, + 236, + 72, + 24, + 468, + 236, + 72, + 24, + 470, + 228, + 78, + 24, + 470, + 228, + 78, + 24, + 472, + 222, + 84, + 24, + 470, + 222, + 84, + 24, + 472, + 218, + 86, + 24, + 472, + 218, + 86, + 24, + 472, + 216, + 90, + 24, + 470, + 216, + 90, + 24, + 472, + 212, + 94, + 24, + 470, + 212, + 94, + 24, + 470, + 210, + 96, + 26, + 468, + 210, + 96, + 26, + 470, + 204, + 102, + 26, + 76, + 22, + 370, + 204, + 102, + 26, + 76, + 22, + 372, + 200, + 104, + 28, + 58, + 40, + 370, + 200, + 104, + 28, + 58, + 40, + 372, + 196, + 108, + 40, + 2, + 82, + 372, + 196, + 108, + 40, + 2, + 82, + 374, + 192, + 110, + 124, + 374, + 192, + 110, + 124, + 374, + 190, + 114, + 122, + 374, + 190, + 114, + 122, + 376, + 186, + 116, + 122, + 376, + 186, + 116, + 122, + 378, + 184, + 116, + 122, + 378, + 184, + 116, + 122, + 380, + 182, + 116, + 122, + 380, + 182, + 116, + 122, + 382, + 182, + 116, + 120, + 382, + 182, + 116, + 120, + 384, + 182, + 114, + 118, + 386, + 182, + 114, + 118, + 386, + 182, + 116, + 116, + 386, + 182, + 116, + 116, + 388, + 180, + 116, + 116, + 388, + 180, + 116, + 116, + 390, + 178, + 118, + 114, + 390, + 178, + 118, + 114, + 392, + 178, + 118, + 112, + 392, + 178, + 118, + 112, + 394, + 178, + 116, + 110, + 396, + 178, + 116, + 110, + 396, + 178, + 118, + 48, + 22, + 38, + 396, + 178, + 118, + 48, + 22, + 38, + 398, + 176, + 118, + 44, + 28, + 36, + 398, + 176, + 118, + 44, + 28, + 36, + 304, + 4, + 90, + 178, + 116, + 40, + 34, + 34, + 304, + 4, + 90, + 178, + 116, + 40, + 34, + 34, + 304, + 4, + 92, + 176, + 118, + 34, + 40, + 32, + 304, + 4, + 92, + 176, + 118, + 34, + 40, + 32, + 400, + 176, + 118, + 28, + 48, + 28, + 402, + 176, + 118, + 28, + 48, + 28, + 316, + 8, + 82, + 174, + 118, + 14, + 62, + 26, + 316, + 8, + 82, + 174, + 118, + 14, + 62, + 26, + 316, + 8, + 84, + 172, + 194, + 26, + 316, + 8, + 84, + 172, + 194, + 26, + 316, + 4, + 88, + 174, + 192, + 26, + 316, + 4, + 88, + 174, + 192, + 26, + 410, + 172, + 194, + 24, + 410, + 172, + 194, + 24, + 412, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 416, + 170, + 194, + 18, + 418, + 170, + 194, + 18, + 420, + 170, + 192, + 18, + 420, + 170, + 192, + 18, + 422, + 168, + 194, + 16, + 422, + 168, + 194, + 16, + 424, + 166, + 194, + 16, + 424, + 166, + 194, + 16, + 426, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 430, + 166, + 190, + 14, + 430, + 166, + 190, + 14, + 432, + 164, + 190, + 14, + 432, + 164, + 190, + 14, + 434, + 160, + 190, + 14, + 436, + 160, + 190, + 14, + 438, + 156, + 192, + 14, + 438, + 156, + 192, + 14, + 438, + 152, + 194, + 16, + 438, + 152, + 194, + 16, + 440, + 146, + 196, + 18, + 440, + 146, + 196, + 18, + 440, + 142, + 196, + 20, + 442, + 142, + 196, + 20, + 444, + 142, + 188, + 26, + 444, + 142, + 188, + 26, + 446, + 140, + 186, + 28, + 446, + 140, + 186, + 28, + 448, + 144, + 176, + 32, + 448, + 144, + 176, + 32, + 448, + 146, + 170, + 34, + 450, + 146, + 170, + 34, + 452, + 144, + 168, + 36, + 452, + 144, + 168, + 36, + 454, + 140, + 164, + 40, + 456, + 140, + 164, + 40, + 456, + 140, + 162, + 40, + 458, + 140, + 162, + 40, + 460, + 138, + 158, + 44, + 460, + 138, + 158, + 44, + 462, + 136, + 152, + 48, + 464, + 136, + 152, + 48, + 466, + 134, + 144, + 54, + 468, + 134, + 144, + 54, + 470, + 132, + 140, + 54, + 474, + 132, + 140, + 54, + 476, + 130, + 136, + 58, + 476, + 130, + 136, + 58, + 476, + 130, + 132, + 60, + 478, + 130, + 132, + 60, + 480, + 128, + 130, + 62, + 480, + 128, + 130, + 62, + 482, + 126, + 124, + 68, + 482, + 126, + 124, + 68, + 484, + 124, + 120, + 72, + 484, + 124, + 120, + 72, + 486, + 122, + 114, + 78, + 486, + 122, + 114, + 78, + 488, + 122, + 110, + 80, + 488, + 122, + 110, + 80, + 488, + 122, + 108, + 82, + 488, + 122, + 108, + 82, + 490, + 120, + 100, + 90, + 490, + 120, + 100, + 90, + 492, + 118, + 92, + 100, + 490, + 118, + 92, + 100, + 492, + 118, + 88, + 104, + 490, + 118, + 88, + 104, + 490, + 118, + 86, + 106, + 490, + 118, + 86, + 106, + 492, + 116, + 80, + 114, + 490, + 116, + 80, + 114, + 492, + 116, + 76, + 116, + 492, + 116, + 76, + 116, + 492, + 116, + 68, + 124, + 492, + 116, + 68, + 124, + 494, + 116, + 66, + 122, + 496, + 116, + 66, + 122, + 498, + 114, + 64, + 124, + 498, + 114, + 64, + 124, + 500, + 114, + 62, + 124, + 500, + 114, + 62, + 124, + 502, + 114, + 56, + 128, + 502, + 114, + 56, + 128, + 400, + 6, + 96, + 116, + 50, + 132, + 400, + 6, + 96, + 116, + 50, + 132, + 400, + 8, + 96, + 116, + 46, + 134, + 400, + 8, + 96, + 116, + 46, + 134, + 400, + 8, + 98, + 116, + 40, + 136, + 402, + 8, + 98, + 116, + 40, + 136, + 404, + 4, + 102, + 116, + 34, + 140, + 404, + 4, + 102, + 116, + 34, + 140, + 512, + 118, + 26, + 144, + 512, + 118, + 26, + 144, + 514, + 122, + 14, + 150, + 514, + 122, + 14, + 150, + 514, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 412, + 4, + 102, + 282, + 412, + 4, + 102, + 282, + 412, + 4, + 104, + 280, + 412, + 4, + 104, + 280, + 520, + 280, + 520, + 280, + 524, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 424, + 6, + 100, + 268, + 426, + 6, + 100, + 268, + 426, + 8, + 100, + 266, + 426, + 8, + 100, + 266, + 426, + 10, + 100, + 264, + 426, + 10, + 100, + 264, + 426, + 16, + 4, + 4, + 6, + 4, + 78, + 264, + 424, + 16, + 4, + 4, + 6, + 4, + 78, + 264, + 424, + 16, + 2, + 8, + 4, + 4, + 78, + 264, + 424, + 16, + 2, + 8, + 4, + 4, + 78, + 264, + 424, + 30, + 84, + 264, + 422, + 30, + 84, + 264, + 424, + 28, + 86, + 264, + 422, + 28, + 86, + 264, + 422, + 30, + 86, + 262, + 422, + 30, + 86, + 262, + 424, + 10, + 2, + 18, + 86, + 262, + 422, + 10, + 2, + 18, + 86, + 262, + 426, + 6, + 4, + 16, + 88, + 262, + 424, + 6, + 4, + 16, + 88, + 262, + 450, + 6, + 82, + 266, + 446, + 6, + 82, + 266, + 446, + 8, + 82, + 266, + 444, + 8, + 82, + 266, + 444, + 8, + 84, + 266, + 442, + 8, + 84, + 266, + 442, + 12, + 2, + 6, + 72, + 272, + 436, + 12, + 2, + 6, + 72, + 272, + 440, + 16, + 74, + 272, + 438, + 16, + 74, + 272, + 440, + 10, + 80, + 274, + 436, + 10, + 80, + 274, + 436, + 10, + 82, + 274, + 434, + 10, + 82, + 274, + 434, + 10, + 84, + 274, + 432, + 10, + 84, + 274, + 432, + 12, + 84, + 276, + 428, + 12, + 84, + 276, + 428, + 12, + 84, + 278, + 426, + 12, + 84, + 278, + 432, + 6, + 86, + 280, + 428, + 6, + 86, + 280, + 432, + 8, + 82, + 280, + 430, + 8, + 82, + 280, + 428, + 10, + 84, + 280, + 426, + 10, + 84, + 280, + 426, + 14, + 80, + 282, + 424, + 14, + 80, + 282, + 424, + 14, + 82, + 284, + 420, + 14, + 82, + 284, + 422, + 12, + 84, + 290, + 414, + 12, + 84, + 290, + 418, + 6, + 86, + 292, + 416, + 6, + 86, + 292, + 416, + 6, + 88, + 292, + 414, + 6, + 88, + 292, + 510, + 290, + 510, + 290, + 420, + 4, + 88, + 290, + 418, + 4, + 88, + 290, + 418, + 8, + 86, + 294, + 412, + 8, + 86, + 294, + 412, + 10, + 86, + 294, + 410, + 10, + 86, + 294, + 410, + 12, + 84, + 296, + 408, + 12, + 84, + 296, + 408, + 16, + 82, + 298, + 404, + 16, + 82, + 298, + 404, + 16, + 84, + 300, + 170, + 4, + 226, + 16, + 84, + 300, + 170, + 4, + 226, + 12, + 90, + 304, + 164, + 4, + 226, + 12, + 90, + 304, + 164, + 4, + 228, + 8, + 94, + 304, + 160, + 8, + 226, + 8, + 94, + 304, + 160, + 8, + 226, + 8, + 96, + 304, + 158, + 8, + 226, + 8, + 96, + 304, + 158, + 8, + 228, + 6, + 96, + 306, + 154, + 10, + 228, + 6, + 96, + 306, + 154, + 10, + 332, + 308, + 148, + 12, + 332, + 308, + 148, + 12, + 238, + 4, + 90, + 312, + 142, + 14, + 238, + 4, + 90, + 312, + 142, + 14, + 234, + 10, + 90, + 310, + 140, + 14, + 236, + 10, + 90, + 310, + 140, + 14, + 236, + 12, + 90, + 310, + 138, + 16, + 234, + 12, + 90, + 310, + 138, + 16, + 234, + 14, + 24, + 6, + 60, + 308, + 136, + 18, + 234, + 14, + 24, + 6, + 60, + 308, + 136, + 18, + 234, + 14, + 24, + 6, + 60, + 310, + 132, + 20, + 234, + 14, + 24, + 6, + 60, + 310, + 132, + 20, + 240, + 8, + 92, + 310, + 126, + 24, + 240, + 8, + 92, + 310, + 126, + 24, + 240, + 6, + 96, + 310, + 124, + 24, + 240, + 6, + 96, + 310, + 124, + 24, + 244, + 4, + 96, + 308, + 122, + 26, + 244, + 4, + 96, + 308, + 122, + 26, + 244, + 4, + 96, + 306, + 124, + 28, + 242, + 4, + 96, + 306, + 124, + 28, + 242, + 6, + 96, + 302, + 124, + 30, + 242, + 6, + 96, + 302, + 124, + 30, + 242, + 10, + 94, + 296, + 126, + 30, + 244, + 10, + 94, + 296, + 126, + 30, + 244, + 10, + 96, + 292, + 126, + 32, + 244, + 10, + 96, + 292, + 126, + 32, + 244, + 12, + 94, + 290, + 126, + 34, + 244, + 12, + 94, + 290, + 126, + 34, + 246, + 12, + 94, + 288, + 124, + 36, + 246, + 12, + 94, + 288, + 124, + 36, + 248, + 10, + 96, + 286, + 124, + 36, + 248, + 10, + 96, + 286, + 124, + 36, + 356, + 282, + 124, + 38, + 356, + 282, + 124, + 38, + 358, + 280, + 124, + 38, + 358, + 280, + 124, + 38, + 360, + 278, + 124, + 38, + 360, + 278, + 124, + 38, + 360, + 276, + 126, + 38, + 360, + 276, + 126, + 38, + 362, + 274, + 124, + 40, + 362, + 274, + 124, + 40, + 364, + 270, + 124, + 42, + 364, + 270, + 124, + 42, + 366, + 268, + 122, + 44, + 366, + 268, + 122, + 44, + 366, + 268, + 120, + 46, + 366, + 268, + 120, + 46, + 368, + 266, + 68, + 10, + 42, + 46, + 368, + 266, + 68, + 10, + 42, + 46, + 370, + 264, + 62, + 18, + 38, + 48, + 370, + 264, + 62, + 18, + 38, + 48, + 266, + 6, + 98, + 264, + 54, + 34, + 28, + 50, + 266, + 6, + 98, + 264, + 54, + 34, + 28, + 50, + 266, + 6, + 100, + 262, + 50, + 40, + 24, + 52, + 266, + 6, + 100, + 262, + 50, + 40, + 24, + 52, + 266, + 6, + 102, + 262, + 48, + 42, + 20, + 54, + 266, + 6, + 102, + 262, + 48, + 42, + 20, + 54, + 268, + 4, + 104, + 262, + 44, + 46, + 16, + 56, + 268, + 4, + 104, + 262, + 44, + 46, + 16, + 56, + 376, + 264, + 42, + 48, + 12, + 58, + 376, + 264, + 42, + 48, + 12, + 58, + 378, + 264, + 40, + 54, + 6, + 58, + 378, + 264, + 40, + 54, + 6, + 58, + 380, + 262, + 40, + 118, + 380, + 262, + 40, + 118, + 382, + 262, + 36, + 120, + 382, + 262, + 36, + 120, + 382, + 264, + 32, + 122, + 382, + 264, + 32, + 122, + 384, + 268, + 22, + 126, + 384, + 268, + 22, + 126, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 288, + 6, + 106, + 400, + 288, + 6, + 106, + 400, + 288, + 6, + 108, + 398, + 288, + 6, + 108, + 398, + 288, + 6, + 110, + 396, + 288, + 6, + 110, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 108, + 388, + 298, + 6, + 108, + 388, + 300, + 8, + 106, + 386, + 300, + 8, + 106, + 386, + 298, + 10, + 108, + 384, + 298, + 10, + 108, + 384, + 298, + 12, + 58, + 4, + 46, + 382, + 298, + 12, + 58, + 4, + 46, + 382, + 300, + 10, + 58, + 4, + 48, + 380, + 300, + 10, + 58, + 4, + 48, + 380, + 302, + 8, + 110, + 380, + 302, + 8, + 110, + 380, + 304, + 6, + 2, + 4, + 106, + 378, + 304, + 6, + 2, + 4, + 106, + 378, + 304, + 12, + 88, + 4, + 16, + 376, + 304, + 12, + 88, + 4, + 16, + 376, + 304, + 12, + 2, + 4, + 80, + 10, + 14, + 374, + 304, + 12, + 2, + 4, + 80, + 10, + 14, + 374, + 306, + 16, + 80, + 10, + 16, + 372, + 306, + 16, + 80, + 10, + 16, + 372, + 306, + 12, + 4, + 6, + 26, + 4, + 44, + 10, + 16, + 372, + 306, + 12, + 4, + 6, + 26, + 4, + 44, + 10, + 16, + 372, + 308, + 10, + 4, + 6, + 26, + 4, + 44, + 8, + 20, + 370, + 308, + 10, + 4, + 6, + 26, + 4, + 44, + 8, + 20, + 370, + 378, + 6, + 18, + 8, + 20, + 370, + 378, + 6, + 18, + 8, + 20, + 370, + 378, + 6, + 4, + 4, + 40, + 368, + 378, + 6, + 4, + 4, + 40, + 368, + 378, + 14, + 32, + 4, + 6, + 366, + 378, + 14, + 32, + 4, + 6, + 366, + 324, + 4, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 6, + 8, + 364, + 324, + 4, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 6, + 8, + 364, + 318, + 10, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 8, + 8, + 362, + 318, + 10, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 8, + 8, + 362, + 316, + 12, + 36, + 4, + 16, + 6, + 14, + 4, + 14, + 8, + 10, + 360, + 316, + 12, + 36, + 4, + 16, + 6, + 14, + 4, + 14, + 8, + 10, + 360, + 316, + 12, + 34, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 12, + 34, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 14, + 2, + 6, + 6, + 4, + 14, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 14, + 2, + 6, + 6, + 4, + 14, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 318, + 22, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 4, + 6, + 6, + 4, + 4, + 10, + 10, + 358, + 318, + 22, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 4, + 6, + 6, + 4, + 4, + 10, + 10, + 358, + 322, + 18, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 16, + 4, + 4, + 10, + 12, + 356, + 322, + 18, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 16, + 4, + 4, + 10, + 12, + 356, + 324, + 14, + 4, + 6, + 16, + 4, + 54, + 8, + 16, + 354, + 324, + 14, + 4, + 6, + 16, + 4, + 54, + 8, + 16, + 354, + 324, + 10, + 114, + 352, + 324, + 10, + 114, + 352, + 324, + 12, + 114, + 350, + 324, + 12, + 114, + 350, + 324, + 14, + 6, + 4, + 26, + 4, + 74, + 348, + 324, + 14, + 6, + 4, + 26, + 4, + 74, + 348, + 324, + 14, + 6, + 4, + 26, + 4, + 76, + 346, + 324, + 14, + 6, + 4, + 26, + 4, + 76, + 346, + 330, + 12, + 2, + 4, + 108, + 344, + 330, + 12, + 2, + 4, + 108, + 344, + 330, + 16, + 98, + 4, + 10, + 342, + 330, + 16, + 98, + 4, + 10, + 342, + 332, + 16, + 94, + 6, + 12, + 340, + 332, + 16, + 94, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 334, + 14, + 96, + 4, + 14, + 338, + 334, + 14, + 96, + 4, + 14, + 338, + 336, + 12, + 60, + 6, + 50, + 336, + 336, + 12, + 60, + 6, + 50, + 336, + 338, + 10, + 36, + 4, + 20, + 6, + 52, + 334, + 338, + 10, + 36, + 4, + 20, + 6, + 52, + 334, + 340, + 8, + 6, + 4, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 40, + 332, + 340, + 8, + 6, + 4, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 40, + 332, + 342, + 8, + 2, + 6, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 42, + 330, + 342, + 8, + 2, + 6, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 42, + 330, + 344, + 14, + 6, + 4, + 16, + 4, + 4, + 6, + 16, + 4, + 52, + 330, + 344, + 14, + 6, + 4, + 16, + 4, + 4, + 6, + 16, + 4, + 52, + 330, + 344, + 24, + 46, + 6, + 44, + 336, + 344, + 24, + 46, + 6, + 44, + 336, + 344, + 26, + 2, + 6, + 16, + 4, + 16, + 6, + 44, + 336, + 344, + 26, + 2, + 6, + 16, + 4, + 16, + 6, + 44, + 336, + 344, + 36, + 2, + 6, + 4, + 8, + 14, + 4, + 16, + 4, + 26, + 4, + 6, + 326, + 344, + 36, + 2, + 6, + 4, + 8, + 14, + 4, + 16, + 4, + 26, + 4, + 6, + 326, + 344, + 36, + 2, + 6, + 4, + 8, + 34, + 4, + 26, + 4, + 8, + 324, + 344, + 36, + 2, + 6, + 4, + 8, + 34, + 4, + 26, + 4, + 8, + 324, + 346, + 14, + 2, + 8, + 2, + 6, + 14, + 6, + 66, + 4, + 10, + 322, + 346, + 14, + 2, + 8, + 2, + 6, + 14, + 6, + 66, + 4, + 10, + 322, + 348, + 8, + 70, + 8, + 46, + 320, + 348, + 8, + 70, + 8, + 46, + 320, + 348, + 6, + 48, + 6, + 18, + 8, + 30, + 4, + 12, + 320, + 348, + 6, + 48, + 6, + 18, + 8, + 30, + 4, + 12, + 320, + 354, + 4, + 4, + 6, + 34, + 6, + 16, + 4, + 16, + 4, + 16, + 4, + 14, + 318, + 354, + 4, + 4, + 6, + 34, + 6, + 16, + 4, + 16, + 4, + 16, + 4, + 14, + 318, + 354, + 6, + 2, + 6, + 34, + 8, + 14, + 4, + 16, + 4, + 14, + 6, + 16, + 316, + 354, + 6, + 2, + 6, + 34, + 8, + 14, + 4, + 16, + 4, + 14, + 6, + 16, + 316, + 354, + 14, + 34, + 8, + 34, + 4, + 14, + 10, + 12, + 316, + 354, + 14, + 34, + 8, + 34, + 4, + 14, + 10, + 12, + 316, + 354, + 14, + 30, + 12, + 18, + 20, + 12, + 14, + 14, + 312, + 354, + 14, + 30, + 12, + 18, + 20, + 12, + 14, + 14, + 312, + 354, + 14, + 4, + 8, + 2, + 6, + 6, + 16, + 18, + 18, + 14, + 14, + 14, + 312, + 354, + 14, + 4, + 8, + 2, + 6, + 6, + 16, + 18, + 18, + 14, + 14, + 14, + 312, + 354, + 16, + 2, + 18, + 2, + 26, + 12, + 16, + 8, + 4, + 4, + 14, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 12, + 16, + 8, + 4, + 4, + 14, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 14, + 14, + 8, + 4, + 4, + 8, + 2, + 4, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 14, + 14, + 8, + 4, + 4, + 8, + 2, + 4, + 14, + 310, + 358, + 22, + 2, + 8, + 2, + 6, + 4, + 16, + 16, + 12, + 6, + 6, + 4, + 8, + 22, + 308, + 358, + 22, + 2, + 8, + 2, + 6, + 4, + 16, + 16, + 12, + 6, + 6, + 4, + 8, + 22, + 308, + 360, + 12, + 40, + 4, + 18, + 24, + 26, + 4, + 8, + 304, + 360, + 12, + 40, + 4, + 18, + 24, + 26, + 4, + 8, + 304, + 360, + 16, + 8, + 4, + 24, + 6, + 16, + 20, + 28, + 6, + 10, + 302, + 360, + 16, + 8, + 4, + 24, + 6, + 16, + 20, + 28, + 6, + 10, + 302, + 362, + 16, + 4, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 6, + 14, + 16, + 4, + 14, + 6, + 12, + 300, + 362, + 16, + 4, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 6, + 14, + 16, + 4, + 14, + 6, + 12, + 300, + 362, + 18, + 2, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 14, + 6, + 16, + 4, + 14, + 8, + 10, + 300, + 362, + 18, + 2, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 14, + 6, + 16, + 4, + 14, + 8, + 10, + 300, + 364, + 24, + 4, + 6, + 6, + 4, + 4, + 16, + 14, + 6, + 16, + 4, + 14, + 12, + 8, + 298, + 364, + 24, + 4, + 6, + 6, + 4, + 4, + 16, + 14, + 6, + 16, + 4, + 14, + 12, + 8, + 298, + 364, + 26, + 2, + 14, + 6, + 18, + 14, + 8, + 12, + 8, + 8, + 14, + 8, + 298, + 364, + 26, + 2, + 14, + 6, + 18, + 14, + 8, + 12, + 8, + 8, + 14, + 8, + 298, + 366, + 44, + 2, + 18, + 14, + 8, + 16, + 4, + 8, + 14, + 8, + 298, + 366, + 44, + 2, + 18, + 14, + 8, + 16, + 4, + 8, + 14, + 8, + 298, + 366, + 66, + 22, + 6, + 2, + 4, + 8, + 4, + 2, + 14, + 10, + 298, + 364, + 66, + 22, + 6, + 2, + 4, + 8, + 4, + 2, + 14, + 10, + 298, + 368, + 62, + 20, + 14, + 8, + 4, + 4, + 10, + 16, + 294, + 368, + 62, + 20, + 14, + 8, + 4, + 4, + 10, + 16, + 294, + 372, + 36, + 2, + 20, + 16, + 20, + 6, + 4, + 4, + 10, + 16, + 292, + 374, + 36, + 2, + 20, + 16, + 20, + 6, + 4, + 4, + 10, + 16, + 292, + 384, + 4, + 14, + 6, + 6, + 20, + 14, + 22, + 12, + 10, + 10, + 298, + 384, + 4, + 14, + 6, + 6, + 20, + 14, + 22, + 12, + 10, + 10, + 298, + 384, + 4, + 14, + 6, + 6, + 4, + 4, + 16, + 10, + 22, + 14, + 4, + 14, + 298, + 384, + 4, + 14, + 6, + 6, + 4, + 4, + 16, + 10, + 22, + 14, + 4, + 14, + 298, + 384, + 4, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 18, + 12, + 8, + 2, + 6, + 16, + 4, + 6, + 4, + 4, + 8, + 4, + 286, + 384, + 4, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 18, + 12, + 8, + 2, + 6, + 16, + 4, + 6, + 4, + 4, + 8, + 4, + 286, + 374, + 4, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 6, + 4, + 18, + 14, + 6, + 2, + 6, + 14, + 6, + 6, + 4, + 4, + 8, + 6, + 284, + 374, + 4, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 6, + 4, + 18, + 14, + 6, + 2, + 6, + 14, + 6, + 6, + 4, + 4, + 8, + 6, + 284, + 374, + 6, + 2, + 6, + 4, + 18, + 2, + 28, + 14, + 14, + 14, + 8, + 4, + 4, + 2, + 12, + 6, + 282, + 374, + 6, + 2, + 6, + 4, + 18, + 2, + 28, + 14, + 14, + 14, + 8, + 4, + 4, + 2, + 12, + 6, + 282, + 374, + 70, + 10, + 16, + 10, + 14, + 6, + 12, + 8, + 280, + 374, + 70, + 10, + 16, + 10, + 14, + 6, + 12, + 8, + 280, + 374, + 74, + 6, + 16, + 4, + 4, + 2, + 18, + 2, + 12, + 8, + 280, + 374, + 74, + 6, + 16, + 4, + 4, + 2, + 18, + 2, + 12, + 8, + 280, + 374, + 74, + 6, + 12, + 6, + 18, + 2, + 20, + 8, + 282, + 372, + 74, + 6, + 12, + 6, + 18, + 2, + 20, + 8, + 282, + 372, + 76, + 4, + 14, + 4, + 18, + 2, + 22, + 8, + 280, + 372, + 76, + 4, + 14, + 4, + 18, + 2, + 22, + 8, + 280, + 372, + 76, + 14, + 52, + 6, + 278, + 374, + 76, + 14, + 52, + 6, + 278, + 378, + 10, + 4, + 18, + 2, + 8, + 2, + 28, + 14, + 54, + 6, + 276, + 378, + 10, + 4, + 18, + 2, + 8, + 2, + 28, + 14, + 54, + 6, + 276, + 374, + 14, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 6, + 2, + 22, + 12, + 54, + 10, + 272, + 374, + 14, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 6, + 2, + 22, + 12, + 54, + 10, + 272, + 372, + 16, + 4, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 24, + 4, + 6, + 4, + 8, + 2, + 8, + 4, + 276, + 372, + 16, + 4, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 24, + 4, + 6, + 4, + 8, + 2, + 8, + 4, + 276, + 372, + 18, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 6, + 2, + 8, + 2, + 6, + 4, + 6, + 4, + 8, + 2, + 8, + 2, + 278, + 372, + 18, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 6, + 2, + 8, + 2, + 6, + 4, + 6, + 4, + 8, + 2, + 8, + 2, + 278, + 370, + 40, + 2, + 44, + 8, + 26, + 2, + 308, + 370, + 40, + 2, + 44, + 8, + 26, + 2, + 308, + 368, + 90, + 10, + 332, + 368, + 90, + 10, + 332, + 368, + 92, + 8, + 332, + 368, + 92, + 8, + 332, + 366, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 12, + 328, + 364, + 96, + 12, + 328, + 362, + 102, + 8, + 326, + 364, + 102, + 8, + 326, + 364, + 14, + 2, + 10, + 2, + 6, + 2, + 10, + 2, + 6, + 4, + 46, + 6, + 326, + 364, + 14, + 2, + 10, + 2, + 6, + 2, + 10, + 2, + 6, + 4, + 46, + 6, + 326, + 364, + 14, + 4, + 8, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 48, + 4, + 328, + 362, + 14, + 4, + 8, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 48, + 4, + 328, + 362, + 26, + 2, + 8, + 2, + 8, + 2, + 60, + 2, + 66, + 2, + 260, + 362, + 26, + 2, + 8, + 2, + 8, + 2, + 60, + 2, + 66, + 2, + 260, + 362, + 112, + 6, + 58, + 2, + 258, + 364, + 112, + 6, + 58, + 2, + 258, + 362, + 114, + 6, + 318, + 362, + 114, + 6, + 318, + 360, + 118, + 4, + 318, + 360, + 118, + 4, + 318, + 358, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 126, + 6, + 312, + 356, + 126, + 6, + 312, + 354, + 22, + 4, + 8, + 2, + 8, + 2, + 86, + 2, + 68, + 2, + 242, + 354, + 22, + 4, + 8, + 2, + 8, + 2, + 86, + 2, + 68, + 2, + 242, + 352, + 16, + 2, + 6, + 4, + 8, + 2, + 6, + 4, + 8, + 2, + 76, + 4, + 66, + 2, + 242, + 352, + 16, + 2, + 6, + 4, + 8, + 2, + 6, + 4, + 8, + 2, + 76, + 4, + 66, + 2, + 242, + 352, + 26, + 2, + 8, + 2, + 8, + 2, + 86, + 4, + 68, + 2, + 240, + 352, + 26, + 2, + 8, + 2, + 8, + 2, + 86, + 4, + 68, + 2, + 240, + 352, + 136, + 2, + 310, + 352, + 136, + 2, + 310, + 350, + 138, + 6, + 304, + 352, + 138, + 6, + 304, + 350, + 140, + 6, + 304, + 350, + 140, + 6, + 304, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000170:0000", + "experimental_retained_index": 3, + "ism_score": 0.3604963719844818, + "R": [ + [ + -0.5719327330589294, + 0.011560313403606415, + 0.8200369477272034 + ], + [ + -0.568271815776825, + -0.7267670035362244, + -0.3858761787414551 + ], + [ + 0.5913944244384766, + -0.6871899366378784, + 0.4221110939979553 + ] + ], + "t": [ + -96.38790130615234, + -83.58883666992188, + 506.7896728515625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 170, + "category_id": 1, + "bbox": [ + 0, + 0, + 1278, + 796 + ], + "score": 0.14757820963859558, + "time": 0.0, + "segmentation": { + "counts": [ + 137, + 662, + 138, + 662, + 138, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 702, + 94, + 706, + 94, + 706, + 88, + 712, + 88, + 712, + 86, + 714, + 86, + 714, + 84, + 716, + 84, + 716, + 82, + 718, + 82, + 718, + 76, + 724, + 76, + 724, + 70, + 730, + 70, + 730, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 742, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 34, + 766, + 34, + 766, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 24, + 776, + 24, + 776, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 784, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 790, + 6, + 794, + 6, + 794, + 2, + 798, + 2, + 798, + 1, + 799, + 1, + 799, + 1, + 23, + 4, + 772, + 1, + 23, + 4, + 772, + 1, + 21, + 8, + 770, + 1, + 21, + 8, + 770, + 1, + 19, + 12, + 768, + 1, + 19, + 12, + 768, + 1, + 17, + 14, + 768, + 1, + 17, + 14, + 768, + 1, + 17, + 18, + 764, + 1, + 17, + 18, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 15, + 20, + 764, + 1, + 13, + 24, + 762, + 1, + 13, + 24, + 762, + 1, + 11, + 26, + 762, + 1, + 11, + 26, + 762, + 4, + 8, + 26, + 762, + 4, + 8, + 26, + 762, + 6, + 4, + 28, + 762, + 6, + 4, + 28, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 724, + 12, + 26, + 38, + 724, + 12, + 26, + 36, + 724, + 16, + 24, + 36, + 724, + 16, + 24, + 34, + 722, + 20, + 24, + 34, + 722, + 20, + 24, + 32, + 722, + 24, + 22, + 32, + 722, + 24, + 22, + 10, + 12, + 8, + 722, + 28, + 20, + 10, + 12, + 8, + 722, + 28, + 20, + 4, + 746, + 30, + 20, + 4, + 746, + 30, + 20, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 1, + 743, + 38, + 18, + 2, + 740, + 40, + 18, + 2, + 740, + 40, + 18, + 2, + 740, + 44, + 14, + 2, + 740, + 44, + 14, + 2, + 736, + 50, + 12, + 2, + 736, + 50, + 12, + 2, + 730, + 58, + 10, + 2, + 730, + 58, + 10, + 2, + 730, + 60, + 8, + 2, + 730, + 60, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 728, + 62, + 8, + 2, + 722, + 72, + 4, + 2, + 722, + 72, + 4, + 2, + 720, + 80, + 720, + 80, + 718, + 82, + 718, + 82, + 718, + 82, + 718, + 82, + 714, + 86, + 714, + 86, + 710, + 90, + 710, + 90, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 96, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 112, + 686, + 114, + 686, + 112, + 688, + 112, + 688, + 112, + 684, + 116, + 684, + 116, + 682, + 118, + 682, + 117, + 683, + 117, + 683, + 117, + 15, + 2, + 664, + 119, + 15, + 2, + 664, + 120, + 10, + 10, + 652, + 128, + 10, + 10, + 652, + 128, + 10, + 12, + 648, + 130, + 10, + 12, + 648, + 132, + 8, + 14, + 610, + 2, + 34, + 132, + 8, + 14, + 610, + 2, + 34, + 132, + 8, + 14, + 608, + 8, + 28, + 134, + 8, + 14, + 608, + 8, + 28, + 136, + 4, + 18, + 604, + 14, + 22, + 138, + 4, + 18, + 604, + 14, + 22, + 136, + 6, + 18, + 604, + 18, + 14, + 140, + 6, + 18, + 604, + 18, + 14, + 140, + 6, + 20, + 602, + 22, + 6, + 144, + 6, + 20, + 602, + 22, + 6, + 146, + 4, + 26, + 598, + 172, + 4, + 26, + 598, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 212, + 588, + 212, + 588, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 218, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 576, + 224, + 576, + 224, + 574, + 226, + 574, + 226, + 574, + 226, + 574, + 226, + 572, + 228, + 572, + 228, + 568, + 232, + 568, + 232, + 566, + 234, + 566, + 236, + 562, + 238, + 562, + 238, + 562, + 238, + 562, + 238, + 560, + 240, + 560, + 238, + 558, + 242, + 558, + 242, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 260, + 538, + 262, + 538, + 260, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 213, + 3, + 48, + 534, + 215, + 3, + 48, + 534, + 215, + 3, + 12, + 8, + 26, + 534, + 217, + 3, + 12, + 8, + 26, + 534, + 222, + 6, + 2, + 12, + 24, + 530, + 226, + 6, + 2, + 12, + 24, + 530, + 224, + 22, + 26, + 526, + 226, + 22, + 26, + 526, + 226, + 22, + 26, + 524, + 228, + 22, + 26, + 524, + 226, + 24, + 26, + 524, + 226, + 24, + 26, + 524, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 228, + 22, + 30, + 520, + 228, + 22, + 30, + 520, + 228, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 30, + 522, + 226, + 22, + 32, + 522, + 212, + 6, + 6, + 22, + 32, + 522, + 212, + 6, + 6, + 22, + 32, + 522, + 208, + 12, + 4, + 22, + 32, + 522, + 208, + 12, + 4, + 26, + 28, + 522, + 204, + 16, + 4, + 26, + 28, + 522, + 204, + 16, + 4, + 26, + 28, + 524, + 200, + 18, + 4, + 26, + 28, + 524, + 200, + 18, + 4, + 18, + 2, + 6, + 30, + 522, + 198, + 20, + 4, + 18, + 2, + 6, + 30, + 522, + 198, + 20, + 4, + 12, + 44, + 522, + 192, + 26, + 4, + 12, + 44, + 522, + 192, + 26, + 6, + 6, + 48, + 524, + 186, + 30, + 6, + 6, + 48, + 524, + 186, + 30, + 60, + 524, + 182, + 34, + 60, + 524, + 182, + 34, + 60, + 524, + 178, + 38, + 60, + 524, + 178, + 38, + 60, + 526, + 174, + 40, + 60, + 526, + 174, + 40, + 60, + 526, + 172, + 42, + 60, + 526, + 172, + 42, + 62, + 526, + 164, + 48, + 62, + 526, + 164, + 48, + 62, + 526, + 162, + 50, + 62, + 526, + 162, + 50, + 62, + 528, + 158, + 52, + 62, + 528, + 158, + 52, + 62, + 528, + 156, + 54, + 62, + 528, + 156, + 54, + 62, + 528, + 152, + 58, + 62, + 528, + 152, + 58, + 62, + 528, + 148, + 62, + 62, + 528, + 148, + 62, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 142, + 66, + 62, + 530, + 140, + 68, + 62, + 530, + 140, + 68, + 64, + 528, + 138, + 70, + 64, + 528, + 138, + 70, + 64, + 530, + 130, + 76, + 64, + 530, + 130, + 76, + 66, + 528, + 126, + 80, + 66, + 528, + 126, + 80, + 66, + 530, + 122, + 82, + 66, + 530, + 122, + 82, + 66, + 530, + 120, + 84, + 66, + 530, + 120, + 84, + 66, + 532, + 114, + 88, + 66, + 532, + 114, + 88, + 68, + 498, + 2, + 32, + 108, + 92, + 68, + 498, + 2, + 32, + 108, + 92, + 68, + 416, + 6, + 72, + 8, + 30, + 104, + 96, + 68, + 416, + 6, + 72, + 8, + 30, + 104, + 96, + 68, + 412, + 12, + 68, + 14, + 28, + 100, + 98, + 68, + 412, + 12, + 68, + 14, + 28, + 100, + 98, + 68, + 410, + 16, + 62, + 22, + 24, + 98, + 100, + 68, + 410, + 16, + 62, + 22, + 24, + 98, + 100, + 68, + 410, + 16, + 60, + 24, + 26, + 94, + 102, + 68, + 410, + 16, + 60, + 24, + 26, + 94, + 102, + 68, + 408, + 20, + 58, + 26, + 32, + 80, + 108, + 68, + 408, + 20, + 58, + 26, + 32, + 80, + 108, + 54, + 6, + 8, + 408, + 18, + 58, + 30, + 38, + 70, + 110, + 54, + 6, + 8, + 408, + 18, + 58, + 30, + 38, + 70, + 110, + 52, + 10, + 6, + 408, + 18, + 56, + 36, + 36, + 66, + 112, + 52, + 10, + 6, + 408, + 18, + 56, + 36, + 36, + 66, + 112, + 46, + 16, + 6, + 406, + 20, + 56, + 38, + 38, + 58, + 116, + 46, + 16, + 6, + 406, + 20, + 56, + 38, + 38, + 58, + 116, + 46, + 428, + 22, + 52, + 42, + 38, + 52, + 120, + 46, + 428, + 22, + 52, + 42, + 38, + 52, + 120, + 46, + 428, + 22, + 50, + 44, + 42, + 4, + 12, + 28, + 124, + 46, + 428, + 22, + 50, + 44, + 42, + 4, + 12, + 28, + 124, + 48, + 424, + 24, + 50, + 48, + 58, + 20, + 128, + 48, + 424, + 24, + 50, + 48, + 58, + 20, + 128, + 48, + 362, + 8, + 54, + 24, + 48, + 52, + 60, + 14, + 130, + 48, + 362, + 8, + 54, + 24, + 48, + 52, + 60, + 14, + 130, + 48, + 360, + 10, + 54, + 26, + 44, + 56, + 202, + 48, + 360, + 10, + 54, + 26, + 44, + 56, + 202, + 50, + 358, + 12, + 52, + 26, + 44, + 58, + 200, + 50, + 358, + 12, + 52, + 26, + 44, + 58, + 200, + 58, + 348, + 14, + 50, + 28, + 42, + 60, + 200, + 58, + 348, + 14, + 50, + 28, + 42, + 60, + 200, + 60, + 346, + 14, + 50, + 30, + 38, + 66, + 196, + 60, + 346, + 14, + 50, + 30, + 38, + 66, + 196, + 60, + 344, + 16, + 50, + 30, + 36, + 72, + 192, + 60, + 344, + 16, + 50, + 30, + 36, + 72, + 192, + 62, + 342, + 16, + 48, + 32, + 34, + 76, + 190, + 62, + 342, + 16, + 48, + 32, + 34, + 76, + 190, + 66, + 338, + 16, + 48, + 32, + 34, + 76, + 190, + 66, + 338, + 16, + 48, + 32, + 34, + 76, + 190, + 70, + 332, + 18, + 48, + 32, + 34, + 78, + 188, + 70, + 332, + 18, + 48, + 32, + 34, + 78, + 188, + 74, + 328, + 18, + 48, + 32, + 34, + 82, + 184, + 74, + 328, + 18, + 48, + 32, + 34, + 82, + 184, + 78, + 322, + 22, + 46, + 32, + 36, + 82, + 182, + 78, + 322, + 22, + 46, + 32, + 36, + 82, + 182, + 82, + 318, + 22, + 46, + 32, + 38, + 82, + 180, + 82, + 318, + 22, + 46, + 32, + 38, + 82, + 180, + 84, + 316, + 22, + 46, + 32, + 40, + 80, + 180, + 84, + 316, + 22, + 46, + 32, + 40, + 80, + 180, + 86, + 312, + 24, + 46, + 32, + 40, + 82, + 178, + 86, + 312, + 24, + 46, + 32, + 40, + 82, + 178, + 88, + 310, + 24, + 46, + 32, + 42, + 82, + 176, + 88, + 310, + 24, + 46, + 32, + 42, + 82, + 176, + 90, + 308, + 24, + 46, + 32, + 44, + 84, + 172, + 90, + 308, + 24, + 46, + 32, + 44, + 84, + 172, + 90, + 308, + 24, + 46, + 32, + 46, + 84, + 170, + 90, + 308, + 24, + 46, + 32, + 46, + 84, + 170, + 90, + 308, + 24, + 46, + 32, + 48, + 82, + 170, + 90, + 308, + 24, + 46, + 32, + 48, + 82, + 170, + 90, + 306, + 28, + 42, + 34, + 50, + 82, + 168, + 90, + 306, + 28, + 42, + 34, + 50, + 82, + 168, + 90, + 306, + 26, + 44, + 34, + 52, + 82, + 166, + 90, + 306, + 26, + 44, + 34, + 52, + 82, + 166, + 90, + 306, + 26, + 44, + 34, + 52, + 84, + 164, + 90, + 306, + 26, + 44, + 34, + 52, + 84, + 164, + 90, + 306, + 26, + 44, + 34, + 54, + 84, + 162, + 90, + 306, + 26, + 44, + 34, + 54, + 84, + 162, + 90, + 306, + 26, + 44, + 34, + 58, + 82, + 160, + 90, + 306, + 26, + 44, + 34, + 58, + 82, + 160, + 90, + 306, + 26, + 44, + 34, + 60, + 82, + 158, + 90, + 306, + 26, + 44, + 34, + 60, + 82, + 158, + 90, + 306, + 26, + 44, + 34, + 62, + 82, + 156, + 90, + 306, + 26, + 44, + 34, + 62, + 82, + 156, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 64, + 84, + 152, + 90, + 306, + 24, + 46, + 34, + 66, + 84, + 150, + 90, + 306, + 24, + 46, + 34, + 66, + 84, + 150, + 90, + 306, + 24, + 46, + 34, + 68, + 84, + 148, + 90, + 306, + 24, + 46, + 34, + 68, + 84, + 148, + 88, + 308, + 24, + 46, + 34, + 70, + 84, + 146, + 88, + 308, + 24, + 46, + 34, + 70, + 84, + 146, + 88, + 308, + 24, + 46, + 34, + 72, + 84, + 72, + 32, + 40, + 88, + 308, + 24, + 46, + 34, + 72, + 84, + 72, + 32, + 40, + 88, + 306, + 26, + 46, + 34, + 72, + 86, + 62, + 44, + 36, + 88, + 306, + 26, + 46, + 34, + 72, + 86, + 62, + 44, + 36, + 88, + 306, + 26, + 46, + 34, + 74, + 84, + 58, + 54, + 30, + 88, + 306, + 26, + 46, + 34, + 74, + 84, + 58, + 54, + 30, + 88, + 306, + 26, + 46, + 34, + 76, + 84, + 54, + 58, + 28, + 88, + 306, + 26, + 46, + 34, + 76, + 84, + 54, + 58, + 28, + 88, + 306, + 26, + 46, + 34, + 80, + 80, + 52, + 64, + 24, + 88, + 306, + 26, + 46, + 34, + 80, + 80, + 52, + 64, + 24, + 88, + 306, + 26, + 46, + 34, + 82, + 78, + 52, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 82, + 78, + 52, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 84, + 74, + 54, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 84, + 74, + 54, + 66, + 22, + 88, + 306, + 26, + 46, + 34, + 86, + 70, + 56, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 86, + 70, + 56, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 88, + 64, + 60, + 68, + 20, + 88, + 306, + 26, + 46, + 34, + 88, + 64, + 60, + 68, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 62, + 62, + 66, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 62, + 62, + 66, + 20, + 86, + 306, + 26, + 48, + 34, + 90, + 60, + 64, + 68, + 18, + 86, + 306, + 26, + 48, + 34, + 90, + 60, + 64, + 68, + 18, + 86, + 306, + 26, + 46, + 36, + 92, + 56, + 70, + 64, + 18, + 86, + 306, + 26, + 46, + 36, + 92, + 56, + 70, + 64, + 18, + 86, + 306, + 26, + 46, + 36, + 94, + 52, + 74, + 60, + 20, + 86, + 306, + 26, + 46, + 36, + 94, + 52, + 74, + 60, + 20, + 86, + 306, + 26, + 46, + 36, + 96, + 46, + 80, + 58, + 20, + 86, + 306, + 26, + 46, + 36, + 96, + 46, + 80, + 58, + 20, + 86, + 304, + 28, + 46, + 36, + 98, + 44, + 82, + 56, + 20, + 86, + 304, + 28, + 46, + 36, + 98, + 44, + 82, + 56, + 20, + 84, + 306, + 28, + 46, + 36, + 100, + 40, + 88, + 52, + 20, + 84, + 306, + 28, + 46, + 36, + 100, + 40, + 88, + 52, + 20, + 84, + 306, + 28, + 46, + 36, + 102, + 36, + 92, + 50, + 20, + 84, + 306, + 28, + 46, + 36, + 102, + 36, + 92, + 50, + 20, + 84, + 306, + 28, + 46, + 36, + 104, + 32, + 98, + 42, + 24, + 84, + 306, + 28, + 46, + 36, + 104, + 32, + 98, + 42, + 24, + 84, + 306, + 28, + 46, + 36, + 106, + 26, + 108, + 32, + 28, + 84, + 306, + 28, + 46, + 36, + 106, + 26, + 108, + 32, + 28, + 84, + 306, + 26, + 48, + 36, + 108, + 24, + 112, + 20, + 36, + 84, + 306, + 26, + 48, + 36, + 108, + 24, + 112, + 20, + 36, + 84, + 304, + 28, + 48, + 36, + 50, + 14, + 46, + 20, + 170, + 84, + 304, + 28, + 48, + 36, + 50, + 14, + 46, + 20, + 170, + 84, + 304, + 28, + 48, + 36, + 44, + 22, + 44, + 18, + 172, + 84, + 304, + 28, + 48, + 36, + 44, + 22, + 44, + 18, + 172, + 84, + 304, + 28, + 48, + 36, + 38, + 30, + 44, + 14, + 174, + 84, + 304, + 28, + 48, + 36, + 38, + 30, + 44, + 14, + 174, + 84, + 304, + 28, + 48, + 36, + 34, + 36, + 46, + 6, + 178, + 84, + 304, + 28, + 48, + 36, + 34, + 36, + 46, + 6, + 178, + 84, + 304, + 26, + 50, + 36, + 28, + 42, + 230, + 84, + 304, + 26, + 50, + 36, + 28, + 42, + 230, + 84, + 304, + 26, + 50, + 36, + 20, + 50, + 230, + 84, + 304, + 26, + 50, + 36, + 20, + 50, + 230, + 84, + 304, + 26, + 50, + 36, + 14, + 56, + 230, + 84, + 304, + 26, + 50, + 36, + 14, + 56, + 230, + 84, + 304, + 26, + 50, + 38, + 10, + 58, + 230, + 84, + 304, + 26, + 50, + 38, + 10, + 58, + 230, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 84, + 304, + 26, + 50, + 108, + 228, + 82, + 306, + 26, + 50, + 108, + 228, + 82, + 306, + 26, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 108, + 228, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 50, + 110, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 48, + 112, + 226, + 82, + 304, + 28, + 46, + 114, + 226, + 82, + 304, + 28, + 46, + 114, + 226, + 82, + 304, + 28, + 42, + 118, + 226, + 82, + 304, + 28, + 42, + 118, + 226, + 82, + 304, + 26, + 38, + 124, + 226, + 82, + 304, + 26, + 38, + 124, + 226, + 82, + 302, + 28, + 34, + 128, + 226, + 82, + 302, + 28, + 34, + 128, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 32, + 130, + 226, + 82, + 302, + 28, + 30, + 132, + 226, + 82, + 302, + 28, + 30, + 132, + 226, + 80, + 304, + 28, + 30, + 134, + 224, + 80, + 304, + 28, + 30, + 134, + 224, + 80, + 304, + 28, + 28, + 136, + 224, + 80, + 304, + 28, + 28, + 136, + 224, + 80, + 304, + 26, + 30, + 136, + 224, + 80, + 304, + 26, + 30, + 136, + 224, + 80, + 304, + 26, + 28, + 140, + 222, + 80, + 304, + 26, + 28, + 140, + 222, + 80, + 302, + 28, + 28, + 140, + 42, + 14, + 10, + 2, + 154, + 80, + 302, + 28, + 28, + 140, + 42, + 14, + 10, + 2, + 154, + 80, + 304, + 26, + 28, + 140, + 36, + 50, + 136, + 80, + 304, + 26, + 28, + 140, + 36, + 50, + 136, + 80, + 304, + 26, + 28, + 140, + 34, + 72, + 116, + 80, + 304, + 26, + 28, + 140, + 34, + 72, + 116, + 80, + 304, + 26, + 28, + 140, + 34, + 80, + 108, + 80, + 304, + 26, + 28, + 140, + 34, + 80, + 108, + 80, + 304, + 26, + 28, + 140, + 34, + 86, + 102, + 80, + 304, + 26, + 28, + 140, + 34, + 86, + 102, + 80, + 302, + 28, + 28, + 142, + 32, + 102, + 86, + 80, + 302, + 28, + 28, + 142, + 32, + 102, + 86, + 80, + 302, + 26, + 30, + 142, + 30, + 122, + 68, + 80, + 302, + 26, + 30, + 142, + 30, + 122, + 68, + 80, + 298, + 30, + 30, + 142, + 30, + 142, + 48, + 80, + 298, + 30, + 30, + 142, + 30, + 142, + 48, + 80, + 296, + 32, + 30, + 142, + 30, + 148, + 42, + 80, + 296, + 32, + 30, + 142, + 30, + 148, + 42, + 80, + 296, + 34, + 28, + 142, + 30, + 154, + 36, + 80, + 296, + 34, + 28, + 142, + 30, + 154, + 36, + 80, + 296, + 36, + 28, + 140, + 30, + 166, + 24, + 80, + 296, + 36, + 28, + 140, + 30, + 166, + 24, + 80, + 296, + 36, + 28, + 140, + 28, + 272, + 296, + 36, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 270, + 296, + 38, + 28, + 140, + 28, + 272, + 294, + 38, + 28, + 140, + 28, + 272, + 294, + 38, + 28, + 140, + 28, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 270, + 298, + 34, + 30, + 142, + 26, + 268, + 306, + 26, + 34, + 140, + 24, + 270, + 306, + 26, + 34, + 140, + 24, + 270, + 320, + 8, + 38, + 140, + 24, + 270, + 320, + 8, + 38, + 140, + 24, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 366, + 142, + 22, + 270, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 272, + 368, + 138, + 22, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 270, + 370, + 140, + 20, + 202, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 370, + 140, + 18, + 204, + 6, + 62, + 372, + 140, + 16, + 204, + 6, + 62, + 372, + 140, + 16, + 204, + 6, + 62, + 372, + 142, + 14, + 204, + 6, + 62, + 372, + 142, + 14, + 272, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 372, + 142, + 12, + 274, + 374, + 140, + 12, + 274, + 374, + 140, + 12, + 274, + 174, + 22, + 178, + 140, + 12, + 274, + 174, + 22, + 178, + 140, + 12, + 274, + 168, + 30, + 106, + 24, + 46, + 140, + 12, + 274, + 168, + 30, + 106, + 24, + 46, + 140, + 12, + 272, + 168, + 36, + 80, + 50, + 42, + 142, + 8, + 274, + 168, + 36, + 80, + 50, + 42, + 142, + 8, + 272, + 168, + 170, + 40, + 142, + 8, + 272, + 168, + 170, + 40, + 142, + 8, + 272, + 166, + 174, + 38, + 142, + 6, + 274, + 166, + 174, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 142, + 6, + 274, + 164, + 176, + 38, + 144, + 4, + 274, + 164, + 176, + 38, + 144, + 4, + 272, + 164, + 180, + 36, + 420, + 164, + 180, + 36, + 420, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 164, + 180, + 38, + 418, + 162, + 182, + 38, + 418, + 162, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 420, + 160, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 422, + 158, + 182, + 38, + 424, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 422, + 156, + 182, + 40, + 424, + 154, + 182, + 40, + 424, + 154, + 182, + 40, + 426, + 152, + 180, + 42, + 426, + 152, + 180, + 42, + 426, + 152, + 178, + 44, + 426, + 152, + 178, + 44, + 428, + 150, + 176, + 46, + 428, + 150, + 176, + 46, + 370, + 4, + 56, + 148, + 168, + 54, + 370, + 4, + 56, + 148, + 168, + 54, + 370, + 4, + 58, + 146, + 158, + 66, + 368, + 4, + 58, + 146, + 158, + 66, + 372, + 6, + 54, + 146, + 144, + 78, + 372, + 6, + 54, + 146, + 144, + 78, + 372, + 6, + 56, + 144, + 132, + 90, + 372, + 6, + 56, + 144, + 132, + 90, + 372, + 6, + 56, + 144, + 110, + 112, + 372, + 6, + 56, + 144, + 110, + 112, + 372, + 6, + 58, + 144, + 88, + 132, + 372, + 6, + 58, + 144, + 88, + 132, + 436, + 146, + 60, + 158, + 436, + 146, + 60, + 158, + 440, + 144, + 44, + 174, + 438, + 144, + 44, + 174, + 440, + 142, + 42, + 176, + 440, + 142, + 42, + 176, + 440, + 144, + 38, + 178, + 440, + 144, + 38, + 178, + 442, + 144, + 34, + 180, + 442, + 144, + 34, + 180, + 444, + 144, + 28, + 184, + 444, + 144, + 28, + 184, + 446, + 146, + 16, + 192, + 446, + 146, + 16, + 192, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 450, + 352, + 448, + 352, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 452, + 348, + 452, + 348, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 458, + 344, + 456, + 344, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 464, + 302, + 6, + 30, + 462, + 302, + 6, + 30, + 462, + 286, + 24, + 28, + 462, + 286, + 24, + 28, + 464, + 262, + 48, + 26, + 464, + 262, + 48, + 26, + 466, + 252, + 56, + 26, + 466, + 252, + 56, + 26, + 468, + 244, + 64, + 24, + 468, + 244, + 64, + 24, + 468, + 236, + 72, + 24, + 468, + 236, + 72, + 24, + 470, + 228, + 78, + 24, + 470, + 228, + 78, + 24, + 472, + 222, + 84, + 24, + 470, + 222, + 84, + 24, + 472, + 218, + 86, + 24, + 472, + 218, + 86, + 24, + 472, + 216, + 90, + 24, + 470, + 216, + 90, + 24, + 472, + 212, + 94, + 24, + 470, + 212, + 94, + 24, + 470, + 210, + 96, + 26, + 468, + 210, + 96, + 26, + 470, + 204, + 102, + 26, + 76, + 22, + 370, + 204, + 102, + 26, + 76, + 22, + 372, + 200, + 104, + 28, + 58, + 40, + 370, + 200, + 104, + 28, + 58, + 40, + 372, + 196, + 108, + 40, + 2, + 82, + 372, + 196, + 108, + 40, + 2, + 82, + 374, + 192, + 110, + 124, + 374, + 192, + 110, + 124, + 374, + 190, + 114, + 122, + 374, + 190, + 114, + 122, + 376, + 186, + 116, + 122, + 376, + 186, + 116, + 122, + 378, + 184, + 116, + 122, + 378, + 184, + 116, + 122, + 380, + 182, + 116, + 122, + 380, + 182, + 116, + 122, + 382, + 182, + 116, + 120, + 382, + 182, + 116, + 120, + 384, + 182, + 114, + 118, + 386, + 182, + 114, + 118, + 386, + 182, + 116, + 116, + 386, + 182, + 116, + 116, + 388, + 180, + 116, + 116, + 388, + 180, + 116, + 116, + 390, + 178, + 118, + 114, + 390, + 178, + 118, + 114, + 392, + 178, + 118, + 112, + 392, + 178, + 118, + 112, + 394, + 178, + 116, + 110, + 396, + 178, + 116, + 110, + 396, + 178, + 118, + 48, + 22, + 38, + 396, + 178, + 118, + 48, + 22, + 38, + 398, + 176, + 118, + 44, + 28, + 36, + 398, + 176, + 118, + 44, + 28, + 36, + 304, + 4, + 90, + 178, + 116, + 40, + 34, + 34, + 304, + 4, + 90, + 178, + 116, + 40, + 34, + 34, + 304, + 4, + 92, + 176, + 118, + 34, + 40, + 32, + 304, + 4, + 92, + 176, + 118, + 34, + 40, + 32, + 400, + 176, + 118, + 28, + 48, + 28, + 402, + 176, + 118, + 28, + 48, + 28, + 316, + 8, + 82, + 174, + 118, + 14, + 62, + 26, + 316, + 8, + 82, + 174, + 118, + 14, + 62, + 26, + 316, + 8, + 84, + 172, + 194, + 26, + 316, + 8, + 84, + 172, + 194, + 26, + 316, + 4, + 88, + 174, + 192, + 26, + 316, + 4, + 88, + 174, + 192, + 26, + 410, + 172, + 194, + 24, + 410, + 172, + 194, + 24, + 412, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 414, + 172, + 192, + 22, + 416, + 170, + 194, + 18, + 418, + 170, + 194, + 18, + 420, + 170, + 192, + 18, + 420, + 170, + 192, + 18, + 422, + 168, + 194, + 16, + 422, + 168, + 194, + 16, + 424, + 166, + 194, + 16, + 424, + 166, + 194, + 16, + 426, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 428, + 166, + 192, + 14, + 430, + 166, + 190, + 14, + 430, + 166, + 190, + 14, + 432, + 164, + 190, + 14, + 432, + 164, + 190, + 14, + 434, + 160, + 190, + 14, + 436, + 160, + 190, + 14, + 438, + 156, + 192, + 14, + 438, + 156, + 192, + 14, + 438, + 152, + 194, + 16, + 438, + 152, + 194, + 16, + 440, + 146, + 196, + 18, + 440, + 146, + 196, + 18, + 440, + 142, + 196, + 20, + 442, + 142, + 196, + 20, + 444, + 142, + 188, + 26, + 444, + 142, + 188, + 26, + 446, + 140, + 186, + 28, + 446, + 140, + 186, + 28, + 448, + 144, + 176, + 32, + 448, + 144, + 176, + 32, + 448, + 146, + 170, + 34, + 450, + 146, + 170, + 34, + 452, + 144, + 168, + 36, + 452, + 144, + 168, + 36, + 454, + 140, + 164, + 40, + 456, + 140, + 164, + 40, + 456, + 140, + 162, + 40, + 458, + 140, + 162, + 40, + 460, + 138, + 158, + 44, + 460, + 138, + 158, + 44, + 462, + 136, + 152, + 48, + 464, + 136, + 152, + 48, + 466, + 134, + 144, + 54, + 468, + 134, + 144, + 54, + 470, + 132, + 140, + 54, + 474, + 132, + 140, + 54, + 476, + 130, + 136, + 58, + 476, + 130, + 136, + 58, + 476, + 130, + 132, + 60, + 478, + 130, + 132, + 60, + 480, + 128, + 130, + 62, + 480, + 128, + 130, + 62, + 482, + 126, + 124, + 68, + 482, + 126, + 124, + 68, + 484, + 124, + 120, + 72, + 484, + 124, + 120, + 72, + 486, + 122, + 114, + 78, + 486, + 122, + 114, + 78, + 488, + 122, + 110, + 80, + 488, + 122, + 110, + 80, + 488, + 122, + 108, + 82, + 488, + 122, + 108, + 82, + 490, + 120, + 100, + 90, + 490, + 120, + 100, + 90, + 492, + 118, + 92, + 100, + 490, + 118, + 92, + 100, + 492, + 118, + 88, + 104, + 490, + 118, + 88, + 104, + 490, + 118, + 86, + 106, + 490, + 118, + 86, + 106, + 492, + 116, + 80, + 114, + 490, + 116, + 80, + 114, + 492, + 116, + 76, + 116, + 492, + 116, + 76, + 116, + 492, + 116, + 68, + 124, + 492, + 116, + 68, + 124, + 494, + 116, + 66, + 122, + 496, + 116, + 66, + 122, + 498, + 114, + 64, + 124, + 498, + 114, + 64, + 124, + 500, + 114, + 62, + 124, + 500, + 114, + 62, + 124, + 502, + 114, + 56, + 128, + 502, + 114, + 56, + 128, + 400, + 6, + 96, + 116, + 50, + 132, + 400, + 6, + 96, + 116, + 50, + 132, + 400, + 8, + 96, + 116, + 46, + 134, + 400, + 8, + 96, + 116, + 46, + 134, + 400, + 8, + 98, + 116, + 40, + 136, + 402, + 8, + 98, + 116, + 40, + 136, + 404, + 4, + 102, + 116, + 34, + 140, + 404, + 4, + 102, + 116, + 34, + 140, + 512, + 118, + 26, + 144, + 512, + 118, + 26, + 144, + 514, + 122, + 14, + 150, + 514, + 122, + 14, + 150, + 514, + 284, + 516, + 284, + 518, + 282, + 518, + 282, + 412, + 4, + 102, + 282, + 412, + 4, + 102, + 282, + 412, + 4, + 104, + 280, + 412, + 4, + 104, + 280, + 520, + 280, + 520, + 280, + 524, + 274, + 526, + 274, + 528, + 272, + 528, + 272, + 528, + 272, + 528, + 272, + 530, + 270, + 530, + 270, + 424, + 6, + 100, + 268, + 426, + 6, + 100, + 268, + 426, + 8, + 100, + 266, + 426, + 8, + 100, + 266, + 426, + 10, + 100, + 264, + 426, + 10, + 100, + 264, + 426, + 16, + 4, + 4, + 6, + 4, + 78, + 264, + 424, + 16, + 4, + 4, + 6, + 4, + 78, + 264, + 424, + 16, + 2, + 8, + 4, + 4, + 78, + 264, + 424, + 16, + 2, + 8, + 4, + 4, + 78, + 264, + 424, + 30, + 84, + 264, + 422, + 30, + 84, + 264, + 424, + 28, + 86, + 264, + 422, + 28, + 86, + 264, + 422, + 30, + 86, + 262, + 422, + 30, + 86, + 262, + 424, + 10, + 2, + 18, + 86, + 262, + 422, + 10, + 2, + 18, + 86, + 262, + 426, + 6, + 4, + 16, + 88, + 262, + 424, + 6, + 4, + 16, + 88, + 262, + 450, + 6, + 82, + 266, + 446, + 6, + 82, + 266, + 446, + 8, + 82, + 266, + 444, + 8, + 82, + 266, + 444, + 8, + 84, + 266, + 442, + 8, + 84, + 266, + 442, + 12, + 2, + 6, + 72, + 272, + 436, + 12, + 2, + 6, + 72, + 272, + 440, + 16, + 74, + 272, + 438, + 16, + 74, + 272, + 440, + 10, + 80, + 274, + 436, + 10, + 80, + 274, + 436, + 10, + 82, + 274, + 434, + 10, + 82, + 274, + 434, + 10, + 84, + 274, + 432, + 10, + 84, + 274, + 432, + 12, + 84, + 276, + 428, + 12, + 84, + 276, + 428, + 12, + 84, + 278, + 426, + 12, + 84, + 278, + 432, + 6, + 86, + 280, + 428, + 6, + 86, + 280, + 432, + 8, + 82, + 280, + 430, + 8, + 82, + 280, + 428, + 10, + 84, + 280, + 426, + 10, + 84, + 280, + 426, + 14, + 80, + 282, + 424, + 14, + 80, + 282, + 424, + 14, + 82, + 284, + 420, + 14, + 82, + 284, + 422, + 12, + 84, + 290, + 414, + 12, + 84, + 290, + 418, + 6, + 86, + 292, + 416, + 6, + 86, + 292, + 416, + 6, + 88, + 292, + 414, + 6, + 88, + 292, + 510, + 290, + 510, + 290, + 420, + 4, + 88, + 290, + 418, + 4, + 88, + 290, + 418, + 8, + 86, + 294, + 412, + 8, + 86, + 294, + 412, + 10, + 86, + 294, + 410, + 10, + 86, + 294, + 410, + 12, + 84, + 296, + 408, + 12, + 84, + 296, + 408, + 16, + 82, + 298, + 404, + 16, + 82, + 298, + 404, + 16, + 84, + 300, + 170, + 4, + 226, + 16, + 84, + 300, + 170, + 4, + 226, + 12, + 90, + 304, + 164, + 4, + 226, + 12, + 90, + 304, + 164, + 4, + 228, + 8, + 94, + 304, + 160, + 8, + 226, + 8, + 94, + 304, + 160, + 8, + 226, + 8, + 96, + 304, + 158, + 8, + 226, + 8, + 96, + 304, + 158, + 8, + 228, + 6, + 96, + 306, + 154, + 10, + 228, + 6, + 96, + 306, + 154, + 10, + 332, + 308, + 148, + 12, + 332, + 308, + 148, + 12, + 238, + 4, + 90, + 312, + 142, + 14, + 238, + 4, + 90, + 312, + 142, + 14, + 234, + 10, + 90, + 310, + 140, + 14, + 236, + 10, + 90, + 310, + 140, + 14, + 236, + 12, + 90, + 310, + 138, + 16, + 234, + 12, + 90, + 310, + 138, + 16, + 234, + 14, + 24, + 6, + 60, + 308, + 136, + 18, + 234, + 14, + 24, + 6, + 60, + 308, + 136, + 18, + 234, + 14, + 24, + 6, + 60, + 310, + 132, + 20, + 234, + 14, + 24, + 6, + 60, + 310, + 132, + 20, + 240, + 8, + 92, + 310, + 126, + 24, + 240, + 8, + 92, + 310, + 126, + 24, + 240, + 6, + 96, + 310, + 124, + 24, + 240, + 6, + 96, + 310, + 124, + 24, + 244, + 4, + 96, + 308, + 122, + 26, + 244, + 4, + 96, + 308, + 122, + 26, + 244, + 4, + 96, + 306, + 124, + 28, + 242, + 4, + 96, + 306, + 124, + 28, + 242, + 6, + 96, + 302, + 124, + 30, + 242, + 6, + 96, + 302, + 124, + 30, + 242, + 10, + 94, + 296, + 126, + 30, + 244, + 10, + 94, + 296, + 126, + 30, + 244, + 10, + 96, + 292, + 126, + 32, + 244, + 10, + 96, + 292, + 126, + 32, + 244, + 12, + 94, + 290, + 126, + 34, + 244, + 12, + 94, + 290, + 126, + 34, + 246, + 12, + 94, + 288, + 124, + 36, + 246, + 12, + 94, + 288, + 124, + 36, + 248, + 10, + 96, + 286, + 124, + 36, + 248, + 10, + 96, + 286, + 124, + 36, + 356, + 282, + 124, + 38, + 356, + 282, + 124, + 38, + 358, + 280, + 124, + 38, + 358, + 280, + 124, + 38, + 360, + 278, + 124, + 38, + 360, + 278, + 124, + 38, + 360, + 276, + 126, + 38, + 360, + 276, + 126, + 38, + 362, + 274, + 124, + 40, + 362, + 274, + 124, + 40, + 364, + 270, + 124, + 42, + 364, + 270, + 124, + 42, + 366, + 268, + 122, + 44, + 366, + 268, + 122, + 44, + 366, + 268, + 120, + 46, + 366, + 268, + 120, + 46, + 368, + 266, + 68, + 10, + 42, + 46, + 368, + 266, + 68, + 10, + 42, + 46, + 370, + 264, + 62, + 18, + 38, + 48, + 370, + 264, + 62, + 18, + 38, + 48, + 266, + 6, + 98, + 264, + 54, + 34, + 28, + 50, + 266, + 6, + 98, + 264, + 54, + 34, + 28, + 50, + 266, + 6, + 100, + 262, + 50, + 40, + 24, + 52, + 266, + 6, + 100, + 262, + 50, + 40, + 24, + 52, + 266, + 6, + 102, + 262, + 48, + 42, + 20, + 54, + 266, + 6, + 102, + 262, + 48, + 42, + 20, + 54, + 268, + 4, + 104, + 262, + 44, + 46, + 16, + 56, + 268, + 4, + 104, + 262, + 44, + 46, + 16, + 56, + 376, + 264, + 42, + 48, + 12, + 58, + 376, + 264, + 42, + 48, + 12, + 58, + 378, + 264, + 40, + 54, + 6, + 58, + 378, + 264, + 40, + 54, + 6, + 58, + 380, + 262, + 40, + 118, + 380, + 262, + 40, + 118, + 382, + 262, + 36, + 120, + 382, + 262, + 36, + 120, + 382, + 264, + 32, + 122, + 382, + 264, + 32, + 122, + 384, + 268, + 22, + 126, + 384, + 268, + 22, + 126, + 386, + 414, + 386, + 414, + 388, + 412, + 388, + 412, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 392, + 408, + 392, + 408, + 394, + 406, + 394, + 406, + 396, + 404, + 396, + 404, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 400, + 400, + 400, + 400, + 288, + 6, + 106, + 400, + 288, + 6, + 106, + 400, + 288, + 6, + 108, + 398, + 288, + 6, + 108, + 398, + 288, + 6, + 110, + 396, + 288, + 6, + 110, + 396, + 406, + 394, + 406, + 394, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 106, + 390, + 298, + 6, + 108, + 388, + 298, + 6, + 108, + 388, + 300, + 8, + 106, + 386, + 300, + 8, + 106, + 386, + 298, + 10, + 108, + 384, + 298, + 10, + 108, + 384, + 298, + 12, + 58, + 4, + 46, + 382, + 298, + 12, + 58, + 4, + 46, + 382, + 300, + 10, + 58, + 4, + 48, + 380, + 300, + 10, + 58, + 4, + 48, + 380, + 302, + 8, + 110, + 380, + 302, + 8, + 110, + 380, + 304, + 6, + 2, + 4, + 106, + 378, + 304, + 6, + 2, + 4, + 106, + 378, + 304, + 12, + 88, + 4, + 16, + 376, + 304, + 12, + 88, + 4, + 16, + 376, + 304, + 12, + 2, + 4, + 80, + 10, + 14, + 374, + 304, + 12, + 2, + 4, + 80, + 10, + 14, + 374, + 306, + 16, + 80, + 10, + 16, + 372, + 306, + 16, + 80, + 10, + 16, + 372, + 306, + 12, + 4, + 6, + 26, + 4, + 44, + 10, + 16, + 372, + 306, + 12, + 4, + 6, + 26, + 4, + 44, + 10, + 16, + 372, + 308, + 10, + 4, + 6, + 26, + 4, + 44, + 8, + 20, + 370, + 308, + 10, + 4, + 6, + 26, + 4, + 44, + 8, + 20, + 370, + 378, + 6, + 18, + 8, + 20, + 370, + 378, + 6, + 18, + 8, + 20, + 370, + 378, + 6, + 4, + 4, + 40, + 368, + 378, + 6, + 4, + 4, + 40, + 368, + 378, + 14, + 32, + 4, + 6, + 366, + 378, + 14, + 32, + 4, + 6, + 366, + 324, + 4, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 6, + 8, + 364, + 324, + 4, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 6, + 8, + 364, + 318, + 10, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 8, + 8, + 362, + 318, + 10, + 36, + 4, + 16, + 4, + 16, + 4, + 6, + 4, + 4, + 8, + 8, + 362, + 316, + 12, + 36, + 4, + 16, + 6, + 14, + 4, + 14, + 8, + 10, + 360, + 316, + 12, + 36, + 4, + 16, + 6, + 14, + 4, + 14, + 8, + 10, + 360, + 316, + 12, + 34, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 12, + 34, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 14, + 2, + 6, + 6, + 4, + 14, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 316, + 14, + 2, + 6, + 6, + 4, + 14, + 6, + 16, + 8, + 10, + 6, + 14, + 10, + 8, + 360, + 318, + 22, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 4, + 6, + 6, + 4, + 4, + 10, + 10, + 358, + 318, + 22, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 4, + 6, + 6, + 4, + 4, + 10, + 10, + 358, + 322, + 18, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 16, + 4, + 4, + 10, + 12, + 356, + 322, + 18, + 2, + 6, + 14, + 8, + 2, + 6, + 16, + 4, + 16, + 4, + 4, + 10, + 12, + 356, + 324, + 14, + 4, + 6, + 16, + 4, + 54, + 8, + 16, + 354, + 324, + 14, + 4, + 6, + 16, + 4, + 54, + 8, + 16, + 354, + 324, + 10, + 114, + 352, + 324, + 10, + 114, + 352, + 324, + 12, + 114, + 350, + 324, + 12, + 114, + 350, + 324, + 14, + 6, + 4, + 26, + 4, + 74, + 348, + 324, + 14, + 6, + 4, + 26, + 4, + 74, + 348, + 324, + 14, + 6, + 4, + 26, + 4, + 76, + 346, + 324, + 14, + 6, + 4, + 26, + 4, + 76, + 346, + 330, + 12, + 2, + 4, + 108, + 344, + 330, + 12, + 2, + 4, + 108, + 344, + 330, + 16, + 98, + 4, + 10, + 342, + 330, + 16, + 98, + 4, + 10, + 342, + 332, + 16, + 94, + 6, + 12, + 340, + 332, + 16, + 94, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 332, + 16, + 4, + 6, + 84, + 6, + 12, + 340, + 334, + 14, + 96, + 4, + 14, + 338, + 334, + 14, + 96, + 4, + 14, + 338, + 336, + 12, + 60, + 6, + 50, + 336, + 336, + 12, + 60, + 6, + 50, + 336, + 338, + 10, + 36, + 4, + 20, + 6, + 52, + 334, + 338, + 10, + 36, + 4, + 20, + 6, + 52, + 334, + 340, + 8, + 6, + 4, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 40, + 332, + 340, + 8, + 6, + 4, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 40, + 332, + 342, + 8, + 2, + 6, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 42, + 330, + 342, + 8, + 2, + 6, + 6, + 4, + 16, + 4, + 4, + 6, + 26, + 4, + 42, + 330, + 344, + 14, + 6, + 4, + 16, + 4, + 4, + 6, + 16, + 4, + 52, + 330, + 344, + 14, + 6, + 4, + 16, + 4, + 4, + 6, + 16, + 4, + 52, + 330, + 344, + 24, + 46, + 6, + 44, + 336, + 344, + 24, + 46, + 6, + 44, + 336, + 344, + 26, + 2, + 6, + 16, + 4, + 16, + 6, + 44, + 336, + 344, + 26, + 2, + 6, + 16, + 4, + 16, + 6, + 44, + 336, + 344, + 36, + 2, + 6, + 4, + 8, + 14, + 4, + 16, + 4, + 26, + 4, + 6, + 326, + 344, + 36, + 2, + 6, + 4, + 8, + 14, + 4, + 16, + 4, + 26, + 4, + 6, + 326, + 344, + 36, + 2, + 6, + 4, + 8, + 34, + 4, + 26, + 4, + 8, + 324, + 344, + 36, + 2, + 6, + 4, + 8, + 34, + 4, + 26, + 4, + 8, + 324, + 346, + 14, + 2, + 8, + 2, + 6, + 14, + 6, + 66, + 4, + 10, + 322, + 346, + 14, + 2, + 8, + 2, + 6, + 14, + 6, + 66, + 4, + 10, + 322, + 348, + 8, + 70, + 8, + 46, + 320, + 348, + 8, + 70, + 8, + 46, + 320, + 348, + 6, + 48, + 6, + 18, + 8, + 30, + 4, + 12, + 320, + 348, + 6, + 48, + 6, + 18, + 8, + 30, + 4, + 12, + 320, + 354, + 4, + 4, + 6, + 34, + 6, + 16, + 4, + 16, + 4, + 16, + 4, + 14, + 318, + 354, + 4, + 4, + 6, + 34, + 6, + 16, + 4, + 16, + 4, + 16, + 4, + 14, + 318, + 354, + 6, + 2, + 6, + 34, + 8, + 14, + 4, + 16, + 4, + 14, + 6, + 16, + 316, + 354, + 6, + 2, + 6, + 34, + 8, + 14, + 4, + 16, + 4, + 14, + 6, + 16, + 316, + 354, + 14, + 34, + 8, + 34, + 4, + 14, + 10, + 12, + 316, + 354, + 14, + 34, + 8, + 34, + 4, + 14, + 10, + 12, + 316, + 354, + 14, + 30, + 12, + 18, + 20, + 12, + 14, + 14, + 312, + 354, + 14, + 30, + 12, + 18, + 20, + 12, + 14, + 14, + 312, + 354, + 14, + 4, + 8, + 2, + 6, + 6, + 16, + 18, + 18, + 14, + 14, + 14, + 312, + 354, + 14, + 4, + 8, + 2, + 6, + 6, + 16, + 18, + 18, + 14, + 14, + 14, + 312, + 354, + 16, + 2, + 18, + 2, + 26, + 12, + 16, + 8, + 4, + 4, + 14, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 12, + 16, + 8, + 4, + 4, + 14, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 14, + 14, + 8, + 4, + 4, + 8, + 2, + 4, + 14, + 310, + 354, + 16, + 2, + 18, + 2, + 26, + 14, + 14, + 8, + 4, + 4, + 8, + 2, + 4, + 14, + 310, + 358, + 22, + 2, + 8, + 2, + 6, + 4, + 16, + 16, + 12, + 6, + 6, + 4, + 8, + 22, + 308, + 358, + 22, + 2, + 8, + 2, + 6, + 4, + 16, + 16, + 12, + 6, + 6, + 4, + 8, + 22, + 308, + 360, + 12, + 40, + 4, + 18, + 24, + 26, + 4, + 8, + 304, + 360, + 12, + 40, + 4, + 18, + 24, + 26, + 4, + 8, + 304, + 360, + 16, + 8, + 4, + 24, + 6, + 16, + 20, + 28, + 6, + 10, + 302, + 360, + 16, + 8, + 4, + 24, + 6, + 16, + 20, + 28, + 6, + 10, + 302, + 362, + 16, + 4, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 6, + 14, + 16, + 4, + 14, + 6, + 12, + 300, + 362, + 16, + 4, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 6, + 14, + 16, + 4, + 14, + 6, + 12, + 300, + 362, + 18, + 2, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 14, + 6, + 16, + 4, + 14, + 8, + 10, + 300, + 362, + 18, + 2, + 6, + 4, + 6, + 6, + 4, + 4, + 6, + 4, + 6, + 14, + 6, + 16, + 4, + 14, + 8, + 10, + 300, + 364, + 24, + 4, + 6, + 6, + 4, + 4, + 16, + 14, + 6, + 16, + 4, + 14, + 12, + 8, + 298, + 364, + 24, + 4, + 6, + 6, + 4, + 4, + 16, + 14, + 6, + 16, + 4, + 14, + 12, + 8, + 298, + 364, + 26, + 2, + 14, + 6, + 18, + 14, + 8, + 12, + 8, + 8, + 14, + 8, + 298, + 364, + 26, + 2, + 14, + 6, + 18, + 14, + 8, + 12, + 8, + 8, + 14, + 8, + 298, + 366, + 44, + 2, + 18, + 14, + 8, + 16, + 4, + 8, + 14, + 8, + 298, + 366, + 44, + 2, + 18, + 14, + 8, + 16, + 4, + 8, + 14, + 8, + 298, + 366, + 66, + 22, + 6, + 2, + 4, + 8, + 4, + 2, + 14, + 10, + 298, + 364, + 66, + 22, + 6, + 2, + 4, + 8, + 4, + 2, + 14, + 10, + 298, + 368, + 62, + 20, + 14, + 8, + 4, + 4, + 10, + 16, + 294, + 368, + 62, + 20, + 14, + 8, + 4, + 4, + 10, + 16, + 294, + 372, + 36, + 2, + 20, + 16, + 20, + 6, + 4, + 4, + 10, + 16, + 292, + 374, + 36, + 2, + 20, + 16, + 20, + 6, + 4, + 4, + 10, + 16, + 292, + 384, + 4, + 14, + 6, + 6, + 20, + 14, + 22, + 12, + 10, + 10, + 298, + 384, + 4, + 14, + 6, + 6, + 20, + 14, + 22, + 12, + 10, + 10, + 298, + 384, + 4, + 14, + 6, + 6, + 4, + 4, + 16, + 10, + 22, + 14, + 4, + 14, + 298, + 384, + 4, + 14, + 6, + 6, + 4, + 4, + 16, + 10, + 22, + 14, + 4, + 14, + 298, + 384, + 4, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 18, + 12, + 8, + 2, + 6, + 16, + 4, + 6, + 4, + 4, + 8, + 4, + 286, + 384, + 4, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 18, + 12, + 8, + 2, + 6, + 16, + 4, + 6, + 4, + 4, + 8, + 4, + 286, + 374, + 4, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 6, + 4, + 18, + 14, + 6, + 2, + 6, + 14, + 6, + 6, + 4, + 4, + 8, + 6, + 284, + 374, + 4, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 6, + 4, + 18, + 14, + 6, + 2, + 6, + 14, + 6, + 6, + 4, + 4, + 8, + 6, + 284, + 374, + 6, + 2, + 6, + 4, + 18, + 2, + 28, + 14, + 14, + 14, + 8, + 4, + 4, + 2, + 12, + 6, + 282, + 374, + 6, + 2, + 6, + 4, + 18, + 2, + 28, + 14, + 14, + 14, + 8, + 4, + 4, + 2, + 12, + 6, + 282, + 374, + 70, + 10, + 16, + 10, + 14, + 6, + 12, + 8, + 280, + 374, + 70, + 10, + 16, + 10, + 14, + 6, + 12, + 8, + 280, + 374, + 74, + 6, + 16, + 4, + 4, + 2, + 18, + 2, + 12, + 8, + 280, + 374, + 74, + 6, + 16, + 4, + 4, + 2, + 18, + 2, + 12, + 8, + 280, + 374, + 74, + 6, + 12, + 6, + 18, + 2, + 20, + 8, + 282, + 372, + 74, + 6, + 12, + 6, + 18, + 2, + 20, + 8, + 282, + 372, + 76, + 4, + 14, + 4, + 18, + 2, + 22, + 8, + 280, + 372, + 76, + 4, + 14, + 4, + 18, + 2, + 22, + 8, + 280, + 372, + 76, + 14, + 52, + 6, + 278, + 374, + 76, + 14, + 52, + 6, + 278, + 378, + 10, + 4, + 18, + 2, + 8, + 2, + 28, + 14, + 54, + 6, + 276, + 378, + 10, + 4, + 18, + 2, + 8, + 2, + 28, + 14, + 54, + 6, + 276, + 374, + 14, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 6, + 2, + 22, + 12, + 54, + 10, + 272, + 374, + 14, + 6, + 4, + 4, + 6, + 4, + 6, + 4, + 6, + 2, + 22, + 12, + 54, + 10, + 272, + 372, + 16, + 4, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 24, + 4, + 6, + 4, + 8, + 2, + 8, + 4, + 276, + 372, + 16, + 4, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 24, + 4, + 6, + 4, + 8, + 2, + 8, + 4, + 276, + 372, + 18, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 6, + 2, + 8, + 2, + 6, + 4, + 6, + 4, + 8, + 2, + 8, + 2, + 278, + 372, + 18, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 8, + 2, + 24, + 8, + 6, + 2, + 8, + 2, + 6, + 4, + 6, + 4, + 8, + 2, + 8, + 2, + 278, + 370, + 40, + 2, + 44, + 8, + 26, + 2, + 308, + 370, + 40, + 2, + 44, + 8, + 26, + 2, + 308, + 368, + 90, + 10, + 332, + 368, + 90, + 10, + 332, + 368, + 92, + 8, + 332, + 368, + 92, + 8, + 332, + 366, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 10, + 330, + 364, + 96, + 12, + 328, + 364, + 96, + 12, + 328, + 362, + 102, + 8, + 326, + 364, + 102, + 8, + 326, + 364, + 14, + 2, + 10, + 2, + 6, + 2, + 10, + 2, + 6, + 4, + 46, + 6, + 326, + 364, + 14, + 2, + 10, + 2, + 6, + 2, + 10, + 2, + 6, + 4, + 46, + 6, + 326, + 364, + 14, + 4, + 8, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 48, + 4, + 328, + 362, + 14, + 4, + 8, + 2, + 6, + 4, + 6, + 4, + 6, + 4, + 48, + 4, + 328, + 362, + 26, + 2, + 8, + 2, + 8, + 2, + 60, + 2, + 66, + 2, + 260, + 362, + 26, + 2, + 8, + 2, + 8, + 2, + 60, + 2, + 66, + 2, + 260, + 362, + 112, + 6, + 58, + 2, + 258, + 364, + 112, + 6, + 58, + 2, + 258, + 362, + 114, + 6, + 318, + 362, + 114, + 6, + 318, + 360, + 118, + 4, + 318, + 360, + 118, + 4, + 318, + 358, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 122, + 2, + 320, + 356, + 126, + 6, + 312, + 356, + 126, + 6, + 312, + 354, + 22, + 4, + 8, + 2, + 8, + 2, + 86, + 2, + 68, + 2, + 242, + 354, + 22, + 4, + 8, + 2, + 8, + 2, + 86, + 2, + 68, + 2, + 242, + 352, + 16, + 2, + 6, + 4, + 8, + 2, + 6, + 4, + 8, + 2, + 76, + 4, + 66, + 2, + 242, + 352, + 16, + 2, + 6, + 4, + 8, + 2, + 6, + 4, + 8, + 2, + 76, + 4, + 66, + 2, + 242, + 352, + 26, + 2, + 8, + 2, + 8, + 2, + 86, + 4, + 68, + 2, + 240, + 352, + 26, + 2, + 8, + 2, + 8, + 2, + 86, + 4, + 68, + 2, + 240, + 352, + 136, + 2, + 310, + 352, + 136, + 2, + 310, + 350, + 138, + 6, + 304, + 352, + 138, + 6, + 304, + 350, + 140, + 6, + 304, + 350, + 140, + 6, + 304, + 348, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000170:0000", + "experimental_retained_index": 3, + "ism_score": 0.3604963719844818, + "R": [ + [ + -0.5719327330589294, + 0.011560313403606415, + 0.8200369477272034 + ], + [ + -0.568271815776825, + -0.7267670035362244, + -0.3858761787414551 + ], + [ + 0.5913944244384766, + -0.6871899366378784, + 0.4221110939979553 + ] + ], + "t": [ + -96.38790130615234, + -83.58883666992188, + 506.7896728515625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000170/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000170/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000170:0002", + "eppendorf_tarto:000170:0003", + "eppendorf_tarto:000170:0001", + "eppendorf_tarto:000170:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000170.png" + }, + { + "frame_id": 172, + "image_path": "/workspace/data/0008_/images/000172.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000172.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 590, + 392, + 232, + 148 + ], + "score": 0.479994535446167, + "time": 0.0, + "segmentation": { + "counts": [ + 471711, + 12, + 788, + 12, + 780, + 22, + 778, + 22, + 764, + 36, + 764, + 36, + 746, + 54, + 746, + 54, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 676, + 20, + 34, + 70, + 676, + 20, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 670, + 26, + 34, + 70, + 670, + 26, + 34, + 70, + 668, + 28, + 32, + 72, + 668, + 28, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 74, + 664, + 30, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 30, + 32, + 76, + 662, + 30, + 32, + 76, + 662, + 28, + 34, + 76, + 662, + 28, + 34, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 664, + 30, + 28, + 78, + 664, + 30, + 28, + 78, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 698, + 102, + 698, + 102, + 712, + 86, + 714, + 86, + 732, + 68, + 732, + 68, + 754, + 46, + 754, + 46, + 778, + 20, + 780, + 20, + 364271 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000172:0002", + "experimental_retained_index": 0, + "ism_score": 0.5019550919532776, + "R": [ + [ + -0.07157669216394424, + 0.013308505527675152, + -0.9974496364593506 + ], + [ + 0.8538191914558411, + -0.515811026096344, + -0.06804198771715164 + ], + [ + -0.5155232548713684, + -0.8564639687538147, + 0.02560655027627945 + ] + ], + "t": [ + 70.537841796875, + 37.37258529663086, + 368.3206481933594 + ] + }, + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 992, + 0, + 286, + 140 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 792803, + 8, + 792, + 8, + 789, + 11, + 789, + 11, + 789, + 13, + 787, + 13, + 787, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 730, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 72, + 728, + 72, + 730, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 724, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 726, + 74, + 726, + 74, + 726, + 74, + 726, + 74, + 728, + 72, + 657 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000172:0001", + "experimental_retained_index": 1, + "ism_score": 0.4401220679283142, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 670, + 474, + 482, + 322 + ], + "score": 0.3385356068611145, + "time": 0.0, + "segmentation": { + "counts": [ + 535805, + 24, + 776, + 24, + 766, + 38, + 762, + 38, + 750, + 56, + 744, + 56, + 740, + 66, + 734, + 66, + 732, + 72, + 728, + 72, + 726, + 80, + 720, + 80, + 720, + 86, + 714, + 86, + 714, + 92, + 708, + 92, + 706, + 98, + 702, + 98, + 702, + 104, + 696, + 104, + 694, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 680, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 134, + 666, + 134, + 666, + 142, + 658, + 142, + 658, + 146, + 654, + 146, + 654, + 152, + 648, + 152, + 646, + 160, + 640, + 160, + 640, + 164, + 636, + 164, + 636, + 174, + 626, + 174, + 624, + 180, + 620, + 180, + 620, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 608, + 200, + 600, + 200, + 600, + 206, + 594, + 206, + 594, + 210, + 590, + 210, + 588, + 220, + 580, + 220, + 580, + 226, + 574, + 226, + 572, + 232, + 568, + 232, + 568, + 236, + 564, + 236, + 564, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 534, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 536, + 264, + 534, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 536, + 264, + 536, + 264, + 536, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 538, + 262, + 538, + 262, + 538, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 540, + 260, + 540, + 260, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 540, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 258, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 542, + 256, + 544, + 256, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 544, + 256, + 544, + 256, + 544, + 254, + 546, + 254, + 546, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 546, + 252, + 548, + 252, + 548, + 252, + 548, + 252, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 548, + 250, + 550, + 250, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 550, + 250, + 550, + 250, + 550, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 568, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 586, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 596, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 602, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 614, + 186, + 614, + 186, + 618, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 622, + 178, + 622, + 178, + 624, + 176, + 624, + 176, + 628, + 170, + 630, + 170, + 632, + 168, + 632, + 168, + 634, + 164, + 636, + 164, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 652, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 662, + 136, + 664, + 136, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 704, + 26, + 2, + 68, + 704, + 26, + 2, + 68, + 706, + 92, + 708, + 92, + 710, + 24, + 2, + 64, + 710, + 24, + 2, + 64, + 712, + 20, + 8, + 4, + 12, + 44, + 712, + 20, + 8, + 4, + 12, + 44, + 714, + 6, + 36, + 42, + 716, + 6, + 36, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 720, + 10, + 24, + 4, + 2, + 38, + 722, + 10, + 24, + 4, + 2, + 38, + 722, + 10, + 24, + 44, + 722, + 10, + 24, + 44, + 724, + 6, + 26, + 44, + 724, + 6, + 26, + 44, + 724, + 6, + 24, + 44, + 726, + 6, + 24, + 44, + 728, + 8, + 10, + 6, + 2, + 46, + 728, + 8, + 10, + 6, + 2, + 46, + 712, + 4, + 16, + 4, + 10, + 52, + 714, + 4, + 16, + 4, + 10, + 52, + 714, + 4, + 16, + 4, + 10, + 52, + 714, + 4, + 16, + 4, + 10, + 52, + 710, + 8, + 30, + 6, + 4, + 42, + 710, + 8, + 30, + 6, + 4, + 42, + 708, + 8, + 32, + 6, + 4, + 42, + 708, + 8, + 32, + 6, + 4, + 42, + 706, + 8, + 46, + 38, + 708, + 8, + 46, + 38, + 708, + 6, + 52, + 34, + 708, + 6, + 52, + 34, + 708, + 4, + 56, + 32, + 708, + 4, + 56, + 32, + 770, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 708, + 8, + 62, + 20, + 710, + 8, + 62, + 20, + 710, + 8, + 66, + 14, + 712, + 8, + 66, + 14, + 712, + 8, + 70, + 8, + 714, + 8, + 70, + 8, + 714, + 6, + 74, + 4, + 716, + 6, + 74, + 4, + 2316, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 100219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000172:0000", + "experimental_retained_index": 2, + "ism_score": 0.4012273848056793, + "R": [ + [ + 0.3641991913318634, + -0.033353038132190704, + 0.93074631690979 + ], + [ + 0.7802355289459229, + 0.556536853313446, + -0.28534501791000366 + ], + [ + -0.5086548924446106, + 0.8300420641899109, + 0.22878871858119965 + ] + ], + "t": [ + 88.43567657470703, + 105.7113037109375, + 276.1618957519531 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 172, + "category_id": 1, + "bbox": [ + 590, + 392, + 232, + 148 + ], + "score": 0.479994535446167, + "time": 0.0, + "segmentation": { + "counts": [ + 471711, + 12, + 788, + 12, + 780, + 22, + 778, + 22, + 764, + 36, + 764, + 36, + 746, + 54, + 746, + 54, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 730, + 70, + 676, + 20, + 34, + 70, + 676, + 20, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 672, + 24, + 34, + 70, + 670, + 26, + 34, + 70, + 670, + 26, + 34, + 70, + 668, + 28, + 32, + 72, + 668, + 28, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 72, + 666, + 30, + 32, + 74, + 664, + 30, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 32, + 74, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 32, + 30, + 76, + 662, + 30, + 32, + 76, + 662, + 30, + 32, + 76, + 662, + 28, + 34, + 76, + 662, + 28, + 34, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 38, + 76, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 24, + 40, + 74, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 662, + 26, + 36, + 76, + 664, + 30, + 28, + 78, + 664, + 30, + 28, + 78, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 126, + 674, + 126, + 676, + 124, + 676, + 124, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 686, + 114, + 686, + 114, + 698, + 102, + 698, + 102, + 712, + 86, + 714, + 86, + 732, + 68, + 732, + 68, + 754, + 46, + 754, + 46, + 778, + 20, + 780, + 20, + 364271 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000172:0002", + "experimental_retained_index": 0, + "ism_score": 0.5019550919532776, + "R": [ + [ + -0.07157669216394424, + 0.013308505527675152, + -0.9974496364593506 + ], + [ + 0.8538191914558411, + -0.515811026096344, + -0.06804198771715164 + ], + [ + -0.5155232548713684, + -0.8564639687538147, + 0.02560655027627945 + ] + ], + "t": [ + 70.537841796875, + 37.37258529663086, + 368.3206481933594 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000172/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000172/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000172:0002", + "eppendorf_tarto:000172:0001", + "eppendorf_tarto:000172:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000172.png" + }, + { + "frame_id": 176, + "image_path": "/workspace/data/0008_/images/000176.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000176.png", + "status": "no_ism_candidate", + "detection_count": 0, + "input_candidate_count": 0, + "pose_candidates": [], + "best_pose": null, + "pem_result_path": null, + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000176/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [] + }, + { + "frame_id": 178, + "image_path": "/workspace/data/0008_/images/000178.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000178.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 178, + "category_id": 1, + "bbox": [ + 624, + 302, + 226, + 162 + ], + "score": 0.4364944100379944, + "time": 0.0, + "segmentation": { + "counts": [ + 498753, + 10, + 790, + 10, + 788, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 768, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 30, + 6, + 718, + 46, + 30, + 6, + 716, + 48, + 28, + 12, + 712, + 48, + 28, + 12, + 712, + 46, + 30, + 16, + 708, + 46, + 30, + 16, + 708, + 44, + 30, + 22, + 704, + 44, + 30, + 22, + 704, + 44, + 30, + 28, + 698, + 44, + 30, + 28, + 696, + 46, + 28, + 32, + 694, + 46, + 28, + 32, + 694, + 44, + 30, + 36, + 690, + 44, + 30, + 36, + 690, + 44, + 30, + 42, + 684, + 44, + 30, + 42, + 682, + 44, + 30, + 48, + 678, + 44, + 30, + 48, + 678, + 44, + 30, + 52, + 674, + 44, + 30, + 52, + 674, + 42, + 30, + 58, + 670, + 42, + 30, + 58, + 670, + 42, + 30, + 60, + 668, + 42, + 30, + 60, + 666, + 42, + 30, + 64, + 664, + 42, + 30, + 64, + 664, + 40, + 32, + 66, + 662, + 40, + 32, + 66, + 662, + 40, + 30, + 68, + 662, + 40, + 30, + 68, + 660, + 42, + 30, + 68, + 660, + 42, + 30, + 68, + 660, + 40, + 30, + 70, + 660, + 40, + 30, + 70, + 660, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 662, + 36, + 34, + 68, + 662, + 36, + 34, + 68, + 660, + 34, + 36, + 70, + 660, + 34, + 36, + 70, + 660, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 660, + 32, + 40, + 68, + 660, + 32, + 40, + 68, + 660, + 32, + 38, + 70, + 660, + 32, + 38, + 70, + 660, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 662, + 32, + 36, + 70, + 662, + 32, + 36, + 70, + 660, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 660, + 42, + 28, + 68, + 662, + 42, + 28, + 68, + 662, + 44, + 26, + 68, + 662, + 44, + 26, + 68, + 662, + 48, + 20, + 68, + 664, + 48, + 20, + 68, + 662, + 54, + 14, + 70, + 662, + 54, + 14, + 70, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 748, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 756, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 774, + 16, + 2, + 6, + 776, + 16, + 2, + 6, + 780, + 10, + 790, + 10, + 794, + 4, + 796, + 4, + 342007 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000178:0000", + "experimental_retained_index": 0, + "ism_score": 0.44625625014305115, + "R": [ + [ + 0.3617357015609741, + 0.13302986323833466, + -0.9228140711784363 + ], + [ + 0.8571028113365173, + -0.4373403489589691, + 0.27277982234954834 + ], + [ + -0.36740121245384216, + -0.8894463777542114, + -0.27229201793670654 + ] + ], + "t": [ + 92.64923858642578, + -24.261474609375, + 420.5732727050781 + ] + }, + { + "scene_id": 0, + "image_id": 178, + "category_id": 1, + "bbox": [ + 784, + 306, + 304, + 312 + ], + "score": 0.29851964116096497, + "time": 0.0, + "segmentation": { + "counts": [ + 626905, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 772, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 754, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 68, + 732, + 68, + 730, + 70, + 730, + 70, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 718, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 686, + 116, + 684, + 116, + 682, + 118, + 682, + 118, + 680, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 672, + 130, + 670, + 130, + 666, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 658, + 144, + 656, + 144, + 654, + 146, + 654, + 146, + 652, + 150, + 650, + 150, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 638, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 624, + 178, + 622, + 178, + 620, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 604, + 198, + 602, + 198, + 600, + 202, + 598, + 202, + 596, + 206, + 594, + 206, + 592, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 584, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 564, + 238, + 562, + 238, + 560, + 242, + 558, + 242, + 554, + 248, + 552, + 248, + 550, + 252, + 548, + 252, + 546, + 256, + 544, + 256, + 542, + 258, + 542, + 258, + 538, + 264, + 536, + 264, + 534, + 266, + 534, + 266, + 532, + 268, + 532, + 268, + 530, + 270, + 530, + 270, + 528, + 272, + 528, + 272, + 526, + 272, + 528, + 272, + 526, + 274, + 526, + 274, + 524, + 276, + 524, + 276, + 522, + 276, + 524, + 276, + 522, + 278, + 522, + 278, + 520, + 278, + 522, + 278, + 520, + 280, + 520, + 280, + 516, + 282, + 518, + 282, + 516, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 512, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 510, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 506, + 294, + 506, + 294, + 504, + 296, + 504, + 296, + 502, + 296, + 504, + 296, + 502, + 298, + 502, + 298, + 500, + 298, + 502, + 298, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 502, + 298, + 502, + 298, + 502, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 508, + 288, + 512, + 288, + 512, + 284, + 516, + 284, + 518, + 280, + 520, + 280, + 522, + 274, + 526, + 274, + 528, + 268, + 532, + 268, + 532, + 264, + 536, + 264, + 538, + 260, + 540, + 260, + 542, + 254, + 546, + 254, + 546, + 250, + 550, + 250, + 552, + 246, + 554, + 246, + 554, + 240, + 560, + 240, + 562, + 236, + 564, + 236, + 566, + 228, + 572, + 228, + 572, + 226, + 574, + 226, + 576, + 222, + 578, + 222, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 596, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 604, + 192, + 608, + 192, + 610, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 624, + 174, + 626, + 174, + 628, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 646, + 150, + 650, + 150, + 652, + 144, + 656, + 144, + 658, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 676, + 120, + 680, + 120, + 680, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 704, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 82, + 718, + 82, + 718, + 78, + 722, + 78, + 724, + 70, + 730, + 70, + 730, + 68, + 732, + 68, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 740, + 56, + 744, + 56, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 726, + 6, + 18, + 46, + 730, + 6, + 18, + 46, + 730, + 6, + 20, + 40, + 734, + 6, + 20, + 40, + 734, + 6, + 2, + 6, + 14, + 34, + 738, + 6, + 2, + 6, + 14, + 34, + 744, + 10, + 14, + 28, + 748, + 10, + 14, + 28, + 748, + 10, + 16, + 22, + 752, + 10, + 16, + 22, + 754, + 8, + 18, + 18, + 756, + 8, + 18, + 18, + 756, + 8, + 20, + 12, + 760, + 8, + 20, + 12, + 762, + 4, + 26, + 4, + 766, + 4, + 26, + 4, + 151601 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000178:0001", + "experimental_retained_index": 1, + "ism_score": 0.44021326303482056, + "R": [ + [ + 0.7253166437149048, + 0.1471581757068634, + -0.6728377342224121 + ], + [ + 0.6501173973083496, + -0.4676278531551361, + 0.5984816551208496 + ], + [ + -0.22640164196491241, + -0.8714913725852966, + -0.4346303641796112 + ] + ], + "t": [ + 187.93980407714844, + 17.654897689819336, + 354.76788330078125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 178, + "category_id": 1, + "bbox": [ + 624, + 302, + 226, + 162 + ], + "score": 0.4364944100379944, + "time": 0.0, + "segmentation": { + "counts": [ + 498753, + 10, + 790, + 10, + 788, + 16, + 784, + 16, + 784, + 20, + 780, + 20, + 778, + 26, + 774, + 26, + 774, + 30, + 770, + 30, + 768, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 30, + 6, + 718, + 46, + 30, + 6, + 716, + 48, + 28, + 12, + 712, + 48, + 28, + 12, + 712, + 46, + 30, + 16, + 708, + 46, + 30, + 16, + 708, + 44, + 30, + 22, + 704, + 44, + 30, + 22, + 704, + 44, + 30, + 28, + 698, + 44, + 30, + 28, + 696, + 46, + 28, + 32, + 694, + 46, + 28, + 32, + 694, + 44, + 30, + 36, + 690, + 44, + 30, + 36, + 690, + 44, + 30, + 42, + 684, + 44, + 30, + 42, + 682, + 44, + 30, + 48, + 678, + 44, + 30, + 48, + 678, + 44, + 30, + 52, + 674, + 44, + 30, + 52, + 674, + 42, + 30, + 58, + 670, + 42, + 30, + 58, + 670, + 42, + 30, + 60, + 668, + 42, + 30, + 60, + 666, + 42, + 30, + 64, + 664, + 42, + 30, + 64, + 664, + 40, + 32, + 66, + 662, + 40, + 32, + 66, + 662, + 40, + 30, + 68, + 662, + 40, + 30, + 68, + 660, + 42, + 30, + 68, + 660, + 42, + 30, + 68, + 660, + 40, + 30, + 70, + 660, + 40, + 30, + 70, + 660, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 662, + 36, + 34, + 68, + 662, + 36, + 34, + 68, + 660, + 34, + 36, + 70, + 660, + 34, + 36, + 70, + 660, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 660, + 32, + 40, + 68, + 660, + 32, + 40, + 68, + 660, + 32, + 38, + 70, + 660, + 32, + 38, + 70, + 660, + 32, + 38, + 68, + 662, + 32, + 38, + 68, + 662, + 32, + 36, + 70, + 662, + 32, + 36, + 70, + 660, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 34, + 36, + 68, + 662, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 660, + 42, + 28, + 68, + 662, + 42, + 28, + 68, + 662, + 44, + 26, + 68, + 662, + 44, + 26, + 68, + 662, + 48, + 20, + 68, + 664, + 48, + 20, + 68, + 662, + 54, + 14, + 70, + 662, + 54, + 14, + 70, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 696, + 104, + 696, + 104, + 698, + 102, + 698, + 102, + 702, + 96, + 704, + 96, + 706, + 94, + 706, + 94, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 726, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 732, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 748, + 52, + 748, + 52, + 750, + 48, + 752, + 48, + 756, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 770, + 28, + 772, + 28, + 774, + 16, + 2, + 6, + 776, + 16, + 2, + 6, + 780, + 10, + 790, + 10, + 794, + 4, + 796, + 4, + 342007 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000178:0000", + "experimental_retained_index": 0, + "ism_score": 0.44625625014305115, + "R": [ + [ + 0.3617357015609741, + 0.13302986323833466, + -0.9228140711784363 + ], + [ + 0.8571028113365173, + -0.4373403489589691, + 0.27277982234954834 + ], + [ + -0.36740121245384216, + -0.8894463777542114, + -0.27229201793670654 + ] + ], + "t": [ + 92.64923858642578, + -24.261474609375, + 420.5732727050781 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000178/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000178/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000178:0000", + "eppendorf_tarto:000178:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000178.png" + }, + { + "frame_id": 180, + "image_path": "/workspace/data/0008_/images/000180.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000180.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 536, + 292, + 218, + 164 + ], + "score": 0.43122461438179016, + "time": 0.0, + "segmentation": { + "counts": [ + 428355, + 6, + 794, + 6, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 46, + 32, + 6, + 716, + 46, + 32, + 6, + 714, + 46, + 32, + 10, + 712, + 46, + 32, + 10, + 712, + 46, + 30, + 16, + 708, + 46, + 30, + 16, + 706, + 46, + 32, + 18, + 704, + 46, + 32, + 18, + 704, + 46, + 30, + 22, + 702, + 46, + 30, + 22, + 702, + 46, + 28, + 28, + 698, + 46, + 28, + 28, + 696, + 46, + 28, + 32, + 694, + 46, + 28, + 32, + 694, + 44, + 30, + 36, + 690, + 44, + 30, + 36, + 690, + 44, + 28, + 40, + 688, + 44, + 28, + 40, + 686, + 44, + 30, + 44, + 682, + 44, + 30, + 44, + 682, + 42, + 30, + 48, + 680, + 42, + 30, + 48, + 678, + 42, + 32, + 52, + 674, + 42, + 32, + 52, + 674, + 42, + 30, + 56, + 672, + 42, + 30, + 56, + 672, + 40, + 32, + 58, + 670, + 40, + 32, + 58, + 668, + 42, + 30, + 64, + 664, + 42, + 30, + 64, + 664, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 660, + 36, + 34, + 70, + 660, + 36, + 34, + 70, + 660, + 34, + 36, + 72, + 658, + 34, + 36, + 72, + 658, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 656, + 32, + 38, + 74, + 656, + 32, + 38, + 74, + 656, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 658, + 30, + 38, + 74, + 658, + 30, + 38, + 74, + 656, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 658, + 32, + 36, + 74, + 658, + 32, + 36, + 74, + 656, + 34, + 36, + 72, + 658, + 34, + 36, + 72, + 658, + 36, + 32, + 74, + 658, + 36, + 32, + 74, + 658, + 38, + 30, + 72, + 660, + 38, + 30, + 72, + 658, + 42, + 26, + 74, + 658, + 42, + 26, + 74, + 658, + 44, + 24, + 72, + 660, + 44, + 24, + 72, + 658, + 50, + 18, + 74, + 658, + 50, + 18, + 74, + 658, + 56, + 10, + 74, + 660, + 56, + 10, + 74, + 660, + 60, + 2, + 78, + 660, + 60, + 2, + 78, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 734, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 418827 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000180:0000", + "experimental_retained_index": 0, + "ism_score": 0.4339367151260376, + "R": [ + [ + 0.5398728847503662, + 0.25852301716804504, + -0.8009958863258362 + ], + [ + 0.7816559076309204, + -0.5071626305580139, + 0.3629167973995209 + ], + [ + -0.31243813037872314, + -0.8220143914222717, + -0.4758645296096802 + ] + ], + "t": [ + 33.425846099853516, + -34.243892669677734, + 436.4106750488281 + ] + }, + { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 714, + 280, + 246, + 286 + ], + "score": 0.27860355377197266, + "time": 0.0, + "segmentation": { + "counts": [ + 570879, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 758, + 44, + 756, + 44, + 752, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 744, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 736, + 66, + 734, + 66, + 728, + 74, + 726, + 74, + 724, + 76, + 724, + 76, + 720, + 82, + 718, + 82, + 714, + 88, + 712, + 88, + 710, + 90, + 710, + 90, + 706, + 96, + 704, + 96, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 108, + 692, + 108, + 688, + 114, + 686, + 114, + 682, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 670, + 132, + 668, + 132, + 664, + 138, + 662, + 138, + 658, + 142, + 658, + 142, + 654, + 148, + 652, + 148, + 650, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 642, + 160, + 640, + 160, + 634, + 166, + 634, + 166, + 632, + 170, + 630, + 170, + 626, + 176, + 624, + 176, + 620, + 180, + 620, + 180, + 616, + 186, + 614, + 186, + 610, + 192, + 608, + 192, + 606, + 194, + 606, + 194, + 602, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 594, + 208, + 592, + 208, + 588, + 214, + 586, + 214, + 582, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 226, + 574, + 226, + 570, + 230, + 570, + 230, + 566, + 236, + 564, + 236, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 556, + 246, + 554, + 246, + 552, + 250, + 550, + 250, + 546, + 254, + 546, + 254, + 544, + 258, + 542, + 258, + 538, + 262, + 538, + 262, + 534, + 268, + 532, + 268, + 530, + 272, + 528, + 272, + 524, + 278, + 522, + 278, + 518, + 282, + 518, + 282, + 516, + 286, + 514, + 286, + 512, + 288, + 512, + 288, + 512, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 512, + 286, + 514, + 286, + 516, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 520, + 278, + 522, + 278, + 524, + 38, + 2, + 234, + 526, + 38, + 2, + 234, + 528, + 34, + 4, + 232, + 530, + 34, + 4, + 232, + 530, + 30, + 4, + 236, + 530, + 30, + 4, + 236, + 532, + 22, + 10, + 234, + 534, + 22, + 10, + 234, + 534, + 20, + 10, + 234, + 536, + 20, + 10, + 234, + 540, + 16, + 8, + 236, + 540, + 16, + 8, + 236, + 540, + 10, + 14, + 234, + 542, + 10, + 14, + 234, + 542, + 10, + 14, + 232, + 544, + 10, + 14, + 232, + 548, + 6, + 14, + 232, + 548, + 6, + 14, + 232, + 566, + 232, + 568, + 232, + 552, + 4, + 12, + 232, + 552, + 4, + 12, + 232, + 552, + 8, + 8, + 230, + 554, + 8, + 8, + 230, + 554, + 244, + 556, + 244, + 556, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 560, + 238, + 562, + 238, + 564, + 236, + 564, + 236, + 566, + 234, + 566, + 234, + 566, + 232, + 568, + 232, + 570, + 230, + 570, + 230, + 570, + 228, + 572, + 228, + 574, + 220, + 580, + 220, + 582, + 212, + 588, + 212, + 588, + 206, + 594, + 206, + 594, + 200, + 600, + 200, + 602, + 192, + 608, + 192, + 608, + 184, + 616, + 184, + 618, + 176, + 624, + 176, + 624, + 170, + 630, + 170, + 632, + 162, + 638, + 162, + 640, + 152, + 648, + 152, + 648, + 146, + 654, + 146, + 656, + 138, + 662, + 138, + 662, + 132, + 668, + 132, + 670, + 124, + 676, + 124, + 678, + 116, + 684, + 116, + 684, + 108, + 692, + 108, + 694, + 100, + 700, + 100, + 700, + 94, + 706, + 94, + 704, + 92, + 708, + 92, + 706, + 88, + 712, + 88, + 710, + 84, + 716, + 84, + 708, + 86, + 714, + 86, + 712, + 84, + 716, + 84, + 716, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 726, + 22, + 4, + 34, + 4, + 10, + 726, + 22, + 4, + 34, + 4, + 10, + 714, + 10, + 2, + 20, + 6, + 32, + 10, + 4, + 716, + 10, + 2, + 20, + 6, + 32, + 10, + 4, + 716, + 28, + 12, + 28, + 732, + 28, + 12, + 28, + 732, + 24, + 18, + 18, + 740, + 24, + 18, + 18, + 740, + 20, + 28, + 6, + 746, + 20, + 28, + 6, + 746, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 254085 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000180:0001", + "experimental_retained_index": 1, + "ism_score": 0.43278223276138306, + "R": [ + [ + -0.8418707251548767, + -0.08672016859054565, + -0.533003032207489 + ], + [ + -0.49587756395339966, + 0.5141503810882568, + 0.6996036767959595 + ], + [ + 0.21325090527534485, + 0.853410542011261, + -0.4757157266139984 + ] + ], + "t": [ + 148.53280639648438, + 6.887899875640869, + 402.1728210449219 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 180, + "category_id": 1, + "bbox": [ + 536, + 292, + 218, + 164 + ], + "score": 0.43122461438179016, + "time": 0.0, + "segmentation": { + "counts": [ + 428355, + 6, + 794, + 6, + 792, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 780, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 772, + 32, + 768, + 32, + 766, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 750, + 48, + 752, + 48, + 752, + 46, + 32, + 6, + 716, + 46, + 32, + 6, + 714, + 46, + 32, + 10, + 712, + 46, + 32, + 10, + 712, + 46, + 30, + 16, + 708, + 46, + 30, + 16, + 706, + 46, + 32, + 18, + 704, + 46, + 32, + 18, + 704, + 46, + 30, + 22, + 702, + 46, + 30, + 22, + 702, + 46, + 28, + 28, + 698, + 46, + 28, + 28, + 696, + 46, + 28, + 32, + 694, + 46, + 28, + 32, + 694, + 44, + 30, + 36, + 690, + 44, + 30, + 36, + 690, + 44, + 28, + 40, + 688, + 44, + 28, + 40, + 686, + 44, + 30, + 44, + 682, + 44, + 30, + 44, + 682, + 42, + 30, + 48, + 680, + 42, + 30, + 48, + 678, + 42, + 32, + 52, + 674, + 42, + 32, + 52, + 674, + 42, + 30, + 56, + 672, + 42, + 30, + 56, + 672, + 40, + 32, + 58, + 670, + 40, + 32, + 58, + 668, + 42, + 30, + 64, + 664, + 42, + 30, + 64, + 664, + 38, + 32, + 68, + 662, + 38, + 32, + 68, + 660, + 36, + 34, + 70, + 660, + 36, + 34, + 70, + 660, + 34, + 36, + 72, + 658, + 34, + 36, + 72, + 658, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 656, + 32, + 38, + 74, + 656, + 32, + 38, + 74, + 656, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 658, + 30, + 38, + 74, + 658, + 30, + 38, + 74, + 656, + 32, + 38, + 72, + 658, + 32, + 38, + 72, + 658, + 32, + 36, + 74, + 658, + 32, + 36, + 74, + 656, + 34, + 36, + 72, + 658, + 34, + 36, + 72, + 658, + 36, + 32, + 74, + 658, + 36, + 32, + 74, + 658, + 38, + 30, + 72, + 660, + 38, + 30, + 72, + 658, + 42, + 26, + 74, + 658, + 42, + 26, + 74, + 658, + 44, + 24, + 72, + 660, + 44, + 24, + 72, + 658, + 50, + 18, + 74, + 658, + 50, + 18, + 74, + 658, + 56, + 10, + 74, + 660, + 56, + 10, + 74, + 660, + 60, + 2, + 78, + 660, + 60, + 2, + 78, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 704, + 94, + 706, + 94, + 708, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 724, + 74, + 726, + 74, + 728, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 734, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 776, + 22, + 778, + 22, + 780, + 16, + 784, + 16, + 786, + 8, + 792, + 8, + 418827 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000180:0000", + "experimental_retained_index": 0, + "ism_score": 0.4339367151260376, + "R": [ + [ + 0.5398728847503662, + 0.25852301716804504, + -0.8009958863258362 + ], + [ + 0.7816559076309204, + -0.5071626305580139, + 0.3629167973995209 + ], + [ + -0.31243813037872314, + -0.8220143914222717, + -0.4758645296096802 + ] + ], + "t": [ + 33.425846099853516, + -34.243892669677734, + 436.4106750488281 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000180/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000180/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000180:0000", + "eppendorf_tarto:000180:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000180.png" + }, + { + "frame_id": 182, + "image_path": "/workspace/data/0008_/images/000182.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000182.png", + "status": "ok", + "detection_count": 6, + "input_candidate_count": 7, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 206, + 0, + 114, + 130 + ], + "score": 0.5813532471656799, + "time": 0.0, + "segmentation": { + "counts": [ + 164000, + 13, + 787, + 13, + 787, + 25, + 775, + 25, + 775, + 33, + 767, + 33, + 767, + 43, + 757, + 43, + 757, + 53, + 747, + 53, + 747, + 63, + 737, + 63, + 737, + 71, + 729, + 71, + 729, + 83, + 717, + 83, + 717, + 91, + 709, + 91, + 709, + 101, + 699, + 101, + 699, + 111, + 689, + 111, + 689, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 10, + 2, + 4, + 56, + 6, + 4, + 36, + 682, + 10, + 2, + 4, + 56, + 6, + 4, + 36, + 684, + 4, + 84, + 28, + 684, + 4, + 84, + 28, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 766267 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0005", + "experimental_retained_index": 0, + "ism_score": 0.5813532471656799, + "R": [ + [ + 0.13943345844745636, + 0.0169596616178751, + -0.9898511171340942 + ], + [ + -0.8379927277565002, + -0.5304590463638306, + -0.12724721431732178 + ], + [ + -0.5275763869285583, + 0.8477463722229004, + -0.05967336520552635 + ] + ], + "t": [ + -369.4917907714844, + -340.1639099121094, + 697.6240234375 + ] + }, + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 352, + 24, + 140, + 130 + ], + "score": 0.4512031674385071, + "time": 0.0, + "segmentation": { + "counts": [ + 280831, + 24, + 776, + 24, + 770, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 40, + 760, + 40, + 760, + 50, + 750, + 50, + 750, + 64, + 736, + 64, + 736, + 90, + 710, + 90, + 710, + 108, + 692, + 108, + 692, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 44, + 26, + 42, + 688, + 44, + 26, + 42, + 688, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 766, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 770, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 778, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 784, + 14, + 786, + 14, + 786, + 12, + 788, + 12, + 790, + 8, + 792, + 8, + 628741 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0004", + "experimental_retained_index": 1, + "ism_score": 0.49446922540664673, + "R": [ + [ + -0.019599344581365585, + 0.07419423013925552, + -0.9969071745872498 + ], + [ + -0.8651122450828552, + -0.5009011030197144, + -0.020301224663853645 + ], + [ + -0.5012157559394836, + 0.862411618232727, + 0.07398506999015808 + ] + ], + "t": [ + -215.45826721191406, + -330.2632751464844, + 700.4786376953125 + ] + }, + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 728, + 368, + 196, + 272 + ], + "score": 0.30362576246261597, + "time": 0.0, + "segmentation": { + "counts": [ + 582183, + 10, + 790, + 10, + 778, + 24, + 776, + 24, + 764, + 38, + 762, + 38, + 748, + 52, + 748, + 52, + 734, + 66, + 734, + 66, + 722, + 80, + 720, + 80, + 708, + 92, + 708, + 92, + 696, + 104, + 696, + 104, + 682, + 120, + 680, + 120, + 662, + 138, + 662, + 138, + 644, + 156, + 644, + 156, + 628, + 172, + 628, + 172, + 620, + 182, + 618, + 182, + 614, + 186, + 614, + 186, + 608, + 192, + 608, + 192, + 604, + 198, + 602, + 198, + 596, + 204, + 596, + 204, + 590, + 210, + 590, + 210, + 586, + 216, + 584, + 216, + 578, + 222, + 578, + 222, + 570, + 230, + 570, + 230, + 562, + 240, + 560, + 240, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 38, + 2, + 206, + 554, + 38, + 2, + 206, + 556, + 32, + 10, + 202, + 556, + 32, + 10, + 202, + 556, + 30, + 14, + 202, + 554, + 30, + 14, + 202, + 554, + 28, + 14, + 204, + 554, + 28, + 14, + 204, + 554, + 22, + 18, + 208, + 552, + 22, + 18, + 208, + 554, + 10, + 26, + 210, + 554, + 10, + 26, + 210, + 590, + 210, + 590, + 210, + 588, + 212, + 588, + 212, + 586, + 216, + 584, + 216, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 570, + 230, + 570, + 230, + 568, + 232, + 568, + 232, + 566, + 236, + 564, + 236, + 564, + 236, + 564, + 236, + 562, + 238, + 562, + 238, + 558, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 554, + 246, + 554, + 246, + 556, + 242, + 558, + 242, + 558, + 242, + 558, + 242, + 558, + 240, + 560, + 240, + 560, + 236, + 564, + 236, + 564, + 232, + 568, + 232, + 570, + 228, + 572, + 228, + 584, + 212, + 588, + 212, + 590, + 208, + 592, + 208, + 594, + 204, + 596, + 204, + 598, + 14, + 2, + 4, + 6, + 172, + 602, + 14, + 2, + 4, + 6, + 172, + 602, + 14, + 20, + 162, + 604, + 14, + 20, + 162, + 606, + 12, + 34, + 146, + 608, + 12, + 34, + 146, + 610, + 10, + 48, + 130, + 612, + 10, + 48, + 130, + 614, + 6, + 60, + 116, + 618, + 6, + 60, + 116, + 696, + 102, + 698, + 102, + 710, + 86, + 714, + 86, + 724, + 74, + 726, + 74, + 738, + 60, + 740, + 60, + 750, + 48, + 752, + 48, + 764, + 34, + 766, + 34, + 778, + 22, + 778, + 22, + 788, + 8, + 792, + 8, + 282611 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0001", + "experimental_retained_index": 2, + "ism_score": 0.4671165347099304, + "R": [ + [ + -0.9650696516036987, + -0.08219429850578308, + -0.2479652464389801 + ], + [ + -0.2256641387939453, + 0.7406336665153503, + 0.6327542662620544 + ], + [ + 0.13167041540145874, + 0.6668592691421509, + -0.7334399819374084 + ] + ], + "t": [ + 134.44476318359375, + 48.85658264160156, + 408.6469421386719 + ] + }, + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 138, + 0, + 78, + 98 + ], + "score": 0.017474140971899033, + "time": 0.0, + "segmentation": { + "counts": [ + 109600, + 7, + 793, + 7, + 793, + 13, + 787, + 13, + 787, + 17, + 783, + 17, + 783, + 25, + 775, + 25, + 775, + 31, + 769, + 31, + 769, + 39, + 761, + 39, + 761, + 47, + 753, + 47, + 753, + 53, + 747, + 53, + 747, + 59, + 741, + 59, + 741, + 67, + 733, + 67, + 733, + 73, + 727, + 73, + 727, + 81, + 719, + 81, + 719, + 89, + 711, + 89, + 711, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 101, + 699, + 99, + 701, + 99, + 701, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 711, + 89, + 720, + 78, + 722, + 78, + 732, + 68, + 732, + 68, + 740, + 60, + 740, + 60, + 750, + 48, + 752, + 48, + 762, + 38, + 762, + 38, + 772, + 26, + 774, + 26, + 782, + 18, + 782, + 18, + 849517 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0002", + "experimental_retained_index": 3, + "ism_score": 0.4659770727157593, + "R": [ + [ + 0.38343489170074463, + 0.6846166253089905, + 0.619817316532135 + ], + [ + 0.5260022878646851, + -0.7135186195373535, + 0.4626869559288025 + ], + [ + 0.7592869997024536, + 0.14856453239917755, + -0.6338920593261719 + ] + ], + "t": [ + -485.37811279296875, + -422.6557312011719, + 680.2041625976562 + ] + }, + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 510, + 414, + 216, + 178 + ], + "score": 0.4411512613296509, + "time": 0.0, + "segmentation": { + "counts": [ + 407705, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 762, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 744, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 742, + 56, + 744, + 56, + 742, + 56, + 40, + 8, + 696, + 56, + 40, + 8, + 696, + 54, + 40, + 10, + 696, + 54, + 40, + 10, + 694, + 54, + 40, + 14, + 692, + 54, + 40, + 14, + 690, + 54, + 38, + 20, + 688, + 54, + 38, + 20, + 688, + 52, + 38, + 24, + 686, + 52, + 38, + 24, + 684, + 52, + 38, + 28, + 682, + 52, + 38, + 28, + 680, + 52, + 38, + 32, + 678, + 52, + 38, + 32, + 678, + 48, + 38, + 36, + 678, + 48, + 38, + 36, + 676, + 46, + 40, + 40, + 674, + 46, + 40, + 40, + 672, + 38, + 48, + 44, + 670, + 38, + 48, + 44, + 668, + 38, + 48, + 48, + 666, + 38, + 48, + 48, + 666, + 36, + 48, + 52, + 664, + 36, + 48, + 52, + 662, + 36, + 48, + 56, + 660, + 36, + 48, + 56, + 660, + 36, + 46, + 58, + 660, + 36, + 46, + 58, + 658, + 36, + 46, + 62, + 656, + 36, + 46, + 62, + 654, + 38, + 44, + 66, + 652, + 38, + 44, + 66, + 652, + 38, + 42, + 70, + 650, + 38, + 42, + 70, + 648, + 40, + 42, + 70, + 648, + 40, + 42, + 70, + 646, + 42, + 38, + 76, + 644, + 42, + 38, + 76, + 642, + 46, + 34, + 80, + 640, + 46, + 34, + 80, + 640, + 48, + 32, + 82, + 638, + 48, + 32, + 82, + 636, + 52, + 28, + 86, + 634, + 52, + 28, + 86, + 632, + 56, + 24, + 88, + 632, + 56, + 24, + 88, + 632, + 58, + 22, + 90, + 630, + 58, + 22, + 90, + 628, + 62, + 18, + 92, + 628, + 62, + 18, + 92, + 626, + 66, + 12, + 94, + 628, + 66, + 12, + 94, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 642, + 156, + 644, + 156, + 646, + 152, + 648, + 152, + 648, + 150, + 650, + 150, + 652, + 146, + 654, + 146, + 654, + 144, + 656, + 144, + 658, + 140, + 660, + 140, + 662, + 136, + 664, + 136, + 664, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 122, + 678, + 122, + 680, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 694, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 708, + 90, + 710, + 90, + 712, + 86, + 714, + 86, + 714, + 86, + 714, + 86, + 716, + 82, + 718, + 82, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 726, + 72, + 728, + 72, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 28, + 772, + 28, + 774, + 22, + 778, + 22, + 780, + 8, + 6, + 4, + 782, + 8, + 6, + 4, + 441117 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0000", + "experimental_retained_index": 4, + "ism_score": 0.4613346457481384, + "R": [ + [ + -0.7967416048049927, + 0.16407598555088043, + 0.581428587436676 + ], + [ + -0.4622008204460144, + -0.785554051399231, + -0.41170135140419006 + ], + [ + 0.38923561573028564, + -0.596920907497406, + 0.7017046213150024 + ] + ], + "t": [ + -9.92840576171875, + 67.18463897705078, + 394.6705627441406 + ] + }, + { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 1158, + 46, + 120, + 120 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 925713, + 10, + 790, + 10, + 786, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 772, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 758, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 746, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 726, + 76, + 724, + 76, + 722, + 78, + 722, + 78, + 720, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 714, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 92, + 708, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 94, + 706, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 690, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 682, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 124, + 676, + 124, + 676, + 124, + 631 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0006", + "experimental_retained_index": 6, + "ism_score": 0.42935600876808167, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 182, + "category_id": 1, + "bbox": [ + 206, + 0, + 114, + 130 + ], + "score": 0.5813532471656799, + "time": 0.0, + "segmentation": { + "counts": [ + 164000, + 13, + 787, + 13, + 787, + 25, + 775, + 25, + 775, + 33, + 767, + 33, + 767, + 43, + 757, + 43, + 757, + 53, + 747, + 53, + 747, + 63, + 737, + 63, + 737, + 71, + 729, + 71, + 729, + 83, + 717, + 83, + 717, + 91, + 709, + 91, + 709, + 101, + 699, + 101, + 699, + 111, + 689, + 111, + 689, + 115, + 685, + 115, + 685, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 117, + 683, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 119, + 681, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 679, + 121, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 682, + 120, + 680, + 120, + 682, + 10, + 2, + 4, + 56, + 6, + 4, + 36, + 682, + 10, + 2, + 4, + 56, + 6, + 4, + 36, + 684, + 4, + 84, + 28, + 684, + 4, + 84, + 28, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 778, + 22, + 778, + 22, + 782, + 18, + 782, + 18, + 766267 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000182:0005", + "experimental_retained_index": 0, + "ism_score": 0.5813532471656799, + "R": [ + [ + 0.13943345844745636, + 0.0169596616178751, + -0.9898511171340942 + ], + [ + -0.8379927277565002, + -0.5304590463638306, + -0.12724721431732178 + ], + [ + -0.5275763869285583, + 0.8477463722229004, + -0.05967336520552635 + ] + ], + "t": [ + -369.4917907714844, + -340.1639099121094, + 697.6240234375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000182/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000182/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000182:0005", + "eppendorf_tarto:000182:0004", + "eppendorf_tarto:000182:0001", + "eppendorf_tarto:000182:0002", + "eppendorf_tarto:000182:0000", + "eppendorf_tarto:000182:0006" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000182.png" + }, + { + "frame_id": 184, + "image_path": "/workspace/data/0008_/images/000184.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000184.png", + "status": "ok", + "detection_count": 5, + "input_candidate_count": 5, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 716, + 302, + 194, + 254 + ], + "score": 0.3091275095939636, + "time": 0.0, + "segmentation": { + "counts": [ + 572375, + 24, + 776, + 24, + 770, + 52, + 748, + 52, + 740, + 80, + 720, + 80, + 708, + 116, + 684, + 116, + 676, + 154, + 646, + 154, + 630, + 196, + 604, + 196, + 602, + 212, + 588, + 212, + 588, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 12, + 4, + 208, + 576, + 12, + 4, + 208, + 576, + 10, + 6, + 208, + 576, + 10, + 6, + 208, + 576, + 12, + 4, + 208, + 576, + 12, + 4, + 208, + 576, + 12, + 4, + 208, + 576, + 12, + 4, + 208, + 576, + 12, + 4, + 208, + 576, + 12, + 4, + 208, + 576, + 10, + 4, + 210, + 576, + 10, + 4, + 210, + 576, + 224, + 576, + 224, + 576, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 576, + 224, + 576, + 224, + 570, + 230, + 570, + 230, + 550, + 4, + 14, + 232, + 550, + 4, + 14, + 232, + 550, + 4, + 14, + 234, + 548, + 4, + 14, + 234, + 548, + 8, + 10, + 234, + 548, + 8, + 10, + 234, + 550, + 6, + 10, + 234, + 550, + 6, + 10, + 234, + 548, + 8, + 10, + 234, + 548, + 8, + 10, + 234, + 548, + 8, + 10, + 234, + 548, + 8, + 10, + 234, + 548, + 6, + 12, + 8, + 10, + 216, + 548, + 6, + 12, + 8, + 10, + 216, + 548, + 4, + 32, + 216, + 548, + 4, + 32, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 590, + 24, + 4, + 182, + 590, + 24, + 4, + 182, + 592, + 18, + 12, + 178, + 592, + 18, + 12, + 178, + 592, + 16, + 18, + 174, + 592, + 16, + 18, + 174, + 594, + 12, + 26, + 168, + 594, + 12, + 26, + 168, + 598, + 4, + 34, + 166, + 596, + 4, + 34, + 166, + 638, + 162, + 638, + 162, + 644, + 156, + 644, + 156, + 648, + 152, + 648, + 152, + 654, + 146, + 654, + 146, + 658, + 140, + 660, + 140, + 666, + 132, + 668, + 132, + 672, + 124, + 676, + 124, + 680, + 114, + 686, + 114, + 692, + 104, + 696, + 104, + 698, + 98, + 702, + 98, + 708, + 88, + 712, + 88, + 716, + 80, + 720, + 80, + 724, + 72, + 728, + 72, + 734, + 62, + 738, + 62, + 742, + 54, + 746, + 54, + 750, + 46, + 754, + 46, + 760, + 38, + 762, + 38, + 766, + 30, + 770, + 30, + 774, + 22, + 778, + 22, + 784, + 14, + 786, + 14, + 790, + 6, + 794, + 6, + 293903 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000184:0000", + "experimental_retained_index": 0, + "ism_score": 0.4688189625740051, + "R": [ + [ + 0.9977759122848511, + -0.045997317880392075, + 0.04365985468029976 + ], + [ + 0.06335949897766113, + 0.75907301902771, + -0.6478357315063477 + ], + [ + -0.0033586621284484863, + 0.6490862369537354, + 0.7607713341712952 + ] + ], + "t": [ + 107.9306869506836, + 31.582399368286133, + 389.8672180175781 + ] + }, + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 184, + 0, + 240, + 64 + ], + "score": 0.03496748208999634, + "time": 0.0, + "segmentation": { + "counts": [ + 146429, + 6, + 794, + 6, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 67, + 733, + 67, + 733, + 65, + 735, + 65, + 735, + 65, + 735, + 65, + 735, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 55, + 745, + 55, + 745, + 55, + 745, + 55, + 745, + 53, + 747, + 53, + 747, + 51, + 749, + 51, + 752, + 48, + 752, + 48, + 766, + 32, + 768, + 32, + 784, + 12, + 788, + 12, + 683155 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000184:0006", + "experimental_retained_index": 1, + "ism_score": 0.44758379459381104, + "R": [ + [ + 0.9405539035797119, + 0.12722277641296387, + 0.31491610407829285 + ], + [ + -0.02995552122592926, + -0.8924465179443359, + 0.4505566954612732 + ], + [ + 0.33816903829574585, + -0.43293145298957825, + -0.8354222178459167 + ] + ], + "t": [ + -320.8885192871094, + -342.4022216796875, + 598.8202514648438 + ] + }, + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 934, + 56, + 232, + 80 + ], + "score": 0.205969899892807, + "time": 0.0, + "segmentation": { + "counts": [ + 746495, + 14, + 786, + 14, + 782, + 20, + 780, + 20, + 776, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 760, + 40, + 760, + 40, + 756, + 46, + 754, + 46, + 750, + 50, + 750, + 50, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 744, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 750, + 50, + 750, + 50, + 752, + 48, + 752, + 48, + 754, + 48, + 752, + 48, + 754, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 758, + 42, + 758, + 42, + 760, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 766, + 34, + 766, + 34, + 768, + 34, + 766, + 34, + 768, + 32, + 768, + 32, + 770, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 774, + 26, + 774, + 26, + 776, + 24, + 776, + 24, + 780, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 784, + 16, + 784, + 16, + 786, + 14, + 786, + 14, + 788, + 12, + 788, + 12, + 794, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 89461 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000184:0003", + "experimental_retained_index": 2, + "ism_score": 0.43078669905662537, + "R": [ + [ + 0.9532103538513184, + 0.032349057495594025, + 0.3004946708679199 + ], + [ + -0.24946081638336182, + -0.47738760709762573, + 0.8422257900238037 + ], + [ + 0.1706802248954773, + -0.8781705498695374, + -0.4472413957118988 + ] + ], + "t": [ + 454.3065185546875, + -341.04486083984375, + 683.8392944335938 + ] + }, + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 850, + 100, + 76, + 132 + ], + "score": 0.4057239294052124, + "time": 0.0, + "segmentation": { + "counts": [ + 679345, + 12, + 34, + 10, + 744, + 12, + 34, + 10, + 738, + 20, + 24, + 22, + 734, + 20, + 24, + 22, + 724, + 34, + 14, + 30, + 722, + 34, + 14, + 30, + 716, + 44, + 4, + 38, + 714, + 44, + 4, + 38, + 708, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 128, + 672, + 128, + 672, + 122, + 678, + 122, + 678, + 116, + 684, + 116, + 684, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 100, + 700, + 100, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 78, + 722, + 78, + 722, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 736, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 752, + 42, + 758, + 42, + 758, + 36, + 764, + 36, + 764, + 28, + 772, + 28, + 774, + 16, + 784, + 16, + 281475 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000184:0004", + "experimental_retained_index": 3, + "ism_score": 0.4174651503562927, + "R": [ + [ + 0.37234097719192505, + -0.9238649606704712, + -0.0868663638830185 + ], + [ + 0.5232672691345215, + 0.1316777765750885, + 0.8418209552764893 + ], + [ + -0.7667253017425537, + -0.35889652371406555, + 0.5325551629066467 + ] + ], + "t": [ + 288.258544921875, + -280.8843688964844, + 708.0606079101562 + ] + }, + { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 424, + 0, + 216, + 42 + ], + "score": 0.3972078561782837, + "time": 0.0, + "segmentation": { + "counts": [ + 338400, + 17, + 783, + 17, + 783, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 37, + 763, + 37, + 763, + 31, + 769, + 31, + 510369 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000184:0002", + "experimental_retained_index": 4, + "ism_score": 0.3972078561782837, + "R": [ + [ + -0.9330199360847473, + -0.33892345428466797, + -0.12055787444114685 + ], + [ + -0.2959230840206146, + 0.9140130281448364, + -0.27860409021377563 + ], + [ + 0.2045205533504486, + -0.2243366539478302, + -0.9529188871383667 + ] + ], + "t": [ + -14.700599670410156, + -360.6144104003906, + 606.7282104492188 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 184, + "category_id": 1, + "bbox": [ + 850, + 100, + 76, + 132 + ], + "score": 0.4057239294052124, + "time": 0.0, + "segmentation": { + "counts": [ + 679345, + 12, + 34, + 10, + 744, + 12, + 34, + 10, + 738, + 20, + 24, + 22, + 734, + 20, + 24, + 22, + 724, + 34, + 14, + 30, + 722, + 34, + 14, + 30, + 716, + 44, + 4, + 38, + 714, + 44, + 4, + 38, + 708, + 94, + 706, + 94, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 118, + 682, + 118, + 680, + 122, + 678, + 122, + 676, + 126, + 674, + 126, + 674, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 128, + 672, + 128, + 672, + 122, + 678, + 122, + 678, + 116, + 684, + 116, + 684, + 112, + 688, + 112, + 688, + 106, + 694, + 106, + 694, + 100, + 700, + 100, + 702, + 92, + 708, + 92, + 708, + 86, + 714, + 86, + 716, + 78, + 722, + 78, + 722, + 72, + 728, + 72, + 728, + 66, + 734, + 66, + 736, + 58, + 742, + 58, + 742, + 50, + 750, + 50, + 752, + 42, + 758, + 42, + 758, + 36, + 764, + 36, + 764, + 28, + 772, + 28, + 774, + 16, + 784, + 16, + 281475 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000184:0004", + "experimental_retained_index": 3, + "ism_score": 0.4174651503562927, + "R": [ + [ + 0.37234097719192505, + -0.9238649606704712, + -0.0868663638830185 + ], + [ + 0.5232672691345215, + 0.1316777765750885, + 0.8418209552764893 + ], + [ + -0.7667253017425537, + -0.35889652371406555, + 0.5325551629066467 + ] + ], + "t": [ + 288.258544921875, + -280.8843688964844, + 708.0606079101562 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000184/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000184/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000184:0000", + "eppendorf_tarto:000184:0006", + "eppendorf_tarto:000184:0003", + "eppendorf_tarto:000184:0004", + "eppendorf_tarto:000184:0002" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000184.png" + }, + { + "frame_id": 188, + "image_path": "/workspace/data/0008_/images/000188.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000188.png", + "status": "ok", + "detection_count": 7, + "input_candidate_count": 7, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 490, + 408, + 156, + 140 + ], + "score": 0.31184473633766174, + "time": 0.0, + "segmentation": { + "counts": [ + 391737, + 8, + 792, + 8, + 786, + 16, + 784, + 16, + 764, + 8, + 4, + 24, + 764, + 8, + 4, + 24, + 760, + 40, + 760, + 40, + 754, + 46, + 754, + 46, + 748, + 52, + 748, + 52, + 742, + 58, + 742, + 58, + 738, + 62, + 738, + 62, + 732, + 68, + 732, + 68, + 728, + 72, + 728, + 72, + 722, + 78, + 722, + 78, + 716, + 84, + 716, + 84, + 710, + 90, + 710, + 90, + 706, + 94, + 706, + 94, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 690, + 110, + 690, + 110, + 686, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 676, + 124, + 676, + 124, + 670, + 130, + 670, + 130, + 666, + 134, + 666, + 134, + 664, + 136, + 664, + 136, + 664, + 136, + 664, + 136, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 130, + 670, + 130, + 670, + 120, + 680, + 120, + 680, + 106, + 694, + 106, + 694, + 62, + 12, + 20, + 706, + 62, + 12, + 20, + 706, + 54, + 746, + 54, + 746, + 52, + 748, + 52, + 748, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 754, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 48, + 752, + 50, + 78, + 12, + 660, + 50, + 78, + 12, + 660, + 50, + 58, + 34, + 658, + 50, + 58, + 34, + 658, + 50, + 38, + 54, + 658, + 50, + 38, + 54, + 658, + 52, + 26, + 64, + 658, + 52, + 26, + 64, + 658, + 56, + 18, + 68, + 658, + 56, + 18, + 68, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 116, + 684, + 116, + 686, + 88, + 712, + 88, + 720, + 48, + 752, + 48, + 505135 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0001", + "experimental_retained_index": 0, + "ism_score": 0.5197412371635437, + "R": [ + [ + 0.9921916723251343, + -0.10379818081855774, + -0.07255837321281433 + ], + [ + -0.05151739716529846, + -0.854158878326416, + 0.5171548128128052 + ], + [ + -0.11560601741075516, + -0.5093156695365906, + -0.852952778339386 + ] + ], + "t": [ + -35.078529357910156, + 30.762880325317383, + 422.7783203125 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 902, + 0, + 182, + 60 + ], + "score": 0.39382338523864746, + "time": 0.0, + "segmentation": { + "counts": [ + 720827, + 18, + 782, + 18, + 770, + 30, + 770, + 30, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 31, + 769, + 31, + 769, + 23, + 777, + 23, + 777, + 17, + 783, + 17, + 783, + 9, + 791, + 9, + 155191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0002", + "experimental_retained_index": 1, + "ism_score": 0.5040938854217529, + "R": [ + [ + 0.02320963144302368, + -0.34438323974609375, + 0.9383487105369568 + ], + [ + -0.985535740852356, + 0.14919501543045044, + 0.07904291898012161 + ], + [ + -0.16723547875881195, + -0.9269564747810364, + -0.33596980571746826 + ] + ], + "t": [ + 688.2113647460938, + -594.4495239257812, + 1120.871826171875 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 872, + 144, + 180, + 48 + ], + "score": 0.2351074367761612, + "time": 0.0, + "segmentation": { + "counts": [ + 696981, + 14, + 786, + 14, + 778, + 22, + 778, + 22, + 770, + 30, + 770, + 30, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 22, + 778, + 22, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 12, + 788, + 12, + 180641 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0006", + "experimental_retained_index": 2, + "ism_score": 0.4374091625213623, + "R": [ + [ + 0.08304239064455032, + 0.02509988844394684, + 0.9964094161987305 + ], + [ + -0.7676174640655518, + -0.6357666254043579, + 0.07998473942279816 + ], + [ + 0.6353195309638977, + -0.7715293765068054, + -0.03355550765991211 + ] + ], + "t": [ + 548.8817138671875, + -413.2025146484375, + 1086.8558349609375 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 736, + 404, + 116, + 82 + ], + "score": 0.2687532305717468, + "time": 0.0, + "segmentation": { + "counts": [ + 588471, + 18, + 782, + 18, + 760, + 40, + 760, + 40, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 740, + 58, + 742, + 58, + 740, + 58, + 742, + 58, + 742, + 56, + 744, + 56, + 744, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 58, + 742, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 62, + 738, + 30, + 8, + 24, + 738, + 30, + 8, + 24, + 740, + 28, + 6, + 26, + 740, + 28, + 6, + 26, + 754, + 14, + 6, + 24, + 756, + 14, + 6, + 24, + 748, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 778, + 12, + 788, + 12, + 340379 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0004", + "experimental_retained_index": 3, + "ism_score": 0.4365534484386444, + "R": [ + [ + -0.1510583758354187, + 0.41223403811454773, + -0.8984864950180054 + ], + [ + 0.7911240458488464, + 0.5953369736671448, + 0.1402442306280136 + ], + [ + 0.5929809808731079, + -0.689368724822998, + -0.4160732328891754 + ] + ], + "t": [ + 110.68244934082031, + 15.681585311889648, + 367.5543518066406 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 444, + 0, + 230, + 46 + ], + "score": 0.323113352060318, + "time": 0.0, + "segmentation": { + "counts": [ + 354400, + 7, + 793, + 7, + 793, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 25, + 775, + 25, + 775, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 29, + 771, + 29, + 771, + 25, + 775, + 25, + 775, + 21, + 779, + 21, + 779, + 15, + 785, + 15, + 785, + 11, + 789, + 11, + 789, + 9, + 791, + 9, + 483191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0005", + "experimental_retained_index": 4, + "ism_score": 0.4272572994232178, + "R": [ + [ + -0.9006081819534302, + -0.26882559061050415, + -0.34164896607398987 + ], + [ + -0.3910125195980072, + 0.8444147706031799, + 0.36641570925712585 + ], + [ + 0.18968339264392853, + 0.4634788930416107, + -0.8655409812927246 + ] + ], + "t": [ + 15.181431770324707, + -377.7703857421875, + 698.2103881835938 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 646, + 90, + 62, + 122 + ], + "score": 0.3896412253379822, + "time": 0.0, + "segmentation": { + "counts": [ + 516119, + 32, + 768, + 32, + 766, + 40, + 760, + 40, + 760, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 754, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 748, + 54, + 8, + 22, + 716, + 54, + 8, + 22, + 714, + 92, + 708, + 92, + 702, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 678, + 124, + 676, + 124, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 678, + 122, + 678, + 122, + 682, + 118, + 682, + 118, + 696, + 70, + 730, + 70, + 455819 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0007", + "experimental_retained_index": 5, + "ism_score": 0.40482205152511597, + "R": [ + [ + -0.6823990345001221, + -0.7187588810920715, + -0.13113215565681458 + ], + [ + -0.2539702355861664, + 0.401511013507843, + -0.8798601627349854 + ], + [ + 0.6851173639297485, + -0.567503809928894, + -0.4566839039325714 + ] + ], + "t": [ + 69.06401062011719, + -272.5431823730469, + 786.720947265625 + ] + }, + { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 0, + 196, + 1278, + 600 + ], + "score": 0.10470779240131378, + "time": 0.0, + "segmentation": { + "counts": [ + 403, + 396, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 400, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 398, + 402, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 396, + 404, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 394, + 406, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 392, + 408, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 390, + 410, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 388, + 412, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 386, + 414, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 384, + 416, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 382, + 418, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 380, + 420, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 378, + 422, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 376, + 424, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 374, + 426, + 372, + 428, + 372, + 428, + 372, + 428, + 372, + 428, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 370, + 430, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 368, + 432, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 366, + 434, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 364, + 436, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 362, + 438, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 356, + 444, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 354, + 446, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 352, + 448, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 350, + 450, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 348, + 452, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 346, + 454, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 344, + 456, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 342, + 458, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 340, + 460, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 338, + 462, + 336, + 464, + 336, + 464, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 334, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 468, + 332, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 334, + 466, + 336, + 464, + 336, + 464, + 336, + 464, + 336, + 464, + 338, + 462, + 338, + 462, + 340, + 460, + 340, + 460, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 352, + 448, + 352, + 448, + 354, + 446, + 354, + 446, + 356, + 444, + 356, + 444, + 366, + 434, + 366, + 434, + 376, + 424, + 376, + 424, + 380, + 420, + 380, + 420, + 386, + 414, + 386, + 414, + 394, + 406, + 394, + 406, + 402, + 398, + 402, + 398, + 408, + 392, + 408, + 392, + 412, + 388, + 412, + 388, + 420, + 380, + 420, + 380, + 424, + 376, + 424, + 376, + 438, + 362, + 438, + 362, + 446, + 354, + 446, + 354, + 454, + 346, + 454, + 346, + 458, + 342, + 458, + 342, + 464, + 336, + 464, + 336, + 474, + 326, + 474, + 326, + 480, + 320, + 480, + 320, + 484, + 316, + 484, + 316, + 492, + 308, + 492, + 308, + 494, + 12, + 16, + 278, + 494, + 12, + 16, + 278, + 534, + 266, + 534, + 266, + 660, + 140, + 660, + 140, + 662, + 138, + 662, + 138, + 672, + 128, + 672, + 128, + 680, + 120, + 680, + 120, + 684, + 116, + 684, + 116, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 694, + 106, + 694, + 106, + 342, + 6, + 346, + 106, + 342, + 6, + 346, + 106, + 318, + 44, + 334, + 104, + 318, + 44, + 334, + 104, + 316, + 52, + 326, + 106, + 316, + 52, + 326, + 106, + 314, + 64, + 316, + 106, + 314, + 64, + 316, + 106, + 314, + 72, + 308, + 106, + 314, + 72, + 308, + 106, + 314, + 86, + 292, + 108, + 314, + 86, + 292, + 108, + 314, + 38, + 10, + 44, + 278, + 116, + 314, + 38, + 10, + 44, + 278, + 116, + 312, + 40, + 12, + 44, + 272, + 120, + 312, + 40, + 12, + 44, + 272, + 120, + 312, + 38, + 18, + 48, + 256, + 128, + 312, + 38, + 18, + 48, + 256, + 128, + 312, + 36, + 34, + 46, + 232, + 140, + 312, + 36, + 34, + 46, + 232, + 140, + 310, + 36, + 46, + 60, + 42, + 6, + 32, + 54, + 64, + 150, + 310, + 36, + 46, + 60, + 42, + 6, + 32, + 54, + 64, + 150, + 310, + 34, + 54, + 60, + 34, + 14, + 16, + 278, + 310, + 34, + 54, + 60, + 34, + 14, + 16, + 278, + 310, + 34, + 58, + 60, + 28, + 310, + 310, + 34, + 58, + 60, + 28, + 310, + 310, + 34, + 64, + 62, + 16, + 314, + 310, + 34, + 64, + 62, + 16, + 314, + 310, + 32, + 78, + 380, + 310, + 32, + 78, + 380, + 308, + 32, + 84, + 376, + 308, + 32, + 84, + 376, + 308, + 32, + 90, + 370, + 308, + 32, + 90, + 370, + 308, + 32, + 92, + 368, + 308, + 32, + 92, + 368, + 308, + 30, + 96, + 366, + 308, + 30, + 96, + 366, + 308, + 28, + 98, + 366, + 308, + 28, + 98, + 366, + 308, + 26, + 100, + 366, + 308, + 26, + 100, + 366, + 308, + 24, + 104, + 364, + 308, + 24, + 104, + 364, + 308, + 22, + 106, + 364, + 308, + 22, + 106, + 364, + 310, + 16, + 112, + 362, + 310, + 16, + 112, + 362, + 316, + 8, + 114, + 362, + 316, + 8, + 114, + 362, + 438, + 362, + 438, + 362, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 440, + 360, + 438, + 362, + 438, + 362, + 436, + 364, + 436, + 364, + 434, + 366, + 434, + 366, + 434, + 104, + 10, + 252, + 434, + 104, + 10, + 252, + 432, + 102, + 16, + 250, + 432, + 102, + 16, + 250, + 432, + 84, + 34, + 250, + 432, + 84, + 34, + 250, + 430, + 82, + 38, + 250, + 430, + 82, + 38, + 250, + 426, + 80, + 44, + 250, + 426, + 80, + 44, + 250, + 424, + 76, + 50, + 250, + 424, + 76, + 50, + 250, + 422, + 72, + 56, + 250, + 422, + 72, + 56, + 250, + 304, + 4, + 114, + 68, + 60, + 250, + 304, + 4, + 114, + 68, + 60, + 250, + 302, + 8, + 112, + 64, + 64, + 250, + 302, + 8, + 112, + 64, + 64, + 250, + 302, + 8, + 110, + 58, + 72, + 250, + 302, + 8, + 110, + 58, + 72, + 250, + 298, + 14, + 106, + 54, + 78, + 250, + 298, + 14, + 106, + 54, + 78, + 250, + 298, + 14, + 102, + 54, + 82, + 250, + 298, + 14, + 102, + 54, + 82, + 250, + 298, + 14, + 102, + 48, + 88, + 250, + 298, + 14, + 102, + 48, + 88, + 250, + 298, + 14, + 102, + 44, + 92, + 250, + 298, + 14, + 102, + 44, + 92, + 250, + 298, + 16, + 98, + 40, + 98, + 250, + 298, + 16, + 98, + 40, + 98, + 250, + 296, + 18, + 94, + 38, + 104, + 250, + 296, + 18, + 94, + 38, + 104, + 250, + 296, + 18, + 94, + 34, + 108, + 250, + 296, + 18, + 94, + 34, + 108, + 250, + 296, + 20, + 90, + 30, + 114, + 250, + 296, + 20, + 90, + 30, + 114, + 250, + 296, + 20, + 88, + 30, + 116, + 250, + 296, + 20, + 88, + 30, + 116, + 250, + 294, + 24, + 84, + 26, + 122, + 250, + 294, + 24, + 84, + 26, + 122, + 250, + 294, + 24, + 84, + 20, + 128, + 250, + 294, + 24, + 84, + 20, + 128, + 250, + 292, + 28, + 80, + 18, + 132, + 250, + 292, + 28, + 80, + 18, + 132, + 250, + 292, + 28, + 80, + 16, + 134, + 250, + 292, + 28, + 80, + 16, + 134, + 250, + 292, + 28, + 80, + 14, + 138, + 64, + 32, + 152, + 292, + 28, + 80, + 14, + 138, + 64, + 32, + 152, + 292, + 30, + 74, + 16, + 140, + 46, + 68, + 134, + 292, + 30, + 74, + 16, + 140, + 46, + 68, + 134, + 294, + 40, + 6, + 10, + 4, + 58, + 140, + 32, + 92, + 124, + 294, + 40, + 6, + 10, + 4, + 58, + 140, + 32, + 92, + 124, + 302, + 110, + 142, + 14, + 112, + 120, + 302, + 110, + 142, + 14, + 112, + 120, + 304, + 108, + 270, + 118, + 304, + 108, + 270, + 118, + 338, + 72, + 272, + 118, + 338, + 72, + 272, + 118, + 342, + 68, + 274, + 116, + 342, + 68, + 274, + 116, + 352, + 58, + 274, + 116, + 352, + 58, + 274, + 116, + 368, + 42, + 272, + 118, + 368, + 42, + 272, + 118, + 376, + 34, + 272, + 118, + 376, + 34, + 272, + 118, + 384, + 24, + 270, + 122, + 384, + 24, + 270, + 122, + 402, + 6, + 264, + 128, + 402, + 6, + 264, + 128, + 666, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 654, + 146, + 654, + 146, + 650, + 150, + 650, + 150, + 642, + 158, + 642, + 158, + 634, + 166, + 634, + 166, + 624, + 176, + 624, + 176, + 606, + 194, + 606, + 194, + 584, + 216, + 584, + 216, + 564, + 236, + 564, + 236, + 554, + 246, + 554, + 246, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 552, + 248, + 290, + 28, + 234, + 248, + 290, + 28, + 234, + 248, + 282, + 58, + 212, + 248, + 282, + 58, + 212, + 248, + 278, + 82, + 2, + 8, + 182, + 248, + 278, + 82, + 2, + 8, + 182, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 142, + 248, + 278, + 132, + 144, + 246, + 278, + 132, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 246, + 276, + 134, + 144, + 66, + 8, + 172, + 276, + 134, + 144, + 66, + 8, + 172, + 276, + 134, + 144, + 64, + 12, + 170, + 276, + 134, + 144, + 64, + 12, + 170, + 276, + 136, + 142, + 62, + 14, + 170, + 276, + 136, + 142, + 62, + 14, + 170, + 276, + 136, + 142, + 60, + 18, + 168, + 276, + 136, + 142, + 60, + 18, + 168, + 274, + 46, + 4, + 86, + 144, + 58, + 20, + 168, + 274, + 46, + 4, + 86, + 144, + 58, + 20, + 168, + 274, + 44, + 60, + 32, + 144, + 56, + 24, + 166, + 274, + 44, + 60, + 32, + 144, + 56, + 24, + 166, + 272, + 44, + 66, + 28, + 144, + 52, + 30, + 164, + 272, + 44, + 66, + 28, + 144, + 52, + 30, + 164, + 272, + 44, + 68, + 26, + 144, + 50, + 32, + 164, + 272, + 44, + 68, + 26, + 144, + 50, + 32, + 164, + 272, + 44, + 70, + 24, + 144, + 48, + 36, + 162, + 272, + 44, + 70, + 24, + 144, + 48, + 36, + 162, + 272, + 42, + 72, + 24, + 144, + 46, + 38, + 162, + 272, + 42, + 72, + 24, + 144, + 46, + 38, + 162, + 272, + 42, + 76, + 20, + 142, + 46, + 42, + 160, + 272, + 42, + 76, + 20, + 142, + 46, + 42, + 160, + 270, + 42, + 82, + 16, + 142, + 44, + 44, + 160, + 270, + 42, + 82, + 16, + 142, + 44, + 44, + 160, + 270, + 40, + 86, + 16, + 136, + 46, + 48, + 158, + 270, + 40, + 86, + 16, + 136, + 46, + 48, + 158, + 270, + 38, + 90, + 14, + 118, + 60, + 52, + 158, + 270, + 38, + 90, + 14, + 118, + 60, + 52, + 158, + 270, + 36, + 94, + 12, + 90, + 88, + 54, + 156, + 270, + 36, + 94, + 12, + 90, + 88, + 54, + 156, + 270, + 36, + 96, + 20, + 36, + 130, + 58, + 154, + 270, + 36, + 96, + 20, + 36, + 130, + 58, + 154, + 268, + 38, + 98, + 180, + 62, + 154, + 268, + 38, + 98, + 180, + 62, + 154, + 268, + 38, + 104, + 172, + 66, + 152, + 268, + 38, + 104, + 172, + 66, + 152, + 268, + 38, + 104, + 170, + 68, + 152, + 268, + 38, + 104, + 170, + 68, + 152, + 268, + 38, + 106, + 166, + 72, + 150, + 268, + 38, + 106, + 166, + 72, + 150, + 266, + 38, + 110, + 160, + 76, + 150, + 266, + 38, + 110, + 160, + 76, + 150, + 266, + 38, + 114, + 154, + 78, + 150, + 266, + 38, + 114, + 154, + 78, + 150, + 266, + 36, + 118, + 150, + 80, + 150, + 266, + 36, + 118, + 150, + 80, + 150, + 266, + 28, + 128, + 146, + 80, + 152, + 266, + 28, + 128, + 146, + 80, + 152, + 266, + 28, + 130, + 142, + 80, + 154, + 266, + 28, + 130, + 142, + 80, + 154, + 266, + 24, + 134, + 138, + 82, + 156, + 266, + 24, + 134, + 138, + 82, + 156, + 264, + 26, + 140, + 130, + 82, + 158, + 264, + 26, + 140, + 130, + 82, + 158, + 264, + 26, + 142, + 128, + 80, + 160, + 264, + 26, + 142, + 128, + 80, + 160, + 264, + 26, + 144, + 122, + 80, + 164, + 264, + 26, + 144, + 122, + 80, + 164, + 264, + 22, + 150, + 118, + 78, + 168, + 264, + 22, + 150, + 118, + 78, + 168, + 262, + 24, + 154, + 112, + 78, + 170, + 262, + 24, + 154, + 112, + 78, + 170, + 262, + 24, + 156, + 108, + 78, + 172, + 262, + 24, + 156, + 108, + 78, + 172, + 262, + 30, + 154, + 100, + 80, + 174, + 262, + 30, + 154, + 100, + 80, + 174, + 262, + 30, + 156, + 96, + 80, + 176, + 262, + 30, + 156, + 96, + 80, + 176, + 262, + 24, + 164, + 92, + 78, + 180, + 262, + 24, + 164, + 92, + 78, + 180, + 262, + 24, + 166, + 86, + 78, + 184, + 262, + 24, + 166, + 86, + 78, + 184, + 260, + 30, + 166, + 80, + 80, + 184, + 260, + 30, + 166, + 80, + 80, + 184, + 260, + 32, + 166, + 78, + 78, + 186, + 260, + 32, + 166, + 78, + 78, + 186, + 260, + 32, + 168, + 74, + 76, + 190, + 260, + 32, + 168, + 74, + 76, + 190, + 260, + 38, + 164, + 72, + 72, + 194, + 260, + 38, + 164, + 72, + 72, + 194, + 258, + 40, + 166, + 70, + 70, + 196, + 258, + 40, + 166, + 70, + 70, + 196, + 258, + 12, + 6, + 10, + 4, + 8, + 170, + 68, + 66, + 198, + 258, + 12, + 6, + 10, + 4, + 8, + 170, + 68, + 66, + 198, + 258, + 6, + 208, + 64, + 64, + 200, + 258, + 6, + 208, + 64, + 64, + 200, + 258, + 6, + 212, + 60, + 62, + 202, + 258, + 6, + 212, + 60, + 62, + 202, + 258, + 4, + 214, + 62, + 56, + 206, + 258, + 4, + 214, + 62, + 56, + 206, + 256, + 6, + 218, + 58, + 54, + 208, + 256, + 6, + 218, + 58, + 54, + 208, + 256, + 8, + 218, + 58, + 48, + 212, + 256, + 8, + 218, + 58, + 48, + 212, + 256, + 8, + 222, + 54, + 46, + 214, + 256, + 8, + 222, + 54, + 46, + 214, + 256, + 8, + 224, + 54, + 42, + 216, + 256, + 8, + 224, + 54, + 42, + 216, + 256, + 6, + 228, + 52, + 38, + 220, + 256, + 6, + 228, + 52, + 38, + 220, + 254, + 8, + 230, + 50, + 36, + 222, + 254, + 8, + 230, + 50, + 36, + 222, + 254, + 8, + 232, + 50, + 32, + 224, + 254, + 8, + 232, + 50, + 32, + 224, + 254, + 10, + 232, + 48, + 30, + 226, + 254, + 10, + 232, + 48, + 30, + 226, + 252, + 12, + 234, + 48, + 26, + 228, + 252, + 12, + 234, + 48, + 26, + 228, + 252, + 14, + 232, + 48, + 22, + 232, + 252, + 14, + 232, + 48, + 22, + 232, + 252, + 16, + 16, + 4, + 210, + 50, + 16, + 236, + 252, + 16, + 16, + 4, + 210, + 50, + 16, + 236, + 252, + 22, + 8, + 12, + 202, + 54, + 12, + 238, + 252, + 22, + 8, + 12, + 202, + 54, + 12, + 238, + 250, + 48, + 198, + 54, + 10, + 240, + 250, + 48, + 198, + 54, + 10, + 240, + 250, + 50, + 196, + 56, + 4, + 244, + 250, + 50, + 196, + 56, + 4, + 244, + 250, + 50, + 196, + 304, + 250, + 50, + 196, + 304, + 250, + 50, + 196, + 304, + 250, + 50, + 196, + 304, + 248, + 50, + 198, + 304, + 248, + 50, + 198, + 304, + 248, + 48, + 200, + 304, + 248, + 48, + 200, + 304, + 248, + 46, + 200, + 306, + 248, + 46, + 200, + 306, + 248, + 44, + 202, + 306, + 248, + 44, + 202, + 306, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 308, + 246, + 40, + 206, + 128, + 6, + 174, + 246, + 40, + 206, + 128, + 6, + 174, + 246, + 40, + 206, + 86, + 52, + 170, + 246, + 40, + 206, + 86, + 52, + 170, + 246, + 40, + 206, + 68, + 72, + 168, + 246, + 40, + 206, + 68, + 72, + 168, + 246, + 40, + 206, + 44, + 96, + 168, + 246, + 40, + 206, + 44, + 96, + 168, + 244, + 42, + 206, + 22, + 118, + 168, + 244, + 42, + 206, + 22, + 118, + 168, + 244, + 48, + 342, + 166, + 244, + 48, + 342, + 166, + 244, + 48, + 342, + 166, + 244, + 48, + 342, + 166, + 244, + 42, + 348, + 166, + 244, + 42, + 348, + 166, + 244, + 42, + 348, + 166, + 244, + 42, + 348, + 166, + 242, + 50, + 342, + 166, + 242, + 50, + 342, + 166, + 242, + 50, + 342, + 166, + 242, + 50, + 342, + 166, + 242, + 52, + 340, + 166, + 242, + 52, + 340, + 166, + 242, + 56, + 22, + 8, + 308, + 164, + 242, + 56, + 22, + 8, + 308, + 164, + 242, + 90, + 304, + 164, + 242, + 90, + 304, + 164, + 242, + 92, + 302, + 164, + 242, + 92, + 302, + 164, + 240, + 96, + 300, + 164, + 240, + 96, + 300, + 164, + 240, + 98, + 300, + 162, + 240, + 98, + 300, + 162, + 240, + 100, + 298, + 162, + 240, + 100, + 298, + 162, + 240, + 100, + 298, + 162, + 240, + 100, + 298, + 162, + 238, + 104, + 142, + 4, + 152, + 160, + 238, + 104, + 142, + 4, + 152, + 160, + 238, + 106, + 140, + 4, + 152, + 160, + 238, + 106, + 140, + 4, + 152, + 160, + 238, + 106, + 296, + 160, + 238, + 106, + 296, + 160, + 236, + 108, + 296, + 160, + 236, + 108, + 296, + 160, + 236, + 110, + 294, + 160, + 236, + 110, + 294, + 160, + 236, + 112, + 292, + 160, + 236, + 112, + 292, + 160, + 236, + 114, + 290, + 160, + 236, + 114, + 290, + 160, + 236, + 114, + 292, + 158, + 236, + 114, + 292, + 158, + 236, + 116, + 290, + 158, + 236, + 116, + 290, + 158, + 234, + 120, + 288, + 158, + 234, + 120, + 288, + 158, + 234, + 122, + 286, + 158, + 234, + 122, + 286, + 158, + 234, + 122, + 286, + 158, + 234, + 122, + 286, + 158, + 234, + 126, + 282, + 158, + 234, + 126, + 282, + 158, + 232, + 128, + 114, + 18, + 150, + 158, + 232, + 128, + 114, + 18, + 150, + 158, + 232, + 128, + 114, + 20, + 148, + 158, + 232, + 128, + 114, + 20, + 148, + 158, + 232, + 130, + 112, + 20, + 148, + 158, + 232, + 130, + 112, + 20, + 148, + 158, + 232, + 132, + 110, + 22, + 146, + 158, + 232, + 132, + 110, + 22, + 146, + 158, + 232, + 132, + 108, + 24, + 148, + 156, + 232, + 132, + 108, + 24, + 148, + 156, + 232, + 134, + 106, + 26, + 146, + 156, + 232, + 134, + 106, + 26, + 146, + 156, + 230, + 136, + 106, + 26, + 146, + 156, + 230, + 136, + 106, + 26, + 146, + 156, + 230, + 138, + 104, + 26, + 146, + 156, + 230, + 138, + 104, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 140, + 102, + 26, + 146, + 156, + 230, + 142, + 100, + 26, + 148, + 154, + 230, + 142, + 100, + 26, + 148, + 154, + 228, + 146, + 98, + 26, + 148, + 154, + 228, + 146, + 98, + 26, + 148, + 154, + 228, + 148, + 94, + 26, + 150, + 154, + 228, + 148, + 94, + 26, + 150, + 154, + 228, + 152, + 90, + 24, + 152, + 154, + 228, + 152, + 90, + 24, + 152, + 154, + 226, + 154, + 90, + 16, + 160, + 154, + 226, + 154, + 90, + 16, + 160, + 154, + 226, + 154, + 266, + 154, + 226, + 154, + 266, + 154, + 226, + 156, + 266, + 152, + 226, + 156, + 266, + 152, + 226, + 158, + 264, + 152, + 226, + 158, + 264, + 152, + 224, + 162, + 264, + 150, + 224, + 162, + 264, + 150, + 224, + 162, + 64, + 28, + 172, + 150, + 224, + 162, + 64, + 28, + 172, + 150, + 224, + 164, + 46, + 4, + 4, + 54, + 154, + 150, + 224, + 164, + 46, + 4, + 4, + 54, + 154, + 150, + 224, + 168, + 32, + 76, + 150, + 150, + 224, + 168, + 32, + 76, + 150, + 150, + 222, + 172, + 22, + 86, + 148, + 150, + 222, + 172, + 22, + 86, + 148, + 150, + 222, + 172, + 12, + 96, + 150, + 148, + 222, + 172, + 12, + 96, + 150, + 148, + 222, + 280, + 150, + 148, + 222, + 280, + 150, + 148, + 222, + 280, + 150, + 148, + 222, + 280, + 150, + 148, + 220, + 282, + 150, + 148, + 220, + 282, + 150, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 148, + 148, + 220, + 284, + 150, + 146, + 220, + 284, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 218, + 286, + 150, + 146, + 216, + 288, + 152, + 144, + 216, + 288, + 152, + 144, + 216, + 290, + 150, + 144, + 216, + 290, + 150, + 144, + 216, + 290, + 150, + 144, + 216, + 290, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 150, + 144, + 214, + 292, + 152, + 142, + 214, + 292, + 152, + 142, + 212, + 296, + 150, + 142, + 212, + 296, + 150, + 142, + 212, + 296, + 152, + 140, + 212, + 296, + 152, + 140, + 212, + 296, + 152, + 140, + 212, + 296, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 298, + 152, + 140, + 210, + 300, + 150, + 140, + 210, + 300, + 150, + 140, + 210, + 300, + 150, + 140, + 210, + 300, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 150, + 140, + 208, + 302, + 148, + 142, + 208, + 302, + 148, + 142, + 206, + 304, + 144, + 146, + 206, + 304, + 144, + 146, + 206, + 304, + 134, + 156, + 206, + 304, + 134, + 156, + 206, + 304, + 128, + 162, + 206, + 304, + 128, + 162, + 206, + 304, + 122, + 168, + 206, + 304, + 122, + 168, + 206, + 304, + 116, + 174, + 206, + 304, + 116, + 174, + 206, + 306, + 106, + 182, + 206, + 306, + 106, + 182, + 204, + 308, + 100, + 188, + 204, + 308, + 100, + 188, + 204, + 310, + 96, + 190, + 204, + 310, + 96, + 190, + 204, + 312, + 92, + 192, + 204, + 312, + 92, + 192, + 204, + 320, + 78, + 198, + 204, + 320, + 78, + 198, + 204, + 328, + 62, + 206, + 204, + 328, + 62, + 206, + 204, + 336, + 42, + 218, + 204, + 336, + 42, + 218, + 202, + 348, + 28, + 222, + 202, + 348, + 28, + 222, + 202, + 356, + 16, + 226, + 202, + 356, + 16, + 226, + 202, + 362, + 8, + 228, + 202, + 362, + 8, + 228, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 198, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 210, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 220, + 580, + 220, + 580, + 220, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 220, + 580, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 576, + 224, + 576, + 224, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 224, + 574, + 226, + 574, + 226, + 576, + 224, + 576, + 224, + 42, + 8, + 526, + 224, + 42, + 8, + 526, + 224, + 40, + 12, + 524, + 224, + 40, + 12, + 524, + 226, + 34, + 18, + 522, + 226, + 34, + 18, + 522, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 516, + 288, + 512, + 288, + 512, + 290, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 296, + 504, + 296, + 504, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 500, + 300, + 498, + 302, + 498, + 302, + 498, + 302, + 498, + 302, + 22, + 6, + 472, + 300, + 22, + 6, + 472, + 300, + 18, + 12, + 470, + 300, + 18, + 12, + 470, + 302, + 12, + 20, + 466, + 302, + 12, + 20, + 466, + 304, + 6, + 30, + 458, + 306, + 6, + 30, + 458, + 344, + 458, + 342, + 458, + 344, + 456, + 344, + 456, + 348, + 452, + 348, + 452, + 350, + 450, + 350, + 450, + 354, + 444, + 356, + 444, + 358, + 442, + 358, + 442, + 360, + 442, + 358, + 442, + 358, + 442, + 358, + 442, + 360, + 440, + 360, + 440, + 324, + 8, + 2, + 6, + 22, + 436, + 326, + 8, + 2, + 6, + 22, + 436, + 324, + 20, + 22, + 436, + 322, + 20, + 22, + 436, + 322, + 22, + 22, + 434, + 322, + 22, + 22, + 434, + 322, + 22, + 24, + 432, + 322, + 22, + 24, + 432, + 322, + 22, + 26, + 430, + 322, + 22, + 26, + 430, + 322, + 26, + 24, + 426, + 324, + 26, + 24, + 426, + 324, + 30, + 20, + 426, + 324, + 30, + 20, + 426, + 324, + 32, + 20, + 426, + 322, + 32, + 20, + 426, + 322, + 36, + 16, + 426, + 322, + 36, + 16, + 426, + 324, + 36, + 16, + 424, + 324, + 36, + 16, + 424, + 324, + 38, + 16, + 422, + 324, + 38, + 16, + 422, + 324, + 38, + 18, + 420, + 324, + 38, + 18, + 420, + 326, + 38, + 16, + 420, + 326, + 38, + 16, + 420, + 326, + 38, + 16, + 420, + 326, + 38, + 16, + 420, + 328, + 36, + 18, + 418, + 328, + 36, + 18, + 418, + 330, + 34, + 18, + 416, + 332, + 34, + 18, + 416, + 332, + 36, + 18, + 416, + 330, + 36, + 18, + 416, + 330, + 38, + 16, + 416, + 330, + 38, + 16, + 416, + 330, + 40, + 16, + 414, + 330, + 40, + 16, + 414, + 332, + 40, + 16, + 412, + 332, + 40, + 16, + 412, + 334, + 38, + 18, + 410, + 334, + 38, + 18, + 410, + 336, + 38, + 16, + 410, + 336, + 38, + 16, + 410, + 336, + 40, + 14, + 410, + 336, + 40, + 14, + 410, + 338, + 38, + 16, + 408, + 338, + 38, + 16, + 408, + 338, + 38, + 16, + 408, + 338, + 38, + 16, + 408, + 340, + 38, + 16, + 404, + 342, + 38, + 16, + 404, + 342, + 40, + 14, + 406, + 340, + 40, + 14, + 406, + 340, + 40, + 16, + 404, + 340, + 40, + 16, + 404, + 340, + 42, + 14, + 404, + 340, + 42, + 14, + 404, + 340, + 42, + 16, + 402, + 340, + 42, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 40, + 16, + 402, + 342, + 42, + 16, + 400, + 342, + 42, + 16, + 400, + 342, + 42, + 16, + 400, + 342, + 42, + 16, + 400, + 344, + 40, + 16, + 400, + 344, + 40, + 16, + 400, + 346, + 38, + 16, + 400, + 346, + 38, + 16, + 400, + 348, + 36, + 18, + 398, + 348, + 36, + 18, + 398, + 348, + 38, + 16, + 398, + 348, + 38, + 16, + 398, + 350, + 36, + 16, + 398, + 350, + 36, + 16, + 398, + 350, + 36, + 16, + 398, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0000", + "experimental_retained_index": 6, + "ism_score": 0.3454277813434601, + "R": [ + [ + -0.7314931154251099, + 0.42659568786621094, + 0.5319373607635498 + ], + [ + -0.6057937145233154, + -0.7646932005882263, + -0.219874769449234 + ], + [ + 0.3129962980747223, + -0.4831007421016693, + 0.8177658319473267 + ] + ], + "t": [ + 6.0660624504089355, + 53.829078674316406, + 377.013671875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 188, + "category_id": 1, + "bbox": [ + 902, + 0, + 182, + 60 + ], + "score": 0.39382338523864746, + "time": 0.0, + "segmentation": { + "counts": [ + 720827, + 18, + 782, + 18, + 770, + 30, + 770, + 30, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 61, + 739, + 61, + 739, + 57, + 743, + 57, + 743, + 49, + 751, + 49, + 751, + 45, + 755, + 45, + 755, + 39, + 761, + 39, + 761, + 31, + 769, + 31, + 769, + 23, + 777, + 23, + 777, + 17, + 783, + 17, + 783, + 9, + 791, + 9, + 155191 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000188:0002", + "experimental_retained_index": 1, + "ism_score": 0.5040938854217529, + "R": [ + [ + 0.02320963144302368, + -0.34438323974609375, + 0.9383487105369568 + ], + [ + -0.985535740852356, + 0.14919501543045044, + 0.07904291898012161 + ], + [ + -0.16723547875881195, + -0.9269564747810364, + -0.33596980571746826 + ] + ], + "t": [ + 688.2113647460938, + -594.4495239257812, + 1120.871826171875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000188/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000188/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000188:0001", + "eppendorf_tarto:000188:0002", + "eppendorf_tarto:000188:0006", + "eppendorf_tarto:000188:0004", + "eppendorf_tarto:000188:0005", + "eppendorf_tarto:000188:0007", + "eppendorf_tarto:000188:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000188.png" + }, + { + "frame_id": 198, + "image_path": "/workspace/data/0008_/images/000198.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000198.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 466, + 0, + 66, + 142 + ], + "score": 0.17261917889118195, + "time": 0.0, + "segmentation": { + "counts": [ + 372000, + 5, + 795, + 5, + 795, + 13, + 787, + 13, + 787, + 23, + 777, + 23, + 777, + 31, + 769, + 31, + 769, + 39, + 761, + 39, + 761, + 47, + 753, + 47, + 753, + 59, + 741, + 59, + 741, + 63, + 737, + 63, + 737, + 73, + 727, + 73, + 727, + 79, + 721, + 79, + 721, + 89, + 711, + 89, + 711, + 95, + 705, + 95, + 705, + 101, + 699, + 101, + 699, + 107, + 693, + 107, + 693, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 14, + 12, + 659, + 115, + 14, + 12, + 659, + 117, + 10, + 18, + 655, + 117, + 10, + 18, + 655, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 662, + 136, + 664, + 136, + 676, + 122, + 678, + 122, + 688, + 110, + 690, + 110, + 698, + 102, + 698, + 102, + 706, + 92, + 708, + 92, + 716, + 82, + 718, + 82, + 726, + 70, + 730, + 70, + 740, + 60, + 740, + 60, + 750, + 48, + 752, + 48, + 760, + 38, + 762, + 38, + 770, + 28, + 772, + 28, + 596679 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000198:0000", + "experimental_retained_index": 0, + "ism_score": 0.39739665389060974, + "R": [ + [ + -0.07873556017875671, + 0.9125391840934753, + 0.40133947134017944 + ], + [ + -0.9683467745780945, + 0.025647103786468506, + -0.24828748404979706 + ], + [ + -0.2368653267621994, + -0.4081849753856659, + 0.8816347122192383 + ] + ], + "t": [ + -281.7063903808594, + -688.638916015625, + 1344.3525390625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 198, + "category_id": 1, + "bbox": [ + 466, + 0, + 66, + 142 + ], + "score": 0.17261917889118195, + "time": 0.0, + "segmentation": { + "counts": [ + 372000, + 5, + 795, + 5, + 795, + 13, + 787, + 13, + 787, + 23, + 777, + 23, + 777, + 31, + 769, + 31, + 769, + 39, + 761, + 39, + 761, + 47, + 753, + 47, + 753, + 59, + 741, + 59, + 741, + 63, + 737, + 63, + 737, + 73, + 727, + 73, + 727, + 79, + 721, + 79, + 721, + 89, + 711, + 89, + 711, + 95, + 705, + 95, + 705, + 101, + 699, + 101, + 699, + 107, + 693, + 107, + 693, + 111, + 689, + 111, + 689, + 113, + 687, + 113, + 687, + 113, + 687, + 113, + 687, + 115, + 14, + 12, + 659, + 115, + 14, + 12, + 659, + 117, + 10, + 18, + 655, + 117, + 10, + 18, + 655, + 145, + 655, + 145, + 655, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 143, + 657, + 141, + 659, + 141, + 662, + 136, + 664, + 136, + 676, + 122, + 678, + 122, + 688, + 110, + 690, + 110, + 698, + 102, + 698, + 102, + 706, + 92, + 708, + 92, + 716, + 82, + 718, + 82, + 726, + 70, + 730, + 70, + 740, + 60, + 740, + 60, + 750, + 48, + 752, + 48, + 760, + 38, + 762, + 38, + 770, + 28, + 772, + 28, + 596679 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000198:0000", + "experimental_retained_index": 0, + "ism_score": 0.39739665389060974, + "R": [ + [ + -0.07873556017875671, + 0.9125391840934753, + 0.40133947134017944 + ], + [ + -0.9683467745780945, + 0.025647103786468506, + -0.24828748404979706 + ], + [ + -0.2368653267621994, + -0.4081849753856659, + 0.8816347122192383 + ] + ], + "t": [ + -281.7063903808594, + -688.638916015625, + 1344.3525390625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000198/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000198/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000198:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000198.png" + }, + { + "frame_id": 202, + "image_path": "/workspace/data/0008_/images/000202.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000202.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 0, + 0, + 402, + 742 + ], + "score": 0.11727853864431381, + "time": 0.0, + "segmentation": { + "counts": [ + 423, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 316, + 484, + 316, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 490, + 306, + 494, + 306, + 494, + 302, + 498, + 302, + 498, + 298, + 502, + 298, + 500, + 296, + 504, + 296, + 504, + 292, + 508, + 292, + 508, + 288, + 512, + 288, + 510, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 518, + 278, + 522, + 278, + 520, + 276, + 524, + 276, + 522, + 276, + 524, + 276, + 522, + 274, + 526, + 274, + 524, + 270, + 530, + 270, + 528, + 268, + 532, + 268, + 530, + 266, + 534, + 266, + 532, + 264, + 536, + 264, + 534, + 262, + 538, + 262, + 536, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 536, + 260, + 540, + 260, + 538, + 258, + 542, + 258, + 540, + 256, + 544, + 256, + 540, + 254, + 546, + 254, + 542, + 256, + 544, + 256, + 542, + 254, + 546, + 254, + 544, + 252, + 548, + 252, + 544, + 252, + 548, + 252, + 546, + 250, + 550, + 250, + 548, + 248, + 552, + 248, + 548, + 248, + 552, + 248, + 550, + 248, + 552, + 248, + 550, + 246, + 554, + 246, + 552, + 244, + 556, + 244, + 552, + 244, + 556, + 244, + 552, + 244, + 556, + 244, + 554, + 242, + 558, + 242, + 556, + 240, + 560, + 240, + 556, + 240, + 560, + 240, + 558, + 238, + 562, + 238, + 560, + 236, + 564, + 236, + 562, + 234, + 566, + 234, + 562, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 562, + 234, + 566, + 234, + 564, + 232, + 568, + 232, + 566, + 230, + 570, + 230, + 568, + 228, + 572, + 228, + 570, + 226, + 574, + 226, + 570, + 228, + 572, + 228, + 570, + 224, + 576, + 224, + 572, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 574, + 222, + 578, + 222, + 574, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 218, + 582, + 218, + 580, + 216, + 584, + 216, + 580, + 216, + 584, + 216, + 582, + 216, + 584, + 216, + 580, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 582, + 214, + 586, + 214, + 564, + 12, + 8, + 212, + 568, + 12, + 8, + 212, + 566, + 230, + 570, + 230, + 570, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 594, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 604, + 192, + 608, + 192, + 606, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 622, + 174, + 626, + 174, + 624, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 678, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 96, + 704, + 96, + 702, + 94, + 706, + 94, + 704, + 90, + 710, + 90, + 708, + 90, + 710, + 90, + 708, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 716, + 80, + 720, + 80, + 512, + 4, + 200, + 80, + 516, + 4, + 200, + 80, + 511, + 11, + 196, + 78, + 515, + 11, + 196, + 78, + 515, + 13, + 192, + 76, + 519, + 13, + 192, + 76, + 519, + 17, + 184, + 76, + 523, + 17, + 184, + 76, + 523, + 19, + 180, + 76, + 525, + 19, + 180, + 76, + 525, + 21, + 176, + 74, + 529, + 21, + 176, + 74, + 529, + 25, + 170, + 72, + 533, + 25, + 170, + 72, + 533, + 27, + 166, + 72, + 535, + 27, + 166, + 72, + 535, + 35, + 154, + 72, + 539, + 35, + 154, + 72, + 539, + 41, + 144, + 72, + 543, + 41, + 144, + 72, + 543, + 43, + 140, + 70, + 547, + 43, + 140, + 70, + 547, + 49, + 130, + 72, + 549, + 49, + 130, + 72, + 549, + 51, + 126, + 70, + 553, + 51, + 126, + 70, + 553, + 53, + 122, + 68, + 557, + 53, + 122, + 68, + 557, + 57, + 116, + 66, + 561, + 57, + 116, + 66, + 561, + 59, + 110, + 66, + 565, + 59, + 110, + 66, + 565, + 71, + 96, + 64, + 569, + 71, + 96, + 64, + 569, + 73, + 94, + 60, + 573, + 73, + 94, + 60, + 573, + 73, + 90, + 60, + 577, + 73, + 90, + 60, + 577, + 73, + 88, + 58, + 581, + 73, + 88, + 58, + 581, + 73, + 84, + 58, + 585, + 73, + 84, + 58, + 585, + 71, + 86, + 54, + 589, + 71, + 86, + 54, + 589, + 71, + 84, + 52, + 593, + 71, + 84, + 52, + 593, + 71, + 80, + 52, + 597, + 71, + 80, + 52, + 597, + 63, + 2, + 6, + 78, + 52, + 599, + 63, + 2, + 6, + 78, + 52, + 599, + 63, + 2, + 6, + 74, + 50, + 605, + 63, + 2, + 6, + 74, + 50, + 605, + 71, + 72, + 48, + 609, + 71, + 72, + 48, + 609, + 71, + 14, + 4, + 50, + 48, + 613, + 71, + 14, + 4, + 50, + 48, + 613, + 71, + 14, + 4, + 30, + 64, + 617, + 71, + 14, + 4, + 30, + 64, + 617, + 61, + 4, + 4, + 46, + 64, + 621, + 61, + 4, + 4, + 46, + 64, + 621, + 61, + 40, + 4, + 8, + 62, + 625, + 61, + 40, + 4, + 8, + 62, + 625, + 59, + 42, + 4, + 2, + 64, + 629, + 59, + 42, + 4, + 2, + 64, + 629, + 59, + 42, + 66, + 633, + 59, + 42, + 66, + 633, + 59, + 40, + 64, + 637, + 59, + 40, + 64, + 637, + 61, + 34, + 64, + 641, + 61, + 34, + 64, + 641, + 61, + 30, + 64, + 645, + 61, + 30, + 64, + 645, + 61, + 28, + 62, + 649, + 61, + 28, + 62, + 649, + 63, + 18, + 4, + 4, + 60, + 651, + 63, + 18, + 4, + 4, + 60, + 651, + 63, + 16, + 66, + 655, + 63, + 16, + 66, + 655, + 63, + 16, + 60, + 661, + 63, + 16, + 60, + 661, + 63, + 14, + 58, + 665, + 63, + 14, + 58, + 665, + 63, + 12, + 56, + 669, + 63, + 12, + 56, + 669, + 65, + 8, + 54, + 673, + 65, + 8, + 54, + 673, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 107, + 693, + 107, + 693, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 87, + 713, + 87, + 713, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 720, + 74, + 726, + 74, + 730, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 34, + 766, + 34, + 774, + 18, + 782, + 18, + 784, + 6, + 4, + 4, + 786, + 6, + 4, + 4, + 10364, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2391, + 11, + 789, + 11, + 789, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 700785 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000202:0000", + "experimental_retained_index": 0, + "ism_score": 0.4035390615463257, + "R": [ + [ + -0.9515682458877563, + 0.30593565106391907, + 0.030354537069797516 + ], + [ + 0.30600565671920776, + 0.9329919815063477, + 0.189436137676239 + ], + [ + 0.029634177684783936, + 0.18954966962337494, + -0.9814239740371704 + ] + ], + "t": [ + -374.155029296875, + -135.3242950439453, + 587.9845581054688 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 202, + "category_id": 1, + "bbox": [ + 0, + 0, + 402, + 742 + ], + "score": 0.11727853864431381, + "time": 0.0, + "segmentation": { + "counts": [ + 423, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 322, + 478, + 316, + 484, + 316, + 484, + 314, + 486, + 314, + 484, + 314, + 486, + 314, + 486, + 310, + 490, + 310, + 490, + 306, + 494, + 306, + 494, + 302, + 498, + 302, + 498, + 298, + 502, + 298, + 500, + 296, + 504, + 296, + 504, + 292, + 508, + 292, + 508, + 288, + 512, + 288, + 510, + 286, + 514, + 286, + 514, + 282, + 518, + 282, + 518, + 278, + 522, + 278, + 520, + 276, + 524, + 276, + 522, + 276, + 524, + 276, + 522, + 274, + 526, + 274, + 524, + 270, + 530, + 270, + 528, + 268, + 532, + 268, + 530, + 266, + 534, + 266, + 532, + 264, + 536, + 264, + 534, + 262, + 538, + 262, + 536, + 260, + 540, + 260, + 538, + 260, + 540, + 260, + 536, + 260, + 540, + 260, + 538, + 258, + 542, + 258, + 540, + 256, + 544, + 256, + 540, + 254, + 546, + 254, + 542, + 256, + 544, + 256, + 542, + 254, + 546, + 254, + 544, + 252, + 548, + 252, + 544, + 252, + 548, + 252, + 546, + 250, + 550, + 250, + 548, + 248, + 552, + 248, + 548, + 248, + 552, + 248, + 550, + 248, + 552, + 248, + 550, + 246, + 554, + 246, + 552, + 244, + 556, + 244, + 552, + 244, + 556, + 244, + 552, + 244, + 556, + 244, + 554, + 242, + 558, + 242, + 556, + 240, + 560, + 240, + 556, + 240, + 560, + 240, + 558, + 238, + 562, + 238, + 560, + 236, + 564, + 236, + 562, + 234, + 566, + 234, + 562, + 234, + 566, + 234, + 564, + 234, + 566, + 234, + 562, + 234, + 566, + 234, + 564, + 232, + 568, + 232, + 566, + 230, + 570, + 230, + 568, + 228, + 572, + 228, + 570, + 226, + 574, + 226, + 570, + 228, + 572, + 228, + 570, + 224, + 576, + 224, + 572, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 574, + 222, + 578, + 222, + 574, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 578, + 218, + 582, + 218, + 580, + 216, + 584, + 216, + 580, + 216, + 584, + 216, + 582, + 216, + 584, + 216, + 580, + 214, + 586, + 214, + 584, + 214, + 586, + 214, + 582, + 214, + 586, + 214, + 564, + 12, + 8, + 212, + 568, + 12, + 8, + 212, + 566, + 230, + 570, + 230, + 570, + 226, + 574, + 226, + 574, + 222, + 578, + 222, + 576, + 220, + 580, + 220, + 580, + 216, + 584, + 216, + 584, + 212, + 588, + 212, + 588, + 208, + 592, + 208, + 592, + 204, + 596, + 204, + 594, + 202, + 598, + 202, + 598, + 198, + 602, + 198, + 602, + 196, + 604, + 196, + 604, + 192, + 608, + 192, + 606, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 614, + 182, + 618, + 182, + 618, + 178, + 622, + 178, + 622, + 174, + 626, + 174, + 624, + 172, + 628, + 172, + 628, + 168, + 632, + 168, + 632, + 164, + 636, + 164, + 634, + 162, + 638, + 162, + 638, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 644, + 152, + 648, + 152, + 646, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 652, + 142, + 658, + 142, + 656, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 662, + 134, + 666, + 134, + 666, + 130, + 670, + 130, + 670, + 126, + 674, + 126, + 674, + 122, + 678, + 122, + 678, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 116, + 684, + 116, + 684, + 110, + 690, + 110, + 690, + 106, + 694, + 106, + 694, + 102, + 698, + 102, + 696, + 100, + 700, + 100, + 700, + 98, + 702, + 98, + 700, + 96, + 704, + 96, + 702, + 94, + 706, + 94, + 704, + 90, + 710, + 90, + 708, + 90, + 710, + 90, + 708, + 88, + 712, + 88, + 710, + 86, + 714, + 86, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 716, + 80, + 720, + 80, + 512, + 4, + 200, + 80, + 516, + 4, + 200, + 80, + 511, + 11, + 196, + 78, + 515, + 11, + 196, + 78, + 515, + 13, + 192, + 76, + 519, + 13, + 192, + 76, + 519, + 17, + 184, + 76, + 523, + 17, + 184, + 76, + 523, + 19, + 180, + 76, + 525, + 19, + 180, + 76, + 525, + 21, + 176, + 74, + 529, + 21, + 176, + 74, + 529, + 25, + 170, + 72, + 533, + 25, + 170, + 72, + 533, + 27, + 166, + 72, + 535, + 27, + 166, + 72, + 535, + 35, + 154, + 72, + 539, + 35, + 154, + 72, + 539, + 41, + 144, + 72, + 543, + 41, + 144, + 72, + 543, + 43, + 140, + 70, + 547, + 43, + 140, + 70, + 547, + 49, + 130, + 72, + 549, + 49, + 130, + 72, + 549, + 51, + 126, + 70, + 553, + 51, + 126, + 70, + 553, + 53, + 122, + 68, + 557, + 53, + 122, + 68, + 557, + 57, + 116, + 66, + 561, + 57, + 116, + 66, + 561, + 59, + 110, + 66, + 565, + 59, + 110, + 66, + 565, + 71, + 96, + 64, + 569, + 71, + 96, + 64, + 569, + 73, + 94, + 60, + 573, + 73, + 94, + 60, + 573, + 73, + 90, + 60, + 577, + 73, + 90, + 60, + 577, + 73, + 88, + 58, + 581, + 73, + 88, + 58, + 581, + 73, + 84, + 58, + 585, + 73, + 84, + 58, + 585, + 71, + 86, + 54, + 589, + 71, + 86, + 54, + 589, + 71, + 84, + 52, + 593, + 71, + 84, + 52, + 593, + 71, + 80, + 52, + 597, + 71, + 80, + 52, + 597, + 63, + 2, + 6, + 78, + 52, + 599, + 63, + 2, + 6, + 78, + 52, + 599, + 63, + 2, + 6, + 74, + 50, + 605, + 63, + 2, + 6, + 74, + 50, + 605, + 71, + 72, + 48, + 609, + 71, + 72, + 48, + 609, + 71, + 14, + 4, + 50, + 48, + 613, + 71, + 14, + 4, + 50, + 48, + 613, + 71, + 14, + 4, + 30, + 64, + 617, + 71, + 14, + 4, + 30, + 64, + 617, + 61, + 4, + 4, + 46, + 64, + 621, + 61, + 4, + 4, + 46, + 64, + 621, + 61, + 40, + 4, + 8, + 62, + 625, + 61, + 40, + 4, + 8, + 62, + 625, + 59, + 42, + 4, + 2, + 64, + 629, + 59, + 42, + 4, + 2, + 64, + 629, + 59, + 42, + 66, + 633, + 59, + 42, + 66, + 633, + 59, + 40, + 64, + 637, + 59, + 40, + 64, + 637, + 61, + 34, + 64, + 641, + 61, + 34, + 64, + 641, + 61, + 30, + 64, + 645, + 61, + 30, + 64, + 645, + 61, + 28, + 62, + 649, + 61, + 28, + 62, + 649, + 63, + 18, + 4, + 4, + 60, + 651, + 63, + 18, + 4, + 4, + 60, + 651, + 63, + 16, + 66, + 655, + 63, + 16, + 66, + 655, + 63, + 16, + 60, + 661, + 63, + 16, + 60, + 661, + 63, + 14, + 58, + 665, + 63, + 14, + 58, + 665, + 63, + 12, + 56, + 669, + 63, + 12, + 56, + 669, + 65, + 8, + 54, + 673, + 65, + 8, + 54, + 673, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 107, + 693, + 107, + 693, + 103, + 697, + 103, + 697, + 101, + 699, + 101, + 699, + 97, + 703, + 97, + 703, + 97, + 703, + 97, + 703, + 95, + 705, + 95, + 705, + 93, + 707, + 93, + 707, + 87, + 713, + 87, + 713, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 720, + 74, + 726, + 74, + 730, + 66, + 734, + 66, + 738, + 60, + 740, + 60, + 742, + 52, + 748, + 52, + 750, + 46, + 754, + 46, + 754, + 34, + 766, + 34, + 774, + 18, + 782, + 18, + 784, + 6, + 4, + 4, + 786, + 6, + 4, + 4, + 10364, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 794, + 4, + 796, + 4, + 2391, + 11, + 789, + 11, + 789, + 17, + 783, + 17, + 783, + 17, + 783, + 17, + 783, + 15, + 785, + 15, + 785, + 15, + 785, + 15, + 790, + 10, + 790, + 10, + 792, + 8, + 792, + 8, + 794, + 6, + 794, + 6, + 700785 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000202:0000", + "experimental_retained_index": 0, + "ism_score": 0.4035390615463257, + "R": [ + [ + -0.9515682458877563, + 0.30593565106391907, + 0.030354537069797516 + ], + [ + 0.30600565671920776, + 0.9329919815063477, + 0.189436137676239 + ], + [ + 0.029634177684783936, + 0.18954966962337494, + -0.9814239740371704 + ] + ], + "t": [ + -374.155029296875, + -135.3242950439453, + 587.9845581054688 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000202/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000202/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000202:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000202.png" + }, + { + "frame_id": 207, + "image_path": "/workspace/data/0008_/images/000207.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000207.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 582, + 340, + 258, + 164 + ], + "score": 0.08225219696760178, + "time": 0.0, + "segmentation": { + "counts": [ + 465181, + 22, + 778, + 22, + 776, + 38, + 762, + 38, + 760, + 62, + 738, + 62, + 738, + 76, + 724, + 76, + 724, + 90, + 710, + 90, + 708, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 680, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 68, + 14, + 58, + 660, + 68, + 14, + 58, + 660, + 60, + 42, + 38, + 660, + 60, + 42, + 38, + 660, + 56, + 52, + 32, + 660, + 56, + 52, + 32, + 660, + 52, + 60, + 28, + 660, + 52, + 60, + 28, + 658, + 50, + 68, + 22, + 660, + 50, + 68, + 22, + 660, + 48, + 74, + 18, + 660, + 48, + 74, + 18, + 660, + 46, + 78, + 16, + 660, + 46, + 78, + 16, + 660, + 44, + 86, + 6, + 664, + 44, + 86, + 6, + 664, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 10, + 790, + 10, + 792, + 4, + 796, + 4, + 24788, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 794, + 6, + 794, + 6, + 23296, + 14, + 786, + 14, + 772, + 28, + 772, + 28, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 26, + 4, + 4, + 766, + 26, + 4, + 4, + 778, + 14, + 2, + 8, + 776, + 14, + 2, + 8, + 782, + 8, + 2, + 8, + 782, + 8, + 2, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 349939 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000207:0000", + "experimental_retained_index": 0, + "ism_score": 0.4112609922885895, + "R": [ + [ + 0.36721646785736084, + 0.9267688393592834, + -0.0790611132979393 + ], + [ + 0.9274239540100098, + -0.3583347499370575, + 0.10714952647686005 + ], + [ + 0.0709725171327591, + -0.11267022788524628, + -0.9910944700241089 + ] + ], + "t": [ + 14.299249649047852, + 4.587710857391357, + 335.2289123535156 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 207, + "category_id": 1, + "bbox": [ + 582, + 340, + 258, + 164 + ], + "score": 0.08225219696760178, + "time": 0.0, + "segmentation": { + "counts": [ + 465181, + 22, + 778, + 22, + 776, + 38, + 762, + 38, + 760, + 62, + 738, + 62, + 738, + 76, + 724, + 76, + 724, + 90, + 710, + 90, + 708, + 100, + 700, + 100, + 700, + 102, + 698, + 102, + 698, + 102, + 698, + 102, + 698, + 104, + 696, + 104, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 694, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 114, + 686, + 116, + 684, + 116, + 684, + 120, + 680, + 120, + 680, + 132, + 668, + 132, + 666, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 658, + 68, + 14, + 58, + 660, + 68, + 14, + 58, + 660, + 60, + 42, + 38, + 660, + 60, + 42, + 38, + 660, + 56, + 52, + 32, + 660, + 56, + 52, + 32, + 660, + 52, + 60, + 28, + 660, + 52, + 60, + 28, + 658, + 50, + 68, + 22, + 660, + 50, + 68, + 22, + 660, + 48, + 74, + 18, + 660, + 48, + 74, + 18, + 660, + 46, + 78, + 16, + 660, + 46, + 78, + 16, + 660, + 44, + 86, + 6, + 664, + 44, + 86, + 6, + 664, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 760, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 32, + 768, + 32, + 770, + 10, + 790, + 10, + 792, + 4, + 796, + 4, + 24788, + 8, + 792, + 8, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 10, + 790, + 10, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 788, + 10, + 790, + 10, + 794, + 6, + 794, + 6, + 23296, + 14, + 786, + 14, + 772, + 28, + 772, + 28, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 36, + 764, + 26, + 4, + 4, + 766, + 26, + 4, + 4, + 778, + 14, + 2, + 8, + 776, + 14, + 2, + 8, + 782, + 8, + 2, + 8, + 782, + 8, + 2, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 349939 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000207:0000", + "experimental_retained_index": 0, + "ism_score": 0.4112609922885895, + "R": [ + [ + 0.36721646785736084, + 0.9267688393592834, + -0.0790611132979393 + ], + [ + 0.9274239540100098, + -0.3583347499370575, + 0.10714952647686005 + ], + [ + 0.0709725171327591, + -0.11267022788524628, + -0.9910944700241089 + ] + ], + "t": [ + 14.299249649047852, + 4.587710857391357, + 335.2289123535156 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000207/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000207/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000207:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000207.png" + }, + { + "frame_id": 211, + "image_path": "/workspace/data/0008_/images/000211.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000211.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 2, + 0, + 248, + 82 + ], + "score": 0.011593093164265156, + "time": 0.0, + "segmentation": { + "counts": [ + 803, + 8, + 792, + 8, + 789, + 15, + 785, + 15, + 785, + 17, + 783, + 17, + 783, + 19, + 781, + 19, + 781, + 19, + 781, + 19, + 781, + 21, + 779, + 21, + 779, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 773, + 29, + 771, + 29, + 771, + 31, + 769, + 31, + 769, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 37, + 763, + 37, + 763, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 43, + 757, + 43, + 757, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 47, + 753, + 47, + 753, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 53, + 747, + 53, + 747, + 53, + 747, + 53, + 747, + 55, + 745, + 55, + 745, + 57, + 743, + 57, + 743, + 59, + 741, + 59, + 741, + 59, + 741, + 59, + 741, + 61, + 739, + 61, + 739, + 63, + 737, + 63, + 737, + 63, + 737, + 63, + 737, + 65, + 735, + 65, + 735, + 67, + 733, + 67, + 733, + 69, + 731, + 69, + 731, + 69, + 731, + 69, + 731, + 71, + 729, + 71, + 729, + 73, + 727, + 73, + 727, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 77, + 723, + 77, + 723, + 79, + 721, + 79, + 721, + 81, + 719, + 81, + 719, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 79, + 721, + 79, + 721, + 77, + 723, + 77, + 723, + 77, + 723, + 77, + 723, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 73, + 727, + 73, + 730, + 68, + 732, + 68, + 734, + 66, + 734, + 66, + 736, + 64, + 736, + 64, + 740, + 58, + 742, + 58, + 746, + 54, + 746, + 54, + 748, + 52, + 748, + 52, + 752, + 46, + 754, + 46, + 756, + 44, + 756, + 44, + 760, + 38, + 762, + 38, + 764, + 36, + 764, + 36, + 768, + 30, + 770, + 30, + 772, + 28, + 772, + 28, + 737, + 9, + 30, + 24, + 737, + 9, + 30, + 24, + 737, + 13, + 28, + 20, + 739, + 13, + 28, + 20, + 739, + 15, + 30, + 16, + 739, + 15, + 30, + 16, + 739, + 19, + 30, + 10, + 741, + 19, + 30, + 10, + 741, + 23, + 777, + 23, + 777, + 25, + 775, + 25, + 775, + 29, + 771, + 29, + 771, + 33, + 767, + 33, + 767, + 35, + 765, + 35, + 765, + 39, + 761, + 39, + 761, + 41, + 759, + 41, + 759, + 45, + 755, + 45, + 755, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 51, + 749, + 51, + 749, + 51, + 749, + 51, + 749, + 49, + 751, + 49, + 751, + 49, + 751, + 49, + 751, + 47, + 753, + 47, + 753, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 45, + 755, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 43, + 757, + 41, + 759, + 41, + 759, + 41, + 759, + 41, + 759, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 39, + 761, + 37, + 763, + 37, + 763, + 37, + 763, + 37, + 763, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 35, + 765, + 33, + 767, + 33, + 767, + 33, + 767, + 33, + 767, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 31, + 769, + 29, + 771, + 29, + 771, + 29, + 771, + 29, + 771, + 27, + 773, + 27, + 773, + 27, + 773, + 27, + 776, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 786, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 822377 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000211:0000", + "experimental_retained_index": 0, + "ism_score": 0.41219884157180786, + "R": [ + [ + -0.658065915107727, + -0.13062703609466553, + 0.7418274879455566 + ], + [ + -0.025594055652618408, + 0.9884793758392334, + 0.15116116404533386 + ], + [ + -0.7525877952575684, + 0.08041690289974213, + -0.6534326076507568 + ] + ], + "t": [ + -982.1726684570312, + -654.0166015625, + 1246.5355224609375 + ] + }, + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 792, + 0, + 58, + 128 + ], + "score": 0.036033421754837036, + "time": 0.0, + "segmentation": { + "counts": [ + 632800, + 11, + 2, + 18, + 2, + 18, + 2, + 18, + 2, + 18, + 2, + 28, + 2, + 6, + 671, + 11, + 2, + 18, + 2, + 18, + 2, + 18, + 2, + 18, + 2, + 28, + 2, + 6, + 671, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 131, + 669, + 129, + 671, + 129, + 671, + 127, + 673, + 127, + 673, + 125, + 675, + 125, + 675, + 123, + 677, + 123, + 677, + 119, + 681, + 119, + 681, + 117, + 683, + 117, + 683, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 105, + 695, + 105, + 695, + 103, + 697, + 103, + 697, + 99, + 701, + 99, + 701, + 97, + 703, + 97, + 703, + 93, + 707, + 93, + 707, + 91, + 709, + 91, + 709, + 89, + 711, + 89, + 711, + 71, + 729, + 71, + 729, + 29, + 771, + 29, + 342371 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000211:0002", + "experimental_retained_index": 1, + "ism_score": 0.3976101577281952, + "R": [ + [ + 0.964202880859375, + 0.22591885924339294, + -0.13974714279174805 + ], + [ + 0.25774669647216797, + -0.6695185899734497, + 0.6968348622322083 + ], + [ + 0.06387482583522797, + -0.7074744701385498, + -0.7035765051841736 + ] + ], + "t": [ + 762.7804565429688, + -1209.2430419921875, + 2477.331787109375 + ] + }, + { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 462, + 0, + 594, + 142 + ], + "score": 0.14575012028217316, + "time": 0.0, + "segmentation": { + "counts": [ + 368909, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 268012, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 742, + 58, + 742, + 58, + 732, + 68, + 732, + 68, + 720, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 694, + 106, + 694, + 106, + 688, + 112, + 688, + 112, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 666, + 134, + 666, + 134, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 131, + 669, + 131, + 669, + 125, + 675, + 125, + 675, + 121, + 679, + 121, + 679, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 14, + 4, + 675, + 107, + 14, + 4, + 675, + 105, + 14, + 6, + 675, + 105, + 14, + 6, + 675, + 105, + 12, + 22, + 661, + 105, + 12, + 22, + 661, + 103, + 12, + 24, + 661, + 103, + 12, + 24, + 661, + 101, + 14, + 24, + 661, + 101, + 14, + 24, + 661, + 89, + 26, + 24, + 661, + 89, + 26, + 24, + 661, + 83, + 30, + 26, + 661, + 83, + 30, + 26, + 661, + 79, + 34, + 26, + 661, + 79, + 34, + 26, + 661, + 73, + 38, + 28, + 661, + 73, + 38, + 28, + 661, + 71, + 40, + 30, + 659, + 71, + 40, + 30, + 659, + 69, + 40, + 32, + 659, + 69, + 40, + 32, + 659, + 69, + 40, + 32, + 659, + 69, + 40, + 32, + 659, + 67, + 42, + 32, + 659, + 67, + 42, + 32, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 34, + 42, + 659, + 65, + 34, + 42, + 659, + 65, + 34, + 42, + 659, + 65, + 34, + 42, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 46, + 657, + 65, + 32, + 46, + 657, + 65, + 30, + 48, + 657, + 65, + 30, + 48, + 662, + 60, + 30, + 48, + 662, + 60, + 30, + 48, + 674, + 48, + 30, + 48, + 674, + 48, + 30, + 48, + 678, + 44, + 28, + 50, + 678, + 44, + 28, + 50, + 682, + 38, + 30, + 50, + 682, + 38, + 30, + 50, + 684, + 36, + 28, + 52, + 684, + 36, + 28, + 52, + 688, + 32, + 28, + 52, + 688, + 32, + 28, + 52, + 690, + 30, + 28, + 52, + 690, + 30, + 28, + 52, + 692, + 28, + 28, + 52, + 692, + 28, + 28, + 52, + 692, + 28, + 28, + 52, + 692, + 28, + 28, + 52, + 694, + 26, + 28, + 52, + 694, + 26, + 28, + 52, + 696, + 22, + 32, + 16, + 8, + 26, + 696, + 22, + 32, + 16, + 8, + 26, + 698, + 20, + 56, + 26, + 698, + 20, + 56, + 26, + 700, + 18, + 56, + 26, + 700, + 18, + 56, + 26, + 704, + 14, + 56, + 26, + 704, + 14, + 56, + 26, + 708, + 8, + 58, + 26, + 708, + 8, + 58, + 26, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 776, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 3952, + 4, + 796, + 4, + 788, + 20, + 780, + 20, + 780, + 32, + 768, + 32, + 768, + 38, + 762, + 38, + 762, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 32, + 768, + 32, + 768, + 18, + 782, + 18, + 177493 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000211:0001", + "experimental_retained_index": 2, + "ism_score": 0.3701590299606323, + "R": [ + [ + 0.9360622763633728, + 0.23414954543113708, + -0.26200926303863525 + ], + [ + 0.3494519591331482, + -0.6991994380950928, + 0.6237886548042297 + ], + [ + -0.03728213161230087, + -0.6756224036216736, + -0.7366893887519836 + ] + ], + "t": [ + 1034.36181640625, + -1269.447509765625, + 2724.310791015625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 211, + "category_id": 1, + "bbox": [ + 462, + 0, + 594, + 142 + ], + "score": 0.14575012028217316, + "time": 0.0, + "segmentation": { + "counts": [ + 368909, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 13596, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 268012, + 6, + 794, + 6, + 792, + 8, + 792, + 8, + 788, + 14, + 786, + 14, + 784, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 22, + 778, + 22, + 776, + 24, + 776, + 24, + 774, + 26, + 774, + 26, + 770, + 30, + 770, + 30, + 766, + 34, + 766, + 34, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 760, + 40, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 756, + 44, + 756, + 44, + 754, + 46, + 754, + 46, + 752, + 48, + 752, + 48, + 748, + 54, + 746, + 54, + 742, + 58, + 742, + 58, + 732, + 68, + 732, + 68, + 720, + 80, + 720, + 80, + 716, + 84, + 716, + 84, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 702, + 98, + 702, + 98, + 694, + 106, + 694, + 106, + 688, + 112, + 688, + 112, + 678, + 122, + 678, + 122, + 674, + 126, + 674, + 126, + 666, + 134, + 666, + 134, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 137, + 663, + 135, + 665, + 135, + 665, + 131, + 669, + 131, + 669, + 125, + 675, + 125, + 675, + 121, + 679, + 121, + 679, + 115, + 685, + 115, + 685, + 113, + 687, + 113, + 687, + 111, + 689, + 111, + 689, + 109, + 691, + 109, + 691, + 109, + 691, + 109, + 691, + 107, + 14, + 4, + 675, + 107, + 14, + 4, + 675, + 105, + 14, + 6, + 675, + 105, + 14, + 6, + 675, + 105, + 12, + 22, + 661, + 105, + 12, + 22, + 661, + 103, + 12, + 24, + 661, + 103, + 12, + 24, + 661, + 101, + 14, + 24, + 661, + 101, + 14, + 24, + 661, + 89, + 26, + 24, + 661, + 89, + 26, + 24, + 661, + 83, + 30, + 26, + 661, + 83, + 30, + 26, + 661, + 79, + 34, + 26, + 661, + 79, + 34, + 26, + 661, + 73, + 38, + 28, + 661, + 73, + 38, + 28, + 661, + 71, + 40, + 30, + 659, + 71, + 40, + 30, + 659, + 69, + 40, + 32, + 659, + 69, + 40, + 32, + 659, + 69, + 40, + 32, + 659, + 69, + 40, + 32, + 659, + 67, + 42, + 32, + 659, + 67, + 42, + 32, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 18, + 34, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 18, + 4, + 16, + 36, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 67, + 36, + 38, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 36, + 40, + 659, + 65, + 34, + 42, + 659, + 65, + 34, + 42, + 659, + 65, + 34, + 42, + 659, + 65, + 34, + 42, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 44, + 659, + 65, + 32, + 46, + 657, + 65, + 32, + 46, + 657, + 65, + 30, + 48, + 657, + 65, + 30, + 48, + 662, + 60, + 30, + 48, + 662, + 60, + 30, + 48, + 674, + 48, + 30, + 48, + 674, + 48, + 30, + 48, + 678, + 44, + 28, + 50, + 678, + 44, + 28, + 50, + 682, + 38, + 30, + 50, + 682, + 38, + 30, + 50, + 684, + 36, + 28, + 52, + 684, + 36, + 28, + 52, + 688, + 32, + 28, + 52, + 688, + 32, + 28, + 52, + 690, + 30, + 28, + 52, + 690, + 30, + 28, + 52, + 692, + 28, + 28, + 52, + 692, + 28, + 28, + 52, + 692, + 28, + 28, + 52, + 692, + 28, + 28, + 52, + 694, + 26, + 28, + 52, + 694, + 26, + 28, + 52, + 696, + 22, + 32, + 16, + 8, + 26, + 696, + 22, + 32, + 16, + 8, + 26, + 698, + 20, + 56, + 26, + 698, + 20, + 56, + 26, + 700, + 18, + 56, + 26, + 700, + 18, + 56, + 26, + 704, + 14, + 56, + 26, + 704, + 14, + 56, + 26, + 708, + 8, + 58, + 26, + 708, + 8, + 58, + 26, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 776, + 24, + 776, + 24, + 780, + 18, + 782, + 18, + 3952, + 4, + 796, + 4, + 788, + 20, + 780, + 20, + 780, + 32, + 768, + 32, + 768, + 38, + 762, + 38, + 762, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 750, + 50, + 750, + 50, + 750, + 48, + 752, + 48, + 752, + 42, + 758, + 42, + 760, + 32, + 768, + 32, + 768, + 18, + 782, + 18, + 177493 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000211:0001", + "experimental_retained_index": 2, + "ism_score": 0.3701590299606323, + "R": [ + [ + 0.9360622763633728, + 0.23414954543113708, + -0.26200926303863525 + ], + [ + 0.3494519591331482, + -0.6991994380950928, + 0.6237886548042297 + ], + [ + -0.03728213161230087, + -0.6756224036216736, + -0.7366893887519836 + ] + ], + "t": [ + 1034.36181640625, + -1269.447509765625, + 2724.310791015625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000211/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000211/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000211:0000", + "eppendorf_tarto:000211:0002", + "eppendorf_tarto:000211:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000211.png" + }, + { + "frame_id": 219, + "image_path": "/workspace/data/0008_/images/000219.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000219.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 0, + 468, + 100, + 328 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 467, + 332, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 8, + 2, + 296, + 494, + 8, + 2, + 296, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 518, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 534, + 266, + 534, + 266, + 546, + 254, + 546, + 254, + 552, + 248, + 552, + 248, + 566, + 234, + 566, + 234, + 572, + 228, + 572, + 228, + 580, + 220, + 580, + 220, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 600, + 200, + 600, + 200, + 608, + 192, + 608, + 192, + 618, + 182, + 618, + 182, + 628, + 172, + 628, + 172, + 634, + 166, + 634, + 166, + 638, + 162, + 638, + 162, + 646, + 154, + 646, + 154, + 652, + 148, + 652, + 148, + 660, + 140, + 660, + 140, + 668, + 132, + 668, + 132, + 674, + 126, + 674, + 126, + 684, + 116, + 684, + 116, + 692, + 108, + 692, + 108, + 698, + 102, + 698, + 102, + 708, + 92, + 708, + 92, + 716, + 84, + 716, + 84, + 726, + 74, + 726, + 74, + 732, + 68, + 732, + 68, + 742, + 58, + 742, + 58, + 750, + 50, + 750, + 50, + 758, + 42, + 758, + 42, + 768, + 32, + 768, + 32, + 778, + 22, + 778, + 22, + 786, + 14, + 786, + 14, + 792, + 4, + 796, + 4, + 941605 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000219:0000", + "experimental_retained_index": 0, + "ism_score": 0.42072218656539917, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 219, + "category_id": 1, + "bbox": [ + 0, + 468, + 100, + 328 + ], + "score": 0.0, + "time": 0.0, + "segmentation": { + "counts": [ + 467, + 332, + 468, + 332, + 468, + 332, + 470, + 330, + 470, + 330, + 472, + 328, + 472, + 328, + 484, + 316, + 484, + 316, + 486, + 314, + 486, + 314, + 488, + 312, + 488, + 312, + 492, + 308, + 492, + 308, + 492, + 308, + 492, + 308, + 494, + 8, + 2, + 296, + 494, + 8, + 2, + 296, + 508, + 292, + 508, + 292, + 510, + 290, + 510, + 290, + 512, + 288, + 512, + 288, + 514, + 286, + 514, + 286, + 518, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 524, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 530, + 270, + 530, + 270, + 534, + 266, + 534, + 266, + 546, + 254, + 546, + 254, + 552, + 248, + 552, + 248, + 566, + 234, + 566, + 234, + 572, + 228, + 572, + 228, + 580, + 220, + 580, + 220, + 588, + 212, + 588, + 212, + 592, + 208, + 592, + 208, + 600, + 200, + 600, + 200, + 608, + 192, + 608, + 192, + 618, + 182, + 618, + 182, + 628, + 172, + 628, + 172, + 634, + 166, + 634, + 166, + 638, + 162, + 638, + 162, + 646, + 154, + 646, + 154, + 652, + 148, + 652, + 148, + 660, + 140, + 660, + 140, + 668, + 132, + 668, + 132, + 674, + 126, + 674, + 126, + 684, + 116, + 684, + 116, + 692, + 108, + 692, + 108, + 698, + 102, + 698, + 102, + 708, + 92, + 708, + 92, + 716, + 84, + 716, + 84, + 726, + 74, + 726, + 74, + 732, + 68, + 732, + 68, + 742, + 58, + 742, + 58, + 750, + 50, + 750, + 50, + 758, + 42, + 758, + 42, + 768, + 32, + 768, + 32, + 778, + 22, + 778, + 22, + 786, + 14, + 786, + 14, + 792, + 4, + 796, + 4, + 941605 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000219:0000", + "experimental_retained_index": 0, + "ism_score": 0.42072218656539917, + "R": [ + [ + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "t": [ + 0.0, + 0.0, + 0.0 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000219/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000219/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000219:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000219.png" + }, + { + "frame_id": 222, + "image_path": "/workspace/data/0008_/images/000222.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000222.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 406, + 468, + 216, + 152 + ], + "score": 0.44812923669815063, + "time": 0.0, + "segmentation": { + "counts": [ + 324581, + 26, + 774, + 26, + 762, + 38, + 762, + 38, + 754, + 46, + 754, + 46, + 742, + 58, + 742, + 58, + 730, + 72, + 728, + 72, + 716, + 84, + 716, + 84, + 704, + 96, + 704, + 96, + 696, + 104, + 696, + 104, + 686, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 674, + 126, + 674, + 126, + 666, + 134, + 666, + 134, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 48, + 28, + 66, + 658, + 48, + 28, + 66, + 658, + 44, + 32, + 66, + 658, + 44, + 32, + 66, + 658, + 42, + 36, + 66, + 656, + 42, + 36, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 38, + 66, + 658, + 38, + 38, + 66, + 658, + 40, + 34, + 68, + 658, + 40, + 34, + 68, + 658, + 40, + 34, + 70, + 656, + 40, + 34, + 70, + 656, + 42, + 30, + 72, + 656, + 42, + 30, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 660, + 42, + 26, + 70, + 662, + 42, + 26, + 70, + 662, + 42, + 28, + 64, + 666, + 42, + 28, + 64, + 666, + 42, + 32, + 44, + 682, + 42, + 32, + 44, + 682, + 42, + 36, + 6, + 716, + 42, + 36, + 6, + 716, + 40, + 760, + 40, + 762, + 26, + 774, + 26, + 524289 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000222:0002", + "experimental_retained_index": 0, + "ism_score": 0.44812923669815063, + "R": [ + [ + 0.04440148174762726, + 0.10340649634599686, + 0.9936878681182861 + ], + [ + -0.9187589287757874, + -0.3864823579788208, + 0.081283338367939 + ], + [ + 0.39239463210105896, + -0.9164597392082214, + 0.07783994823694229 + ] + ], + "t": [ + -92.59312438964844, + 91.63562774658203, + 391.8514404296875 + ] + }, + { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 230, + 266, + 332, + 212 + ], + "score": 0.3212018609046936, + "time": 0.0, + "segmentation": { + "counts": [ + 183533, + 6, + 794, + 6, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 8778, + 4, + 796, + 4, + 794, + 6, + 30, + 8, + 756, + 6, + 30, + 8, + 756, + 8, + 18, + 4, + 2, + 24, + 744, + 8, + 18, + 4, + 2, + 24, + 744, + 8, + 16, + 46, + 730, + 8, + 16, + 46, + 730, + 8, + 12, + 64, + 716, + 8, + 12, + 64, + 734, + 74, + 726, + 74, + 724, + 84, + 716, + 84, + 712, + 102, + 698, + 102, + 696, + 120, + 680, + 120, + 680, + 130, + 670, + 130, + 670, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 624, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 616, + 4, + 10, + 168, + 618, + 4, + 10, + 168, + 618, + 4, + 18, + 160, + 618, + 4, + 18, + 160, + 612, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 6, + 24, + 156, + 614, + 8, + 24, + 154, + 614, + 8, + 24, + 154, + 614, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 8, + 24, + 152, + 616, + 6, + 26, + 152, + 616, + 6, + 26, + 152, + 634, + 12, + 2, + 150, + 636, + 12, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 634, + 14, + 2, + 150, + 650, + 148, + 652, + 148, + 630, + 12, + 2, + 156, + 630, + 12, + 2, + 156, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 628, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 170, + 630, + 170, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 630, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 632, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 642, + 156, + 644, + 156, + 646, + 154, + 646, + 154, + 652, + 148, + 652, + 148, + 658, + 140, + 660, + 140, + 664, + 136, + 664, + 136, + 670, + 128, + 672, + 128, + 680, + 120, + 680, + 120, + 684, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 694, + 106, + 694, + 106, + 702, + 98, + 702, + 98, + 708, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 720, + 78, + 722, + 78, + 728, + 72, + 728, + 72, + 734, + 66, + 734, + 66, + 740, + 58, + 742, + 58, + 746, + 52, + 748, + 52, + 758, + 40, + 760, + 40, + 766, + 30, + 770, + 30, + 572393 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000222:0000", + "experimental_retained_index": 1, + "ism_score": 0.4373812675476074, + "R": [ + [ + 0.34132373332977295, + 0.13422709703445435, + -0.9305574297904968 + ], + [ + 0.8948677182197571, + -0.34886130690574646, + 0.2780524790287018 + ], + [ + -0.2872481346130371, + -0.9275871515274048, + -0.23926526308059692 + ] + ], + "t": [ + -130.77371215820312, + -26.105117797851562, + 385.80413818359375 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 222, + "category_id": 1, + "bbox": [ + 406, + 468, + 216, + 152 + ], + "score": 0.44812923669815063, + "time": 0.0, + "segmentation": { + "counts": [ + 324581, + 26, + 774, + 26, + 762, + 38, + 762, + 38, + 754, + 46, + 754, + 46, + 742, + 58, + 742, + 58, + 730, + 72, + 728, + 72, + 716, + 84, + 716, + 84, + 704, + 96, + 704, + 96, + 696, + 104, + 696, + 104, + 686, + 114, + 686, + 114, + 680, + 120, + 680, + 120, + 674, + 126, + 674, + 126, + 666, + 134, + 666, + 134, + 660, + 140, + 660, + 140, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 48, + 28, + 66, + 658, + 48, + 28, + 66, + 658, + 44, + 32, + 66, + 658, + 44, + 32, + 66, + 658, + 42, + 36, + 66, + 656, + 42, + 36, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 656, + 40, + 38, + 66, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 40, + 64, + 658, + 38, + 38, + 66, + 658, + 38, + 38, + 66, + 658, + 40, + 34, + 68, + 658, + 40, + 34, + 68, + 658, + 40, + 34, + 70, + 656, + 40, + 34, + 70, + 656, + 42, + 30, + 72, + 656, + 42, + 30, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 656, + 44, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 42, + 28, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 658, + 44, + 26, + 72, + 660, + 42, + 26, + 70, + 662, + 42, + 26, + 70, + 662, + 42, + 28, + 64, + 666, + 42, + 28, + 64, + 666, + 42, + 32, + 44, + 682, + 42, + 32, + 44, + 682, + 42, + 36, + 6, + 716, + 42, + 36, + 6, + 716, + 40, + 760, + 40, + 762, + 26, + 774, + 26, + 524289 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000222:0002", + "experimental_retained_index": 0, + "ism_score": 0.44812923669815063, + "R": [ + [ + 0.04440148174762726, + 0.10340649634599686, + 0.9936878681182861 + ], + [ + -0.9187589287757874, + -0.3864823579788208, + 0.081283338367939 + ], + [ + 0.39239463210105896, + -0.9164597392082214, + 0.07783994823694229 + ] + ], + "t": [ + -92.59312438964844, + 91.63562774658203, + 391.8514404296875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000222/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000222/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000222:0002", + "eppendorf_tarto:000222:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000222.png" + }, + { + "frame_id": 227, + "image_path": "/workspace/data/0008_/images/000227.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000227.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 236, + 376, + 246, + 246 + ], + "score": 0.4509141147136688, + "time": 0.0, + "segmentation": { + "counts": [ + 188451, + 12, + 788, + 12, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 748, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 734, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 624, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 152, + 4, + 86, + 558, + 152, + 4, + 86, + 560, + 148, + 8, + 84, + 560, + 148, + 8, + 84, + 564, + 142, + 12, + 80, + 566, + 142, + 12, + 80, + 572, + 134, + 18, + 76, + 572, + 134, + 18, + 76, + 572, + 134, + 20, + 72, + 574, + 134, + 20, + 72, + 574, + 130, + 26, + 70, + 574, + 130, + 26, + 70, + 576, + 128, + 26, + 68, + 578, + 128, + 26, + 68, + 582, + 122, + 28, + 64, + 586, + 122, + 28, + 64, + 588, + 118, + 34, + 58, + 590, + 118, + 34, + 58, + 594, + 114, + 36, + 56, + 594, + 114, + 36, + 56, + 594, + 112, + 38, + 54, + 596, + 112, + 38, + 54, + 598, + 108, + 42, + 50, + 600, + 108, + 42, + 50, + 604, + 102, + 46, + 46, + 606, + 102, + 46, + 46, + 608, + 98, + 50, + 42, + 610, + 98, + 50, + 42, + 614, + 94, + 52, + 38, + 616, + 94, + 52, + 38, + 616, + 94, + 52, + 38, + 616, + 94, + 52, + 38, + 618, + 92, + 56, + 32, + 620, + 92, + 56, + 32, + 624, + 88, + 58, + 30, + 624, + 88, + 58, + 30, + 626, + 88, + 60, + 24, + 628, + 88, + 60, + 24, + 632, + 86, + 60, + 20, + 634, + 86, + 60, + 20, + 636, + 86, + 62, + 14, + 638, + 86, + 62, + 14, + 640, + 86, + 64, + 8, + 642, + 86, + 64, + 8, + 644, + 90, + 710, + 90, + 712, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 94, + 706, + 94, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 94, + 706, + 94, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 730, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 748, + 50, + 750, + 50, + 754, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 636267 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000227:0001", + "experimental_retained_index": 0, + "ism_score": 0.4509141147136688, + "R": [ + [ + -0.7308812141418457, + 0.22118349373340607, + -0.6455576419830322 + ], + [ + 0.5829612612724304, + -0.2890952527523041, + -0.7590686678886414 + ], + [ + -0.35462644696235657, + -0.9315341711044312, + 0.08241339772939682 + ] + ], + "t": [ + -140.42977905273438, + 72.9950942993164, + 370.12493896484375 + ] + }, + { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 224, + 136, + 344, + 284 + ], + "score": 0.3495512008666992, + "time": 0.0, + "segmentation": { + "counts": [ + 178657, + 12, + 788, + 12, + 786, + 16, + 784, + 16, + 780, + 20, + 780, + 20, + 778, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 768, + 34, + 766, + 34, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 46, + 754, + 46, + 750, + 54, + 746, + 54, + 744, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 734, + 68, + 732, + 68, + 730, + 72, + 728, + 72, + 726, + 78, + 722, + 78, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 94, + 706, + 94, + 702, + 100, + 700, + 100, + 696, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 110, + 690, + 110, + 688, + 114, + 686, + 114, + 684, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 626, + 4, + 48, + 122, + 626, + 4, + 48, + 122, + 622, + 8, + 46, + 124, + 622, + 8, + 46, + 124, + 622, + 8, + 44, + 128, + 620, + 8, + 44, + 128, + 622, + 6, + 40, + 132, + 622, + 6, + 40, + 132, + 664, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 660, + 142, + 658, + 142, + 654, + 146, + 654, + 146, + 620, + 4, + 28, + 150, + 618, + 4, + 28, + 150, + 618, + 4, + 26, + 152, + 618, + 4, + 26, + 152, + 646, + 156, + 644, + 156, + 610, + 6, + 26, + 158, + 610, + 6, + 26, + 158, + 610, + 6, + 16, + 170, + 608, + 6, + 16, + 170, + 608, + 8, + 14, + 170, + 608, + 8, + 14, + 170, + 608, + 8, + 12, + 174, + 606, + 8, + 12, + 174, + 606, + 6, + 14, + 174, + 606, + 6, + 14, + 174, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 620, + 182, + 618, + 182, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 606, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 616, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 620, + 178, + 622, + 178, + 622, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 630, + 166, + 634, + 166, + 636, + 160, + 640, + 160, + 640, + 156, + 644, + 156, + 646, + 150, + 650, + 150, + 650, + 146, + 654, + 146, + 656, + 142, + 658, + 142, + 658, + 138, + 662, + 138, + 664, + 132, + 668, + 132, + 668, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 686, + 110, + 690, + 110, + 692, + 104, + 696, + 104, + 696, + 100, + 700, + 100, + 702, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 710, + 86, + 714, + 86, + 714, + 82, + 718, + 82, + 720, + 76, + 724, + 76, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 734, + 62, + 738, + 62, + 738, + 60, + 740, + 60, + 742, + 54, + 746, + 54, + 748, + 48, + 752, + 48, + 752, + 44, + 756, + 44, + 758, + 34, + 766, + 34, + 766, + 26, + 774, + 26, + 776, + 16, + 784, + 16, + 567711 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000227:0000", + "experimental_retained_index": 1, + "ism_score": 0.4127541780471802, + "R": [ + [ + 0.4311501979827881, + -0.1903201788663864, + -0.8819630742073059 + ], + [ + -0.8447027206420898, + 0.2584976851940155, + -0.4685696065425873 + ], + [ + 0.31724369525909424, + 0.9472792148590088, + -0.04930422082543373 + ] + ], + "t": [ + -101.58773040771484, + -48.697200775146484, + 381.29949951171875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 227, + "category_id": 1, + "bbox": [ + 236, + 376, + 246, + 246 + ], + "score": 0.4509141147136688, + "time": 0.0, + "segmentation": { + "counts": [ + 188451, + 12, + 788, + 12, + 784, + 22, + 778, + 22, + 776, + 26, + 774, + 26, + 770, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 762, + 42, + 758, + 42, + 758, + 42, + 758, + 42, + 756, + 48, + 752, + 48, + 750, + 52, + 748, + 52, + 748, + 54, + 746, + 54, + 746, + 58, + 742, + 58, + 740, + 64, + 736, + 64, + 734, + 70, + 730, + 70, + 728, + 74, + 726, + 74, + 726, + 76, + 724, + 76, + 722, + 80, + 720, + 80, + 720, + 82, + 718, + 82, + 716, + 88, + 712, + 88, + 710, + 92, + 708, + 92, + 706, + 98, + 702, + 98, + 702, + 100, + 700, + 100, + 698, + 104, + 696, + 104, + 696, + 106, + 694, + 106, + 692, + 112, + 688, + 112, + 688, + 114, + 686, + 114, + 684, + 118, + 682, + 118, + 678, + 124, + 676, + 124, + 674, + 130, + 670, + 130, + 670, + 132, + 668, + 132, + 666, + 136, + 664, + 136, + 662, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 654, + 148, + 652, + 148, + 650, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 642, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 636, + 168, + 632, + 168, + 630, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 624, + 180, + 620, + 180, + 618, + 184, + 616, + 184, + 616, + 188, + 612, + 188, + 610, + 192, + 608, + 192, + 606, + 196, + 604, + 196, + 602, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 596, + 208, + 592, + 208, + 590, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 218, + 582, + 218, + 580, + 222, + 578, + 222, + 578, + 224, + 576, + 224, + 574, + 228, + 572, + 228, + 572, + 230, + 570, + 230, + 568, + 234, + 566, + 234, + 566, + 238, + 562, + 238, + 562, + 240, + 560, + 240, + 560, + 242, + 558, + 242, + 558, + 244, + 556, + 244, + 556, + 246, + 554, + 246, + 554, + 248, + 552, + 248, + 552, + 250, + 550, + 250, + 552, + 248, + 552, + 248, + 554, + 246, + 554, + 246, + 556, + 244, + 556, + 244, + 558, + 152, + 4, + 86, + 558, + 152, + 4, + 86, + 560, + 148, + 8, + 84, + 560, + 148, + 8, + 84, + 564, + 142, + 12, + 80, + 566, + 142, + 12, + 80, + 572, + 134, + 18, + 76, + 572, + 134, + 18, + 76, + 572, + 134, + 20, + 72, + 574, + 134, + 20, + 72, + 574, + 130, + 26, + 70, + 574, + 130, + 26, + 70, + 576, + 128, + 26, + 68, + 578, + 128, + 26, + 68, + 582, + 122, + 28, + 64, + 586, + 122, + 28, + 64, + 588, + 118, + 34, + 58, + 590, + 118, + 34, + 58, + 594, + 114, + 36, + 56, + 594, + 114, + 36, + 56, + 594, + 112, + 38, + 54, + 596, + 112, + 38, + 54, + 598, + 108, + 42, + 50, + 600, + 108, + 42, + 50, + 604, + 102, + 46, + 46, + 606, + 102, + 46, + 46, + 608, + 98, + 50, + 42, + 610, + 98, + 50, + 42, + 614, + 94, + 52, + 38, + 616, + 94, + 52, + 38, + 616, + 94, + 52, + 38, + 616, + 94, + 52, + 38, + 618, + 92, + 56, + 32, + 620, + 92, + 56, + 32, + 624, + 88, + 58, + 30, + 624, + 88, + 58, + 30, + 626, + 88, + 60, + 24, + 628, + 88, + 60, + 24, + 632, + 86, + 60, + 20, + 634, + 86, + 60, + 20, + 636, + 86, + 62, + 14, + 638, + 86, + 62, + 14, + 640, + 86, + 64, + 8, + 642, + 86, + 64, + 8, + 644, + 90, + 710, + 90, + 712, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 94, + 706, + 94, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 712, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 94, + 706, + 94, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 710, + 92, + 708, + 92, + 712, + 88, + 712, + 88, + 716, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 78, + 722, + 78, + 724, + 74, + 726, + 74, + 730, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 736, + 62, + 738, + 62, + 740, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 748, + 50, + 750, + 50, + 754, + 42, + 758, + 42, + 758, + 40, + 760, + 40, + 762, + 38, + 762, + 38, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 782, + 18, + 782, + 18, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 636267 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000227:0001", + "experimental_retained_index": 0, + "ism_score": 0.4509141147136688, + "R": [ + [ + -0.7308812141418457, + 0.22118349373340607, + -0.6455576419830322 + ], + [ + 0.5829612612724304, + -0.2890952527523041, + -0.7590686678886414 + ], + [ + -0.35462644696235657, + -0.9315341711044312, + 0.08241339772939682 + ] + ], + "t": [ + -140.42977905273438, + 72.9950942993164, + 370.12493896484375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000227/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000227/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000227:0001", + "eppendorf_tarto:000227:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000227.png" + }, + { + "frame_id": 230, + "image_path": "/workspace/data/0008_/images/000230.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000230.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 280, + 328, + 194, + 234 + ], + "score": 0.47535064816474915, + "time": 0.0, + "segmentation": { + "counts": [ + 223573, + 14, + 786, + 14, + 784, + 24, + 776, + 24, + 772, + 34, + 766, + 34, + 762, + 44, + 756, + 44, + 754, + 54, + 746, + 54, + 746, + 62, + 738, + 62, + 736, + 72, + 728, + 72, + 728, + 78, + 722, + 78, + 720, + 88, + 712, + 88, + 712, + 96, + 704, + 96, + 704, + 102, + 698, + 102, + 696, + 112, + 688, + 112, + 688, + 118, + 682, + 118, + 682, + 126, + 674, + 126, + 674, + 134, + 666, + 134, + 666, + 140, + 660, + 140, + 658, + 148, + 652, + 148, + 652, + 158, + 642, + 158, + 642, + 164, + 636, + 164, + 634, + 178, + 622, + 178, + 622, + 184, + 616, + 184, + 616, + 190, + 610, + 190, + 608, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 206, + 594, + 206, + 592, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 138, + 8, + 72, + 582, + 138, + 8, + 72, + 582, + 136, + 16, + 64, + 584, + 136, + 16, + 64, + 584, + 136, + 18, + 62, + 584, + 136, + 18, + 62, + 582, + 136, + 24, + 56, + 584, + 136, + 24, + 56, + 584, + 134, + 28, + 54, + 584, + 134, + 28, + 54, + 584, + 134, + 30, + 52, + 584, + 134, + 30, + 52, + 584, + 134, + 34, + 46, + 586, + 134, + 34, + 46, + 584, + 134, + 40, + 42, + 584, + 134, + 40, + 42, + 584, + 134, + 46, + 34, + 586, + 134, + 46, + 34, + 586, + 132, + 52, + 30, + 586, + 132, + 52, + 30, + 584, + 134, + 56, + 26, + 584, + 134, + 56, + 26, + 584, + 134, + 60, + 20, + 586, + 134, + 60, + 20, + 586, + 132, + 68, + 14, + 586, + 132, + 68, + 14, + 586, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 656, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 634, + 172, + 628, + 172, + 630, + 174, + 626, + 174, + 628, + 176, + 624, + 176, + 628, + 180, + 620, + 180, + 626, + 178, + 622, + 178, + 628, + 176, + 624, + 176, + 632, + 170, + 630, + 170, + 634, + 168, + 632, + 168, + 638, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 648, + 152, + 648, + 152, + 654, + 146, + 654, + 146, + 660, + 138, + 662, + 138, + 668, + 132, + 668, + 132, + 672, + 126, + 674, + 126, + 680, + 120, + 680, + 120, + 686, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 698, + 100, + 700, + 100, + 704, + 96, + 704, + 96, + 710, + 88, + 712, + 88, + 718, + 82, + 718, + 82, + 724, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 738, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 758, + 42, + 758, + 42, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 776, + 24, + 776, + 24, + 782, + 16, + 784, + 16, + 790, + 8, + 792, + 8, + 642689 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000230:0000", + "experimental_retained_index": 0, + "ism_score": 0.4783402681350708, + "R": [ + [ + 0.9064733386039734, + 0.17857202887535095, + 0.38264521956443787 + ], + [ + -0.3084884583950043, + -0.33872684836387634, + 0.8888750076293945 + ], + [ + 0.28834038972854614, + -0.923783540725708, + -0.2519592344760895 + ] + ], + "t": [ + -166.77487182617188, + 4.2299370765686035, + 387.4937744140625 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 230, + "category_id": 1, + "bbox": [ + 280, + 328, + 194, + 234 + ], + "score": 0.47535064816474915, + "time": 0.0, + "segmentation": { + "counts": [ + 223573, + 14, + 786, + 14, + 784, + 24, + 776, + 24, + 772, + 34, + 766, + 34, + 762, + 44, + 756, + 44, + 754, + 54, + 746, + 54, + 746, + 62, + 738, + 62, + 736, + 72, + 728, + 72, + 728, + 78, + 722, + 78, + 720, + 88, + 712, + 88, + 712, + 96, + 704, + 96, + 704, + 102, + 698, + 102, + 696, + 112, + 688, + 112, + 688, + 118, + 682, + 118, + 682, + 126, + 674, + 126, + 674, + 134, + 666, + 134, + 666, + 140, + 660, + 140, + 658, + 148, + 652, + 148, + 652, + 158, + 642, + 158, + 642, + 164, + 636, + 164, + 634, + 178, + 622, + 178, + 622, + 184, + 616, + 184, + 616, + 190, + 610, + 190, + 608, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 206, + 594, + 206, + 592, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 220, + 580, + 220, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 582, + 138, + 8, + 72, + 582, + 138, + 8, + 72, + 582, + 136, + 16, + 64, + 584, + 136, + 16, + 64, + 584, + 136, + 18, + 62, + 584, + 136, + 18, + 62, + 582, + 136, + 24, + 56, + 584, + 136, + 24, + 56, + 584, + 134, + 28, + 54, + 584, + 134, + 28, + 54, + 584, + 134, + 30, + 52, + 584, + 134, + 30, + 52, + 584, + 134, + 34, + 46, + 586, + 134, + 34, + 46, + 584, + 134, + 40, + 42, + 584, + 134, + 40, + 42, + 584, + 134, + 46, + 34, + 586, + 134, + 46, + 34, + 586, + 132, + 52, + 30, + 586, + 132, + 52, + 30, + 584, + 134, + 56, + 26, + 584, + 134, + 56, + 26, + 584, + 134, + 60, + 20, + 586, + 134, + 60, + 20, + 586, + 132, + 68, + 14, + 586, + 132, + 68, + 14, + 586, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 144, + 656, + 144, + 656, + 164, + 636, + 164, + 636, + 168, + 632, + 168, + 634, + 172, + 628, + 172, + 630, + 174, + 626, + 174, + 628, + 176, + 624, + 176, + 628, + 180, + 620, + 180, + 626, + 178, + 622, + 178, + 628, + 176, + 624, + 176, + 632, + 170, + 630, + 170, + 634, + 168, + 632, + 168, + 638, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 648, + 152, + 648, + 152, + 654, + 146, + 654, + 146, + 660, + 138, + 662, + 138, + 668, + 132, + 668, + 132, + 672, + 126, + 674, + 126, + 680, + 120, + 680, + 120, + 686, + 114, + 686, + 114, + 692, + 108, + 692, + 108, + 698, + 100, + 700, + 100, + 704, + 96, + 704, + 96, + 710, + 88, + 712, + 88, + 718, + 82, + 718, + 82, + 724, + 76, + 724, + 76, + 728, + 70, + 730, + 70, + 738, + 62, + 738, + 62, + 742, + 58, + 742, + 58, + 748, + 50, + 750, + 50, + 758, + 42, + 758, + 42, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 776, + 24, + 776, + 24, + 782, + 16, + 784, + 16, + 790, + 8, + 792, + 8, + 642689 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000230:0000", + "experimental_retained_index": 0, + "ism_score": 0.4783402681350708, + "R": [ + [ + 0.9064733386039734, + 0.17857202887535095, + 0.38264521956443787 + ], + [ + -0.3084884583950043, + -0.33872684836387634, + 0.8888750076293945 + ], + [ + 0.28834038972854614, + -0.923783540725708, + -0.2519592344760895 + ] + ], + "t": [ + -166.77487182617188, + 4.2299370765686035, + 387.4937744140625 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000230/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000230/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000230:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000230.png" + }, + { + "frame_id": 234, + "image_path": "/workspace/data/0008_/images/000234.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000234.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 322, + 384, + 156, + 204 + ], + "score": 0.4377792775630951, + "time": 0.0, + "segmentation": { + "counts": [ + 257359, + 10, + 790, + 10, + 782, + 24, + 776, + 24, + 752, + 64, + 736, + 64, + 728, + 72, + 728, + 72, + 712, + 88, + 712, + 88, + 700, + 100, + 700, + 100, + 690, + 110, + 690, + 110, + 664, + 136, + 664, + 136, + 650, + 150, + 650, + 150, + 642, + 158, + 642, + 158, + 620, + 180, + 620, + 180, + 612, + 188, + 612, + 188, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 126, + 2, + 4, + 4, + 66, + 598, + 126, + 2, + 4, + 4, + 66, + 598, + 124, + 16, + 62, + 598, + 124, + 16, + 62, + 598, + 122, + 20, + 58, + 600, + 122, + 20, + 58, + 600, + 122, + 24, + 30, + 624, + 122, + 24, + 30, + 624, + 122, + 678, + 122, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 4, + 2, + 114, + 680, + 4, + 2, + 114, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 22, + 8, + 648, + 122, + 22, + 8, + 648, + 124, + 16, + 58, + 602, + 124, + 16, + 58, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 154, + 646, + 154, + 639455 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000234:0000", + "experimental_retained_index": 0, + "ism_score": 0.4391516447067261, + "R": [ + [ + 0.9890583753585815, + 0.09501945972442627, + 0.11122539639472961 + ], + [ + -0.05186935514211655, + -0.4828576147556305, + 0.8741039633750916 + ], + [ + 0.13674983382225037, + -0.8706532716751099, + -0.4727754294872284 + ] + ], + "t": [ + -142.6211700439453, + 29.958208084106445, + 397.2708740234375 + ] + }, + { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 442, + 212, + 248, + 282 + ], + "score": 0.3099018633365631, + "time": 0.0, + "segmentation": { + "counts": [ + 353051, + 12, + 788, + 12, + 788, + 16, + 784, + 16, + 782, + 24, + 776, + 24, + 776, + 28, + 772, + 28, + 772, + 42, + 758, + 42, + 756, + 54, + 746, + 54, + 746, + 60, + 740, + 60, + 740, + 64, + 736, + 64, + 734, + 70, + 730, + 70, + 730, + 74, + 726, + 74, + 724, + 80, + 720, + 80, + 720, + 84, + 716, + 84, + 714, + 90, + 710, + 90, + 710, + 92, + 708, + 92, + 708, + 96, + 704, + 96, + 704, + 98, + 702, + 98, + 700, + 104, + 696, + 104, + 696, + 110, + 690, + 110, + 690, + 112, + 688, + 112, + 688, + 116, + 684, + 116, + 682, + 120, + 680, + 120, + 680, + 124, + 676, + 124, + 676, + 130, + 670, + 130, + 668, + 136, + 664, + 136, + 664, + 138, + 662, + 138, + 660, + 144, + 656, + 144, + 656, + 148, + 652, + 148, + 652, + 152, + 648, + 152, + 646, + 158, + 642, + 158, + 642, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 634, + 170, + 630, + 170, + 630, + 174, + 626, + 174, + 626, + 180, + 620, + 180, + 620, + 184, + 616, + 184, + 614, + 188, + 612, + 188, + 612, + 192, + 608, + 192, + 606, + 200, + 600, + 200, + 600, + 204, + 596, + 204, + 594, + 208, + 592, + 208, + 592, + 212, + 588, + 212, + 586, + 218, + 582, + 218, + 582, + 222, + 578, + 222, + 578, + 228, + 572, + 228, + 570, + 232, + 568, + 232, + 568, + 236, + 564, + 236, + 564, + 240, + 560, + 240, + 560, + 244, + 556, + 244, + 554, + 250, + 550, + 250, + 550, + 254, + 546, + 254, + 540, + 262, + 538, + 262, + 538, + 266, + 534, + 266, + 534, + 272, + 528, + 272, + 528, + 276, + 524, + 276, + 526, + 278, + 522, + 278, + 522, + 280, + 520, + 280, + 520, + 282, + 518, + 282, + 518, + 284, + 516, + 284, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 514, + 286, + 516, + 282, + 518, + 282, + 520, + 280, + 520, + 280, + 522, + 276, + 524, + 276, + 526, + 274, + 526, + 274, + 530, + 268, + 532, + 268, + 534, + 266, + 534, + 266, + 538, + 260, + 540, + 260, + 542, + 258, + 542, + 258, + 546, + 252, + 548, + 252, + 550, + 250, + 550, + 250, + 554, + 244, + 556, + 244, + 558, + 242, + 558, + 242, + 560, + 240, + 560, + 240, + 564, + 234, + 566, + 234, + 572, + 226, + 574, + 226, + 578, + 222, + 578, + 222, + 578, + 222, + 578, + 222, + 580, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 216, + 584, + 216, + 588, + 6, + 2, + 204, + 588, + 6, + 2, + 204, + 596, + 202, + 598, + 202, + 602, + 198, + 602, + 198, + 604, + 194, + 606, + 194, + 610, + 190, + 610, + 190, + 612, + 186, + 614, + 186, + 618, + 182, + 618, + 182, + 622, + 176, + 624, + 176, + 626, + 174, + 626, + 174, + 628, + 170, + 630, + 170, + 634, + 166, + 634, + 166, + 636, + 162, + 638, + 162, + 642, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 152, + 648, + 152, + 652, + 146, + 654, + 146, + 658, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 666, + 134, + 666, + 134, + 668, + 130, + 670, + 130, + 674, + 126, + 674, + 126, + 676, + 122, + 678, + 122, + 680, + 120, + 680, + 120, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 692, + 106, + 694, + 106, + 696, + 104, + 696, + 104, + 700, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 708, + 90, + 710, + 90, + 712, + 88, + 712, + 88, + 716, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 728, + 72, + 728, + 72, + 730, + 68, + 732, + 68, + 736, + 64, + 736, + 64, + 738, + 58, + 742, + 58, + 746, + 48, + 752, + 48, + 754, + 42, + 758, + 42, + 762, + 32, + 768, + 32, + 772, + 22, + 778, + 22, + 780, + 14, + 786, + 14, + 792, + 4, + 796, + 4, + 469995 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000234:0001", + "experimental_retained_index": 1, + "ism_score": 0.42199403047561646, + "R": [ + [ + -0.8794974684715271, + -0.07112567126750946, + 0.47024497389793396 + ], + [ + 0.3900410532951355, + 0.45788469910621643, + 0.798882246017456 + ], + [ + -0.2721177637577057, + 0.8859294652938843, + -0.37506502866744995 + ] + ], + "t": [ + -41.12937927246094, + -39.62712478637695, + 408.990966796875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 234, + "category_id": 1, + "bbox": [ + 322, + 384, + 156, + 204 + ], + "score": 0.4377792775630951, + "time": 0.0, + "segmentation": { + "counts": [ + 257359, + 10, + 790, + 10, + 782, + 24, + 776, + 24, + 752, + 64, + 736, + 64, + 728, + 72, + 728, + 72, + 712, + 88, + 712, + 88, + 700, + 100, + 700, + 100, + 690, + 110, + 690, + 110, + 664, + 136, + 664, + 136, + 650, + 150, + 650, + 150, + 642, + 158, + 642, + 158, + 620, + 180, + 620, + 180, + 612, + 188, + 612, + 188, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 600, + 200, + 600, + 200, + 598, + 202, + 598, + 202, + 598, + 126, + 2, + 4, + 4, + 66, + 598, + 126, + 2, + 4, + 4, + 66, + 598, + 124, + 16, + 62, + 598, + 124, + 16, + 62, + 598, + 122, + 20, + 58, + 600, + 122, + 20, + 58, + 600, + 122, + 24, + 30, + 624, + 122, + 24, + 30, + 624, + 122, + 678, + 122, + 676, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 680, + 4, + 2, + 114, + 680, + 4, + 2, + 114, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 120, + 680, + 122, + 22, + 8, + 648, + 122, + 22, + 8, + 648, + 124, + 16, + 58, + 602, + 124, + 16, + 58, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 602, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 606, + 194, + 606, + 194, + 608, + 190, + 610, + 190, + 612, + 154, + 646, + 154, + 639455 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000234:0000", + "experimental_retained_index": 0, + "ism_score": 0.4391516447067261, + "R": [ + [ + 0.9890583753585815, + 0.09501945972442627, + 0.11122539639472961 + ], + [ + -0.05186935514211655, + -0.4828576147556305, + 0.8741039633750916 + ], + [ + 0.13674983382225037, + -0.8706532716751099, + -0.4727754294872284 + ] + ], + "t": [ + -142.6211700439453, + 29.958208084106445, + 397.2708740234375 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000234/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000234/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000234:0000", + "eppendorf_tarto:000234:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000234.png" + }, + { + "frame_id": 238, + "image_path": "/workspace/data/0008_/images/000238.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000238.png", + "status": "ok", + "detection_count": 2, + "input_candidate_count": 2, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 358, + 396, + 208, + 218 + ], + "score": 0.4067723751068115, + "time": 0.0, + "segmentation": { + "counts": [ + 286163, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 768, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 740, + 62, + 738, + 62, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 712, + 88, + 712, + 88, + 708, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 682, + 114, + 686, + 114, + 682, + 112, + 688, + 112, + 684, + 110, + 690, + 110, + 686, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 688, + 106, + 694, + 106, + 690, + 104, + 696, + 104, + 692, + 100, + 700, + 100, + 696, + 84, + 716, + 84, + 714, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 714, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 698, + 102, + 76, + 10, + 612, + 102, + 76, + 10, + 608, + 106, + 70, + 18, + 606, + 106, + 70, + 18, + 604, + 108, + 64, + 24, + 604, + 108, + 64, + 24, + 602, + 110, + 58, + 30, + 602, + 110, + 58, + 30, + 600, + 114, + 52, + 36, + 598, + 114, + 52, + 36, + 596, + 116, + 46, + 42, + 596, + 116, + 46, + 42, + 596, + 116, + 40, + 48, + 596, + 116, + 40, + 48, + 596, + 116, + 36, + 52, + 596, + 116, + 36, + 52, + 594, + 120, + 30, + 58, + 592, + 120, + 30, + 58, + 592, + 120, + 28, + 60, + 592, + 120, + 28, + 60, + 590, + 124, + 22, + 64, + 590, + 124, + 22, + 64, + 590, + 126, + 16, + 70, + 588, + 126, + 16, + 70, + 588, + 128, + 12, + 72, + 588, + 128, + 12, + 72, + 588, + 130, + 4, + 78, + 588, + 130, + 4, + 78, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 598, + 196, + 604, + 196, + 604, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 616, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 624, + 170, + 630, + 170, + 630, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 642, + 152, + 648, + 152, + 648, + 148, + 652, + 148, + 654, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 664, + 130, + 670, + 130, + 670, + 124, + 676, + 124, + 678, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 692, + 102, + 698, + 102, + 700, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 710, + 84, + 716, + 84, + 716, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 732, + 62, + 738, + 62, + 738, + 56, + 744, + 56, + 746, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 768, + 26, + 774, + 26, + 776, + 18, + 782, + 18, + 788, + 4, + 796, + 4, + 569165 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000238:0000", + "experimental_retained_index": 0, + "ism_score": 0.4119213819503784, + "R": [ + [ + 0.9609024524688721, + 0.0721234604716301, + -0.26709017157554626 + ], + [ + 0.2615085244178772, + -0.5511606931686401, + 0.7922881841659546 + ], + [ + -0.09004639089107513, + -0.8313436508178711, + -0.5484229326248169 + ] + ], + "t": [ + -96.6252670288086, + 40.27556610107422, + 404.2000732421875 + ] + }, + { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 256, + 536, + 52, + 134 + ], + "score": 0.3435213565826416, + "time": 0.0, + "segmentation": { + "counts": [ + 204663, + 6, + 794, + 6, + 786, + 16, + 784, + 16, + 778, + 22, + 778, + 22, + 770, + 30, + 770, + 30, + 760, + 40, + 760, + 40, + 750, + 50, + 750, + 50, + 742, + 58, + 742, + 58, + 734, + 66, + 734, + 66, + 724, + 78, + 722, + 78, + 714, + 86, + 714, + 86, + 706, + 94, + 706, + 94, + 674, + 4, + 14, + 108, + 674, + 4, + 14, + 108, + 666, + 134, + 666, + 134, + 662, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 664, + 128, + 672, + 128, + 672, + 118, + 682, + 118, + 682, + 108, + 692, + 108, + 692, + 98, + 702, + 98, + 702, + 90, + 710, + 90, + 710, + 80, + 720, + 80, + 720, + 70, + 730, + 70, + 730, + 62, + 738, + 62, + 738, + 52, + 748, + 52, + 750, + 42, + 758, + 42, + 758, + 32, + 768, + 32, + 768, + 22, + 778, + 22, + 780, + 10, + 790, + 10, + 775451 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000238:0001", + "experimental_retained_index": 1, + "ism_score": 0.3580678701400757, + "R": [ + [ + -0.07586593925952911, + -0.780786395072937, + 0.620253324508667 + ], + [ + -0.8141605854034424, + -0.3105233609676361, + -0.49024999141693115 + ], + [ + 0.5754150748252869, + -0.54231196641922, + -0.6119643449783325 + ] + ], + "t": [ + -168.35137939453125, + 92.56897735595703, + 317.0252380371094 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 238, + "category_id": 1, + "bbox": [ + 358, + 396, + 208, + 218 + ], + "score": 0.4067723751068115, + "time": 0.0, + "segmentation": { + "counts": [ + 286163, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 768, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 760, + 42, + 758, + 42, + 754, + 46, + 754, + 46, + 752, + 50, + 750, + 50, + 746, + 54, + 746, + 54, + 744, + 56, + 744, + 56, + 740, + 62, + 738, + 62, + 734, + 66, + 734, + 66, + 730, + 70, + 730, + 70, + 728, + 72, + 728, + 72, + 724, + 78, + 722, + 78, + 718, + 82, + 718, + 82, + 712, + 88, + 712, + 88, + 708, + 94, + 706, + 94, + 704, + 96, + 704, + 96, + 700, + 100, + 700, + 100, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 688, + 112, + 688, + 112, + 686, + 114, + 686, + 114, + 682, + 114, + 686, + 114, + 682, + 112, + 688, + 112, + 684, + 110, + 690, + 110, + 686, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 688, + 106, + 694, + 106, + 690, + 104, + 696, + 104, + 692, + 100, + 700, + 100, + 696, + 84, + 716, + 84, + 714, + 82, + 718, + 82, + 714, + 82, + 718, + 82, + 714, + 84, + 716, + 84, + 712, + 88, + 712, + 88, + 708, + 92, + 708, + 92, + 704, + 96, + 704, + 96, + 702, + 98, + 702, + 98, + 698, + 102, + 76, + 10, + 612, + 102, + 76, + 10, + 608, + 106, + 70, + 18, + 606, + 106, + 70, + 18, + 604, + 108, + 64, + 24, + 604, + 108, + 64, + 24, + 602, + 110, + 58, + 30, + 602, + 110, + 58, + 30, + 600, + 114, + 52, + 36, + 598, + 114, + 52, + 36, + 596, + 116, + 46, + 42, + 596, + 116, + 46, + 42, + 596, + 116, + 40, + 48, + 596, + 116, + 40, + 48, + 596, + 116, + 36, + 52, + 596, + 116, + 36, + 52, + 594, + 120, + 30, + 58, + 592, + 120, + 30, + 58, + 592, + 120, + 28, + 60, + 592, + 120, + 28, + 60, + 590, + 124, + 22, + 64, + 590, + 124, + 22, + 64, + 590, + 126, + 16, + 70, + 588, + 126, + 16, + 70, + 588, + 128, + 12, + 72, + 588, + 128, + 12, + 72, + 588, + 130, + 4, + 78, + 588, + 130, + 4, + 78, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 586, + 214, + 586, + 214, + 586, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 590, + 206, + 594, + 206, + 594, + 202, + 598, + 202, + 598, + 196, + 604, + 196, + 604, + 190, + 610, + 190, + 610, + 186, + 614, + 186, + 616, + 180, + 620, + 180, + 620, + 176, + 624, + 176, + 624, + 170, + 630, + 170, + 630, + 164, + 636, + 164, + 638, + 158, + 642, + 158, + 642, + 152, + 648, + 152, + 648, + 148, + 652, + 148, + 654, + 140, + 660, + 140, + 660, + 136, + 664, + 136, + 664, + 130, + 670, + 130, + 670, + 124, + 676, + 124, + 678, + 118, + 682, + 118, + 682, + 112, + 688, + 112, + 688, + 108, + 692, + 108, + 692, + 102, + 698, + 102, + 700, + 94, + 706, + 94, + 706, + 90, + 710, + 90, + 710, + 84, + 716, + 84, + 716, + 78, + 722, + 78, + 724, + 72, + 728, + 72, + 728, + 68, + 732, + 68, + 732, + 62, + 738, + 62, + 738, + 56, + 744, + 56, + 746, + 50, + 750, + 50, + 750, + 46, + 754, + 46, + 754, + 40, + 760, + 40, + 762, + 34, + 766, + 34, + 768, + 26, + 774, + 26, + 776, + 18, + 782, + 18, + 788, + 4, + 796, + 4, + 569165 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000238:0000", + "experimental_retained_index": 0, + "ism_score": 0.4119213819503784, + "R": [ + [ + 0.9609024524688721, + 0.0721234604716301, + -0.26709017157554626 + ], + [ + 0.2615085244178772, + -0.5511606931686401, + 0.7922881841659546 + ], + [ + -0.09004639089107513, + -0.8313436508178711, + -0.5484229326248169 + ] + ], + "t": [ + -96.6252670288086, + 40.27556610107422, + 404.2000732421875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000238/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000238/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000238:0000", + "eppendorf_tarto:000238:0001" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000238.png" + }, + { + "frame_id": 243, + "image_path": "/workspace/data/0008_/images/000243.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000243.png", + "status": "ok", + "detection_count": 3, + "input_candidate_count": 3, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 360, + 304, + 246, + 212 + ], + "score": 0.46281570196151733, + "time": 0.0, + "segmentation": { + "counts": [ + 287625, + 10, + 790, + 10, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 770, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 42, + 10, + 686, + 62, + 42, + 10, + 684, + 64, + 40, + 14, + 682, + 64, + 40, + 14, + 682, + 62, + 40, + 18, + 680, + 62, + 40, + 18, + 678, + 62, + 40, + 22, + 676, + 62, + 40, + 22, + 674, + 62, + 40, + 24, + 674, + 62, + 40, + 24, + 672, + 60, + 40, + 30, + 670, + 60, + 40, + 30, + 670, + 44, + 54, + 34, + 668, + 44, + 54, + 34, + 666, + 44, + 54, + 38, + 664, + 44, + 54, + 38, + 662, + 44, + 54, + 42, + 660, + 44, + 54, + 42, + 658, + 44, + 54, + 46, + 656, + 44, + 54, + 46, + 654, + 44, + 52, + 50, + 654, + 44, + 52, + 50, + 654, + 44, + 50, + 54, + 652, + 44, + 50, + 54, + 650, + 44, + 50, + 58, + 648, + 44, + 50, + 58, + 646, + 48, + 46, + 62, + 644, + 48, + 46, + 62, + 642, + 50, + 42, + 68, + 640, + 50, + 42, + 68, + 640, + 52, + 38, + 72, + 638, + 52, + 38, + 72, + 636, + 56, + 34, + 76, + 634, + 56, + 34, + 76, + 632, + 58, + 32, + 78, + 632, + 58, + 32, + 78, + 630, + 62, + 30, + 80, + 628, + 62, + 30, + 80, + 626, + 66, + 26, + 84, + 624, + 66, + 26, + 84, + 622, + 70, + 24, + 86, + 620, + 70, + 24, + 86, + 620, + 70, + 24, + 88, + 618, + 70, + 24, + 88, + 616, + 74, + 20, + 90, + 616, + 74, + 20, + 90, + 614, + 78, + 18, + 92, + 612, + 78, + 18, + 92, + 612, + 80, + 14, + 94, + 612, + 80, + 14, + 94, + 610, + 86, + 6, + 98, + 610, + 86, + 6, + 98, + 608, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 610, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 614, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 790, + 8, + 792, + 8, + 537219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000243:0001", + "experimental_retained_index": 0, + "ism_score": 0.47016197443008423, + "R": [ + [ + 0.789852499961853, + 0.19233492016792297, + -0.5820244550704956 + ], + [ + 0.5897992253303528, + -0.49802687764167786, + 0.6354610919952393 + ], + [ + -0.1677606701850891, + -0.845436692237854, + -0.5072582364082336 + ] + ], + "t": [ + -71.78376007080078, + -17.842575073242188, + 391.06719970703125 + ] + }, + { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 590, + 0, + 236, + 550 + ], + "score": 0.31920745968818665, + "time": 0.0, + "segmentation": { + "counts": [ + 471699, + 12, + 788, + 12, + 782, + 20, + 780, + 20, + 774, + 26, + 774, + 26, + 768, + 32, + 768, + 32, + 760, + 42, + 758, + 42, + 744, + 58, + 742, + 58, + 736, + 64, + 736, + 64, + 728, + 72, + 728, + 72, + 722, + 80, + 720, + 80, + 712, + 88, + 712, + 88, + 704, + 96, + 704, + 96, + 698, + 102, + 698, + 102, + 692, + 108, + 692, + 108, + 686, + 116, + 684, + 116, + 676, + 124, + 676, + 124, + 668, + 132, + 668, + 132, + 662, + 138, + 662, + 138, + 654, + 148, + 652, + 148, + 646, + 154, + 646, + 154, + 638, + 162, + 638, + 162, + 630, + 170, + 630, + 170, + 624, + 178, + 622, + 178, + 614, + 186, + 614, + 186, + 606, + 194, + 606, + 194, + 600, + 202, + 598, + 202, + 590, + 210, + 590, + 210, + 582, + 218, + 582, + 218, + 576, + 224, + 576, + 224, + 570, + 232, + 568, + 232, + 560, + 240, + 560, + 240, + 550, + 250, + 550, + 250, + 544, + 258, + 542, + 258, + 532, + 268, + 532, + 268, + 526, + 274, + 526, + 274, + 518, + 282, + 518, + 282, + 514, + 288, + 512, + 288, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 504, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 502, + 298, + 504, + 298, + 502, + 298, + 504, + 296, + 504, + 296, + 504, + 296, + 504, + 296, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 506, + 294, + 508, + 292, + 508, + 292, + 508, + 290, + 510, + 290, + 510, + 290, + 510, + 290, + 510, + 288, + 512, + 288, + 512, + 284, + 516, + 284, + 516, + 280, + 520, + 280, + 520, + 278, + 522, + 278, + 524, + 272, + 528, + 272, + 528, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 528, + 270, + 530, + 270, + 530, + 268, + 532, + 268, + 516, + 8, + 6, + 268, + 518, + 8, + 6, + 268, + 512, + 14, + 4, + 268, + 514, + 14, + 4, + 268, + 512, + 286, + 514, + 286, + 514, + 284, + 516, + 284, + 516, + 282, + 518, + 282, + 304, + 4, + 210, + 278, + 308, + 4, + 210, + 278, + 308, + 4, + 210, + 258, + 328, + 4, + 210, + 258, + 542, + 230, + 570, + 230, + 570, + 18, + 2, + 180, + 600, + 18, + 2, + 180, + 602, + 16, + 6, + 6, + 8, + 136, + 628, + 16, + 6, + 6, + 8, + 136, + 628, + 16, + 20, + 116, + 648, + 16, + 20, + 116, + 650, + 12, + 22, + 92, + 674, + 12, + 22, + 92, + 676, + 8, + 26, + 72, + 694, + 8, + 26, + 72, + 474, + 4, + 250, + 48, + 498, + 4, + 250, + 48, + 498, + 4, + 252, + 24, + 520, + 4, + 252, + 24, + 520, + 6, + 794, + 6, + 773, + 3, + 18, + 6, + 773, + 3, + 18, + 6, + 773, + 5, + 14, + 8, + 773, + 5, + 14, + 8, + 773, + 5, + 14, + 8, + 773, + 5, + 14, + 8, + 773, + 5, + 16, + 6, + 773, + 5, + 16, + 6, + 773, + 3, + 18, + 6, + 773, + 3, + 18, + 6, + 794, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 3996, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 361575 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000243:0002", + "experimental_retained_index": 1, + "ism_score": 0.4220924973487854, + "R": [ + [ + -0.9652258157730103, + -0.16742800176143646, + -0.20140177011489868 + ], + [ + -0.25993776321411133, + 0.5202987194061279, + 0.8132871985435486 + ], + [ + -0.03137177601456642, + 0.837160587310791, + -0.5459229946136475 + ] + ], + "t": [ + 49.611534118652344, + -13.537982940673828, + 369.708251953125 + ] + }, + { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 0, + 6, + 1278, + 790 + ], + "score": 0.014405213296413422, + "time": 0.0, + "segmentation": { + "counts": [ + 31, + 768, + 30, + 770, + 30, + 770, + 14, + 786, + 14, + 786, + 8, + 792, + 8, + 792, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 8, + 792, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 10, + 790, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 12, + 788, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 14, + 786, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 16, + 784, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 18, + 782, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 20, + 780, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 22, + 778, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 24, + 776, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 26, + 774, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 28, + 772, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 30, + 770, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 32, + 768, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 34, + 766, + 36, + 764, + 36, + 764, + 36, + 502, + 2, + 260, + 36, + 502, + 2, + 260, + 36, + 498, + 12, + 254, + 36, + 498, + 12, + 254, + 36, + 492, + 20, + 252, + 36, + 492, + 20, + 252, + 36, + 488, + 24, + 252, + 36, + 488, + 24, + 252, + 36, + 484, + 28, + 252, + 36, + 484, + 28, + 252, + 38, + 478, + 32, + 252, + 38, + 478, + 32, + 252, + 38, + 474, + 36, + 252, + 38, + 474, + 36, + 252, + 38, + 468, + 42, + 252, + 38, + 468, + 42, + 252, + 38, + 464, + 44, + 254, + 38, + 464, + 44, + 254, + 38, + 460, + 44, + 258, + 38, + 460, + 44, + 258, + 38, + 456, + 48, + 258, + 38, + 456, + 48, + 258, + 38, + 454, + 48, + 260, + 38, + 454, + 48, + 260, + 40, + 448, + 50, + 262, + 40, + 448, + 50, + 262, + 40, + 446, + 52, + 262, + 40, + 446, + 52, + 262, + 40, + 444, + 50, + 266, + 40, + 444, + 50, + 266, + 40, + 442, + 50, + 268, + 40, + 442, + 50, + 268, + 40, + 440, + 50, + 270, + 40, + 440, + 50, + 270, + 40, + 436, + 52, + 272, + 40, + 436, + 52, + 272, + 40, + 432, + 54, + 274, + 40, + 432, + 54, + 274, + 42, + 428, + 54, + 276, + 42, + 428, + 54, + 276, + 42, + 426, + 54, + 278, + 42, + 426, + 54, + 278, + 42, + 424, + 54, + 280, + 42, + 424, + 54, + 280, + 42, + 420, + 58, + 280, + 42, + 420, + 58, + 280, + 42, + 418, + 58, + 282, + 42, + 418, + 58, + 282, + 42, + 416, + 58, + 284, + 42, + 416, + 58, + 284, + 44, + 412, + 56, + 288, + 44, + 412, + 56, + 288, + 44, + 408, + 58, + 290, + 44, + 408, + 58, + 290, + 44, + 406, + 58, + 292, + 44, + 406, + 58, + 292, + 44, + 402, + 60, + 294, + 44, + 402, + 60, + 294, + 44, + 400, + 58, + 298, + 44, + 400, + 58, + 298, + 44, + 398, + 58, + 300, + 44, + 398, + 58, + 300, + 46, + 394, + 58, + 302, + 46, + 394, + 58, + 302, + 46, + 390, + 60, + 304, + 46, + 390, + 60, + 304, + 46, + 388, + 58, + 308, + 46, + 388, + 58, + 308, + 46, + 386, + 58, + 310, + 46, + 386, + 58, + 310, + 46, + 384, + 58, + 312, + 46, + 384, + 58, + 312, + 46, + 380, + 58, + 316, + 46, + 380, + 58, + 316, + 48, + 376, + 56, + 320, + 48, + 376, + 56, + 320, + 48, + 374, + 58, + 320, + 48, + 374, + 58, + 320, + 48, + 370, + 60, + 322, + 48, + 370, + 60, + 322, + 48, + 368, + 58, + 326, + 48, + 368, + 58, + 326, + 48, + 366, + 56, + 330, + 48, + 366, + 56, + 330, + 48, + 362, + 58, + 332, + 48, + 362, + 58, + 332, + 48, + 360, + 58, + 334, + 48, + 360, + 58, + 334, + 48, + 358, + 56, + 338, + 48, + 358, + 56, + 338, + 50, + 114, + 16, + 224, + 54, + 342, + 50, + 114, + 16, + 224, + 54, + 342, + 50, + 110, + 26, + 214, + 56, + 344, + 50, + 110, + 26, + 214, + 56, + 344, + 50, + 108, + 34, + 206, + 54, + 348, + 50, + 108, + 34, + 206, + 54, + 348, + 50, + 106, + 40, + 198, + 56, + 140, + 4, + 206, + 50, + 106, + 40, + 198, + 56, + 140, + 4, + 206, + 50, + 104, + 46, + 192, + 56, + 138, + 12, + 202, + 50, + 104, + 46, + 192, + 56, + 138, + 12, + 202, + 52, + 100, + 50, + 188, + 54, + 138, + 18, + 200, + 52, + 100, + 50, + 188, + 54, + 138, + 18, + 200, + 52, + 100, + 52, + 182, + 56, + 136, + 22, + 200, + 52, + 100, + 52, + 182, + 56, + 136, + 22, + 200, + 52, + 98, + 56, + 178, + 56, + 134, + 26, + 200, + 52, + 98, + 56, + 178, + 56, + 134, + 26, + 200, + 52, + 96, + 60, + 174, + 56, + 132, + 30, + 200, + 52, + 96, + 60, + 174, + 56, + 132, + 30, + 200, + 52, + 96, + 62, + 170, + 54, + 134, + 34, + 198, + 52, + 96, + 62, + 170, + 54, + 134, + 34, + 198, + 52, + 94, + 64, + 166, + 54, + 134, + 36, + 200, + 52, + 94, + 64, + 166, + 54, + 134, + 36, + 200, + 54, + 92, + 68, + 158, + 56, + 134, + 38, + 200, + 54, + 92, + 68, + 158, + 56, + 134, + 38, + 200, + 54, + 92, + 74, + 138, + 66, + 134, + 40, + 202, + 54, + 92, + 74, + 138, + 66, + 134, + 40, + 202, + 54, + 92, + 84, + 122, + 70, + 132, + 42, + 204, + 54, + 92, + 84, + 122, + 70, + 132, + 42, + 204, + 54, + 90, + 92, + 114, + 70, + 130, + 44, + 206, + 54, + 90, + 92, + 114, + 70, + 130, + 44, + 206, + 54, + 90, + 96, + 110, + 68, + 130, + 44, + 208, + 54, + 90, + 96, + 110, + 68, + 130, + 44, + 208, + 56, + 88, + 102, + 102, + 68, + 128, + 48, + 208, + 56, + 88, + 102, + 102, + 68, + 128, + 48, + 208, + 56, + 88, + 108, + 94, + 66, + 130, + 48, + 210, + 56, + 88, + 108, + 94, + 66, + 130, + 48, + 210, + 56, + 88, + 114, + 88, + 64, + 130, + 48, + 212, + 56, + 88, + 114, + 88, + 64, + 130, + 48, + 212, + 56, + 88, + 118, + 82, + 62, + 132, + 48, + 214, + 56, + 88, + 118, + 82, + 62, + 132, + 48, + 214, + 56, + 88, + 122, + 78, + 58, + 134, + 48, + 216, + 56, + 88, + 122, + 78, + 58, + 134, + 48, + 216, + 56, + 88, + 128, + 74, + 54, + 132, + 50, + 218, + 56, + 88, + 128, + 74, + 54, + 132, + 50, + 218, + 58, + 86, + 132, + 70, + 52, + 132, + 50, + 220, + 58, + 86, + 132, + 70, + 52, + 132, + 50, + 220, + 58, + 86, + 138, + 64, + 48, + 134, + 52, + 220, + 58, + 86, + 138, + 64, + 48, + 134, + 52, + 220, + 58, + 86, + 144, + 58, + 46, + 134, + 52, + 222, + 58, + 86, + 144, + 58, + 46, + 134, + 52, + 222, + 58, + 86, + 150, + 52, + 44, + 134, + 54, + 222, + 58, + 86, + 150, + 52, + 44, + 134, + 54, + 222, + 58, + 86, + 156, + 48, + 40, + 132, + 56, + 224, + 58, + 86, + 156, + 48, + 40, + 132, + 56, + 224, + 58, + 86, + 160, + 46, + 38, + 130, + 56, + 226, + 58, + 86, + 160, + 46, + 38, + 130, + 56, + 226, + 58, + 88, + 164, + 40, + 36, + 130, + 56, + 228, + 58, + 88, + 164, + 40, + 36, + 130, + 56, + 228, + 60, + 86, + 168, + 38, + 32, + 130, + 58, + 228, + 60, + 86, + 168, + 38, + 32, + 130, + 58, + 228, + 60, + 86, + 174, + 34, + 28, + 130, + 56, + 232, + 60, + 86, + 174, + 34, + 28, + 130, + 56, + 232, + 60, + 88, + 176, + 32, + 24, + 130, + 54, + 236, + 60, + 88, + 176, + 32, + 24, + 130, + 54, + 236, + 60, + 90, + 180, + 28, + 20, + 128, + 56, + 238, + 60, + 90, + 180, + 28, + 20, + 128, + 56, + 238, + 60, + 90, + 186, + 24, + 16, + 130, + 54, + 240, + 60, + 90, + 186, + 24, + 16, + 130, + 54, + 240, + 60, + 92, + 186, + 164, + 58, + 240, + 60, + 92, + 186, + 164, + 58, + 240, + 60, + 92, + 186, + 162, + 58, + 242, + 60, + 92, + 186, + 162, + 58, + 242, + 62, + 92, + 186, + 158, + 58, + 244, + 62, + 92, + 186, + 158, + 58, + 244, + 62, + 96, + 182, + 154, + 58, + 248, + 62, + 96, + 182, + 154, + 58, + 248, + 62, + 98, + 180, + 152, + 58, + 250, + 62, + 98, + 180, + 152, + 58, + 250, + 62, + 100, + 180, + 148, + 58, + 252, + 62, + 100, + 180, + 148, + 58, + 252, + 62, + 108, + 172, + 146, + 56, + 256, + 62, + 108, + 172, + 146, + 56, + 256, + 62, + 114, + 20, + 16, + 130, + 86, + 2, + 56, + 56, + 258, + 62, + 114, + 20, + 16, + 130, + 86, + 2, + 56, + 56, + 258, + 62, + 124, + 2, + 32, + 122, + 82, + 12, + 48, + 56, + 260, + 62, + 124, + 2, + 32, + 122, + 82, + 12, + 48, + 56, + 260, + 64, + 164, + 114, + 78, + 18, + 44, + 56, + 262, + 64, + 164, + 114, + 78, + 18, + 44, + 56, + 262, + 64, + 174, + 104, + 76, + 22, + 40, + 58, + 262, + 64, + 174, + 104, + 76, + 22, + 40, + 58, + 262, + 64, + 184, + 92, + 74, + 26, + 38, + 58, + 264, + 64, + 184, + 92, + 74, + 26, + 38, + 58, + 264, + 64, + 192, + 84, + 68, + 34, + 32, + 58, + 268, + 64, + 192, + 84, + 68, + 34, + 32, + 58, + 268, + 64, + 202, + 74, + 66, + 40, + 26, + 58, + 270, + 64, + 202, + 74, + 66, + 40, + 26, + 58, + 270, + 64, + 210, + 64, + 66, + 44, + 22, + 58, + 272, + 64, + 210, + 64, + 66, + 44, + 22, + 58, + 272, + 66, + 214, + 58, + 64, + 46, + 20, + 58, + 274, + 66, + 214, + 58, + 64, + 46, + 20, + 58, + 274, + 66, + 220, + 52, + 64, + 48, + 16, + 56, + 278, + 66, + 220, + 52, + 64, + 48, + 16, + 56, + 278, + 66, + 226, + 44, + 64, + 50, + 14, + 56, + 280, + 66, + 226, + 44, + 64, + 50, + 14, + 56, + 280, + 66, + 232, + 36, + 64, + 54, + 10, + 56, + 282, + 66, + 232, + 36, + 64, + 54, + 10, + 56, + 282, + 66, + 238, + 28, + 64, + 120, + 66, + 20, + 198, + 66, + 238, + 28, + 64, + 120, + 66, + 20, + 198, + 68, + 246, + 16, + 64, + 120, + 66, + 34, + 186, + 68, + 246, + 16, + 64, + 120, + 66, + 34, + 186, + 68, + 326, + 118, + 68, + 38, + 182, + 68, + 326, + 118, + 68, + 38, + 182, + 68, + 324, + 118, + 68, + 50, + 172, + 68, + 324, + 118, + 68, + 50, + 172, + 68, + 322, + 118, + 68, + 56, + 168, + 68, + 322, + 118, + 68, + 56, + 168, + 68, + 320, + 118, + 70, + 56, + 168, + 68, + 320, + 118, + 70, + 56, + 168, + 68, + 318, + 116, + 74, + 58, + 166, + 68, + 318, + 116, + 74, + 58, + 166, + 68, + 318, + 114, + 74, + 58, + 168, + 68, + 318, + 114, + 74, + 58, + 168, + 70, + 314, + 114, + 76, + 58, + 168, + 70, + 314, + 114, + 76, + 58, + 168, + 70, + 312, + 112, + 78, + 58, + 170, + 70, + 312, + 112, + 78, + 58, + 170, + 70, + 312, + 110, + 80, + 58, + 170, + 70, + 312, + 110, + 80, + 58, + 170, + 70, + 310, + 110, + 82, + 58, + 170, + 70, + 310, + 110, + 82, + 58, + 170, + 70, + 308, + 110, + 82, + 60, + 170, + 70, + 308, + 110, + 82, + 60, + 170, + 70, + 306, + 110, + 84, + 60, + 170, + 70, + 306, + 110, + 84, + 60, + 170, + 72, + 302, + 110, + 84, + 60, + 172, + 72, + 302, + 110, + 84, + 60, + 172, + 72, + 300, + 112, + 84, + 60, + 172, + 72, + 300, + 112, + 84, + 60, + 172, + 72, + 300, + 110, + 86, + 58, + 174, + 72, + 300, + 110, + 86, + 58, + 174, + 72, + 298, + 112, + 86, + 56, + 176, + 72, + 298, + 112, + 86, + 56, + 176, + 72, + 296, + 116, + 84, + 54, + 178, + 72, + 296, + 116, + 84, + 54, + 178, + 72, + 126, + 6, + 162, + 122, + 80, + 54, + 178, + 72, + 126, + 6, + 162, + 122, + 80, + 54, + 178, + 74, + 122, + 14, + 156, + 122, + 80, + 54, + 178, + 74, + 122, + 14, + 156, + 122, + 80, + 54, + 178, + 74, + 122, + 20, + 148, + 126, + 76, + 56, + 178, + 74, + 122, + 20, + 148, + 126, + 76, + 56, + 178, + 74, + 120, + 28, + 140, + 128, + 76, + 56, + 178, + 74, + 120, + 28, + 140, + 128, + 76, + 56, + 178, + 74, + 120, + 46, + 122, + 130, + 72, + 56, + 180, + 74, + 120, + 46, + 122, + 130, + 72, + 56, + 180, + 74, + 120, + 58, + 108, + 134, + 70, + 56, + 180, + 74, + 120, + 58, + 108, + 134, + 70, + 56, + 180, + 74, + 120, + 74, + 90, + 138, + 68, + 56, + 180, + 74, + 120, + 74, + 90, + 138, + 68, + 56, + 180, + 76, + 118, + 84, + 78, + 142, + 66, + 56, + 180, + 76, + 118, + 84, + 78, + 142, + 66, + 56, + 180, + 76, + 116, + 90, + 72, + 144, + 64, + 58, + 180, + 76, + 116, + 90, + 72, + 144, + 64, + 58, + 180, + 76, + 116, + 94, + 66, + 148, + 62, + 56, + 182, + 76, + 116, + 94, + 66, + 148, + 62, + 56, + 182, + 76, + 116, + 98, + 60, + 152, + 60, + 56, + 182, + 76, + 116, + 98, + 60, + 152, + 60, + 56, + 182, + 76, + 116, + 100, + 58, + 154, + 56, + 58, + 182, + 76, + 116, + 100, + 58, + 154, + 56, + 58, + 182, + 76, + 114, + 104, + 54, + 158, + 54, + 58, + 182, + 76, + 114, + 104, + 54, + 158, + 54, + 58, + 182, + 78, + 112, + 106, + 52, + 160, + 52, + 58, + 182, + 78, + 112, + 106, + 52, + 160, + 52, + 58, + 182, + 78, + 112, + 108, + 48, + 164, + 48, + 58, + 184, + 78, + 112, + 108, + 48, + 164, + 48, + 58, + 184, + 78, + 112, + 108, + 46, + 166, + 46, + 60, + 184, + 78, + 112, + 108, + 46, + 166, + 46, + 60, + 184, + 78, + 110, + 110, + 44, + 170, + 44, + 60, + 184, + 78, + 110, + 110, + 44, + 170, + 44, + 60, + 184, + 78, + 110, + 108, + 44, + 174, + 40, + 62, + 184, + 78, + 110, + 108, + 44, + 174, + 40, + 62, + 184, + 78, + 110, + 108, + 42, + 178, + 38, + 62, + 184, + 78, + 110, + 108, + 42, + 178, + 38, + 62, + 184, + 80, + 108, + 108, + 42, + 180, + 36, + 58, + 30, + 4, + 154, + 80, + 108, + 108, + 42, + 180, + 36, + 58, + 30, + 4, + 154, + 80, + 106, + 110, + 38, + 184, + 34, + 60, + 24, + 20, + 144, + 80, + 106, + 110, + 38, + 184, + 34, + 60, + 24, + 20, + 144, + 80, + 106, + 108, + 40, + 186, + 32, + 60, + 22, + 26, + 140, + 80, + 106, + 108, + 40, + 186, + 32, + 60, + 22, + 26, + 140, + 80, + 106, + 108, + 38, + 188, + 32, + 60, + 20, + 30, + 138, + 80, + 106, + 108, + 38, + 188, + 32, + 60, + 20, + 30, + 138, + 80, + 106, + 108, + 36, + 190, + 30, + 62, + 18, + 36, + 134, + 80, + 106, + 108, + 36, + 190, + 30, + 62, + 18, + 36, + 134, + 80, + 104, + 108, + 38, + 190, + 30, + 60, + 18, + 42, + 130, + 80, + 104, + 108, + 38, + 190, + 30, + 60, + 18, + 42, + 130, + 82, + 102, + 108, + 36, + 190, + 32, + 60, + 16, + 46, + 128, + 82, + 102, + 108, + 36, + 190, + 32, + 60, + 16, + 46, + 128, + 82, + 102, + 108, + 34, + 192, + 30, + 62, + 16, + 48, + 126, + 82, + 102, + 108, + 34, + 192, + 30, + 62, + 16, + 48, + 126, + 82, + 102, + 106, + 34, + 190, + 34, + 60, + 14, + 54, + 124, + 82, + 102, + 106, + 34, + 190, + 34, + 60, + 14, + 54, + 124, + 82, + 100, + 108, + 32, + 190, + 36, + 58, + 16, + 56, + 122, + 82, + 100, + 108, + 32, + 190, + 36, + 58, + 16, + 56, + 122, + 82, + 100, + 108, + 32, + 188, + 38, + 54, + 18, + 60, + 120, + 82, + 100, + 108, + 32, + 188, + 38, + 54, + 18, + 60, + 120, + 82, + 100, + 106, + 32, + 188, + 38, + 56, + 16, + 66, + 116, + 82, + 100, + 106, + 32, + 188, + 38, + 56, + 16, + 66, + 116, + 82, + 98, + 108, + 30, + 190, + 38, + 56, + 14, + 72, + 112, + 82, + 98, + 108, + 30, + 190, + 38, + 56, + 14, + 72, + 112, + 84, + 78, + 126, + 28, + 188, + 42, + 56, + 12, + 76, + 110, + 84, + 78, + 126, + 28, + 188, + 42, + 56, + 12, + 76, + 110, + 84, + 76, + 126, + 28, + 188, + 42, + 58, + 10, + 82, + 106, + 84, + 76, + 126, + 28, + 188, + 42, + 58, + 10, + 82, + 106, + 84, + 76, + 126, + 28, + 186, + 44, + 56, + 10, + 86, + 104, + 84, + 76, + 126, + 28, + 186, + 44, + 56, + 10, + 86, + 104, + 84, + 78, + 124, + 26, + 188, + 44, + 56, + 10, + 88, + 102, + 84, + 78, + 124, + 26, + 188, + 44, + 56, + 10, + 88, + 102, + 84, + 80, + 122, + 24, + 188, + 46, + 56, + 8, + 92, + 100, + 84, + 80, + 122, + 24, + 188, + 46, + 56, + 8, + 92, + 100, + 84, + 82, + 118, + 24, + 188, + 48, + 58, + 4, + 96, + 98, + 84, + 82, + 118, + 24, + 188, + 48, + 58, + 4, + 96, + 98, + 86, + 80, + 118, + 24, + 184, + 50, + 162, + 96, + 86, + 80, + 118, + 24, + 184, + 50, + 162, + 96, + 86, + 82, + 114, + 24, + 184, + 52, + 164, + 94, + 86, + 82, + 114, + 24, + 184, + 52, + 164, + 94, + 86, + 84, + 112, + 24, + 182, + 54, + 168, + 90, + 86, + 84, + 112, + 24, + 182, + 54, + 168, + 90, + 86, + 86, + 110, + 24, + 182, + 52, + 172, + 88, + 86, + 86, + 110, + 24, + 182, + 52, + 172, + 88, + 86, + 86, + 110, + 24, + 180, + 54, + 176, + 84, + 86, + 86, + 110, + 24, + 180, + 54, + 176, + 84, + 88, + 86, + 108, + 24, + 176, + 58, + 178, + 82, + 88, + 86, + 108, + 24, + 176, + 58, + 178, + 82, + 88, + 86, + 106, + 26, + 174, + 58, + 182, + 80, + 88, + 86, + 106, + 26, + 174, + 58, + 182, + 80, + 88, + 86, + 106, + 26, + 174, + 56, + 186, + 78, + 88, + 86, + 106, + 26, + 174, + 56, + 186, + 78, + 88, + 86, + 106, + 26, + 172, + 58, + 188, + 76, + 88, + 86, + 106, + 26, + 172, + 58, + 188, + 76, + 88, + 86, + 104, + 28, + 170, + 60, + 192, + 72, + 88, + 86, + 104, + 28, + 170, + 60, + 192, + 72, + 88, + 86, + 104, + 28, + 166, + 62, + 196, + 70, + 88, + 86, + 104, + 28, + 166, + 62, + 196, + 70, + 88, + 84, + 106, + 28, + 164, + 64, + 198, + 68, + 88, + 84, + 106, + 28, + 164, + 64, + 198, + 68, + 90, + 82, + 106, + 28, + 162, + 66, + 202, + 64, + 90, + 82, + 106, + 28, + 162, + 66, + 202, + 64, + 90, + 82, + 106, + 30, + 160, + 64, + 206, + 62, + 90, + 82, + 106, + 30, + 160, + 64, + 206, + 62, + 90, + 82, + 104, + 34, + 154, + 68, + 208, + 60, + 90, + 82, + 104, + 34, + 154, + 68, + 208, + 60, + 90, + 82, + 104, + 34, + 152, + 70, + 212, + 56, + 90, + 82, + 104, + 34, + 152, + 70, + 212, + 56, + 90, + 82, + 102, + 38, + 148, + 76, + 212, + 52, + 90, + 82, + 102, + 38, + 148, + 76, + 212, + 52, + 90, + 82, + 102, + 38, + 148, + 80, + 210, + 50, + 90, + 82, + 102, + 38, + 148, + 80, + 210, + 50, + 92, + 80, + 102, + 40, + 144, + 86, + 208, + 48, + 92, + 80, + 102, + 40, + 144, + 86, + 208, + 48, + 92, + 82, + 98, + 44, + 138, + 96, + 204, + 46, + 92, + 82, + 98, + 44, + 138, + 96, + 204, + 46, + 92, + 84, + 96, + 44, + 136, + 108, + 22, + 10, + 164, + 44, + 92, + 84, + 96, + 44, + 136, + 108, + 22, + 10, + 164, + 44, + 92, + 88, + 92, + 46, + 132, + 114, + 16, + 16, + 164, + 40, + 92, + 88, + 92, + 46, + 132, + 114, + 16, + 16, + 164, + 40, + 92, + 90, + 88, + 50, + 128, + 126, + 6, + 20, + 162, + 38, + 92, + 90, + 88, + 50, + 128, + 126, + 6, + 20, + 162, + 38, + 92, + 90, + 88, + 50, + 126, + 156, + 162, + 36, + 92, + 90, + 88, + 50, + 126, + 156, + 162, + 36, + 94, + 88, + 90, + 50, + 122, + 158, + 166, + 32, + 94, + 88, + 90, + 50, + 122, + 158, + 166, + 32, + 94, + 84, + 98, + 46, + 120, + 162, + 168, + 28, + 94, + 84, + 98, + 46, + 120, + 162, + 168, + 28, + 94, + 66, + 156, + 4, + 120, + 166, + 168, + 26, + 94, + 66, + 156, + 4, + 120, + 166, + 168, + 26, + 94, + 60, + 284, + 170, + 168, + 24, + 94, + 60, + 284, + 170, + 168, + 24, + 94, + 56, + 286, + 174, + 168, + 22, + 94, + 56, + 286, + 174, + 168, + 22, + 94, + 56, + 284, + 178, + 168, + 20, + 94, + 56, + 284, + 178, + 168, + 20, + 96, + 52, + 176, + 6, + 102, + 184, + 166, + 18, + 96, + 52, + 176, + 6, + 102, + 184, + 166, + 18, + 96, + 50, + 178, + 6, + 100, + 190, + 164, + 16, + 96, + 50, + 178, + 6, + 100, + 190, + 164, + 16, + 96, + 48, + 180, + 8, + 96, + 194, + 166, + 12, + 96, + 48, + 180, + 8, + 96, + 194, + 166, + 12, + 96, + 48, + 180, + 10, + 92, + 198, + 166, + 10, + 96, + 48, + 180, + 10, + 92, + 198, + 166, + 10, + 96, + 48, + 180, + 12, + 88, + 200, + 272, + 48, + 180, + 12, + 88, + 200, + 274, + 44, + 182, + 14, + 84, + 204, + 272, + 44, + 182, + 14, + 84, + 204, + 272, + 44, + 182, + 16, + 80, + 208, + 270, + 44, + 182, + 16, + 80, + 208, + 270, + 44, + 182, + 18, + 78, + 212, + 266, + 44, + 182, + 18, + 78, + 212, + 266, + 44, + 182, + 18, + 76, + 214, + 266, + 44, + 182, + 18, + 76, + 214, + 266, + 44, + 182, + 20, + 72, + 220, + 262, + 44, + 182, + 20, + 72, + 220, + 264, + 40, + 182, + 22, + 68, + 228, + 260, + 40, + 182, + 22, + 68, + 228, + 260, + 42, + 180, + 24, + 64, + 232, + 258, + 42, + 180, + 24, + 64, + 232, + 258, + 42, + 178, + 28, + 60, + 236, + 256, + 42, + 178, + 28, + 60, + 236, + 256, + 42, + 178, + 28, + 58, + 240, + 254, + 42, + 178, + 28, + 58, + 240, + 254, + 42, + 176, + 32, + 54, + 244, + 252, + 42, + 176, + 32, + 54, + 244, + 252, + 42, + 174, + 36, + 50, + 248, + 250, + 42, + 174, + 36, + 50, + 248, + 250, + 42, + 170, + 40, + 48, + 252, + 248, + 42, + 170, + 40, + 48, + 252, + 248, + 44, + 158, + 52, + 44, + 100, + 14, + 144, + 244, + 44, + 158, + 52, + 44, + 100, + 14, + 144, + 246, + 42, + 140, + 72, + 42, + 92, + 24, + 146, + 242, + 42, + 140, + 72, + 42, + 92, + 24, + 146, + 242, + 42, + 126, + 88, + 36, + 90, + 30, + 148, + 240, + 42, + 126, + 88, + 36, + 90, + 30, + 148, + 240, + 42, + 112, + 104, + 32, + 86, + 38, + 148, + 238, + 42, + 112, + 104, + 32, + 86, + 38, + 148, + 238, + 44, + 98, + 116, + 30, + 74, + 52, + 150, + 236, + 44, + 98, + 116, + 30, + 74, + 52, + 150, + 236, + 44, + 84, + 132, + 26, + 68, + 62, + 150, + 234, + 44, + 84, + 132, + 26, + 68, + 62, + 150, + 234, + 46, + 72, + 144, + 22, + 64, + 68, + 72, + 8, + 72, + 232, + 46, + 72, + 144, + 22, + 64, + 68, + 72, + 8, + 72, + 232, + 48, + 56, + 160, + 16, + 64, + 72, + 70, + 12, + 72, + 120, + 8, + 102, + 48, + 56, + 160, + 16, + 64, + 72, + 70, + 12, + 72, + 120, + 8, + 104, + 48, + 46, + 174, + 8, + 58, + 80, + 66, + 20, + 72, + 114, + 10, + 104, + 48, + 46, + 174, + 8, + 58, + 80, + 66, + 20, + 72, + 114, + 10, + 104, + 50, + 40, + 234, + 90, + 66, + 22, + 74, + 106, + 14, + 104, + 50, + 40, + 234, + 90, + 66, + 22, + 74, + 106, + 14, + 104, + 52, + 34, + 232, + 98, + 62, + 26, + 74, + 102, + 16, + 104, + 52, + 34, + 232, + 98, + 62, + 26, + 74, + 102, + 16, + 104, + 56, + 26, + 230, + 104, + 60, + 28, + 76, + 98, + 18, + 104, + 56, + 26, + 230, + 104, + 60, + 28, + 76, + 98, + 18, + 104, + 64, + 4, + 238, + 110, + 58, + 32, + 74, + 98, + 18, + 104, + 64, + 4, + 238, + 110, + 58, + 32, + 74, + 98, + 18, + 106, + 298, + 116, + 56, + 34, + 78, + 90, + 22, + 106, + 298, + 116, + 56, + 34, + 78, + 90, + 22, + 106, + 288, + 126, + 54, + 36, + 80, + 84, + 26, + 106, + 288, + 126, + 54, + 36, + 80, + 84, + 26, + 106, + 282, + 132, + 50, + 40, + 82, + 80, + 28, + 106, + 282, + 132, + 50, + 40, + 82, + 80, + 28, + 106, + 276, + 138, + 48, + 42, + 84, + 76, + 30, + 106, + 276, + 138, + 48, + 42, + 84, + 76, + 30, + 106, + 268, + 148, + 44, + 44, + 88, + 70, + 32, + 106, + 268, + 148, + 44, + 44, + 88, + 70, + 32, + 106, + 262, + 156, + 42, + 46, + 88, + 66, + 34, + 106, + 262, + 156, + 42, + 46, + 88, + 66, + 34, + 108, + 250, + 166, + 40, + 46, + 92, + 60, + 38, + 108, + 250, + 166, + 40, + 46, + 92, + 60, + 38, + 108, + 242, + 174, + 38, + 48, + 94, + 56, + 40, + 108, + 242, + 174, + 38, + 48, + 94, + 56, + 40, + 108, + 236, + 180, + 38, + 46, + 98, + 54, + 40, + 108, + 236, + 180, + 38, + 46, + 98, + 54, + 40, + 108, + 230, + 188, + 36, + 46, + 100, + 50, + 42, + 108, + 230, + 188, + 36, + 46, + 100, + 50, + 42, + 108, + 222, + 196, + 36, + 44, + 104, + 44, + 46, + 108, + 222, + 196, + 36, + 44, + 104, + 44, + 46, + 108, + 216, + 204, + 36, + 38, + 110, + 40, + 48, + 108, + 216, + 204, + 36, + 38, + 110, + 40, + 48, + 108, + 206, + 214, + 38, + 34, + 116, + 34, + 50, + 108, + 206, + 214, + 38, + 34, + 116, + 34, + 50, + 110, + 198, + 220, + 58, + 12, + 120, + 30, + 52, + 110, + 198, + 220, + 58, + 12, + 120, + 30, + 52, + 110, + 192, + 228, + 190, + 24, + 56, + 110, + 192, + 228, + 190, + 24, + 56, + 110, + 186, + 234, + 192, + 20, + 58, + 110, + 186, + 234, + 192, + 20, + 58, + 110, + 176, + 244, + 196, + 14, + 60, + 110, + 176, + 244, + 196, + 14, + 60, + 112, + 166, + 252, + 198, + 12, + 60, + 112, + 166, + 252, + 198, + 12, + 60, + 112, + 156, + 262, + 200, + 8, + 62, + 112, + 156, + 262, + 200, + 8, + 62, + 112, + 152, + 268, + 268, + 112, + 152, + 268, + 268, + 112, + 144, + 276, + 268, + 112, + 144, + 276, + 268, + 112, + 138, + 282, + 268, + 112, + 138, + 282, + 268, + 112, + 134, + 286, + 268, + 112, + 134, + 286, + 268, + 114, + 130, + 288, + 268, + 114, + 130, + 288, + 268, + 114, + 130, + 290, + 266, + 114, + 130, + 290, + 266, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 292, + 264, + 114, + 130, + 294, + 262, + 114, + 130, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 128, + 294, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 130, + 292, + 262, + 116, + 132, + 290, + 262, + 116, + 132, + 290, + 262, + 116, + 132, + 292, + 260, + 116, + 132, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 130, + 292, + 260, + 118, + 132, + 290, + 260, + 118, + 132, + 290, + 260, + 120, + 130, + 290, + 260, + 120, + 130, + 290, + 260, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 120, + 132, + 290, + 258, + 122, + 130, + 292, + 256, + 122, + 130, + 292, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 290, + 256, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 122, + 132, + 292, + 254, + 124, + 130, + 294, + 252, + 124, + 130, + 294, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 132, + 292, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 290, + 252, + 124, + 134, + 292, + 250, + 124, + 134, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 132, + 292, + 250, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 126, + 134, + 292, + 248, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 134, + 292, + 246, + 128, + 136, + 290, + 246, + 128, + 136, + 290, + 246, + 128, + 136, + 288, + 248, + 128, + 136, + 288, + 248, + 128, + 136, + 286, + 250, + 128, + 136, + 286, + 250, + 130, + 134, + 284, + 252, + 130, + 134, + 284, + 252, + 130, + 134, + 280, + 256, + 130, + 134, + 280, + 256, + 130, + 134, + 278, + 258, + 130, + 134, + 278, + 258, + 130, + 136, + 272, + 262, + 130, + 136, + 272, + 262, + 130, + 138, + 270, + 262, + 130, + 138, + 270, + 262, + 132, + 136, + 266, + 266, + 132, + 136, + 266, + 266, + 132, + 136, + 264, + 268, + 132, + 136, + 264, + 268, + 132, + 134, + 264, + 270, + 132, + 134, + 264, + 270, + 132, + 130, + 266, + 272, + 132, + 130, + 266, + 272, + 132, + 124, + 270, + 274, + 132, + 124, + 270, + 274, + 132, + 108, + 282, + 278, + 132, + 108, + 282, + 278, + 134, + 100, + 288, + 278, + 134, + 100, + 288, + 278, + 134, + 98, + 288, + 280, + 134, + 98, + 288, + 280, + 134, + 98, + 286, + 282, + 134, + 98, + 286, + 282, + 134, + 98, + 284, + 284, + 134, + 98, + 284, + 284, + 134, + 98, + 278, + 290, + 134, + 98, + 278, + 290, + 136, + 96, + 260, + 308, + 136, + 96, + 260, + 308, + 136, + 96, + 230, + 4, + 4, + 330, + 136, + 96, + 230, + 4, + 4, + 330, + 136, + 98, + 202, + 364, + 136, + 98, + 202, + 364, + 136, + 98, + 32, + 4, + 138, + 392, + 136, + 98, + 32, + 4, + 138, + 392, + 136, + 100, + 24, + 14, + 114, + 412, + 136, + 100, + 24, + 14, + 114, + 412, + 136, + 102, + 18, + 20, + 86, + 438, + 136, + 102, + 18, + 20, + 86, + 438, + 136, + 106, + 8, + 26, + 58, + 466, + 136, + 106, + 8, + 26, + 58, + 466, + 136, + 142, + 28, + 494, + 136, + 142, + 28, + 494, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 138, + 662, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 140, + 660, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 142, + 658, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 144, + 656, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 146, + 654, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 148, + 652, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 150, + 650, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 152, + 648, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 154, + 646, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 156, + 644, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 158, + 642, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 160, + 640, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 162, + 638, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 164, + 636, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 166, + 634, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 168, + 632, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 170, + 630, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 172, + 628, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 174, + 626, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 176, + 624, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 178, + 622, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 180, + 620, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 182, + 618, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 184, + 616, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 186, + 614, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 188, + 612, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 190, + 610, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 608, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 194, + 606, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 196, + 604, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 198, + 602, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 200, + 600, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 202, + 598, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 204, + 596, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 206, + 594, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 208, + 592, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 210, + 590, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 212, + 588, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 214, + 586, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 216, + 584, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 218, + 582, + 1 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000243:0000", + "experimental_retained_index": 2, + "ism_score": 0.3545898497104645, + "R": [ + [ + 0.8657872676849365, + 0.464034765958786, + -0.18752002716064453 + ], + [ + 0.48120492696762085, + -0.8745203018188477, + 0.05835115909576416 + ], + [ + -0.13692106306552887, + -0.1407969892024994, + -0.9805888533592224 + ] + ], + "t": [ + 25.124387741088867, + 46.98712158203125, + 389.8847961425781 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 243, + "category_id": 1, + "bbox": [ + 360, + 304, + 246, + 212 + ], + "score": 0.46281570196151733, + "time": 0.0, + "segmentation": { + "counts": [ + 287625, + 10, + 790, + 10, + 786, + 14, + 786, + 14, + 784, + 18, + 782, + 18, + 780, + 22, + 778, + 22, + 770, + 32, + 768, + 32, + 764, + 38, + 762, + 38, + 760, + 42, + 758, + 42, + 756, + 44, + 756, + 44, + 754, + 48, + 752, + 48, + 752, + 50, + 750, + 50, + 748, + 54, + 746, + 54, + 746, + 56, + 744, + 56, + 742, + 58, + 742, + 58, + 740, + 62, + 738, + 62, + 736, + 64, + 736, + 64, + 734, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 734, + 64, + 736, + 64, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 738, + 62, + 736, + 62, + 42, + 10, + 686, + 62, + 42, + 10, + 684, + 64, + 40, + 14, + 682, + 64, + 40, + 14, + 682, + 62, + 40, + 18, + 680, + 62, + 40, + 18, + 678, + 62, + 40, + 22, + 676, + 62, + 40, + 22, + 674, + 62, + 40, + 24, + 674, + 62, + 40, + 24, + 672, + 60, + 40, + 30, + 670, + 60, + 40, + 30, + 670, + 44, + 54, + 34, + 668, + 44, + 54, + 34, + 666, + 44, + 54, + 38, + 664, + 44, + 54, + 38, + 662, + 44, + 54, + 42, + 660, + 44, + 54, + 42, + 658, + 44, + 54, + 46, + 656, + 44, + 54, + 46, + 654, + 44, + 52, + 50, + 654, + 44, + 52, + 50, + 654, + 44, + 50, + 54, + 652, + 44, + 50, + 54, + 650, + 44, + 50, + 58, + 648, + 44, + 50, + 58, + 646, + 48, + 46, + 62, + 644, + 48, + 46, + 62, + 642, + 50, + 42, + 68, + 640, + 50, + 42, + 68, + 640, + 52, + 38, + 72, + 638, + 52, + 38, + 72, + 636, + 56, + 34, + 76, + 634, + 56, + 34, + 76, + 632, + 58, + 32, + 78, + 632, + 58, + 32, + 78, + 630, + 62, + 30, + 80, + 628, + 62, + 30, + 80, + 626, + 66, + 26, + 84, + 624, + 66, + 26, + 84, + 622, + 70, + 24, + 86, + 620, + 70, + 24, + 86, + 620, + 70, + 24, + 88, + 618, + 70, + 24, + 88, + 616, + 74, + 20, + 90, + 616, + 74, + 20, + 90, + 614, + 78, + 18, + 92, + 612, + 78, + 18, + 92, + 612, + 80, + 14, + 94, + 612, + 80, + 14, + 94, + 610, + 86, + 6, + 98, + 610, + 86, + 6, + 98, + 608, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 608, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 606, + 192, + 608, + 192, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 608, + 190, + 610, + 190, + 610, + 188, + 612, + 188, + 610, + 188, + 612, + 188, + 612, + 186, + 614, + 186, + 614, + 184, + 616, + 184, + 614, + 184, + 616, + 184, + 616, + 182, + 618, + 182, + 618, + 180, + 620, + 180, + 620, + 178, + 622, + 178, + 622, + 176, + 624, + 176, + 624, + 174, + 626, + 174, + 626, + 172, + 628, + 172, + 628, + 170, + 630, + 170, + 632, + 166, + 634, + 166, + 634, + 164, + 636, + 164, + 638, + 160, + 640, + 160, + 640, + 158, + 642, + 158, + 644, + 154, + 646, + 154, + 648, + 150, + 650, + 150, + 650, + 148, + 652, + 148, + 654, + 144, + 656, + 144, + 656, + 142, + 658, + 142, + 660, + 138, + 662, + 138, + 662, + 136, + 664, + 136, + 666, + 132, + 668, + 132, + 670, + 128, + 672, + 128, + 674, + 124, + 676, + 124, + 676, + 120, + 680, + 120, + 682, + 116, + 684, + 116, + 686, + 112, + 688, + 112, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 698, + 100, + 700, + 100, + 702, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 88, + 712, + 88, + 714, + 84, + 716, + 84, + 718, + 80, + 720, + 80, + 722, + 76, + 724, + 76, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 732, + 66, + 734, + 66, + 734, + 64, + 736, + 64, + 738, + 60, + 740, + 60, + 742, + 56, + 744, + 56, + 744, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 752, + 46, + 754, + 46, + 754, + 44, + 756, + 44, + 758, + 40, + 760, + 40, + 762, + 36, + 764, + 36, + 764, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 772, + 26, + 774, + 26, + 776, + 20, + 780, + 20, + 790, + 8, + 792, + 8, + 537219 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000243:0001", + "experimental_retained_index": 0, + "ism_score": 0.47016197443008423, + "R": [ + [ + 0.789852499961853, + 0.19233492016792297, + -0.5820244550704956 + ], + [ + 0.5897992253303528, + -0.49802687764167786, + 0.6354610919952393 + ], + [ + -0.1677606701850891, + -0.845436692237854, + -0.5072582364082336 + ] + ], + "t": [ + -71.78376007080078, + -17.842575073242188, + 391.06719970703125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000243/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000243/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000243:0001", + "eppendorf_tarto:000243:0002", + "eppendorf_tarto:000243:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000243.png" + }, + { + "frame_id": 248, + "image_path": "/workspace/data/0008_/images/000248.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000248.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 1144, + 0, + 134, + 198 + ], + "score": 0.08821219950914383, + "time": 0.0, + "segmentation": { + "counts": [ + 914565, + 4, + 796, + 4, + 744, + 80, + 720, + 80, + 712, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 688, + 110, + 690, + 110, + 686, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 684, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 707, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 63, + 737 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.42769551277160645, + "R": [ + [ + 0.23664778470993042, + 0.7477595806121826, + -0.6203653216362 + ], + [ + 0.8046898245811462, + 0.20698094367980957, + 0.5564466714859009 + ], + [ + 0.544492244720459, + -0.6308836936950684, + -0.5527330636978149 + ] + ], + "t": [ + 434.4024658203125, + -221.3333740234375, + 497.440185546875 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 248, + "category_id": 1, + "bbox": [ + 1144, + 0, + 134, + 198 + ], + "score": 0.08821219950914383, + "time": 0.0, + "segmentation": { + "counts": [ + 914565, + 4, + 796, + 4, + 744, + 80, + 720, + 80, + 712, + 92, + 708, + 92, + 704, + 98, + 702, + 98, + 700, + 102, + 698, + 102, + 696, + 104, + 696, + 104, + 694, + 106, + 694, + 106, + 692, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 108, + 692, + 108, + 690, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 694, + 104, + 696, + 104, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 692, + 106, + 694, + 106, + 690, + 108, + 692, + 108, + 688, + 110, + 690, + 110, + 686, + 110, + 690, + 110, + 688, + 110, + 690, + 110, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 684, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 114, + 686, + 114, + 684, + 114, + 686, + 114, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 682, + 116, + 684, + 116, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 680, + 118, + 682, + 118, + 682, + 114, + 686, + 114, + 686, + 112, + 688, + 112, + 686, + 112, + 688, + 112, + 688, + 110, + 690, + 110, + 690, + 108, + 692, + 108, + 692, + 106, + 694, + 106, + 694, + 104, + 696, + 104, + 696, + 102, + 698, + 102, + 698, + 98, + 702, + 98, + 700, + 98, + 702, + 98, + 702, + 96, + 704, + 96, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 704, + 94, + 706, + 94, + 706, + 92, + 708, + 92, + 706, + 92, + 708, + 92, + 707, + 89, + 711, + 89, + 711, + 87, + 713, + 87, + 713, + 85, + 715, + 85, + 715, + 83, + 717, + 83, + 717, + 81, + 719, + 81, + 719, + 79, + 721, + 79, + 721, + 75, + 725, + 75, + 725, + 73, + 727, + 73, + 727, + 71, + 729, + 71, + 729, + 71, + 729, + 71, + 729, + 67, + 733, + 67, + 733, + 63, + 737, + 63, + 737, + 63, + 737 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000248:0000", + "experimental_retained_index": 0, + "ism_score": 0.42769551277160645, + "R": [ + [ + 0.23664778470993042, + 0.7477595806121826, + -0.6203653216362 + ], + [ + 0.8046898245811462, + 0.20698094367980957, + 0.5564466714859009 + ], + [ + 0.544492244720459, + -0.6308836936950684, + -0.5527330636978149 + ] + ], + "t": [ + 434.4024658203125, + -221.3333740234375, + 497.440185546875 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000248/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000248/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000248:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000248.png" + }, + { + "frame_id": 249, + "image_path": "/workspace/data/0008_/images/000249.png", + "depth_path": "/workspace/data/0008_/depth_maps/depth_000249.png", + "status": "ok", + "detection_count": 1, + "input_candidate_count": 1, + "pose_candidates": [ + { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 346, + 286, + 340, + 162 + ], + "score": 0.41444483399391174, + "time": 0.0, + "segmentation": { + "counts": [ + 276425, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 16806, + 4, + 796, + 4, + 792, + 8, + 792, + 8, + 768, + 4, + 20, + 8, + 768, + 4, + 20, + 8, + 766, + 6, + 20, + 8, + 766, + 6, + 20, + 8, + 766, + 6, + 20, + 6, + 768, + 6, + 20, + 6, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 6, + 770, + 6, + 18, + 6, + 796, + 4, + 796, + 4, + 2376, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 782, + 4, + 8, + 6, + 782, + 4, + 8, + 6, + 780, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 13586, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 19952, + 8, + 792, + 8, + 788, + 16, + 784, + 16, + 782, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 30, + 6, + 724, + 40, + 30, + 6, + 724, + 38, + 28, + 16, + 718, + 38, + 28, + 16, + 718, + 36, + 30, + 20, + 714, + 36, + 30, + 20, + 712, + 36, + 30, + 26, + 708, + 36, + 30, + 26, + 708, + 36, + 30, + 32, + 702, + 36, + 30, + 32, + 702, + 36, + 30, + 36, + 698, + 36, + 30, + 36, + 698, + 34, + 30, + 42, + 694, + 34, + 30, + 42, + 692, + 34, + 32, + 46, + 688, + 34, + 32, + 46, + 688, + 34, + 30, + 54, + 682, + 34, + 30, + 54, + 682, + 34, + 30, + 58, + 678, + 34, + 30, + 58, + 678, + 32, + 32, + 62, + 674, + 32, + 32, + 62, + 672, + 30, + 34, + 68, + 668, + 30, + 34, + 68, + 668, + 30, + 30, + 74, + 666, + 30, + 30, + 74, + 666, + 30, + 30, + 74, + 666, + 30, + 30, + 74, + 666, + 30, + 24, + 80, + 666, + 30, + 24, + 80, + 666, + 28, + 26, + 80, + 666, + 28, + 26, + 80, + 664, + 28, + 28, + 80, + 664, + 28, + 28, + 80, + 664, + 22, + 34, + 80, + 664, + 22, + 34, + 80, + 664, + 18, + 38, + 80, + 664, + 18, + 38, + 80, + 662, + 20, + 38, + 78, + 664, + 20, + 38, + 78, + 664, + 20, + 38, + 78, + 664, + 20, + 38, + 78, + 664, + 18, + 38, + 80, + 664, + 18, + 38, + 80, + 664, + 18, + 36, + 80, + 666, + 18, + 36, + 80, + 664, + 20, + 36, + 80, + 664, + 20, + 36, + 80, + 664, + 22, + 36, + 78, + 664, + 22, + 36, + 78, + 664, + 22, + 36, + 76, + 666, + 22, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 28, + 30, + 78, + 664, + 28, + 30, + 78, + 664, + 34, + 24, + 76, + 666, + 34, + 24, + 76, + 666, + 36, + 22, + 76, + 666, + 36, + 22, + 76, + 664, + 42, + 18, + 76, + 664, + 42, + 18, + 76, + 664, + 48, + 10, + 76, + 666, + 48, + 10, + 76, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 694, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 702, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 754, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 473227 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000249:0000", + "experimental_retained_index": 0, + "ism_score": 0.4291985332965851, + "R": [ + [ + -0.4519317150115967, + 0.1623668521642685, + 0.8771518468856812 + ], + [ + -0.7611395716667175, + -0.5829852819442749, + -0.2842442989349365 + ], + [ + 0.46521466970443726, + -0.796093225479126, + 0.3870532810688019 + ] + ], + "t": [ + -52.7889518737793, + -17.378192901611328, + 378.15460205078125 + ] + } + ], + "best_pose": { + "scene_id": 0, + "image_id": 249, + "category_id": 1, + "bbox": [ + 346, + 286, + 340, + 162 + ], + "score": 0.41444483399391174, + "time": 0.0, + "segmentation": { + "counts": [ + 276425, + 4, + 796, + 4, + 796, + 4, + 796, + 4, + 16806, + 4, + 796, + 4, + 792, + 8, + 792, + 8, + 768, + 4, + 20, + 8, + 768, + 4, + 20, + 8, + 766, + 6, + 20, + 8, + 766, + 6, + 20, + 8, + 766, + 6, + 20, + 6, + 768, + 6, + 20, + 6, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 8, + 768, + 6, + 18, + 6, + 770, + 6, + 18, + 6, + 796, + 4, + 796, + 4, + 2376, + 4, + 796, + 4, + 794, + 6, + 794, + 6, + 782, + 4, + 8, + 6, + 782, + 4, + 8, + 6, + 780, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 4, + 796, + 4, + 13586, + 4, + 796, + 4, + 796, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 794, + 6, + 19952, + 8, + 792, + 8, + 788, + 16, + 784, + 16, + 782, + 24, + 776, + 24, + 774, + 28, + 772, + 28, + 770, + 32, + 768, + 32, + 764, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 36, + 764, + 36, + 762, + 38, + 762, + 38, + 762, + 38, + 762, + 38, + 760, + 40, + 760, + 40, + 760, + 40, + 30, + 6, + 724, + 40, + 30, + 6, + 724, + 38, + 28, + 16, + 718, + 38, + 28, + 16, + 718, + 36, + 30, + 20, + 714, + 36, + 30, + 20, + 712, + 36, + 30, + 26, + 708, + 36, + 30, + 26, + 708, + 36, + 30, + 32, + 702, + 36, + 30, + 32, + 702, + 36, + 30, + 36, + 698, + 36, + 30, + 36, + 698, + 34, + 30, + 42, + 694, + 34, + 30, + 42, + 692, + 34, + 32, + 46, + 688, + 34, + 32, + 46, + 688, + 34, + 30, + 54, + 682, + 34, + 30, + 54, + 682, + 34, + 30, + 58, + 678, + 34, + 30, + 58, + 678, + 32, + 32, + 62, + 674, + 32, + 32, + 62, + 672, + 30, + 34, + 68, + 668, + 30, + 34, + 68, + 668, + 30, + 30, + 74, + 666, + 30, + 30, + 74, + 666, + 30, + 30, + 74, + 666, + 30, + 30, + 74, + 666, + 30, + 24, + 80, + 666, + 30, + 24, + 80, + 666, + 28, + 26, + 80, + 666, + 28, + 26, + 80, + 664, + 28, + 28, + 80, + 664, + 28, + 28, + 80, + 664, + 22, + 34, + 80, + 664, + 22, + 34, + 80, + 664, + 18, + 38, + 80, + 664, + 18, + 38, + 80, + 662, + 20, + 38, + 78, + 664, + 20, + 38, + 78, + 664, + 20, + 38, + 78, + 664, + 20, + 38, + 78, + 664, + 18, + 38, + 80, + 664, + 18, + 38, + 80, + 664, + 18, + 36, + 80, + 666, + 18, + 36, + 80, + 664, + 20, + 36, + 80, + 664, + 20, + 36, + 80, + 664, + 22, + 36, + 78, + 664, + 22, + 36, + 78, + 664, + 22, + 36, + 76, + 666, + 22, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 24, + 36, + 76, + 664, + 28, + 30, + 78, + 664, + 28, + 30, + 78, + 664, + 34, + 24, + 76, + 666, + 34, + 24, + 76, + 666, + 36, + 22, + 76, + 666, + 36, + 22, + 76, + 664, + 42, + 18, + 76, + 664, + 42, + 18, + 76, + 664, + 48, + 10, + 76, + 666, + 48, + 10, + 76, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 664, + 134, + 666, + 134, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 134, + 666, + 134, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 666, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 668, + 132, + 668, + 132, + 668, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 130, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 670, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 672, + 128, + 672, + 128, + 672, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 126, + 674, + 124, + 676, + 124, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 122, + 678, + 120, + 680, + 120, + 682, + 118, + 682, + 118, + 682, + 118, + 682, + 118, + 684, + 114, + 686, + 114, + 688, + 112, + 688, + 112, + 690, + 110, + 690, + 110, + 694, + 106, + 694, + 106, + 696, + 102, + 698, + 102, + 702, + 98, + 702, + 98, + 704, + 96, + 704, + 96, + 706, + 92, + 708, + 92, + 710, + 90, + 710, + 90, + 714, + 84, + 716, + 84, + 718, + 82, + 718, + 82, + 720, + 80, + 720, + 80, + 724, + 74, + 726, + 74, + 728, + 70, + 730, + 70, + 734, + 64, + 736, + 64, + 738, + 62, + 738, + 62, + 742, + 56, + 744, + 56, + 746, + 54, + 746, + 54, + 748, + 50, + 750, + 50, + 754, + 42, + 758, + 42, + 760, + 38, + 762, + 38, + 766, + 34, + 766, + 34, + 768, + 30, + 770, + 30, + 774, + 24, + 776, + 24, + 778, + 20, + 780, + 20, + 784, + 14, + 786, + 14, + 790, + 8, + 792, + 8, + 473227 + ], + "size": [ + 800, + 1280 + ] + }, + "experimental_candidate_id": "eppendorf_tarto:000249:0000", + "experimental_retained_index": 0, + "ism_score": 0.4291985332965851, + "R": [ + [ + -0.4519317150115967, + 0.1623668521642685, + 0.8771518468856812 + ], + [ + -0.7611395716667175, + -0.5829852819442749, + -0.2842442989349365 + ], + [ + 0.46521466970443726, + -0.796093225479126, + 0.3870532810688019 + ] + ], + "t": [ + -52.7889518737793, + -17.378192901611328, + 378.15460205078125 + ] + }, + "pem_result_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000249/sam6d_results/detection_pem_candidates.json", + "experimental_ism_path": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/frames/000249/sam6d_results/detection_ism_candidates.json", + "experimental_candidate_ids": [ + "eppendorf_tarto:000249:0000" + ], + "pem_visualization": "/workspace/data/0008_/experimental_multi_instance/pem/eppendorf_tarto/visualizations/000249.png" + } + ] +} diff --git a/0008_/images/000000.png b/0008_/images/000000.png new file mode 100644 index 0000000000000000000000000000000000000000..c224661875ef13fd80eec042cb0fe03c7473f57a --- /dev/null +++ b/0008_/images/000000.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a732591668eb5fea6d3c0c666a119a4486849e29f2c3226ec43999e7cc8d49a4 +size 1023466 diff --git a/0008_/images/000001.png b/0008_/images/000001.png new file mode 100644 index 0000000000000000000000000000000000000000..a273292f94fd3eeec4a3c760735c686ab513d028 --- /dev/null +++ b/0008_/images/000001.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac1e1607e7c3987227fb665ebc3d80bfb5515a28c0e25cd5769142bb26392b56 +size 1021256 diff --git a/0008_/images/000002.png b/0008_/images/000002.png new file mode 100644 index 0000000000000000000000000000000000000000..ffd40ac4dd4ff12ddbbc145eb795ba1d83c0ebad --- /dev/null +++ b/0008_/images/000002.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:671e1a6fc7e2616a039b4b9a8d4fd9cc49f0d613d72c663d928a72b75dd82b8e +size 1019599 diff --git a/0008_/images/000003.png b/0008_/images/000003.png new file mode 100644 index 0000000000000000000000000000000000000000..0aa8bd78b11356072d1bdd29d424729cd5c08311 --- /dev/null +++ b/0008_/images/000003.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a91ce1f7f824750673fdbe6b7ac6322fcf126bf3338b2882b4ded7243b03be7d +size 1007954 diff --git a/0008_/images/000004.png b/0008_/images/000004.png new file mode 100644 index 0000000000000000000000000000000000000000..0729978da166c35102b0ed43ff8948eb2bee08a4 --- /dev/null +++ b/0008_/images/000004.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5c84897261966d298505a2fe0ead24bb9265d07ea3642d15b958ea152f84bcd +size 1002627 diff --git a/0008_/images/000005.png b/0008_/images/000005.png new file mode 100644 index 0000000000000000000000000000000000000000..381f76db7227c77a716b74e225d48f45e750b9ce --- /dev/null +++ b/0008_/images/000005.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:154776af7b458a8db1816b0c8e5c72eca46a56ae85068dc882a97ec87d147558 +size 997450 diff --git a/0008_/images/000006.png b/0008_/images/000006.png new file mode 100644 index 0000000000000000000000000000000000000000..e83ef94a913fe1bc9c034b741345cceef3a65d0f --- /dev/null +++ b/0008_/images/000006.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9826b38c508c6b727d656c3ee5afe330b0839e82004f2f1fc25c001fee1547ce +size 990749 diff --git a/0008_/images/000007.png b/0008_/images/000007.png new file mode 100644 index 0000000000000000000000000000000000000000..2ec5592a9302369ea71d60ad790c46984bca9651 --- /dev/null +++ b/0008_/images/000007.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6cbf728869817258d8d61258af1c6a9c39ada6e07a7e5c50517017f7d5dcb2f +size 999393 diff --git a/0008_/images/000008.png b/0008_/images/000008.png new file mode 100644 index 0000000000000000000000000000000000000000..55380fbff53760e9aecf986bdfe8b43ccdfc8190 --- /dev/null +++ b/0008_/images/000008.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f7ab3b571aa5473ccec09af452a8ffc6a7c570ae239993cf1d7d375df37cb6d +size 1011357 diff --git a/0008_/images/000009.png b/0008_/images/000009.png new file mode 100644 index 0000000000000000000000000000000000000000..b2dd959cb7b1c193a08b41365ecee66f71a4164a --- /dev/null +++ b/0008_/images/000009.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67f863f8711a5e9643c7e30d6ebde9215f0094278f671321008382e9ec16452 +size 1028305 diff --git a/0008_/images/000010.png b/0008_/images/000010.png new file mode 100644 index 0000000000000000000000000000000000000000..6c254d7e39c279b8b02c24eec4f10034682229b7 --- /dev/null +++ b/0008_/images/000010.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:176601974c1a0040f37364bb173a02ceb27769db64dea174b9be185f9f426b10 +size 1049555 diff --git a/0008_/images/000011.png b/0008_/images/000011.png new file mode 100644 index 0000000000000000000000000000000000000000..7a76d2b46453de74a282888c6f28278e8ff7a695 --- /dev/null +++ b/0008_/images/000011.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92fda07c8f582b4b9b5a7e70d7c46631b206834acafc1e590f08274b09223441 +size 1070126 diff --git a/0008_/images/000012.png b/0008_/images/000012.png new file mode 100644 index 0000000000000000000000000000000000000000..ad8d69dc9094720f072b443567870c128da3b8eb --- /dev/null +++ b/0008_/images/000012.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da8bccfa06900b46ffbd5234fa3b08c11a82fd7dfc8c2d4ce43fd334c035a945 +size 1077820 diff --git a/0008_/images/000013.png b/0008_/images/000013.png new file mode 100644 index 0000000000000000000000000000000000000000..5c25dfb8111a1236a2d4f1426d223bce341893f0 --- /dev/null +++ b/0008_/images/000013.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45c525789d168ca0497736606b385696af153a092e726f98f9039e87e9b2878a +size 1083048 diff --git a/0008_/images/000014.png b/0008_/images/000014.png new file mode 100644 index 0000000000000000000000000000000000000000..0617426080df74e7eba973c43d1db5ec9e0fa57b --- /dev/null +++ b/0008_/images/000014.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d0a8b691fa8bc2b50d9f8349dcff646472a5727ab19454d316eef07fa322a96 +size 1073289 diff --git a/0008_/images/000015.png b/0008_/images/000015.png new file mode 100644 index 0000000000000000000000000000000000000000..0899efec846ffa7e3610e092b5638bda6063d056 --- /dev/null +++ b/0008_/images/000015.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:758fe4702ea82a4cccf219c84f1d247ed9acfc2667b3a60d4d3678b4a2c3c635 +size 1059478 diff --git a/0008_/images/000016.png b/0008_/images/000016.png new file mode 100644 index 0000000000000000000000000000000000000000..24f5bd3cb4c6e1e817042dc09c75e327ff61ba6e --- /dev/null +++ b/0008_/images/000016.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecf77e4482dfaa1ae3722ea977e908d6490ef4906df960842277dbd27e344b23 +size 1051111 diff --git a/0008_/images/000017.png b/0008_/images/000017.png new file mode 100644 index 0000000000000000000000000000000000000000..5d2d02101afe163bc3a69e7855bcc90f570a6c86 --- /dev/null +++ b/0008_/images/000017.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3ebfbe6e48a6a3a96d75127f4e179d2cb8f10fa716daee5bb2edeff64488356 +size 1047743 diff --git a/0008_/images/000018.png b/0008_/images/000018.png new file mode 100644 index 0000000000000000000000000000000000000000..bbdc7693966cf39668ea789d452c3150c2be429d --- /dev/null +++ b/0008_/images/000018.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa6e91fc9cb3ae785b41bdc784e1fb56a8c6699bbe214cc5ab66cf7df1acc966 +size 1052943 diff --git a/0008_/images/000019.png b/0008_/images/000019.png new file mode 100644 index 0000000000000000000000000000000000000000..3fd71f1203f929043b327d425ab3eddf8b7a7da3 --- /dev/null +++ b/0008_/images/000019.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08b3f2732ffa2ef7cfef76f932de501921503aae0bdde0163f3eafd666fd261b +size 1056751 diff --git a/0008_/images/000020.png b/0008_/images/000020.png new file mode 100644 index 0000000000000000000000000000000000000000..2c33ff73e122233d59de74592844f935d5e0a4d7 --- /dev/null +++ b/0008_/images/000020.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf4a59a658305a826fbf3e60b8c01973eea0ae4b201927c51aab73d9ca0767c3 +size 1046815 diff --git a/0008_/images/000021.png b/0008_/images/000021.png new file mode 100644 index 0000000000000000000000000000000000000000..3aeb147d2b5c7984632a451c81f46da13732d885 --- /dev/null +++ b/0008_/images/000021.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aabb40d17579603b095bcbf2e8739722190cd0e8230c42baa15c791e27efc6ac +size 1041735 diff --git a/0008_/images/000022.png b/0008_/images/000022.png new file mode 100644 index 0000000000000000000000000000000000000000..b5e97364ccb456c9fd07ac9170ad31cdc8504331 --- /dev/null +++ b/0008_/images/000022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cda55405620d93b4469b51000eaeee4dfcd11e69f95758fe142df0e23449d1d +size 1038774 diff --git a/0008_/images/000023.png b/0008_/images/000023.png new file mode 100644 index 0000000000000000000000000000000000000000..0a9c5b618298f95efde6d1054d3ce3ff5558cdea --- /dev/null +++ b/0008_/images/000023.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76358b91d268acc3672344f0e72d58f280b4bf3d580f197550fcadf13c603530 +size 1034112 diff --git a/0008_/images/000024.png b/0008_/images/000024.png new file mode 100644 index 0000000000000000000000000000000000000000..3fb66a114a50e6800bc2586c0887d416d6188e18 --- /dev/null +++ b/0008_/images/000024.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:547c2ea28f152768c5e1ea7ff7f5242d6aadf29e13414aa92f972f6d589789c9 +size 1036151 diff --git a/0008_/images/000025.png b/0008_/images/000025.png new file mode 100644 index 0000000000000000000000000000000000000000..aac3ef61bf9d976bd236428a7171eb3062608ff5 --- /dev/null +++ b/0008_/images/000025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4be3fbca35cc1977e8ddc7cf97ac892ea9c23961f395e84818030d284daa18e5 +size 1021584 diff --git a/0008_/images/000026.png b/0008_/images/000026.png new file mode 100644 index 0000000000000000000000000000000000000000..2d2ca13388fbe487f3631bd4543d00ecbdb643a7 --- /dev/null +++ b/0008_/images/000026.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6045198f683f50cc1d86d1a271a6ffbf69ddf573a3f9398a744bbb4cf9488e6 +size 1047476 diff --git a/0008_/images/000027.png b/0008_/images/000027.png new file mode 100644 index 0000000000000000000000000000000000000000..f962eb32f6af2a6b97bdb7aa820e2aa4a2ae04a5 --- /dev/null +++ b/0008_/images/000027.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21e4157fdf7ceffdcc9565b9c9d3f311d8367e6254c617fcb0fc0ea1a8e8aafe +size 1034357 diff --git a/0008_/images/000028.png b/0008_/images/000028.png new file mode 100644 index 0000000000000000000000000000000000000000..f355d3b56db07564f22c3980264f7d01a4c2852d --- /dev/null +++ b/0008_/images/000028.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:598b53961539f374b329b003318bca2c5ea3cf2495b2f4a5068ccff746add28f +size 1079502 diff --git a/0008_/images/000029.png b/0008_/images/000029.png new file mode 100644 index 0000000000000000000000000000000000000000..aa40a842d2f9e6e56b9768a659c3783142f5c515 --- /dev/null +++ b/0008_/images/000029.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29407e39f5dd653ecab5c2a3ce1db8a638d4f1421d570c2100d24306bce2d042 +size 1077866 diff --git a/0008_/images/000030.png b/0008_/images/000030.png new file mode 100644 index 0000000000000000000000000000000000000000..52a068c43ced856e3490bbdb0a7d5a86ec534d50 --- /dev/null +++ b/0008_/images/000030.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f1bbf4ca4b830d954b5f207688a71ba08a81a2f2b4948f8f85d3b87cf9bb385 +size 1086951 diff --git a/0008_/images/000031.png b/0008_/images/000031.png new file mode 100644 index 0000000000000000000000000000000000000000..253506ecb2eb8525512b818e64c5501e51023be8 --- /dev/null +++ b/0008_/images/000031.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c4ad64d64dca4b1d1fd5acf55b93f863fe0fbca97cbe3b345ef5417ad977a09 +size 1093634 diff --git a/0008_/images/000032.png b/0008_/images/000032.png new file mode 100644 index 0000000000000000000000000000000000000000..b79a67068b65913a1c0b091de5835840a1e59f5e --- /dev/null +++ b/0008_/images/000032.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6823411a40d4b0fb692c59cadb426cf3d999830fa9ae2f91333df303d19a6c75 +size 1087621 diff --git a/0008_/images/000033.png b/0008_/images/000033.png new file mode 100644 index 0000000000000000000000000000000000000000..266b766166f5fbc6bb63a3ae8afc70f106fdbbe0 --- /dev/null +++ b/0008_/images/000033.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e47e95bfaff92ee864a6dfa0f562a90f183cc494b6fce9e2b9c416973edf005 +size 1086058 diff --git a/0008_/images/000034.png b/0008_/images/000034.png new file mode 100644 index 0000000000000000000000000000000000000000..b6315ff24956ca4930fa378cf6aff37f56e07fca --- /dev/null +++ b/0008_/images/000034.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a93ee2659b918c8100771fb3b9a5a9635cb00aef0113e34520f9913d55bf48ba +size 1063397 diff --git a/0008_/images/000035.png b/0008_/images/000035.png new file mode 100644 index 0000000000000000000000000000000000000000..e88caeb2d9f30a5661b231188b1351be583e719a --- /dev/null +++ b/0008_/images/000035.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2edc4f4220028246d11a2e48e16eafff3da1fd23877538bdd39e48ed242117d1 +size 1054582 diff --git a/0008_/images/000036.png b/0008_/images/000036.png new file mode 100644 index 0000000000000000000000000000000000000000..ea38520afb6238d0fb63e3c467fa15c3c5d17d4f --- /dev/null +++ b/0008_/images/000036.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:448c1f0b4c6ca7adea05ea83658774a842edce0a6ae90a81a787876d3cf1979a +size 1044493 diff --git a/0008_/images/000037.png b/0008_/images/000037.png new file mode 100644 index 0000000000000000000000000000000000000000..e9e845234388daa2494e445f33131263a37bfeb3 --- /dev/null +++ b/0008_/images/000037.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:183f33e5dc215f9da0bc6e76223998a3a90534d429a636bf7873a65787604c24 +size 1045072 diff --git a/0008_/images/000038.png b/0008_/images/000038.png new file mode 100644 index 0000000000000000000000000000000000000000..a6aef02380d6d2a5354df67e34be7786a1a24624 --- /dev/null +++ b/0008_/images/000038.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db339f4aaa1c500a34ef393e1491a6687e79af2bb7e875e9f9497f42a53acc6f +size 1041832 diff --git a/0008_/images/000039.png b/0008_/images/000039.png new file mode 100644 index 0000000000000000000000000000000000000000..6f02d51b4c1bc38634de94c52a70868fa2c21b69 --- /dev/null +++ b/0008_/images/000039.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e6b026c0b695ad24271dabe56a78c144b87bc7215cd4ed31dca7d8d737fdc37 +size 1048207 diff --git a/0008_/images/000040.png b/0008_/images/000040.png new file mode 100644 index 0000000000000000000000000000000000000000..3bbad2948434ed5c5fd6e0ed6f17ec6dfec75638 --- /dev/null +++ b/0008_/images/000040.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed42e51f84ab843eca35c4170293ac4cf1af5424d0f0b552335b7272bc56eaff +size 1023494 diff --git a/0008_/images/000041.png b/0008_/images/000041.png new file mode 100644 index 0000000000000000000000000000000000000000..c006bc5c3acda9b45aaf62645ac7d36f4bfd6568 --- /dev/null +++ b/0008_/images/000041.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca9dd4e421d6eb065f761786eb821210a67c9c3b1949064d709eac4b9c695a21 +size 1019720 diff --git a/0008_/images/000042.png b/0008_/images/000042.png new file mode 100644 index 0000000000000000000000000000000000000000..4e4f4c1c8823e095557d5dcf02e0b588d44f8a4a --- /dev/null +++ b/0008_/images/000042.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae0129760d86d8df38bf1e375db9c26fac808cf02a4cc50b759d4d01a1576d8c +size 1030176 diff --git a/0008_/images/000043.png b/0008_/images/000043.png new file mode 100644 index 0000000000000000000000000000000000000000..e7ced2de9331243b3ce5e009a3725e7c468e0c67 --- /dev/null +++ b/0008_/images/000043.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8058e53b950400aed3d1c2abfda6bd26a63282bda642cc32ef59955522089f3d +size 1024979 diff --git a/0008_/images/000044.png b/0008_/images/000044.png new file mode 100644 index 0000000000000000000000000000000000000000..97d58e65525211d754eb5d18d2f4e8161d73ba03 --- /dev/null +++ b/0008_/images/000044.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:159e57e783aa76cc07cd079aca4fb017887087def09f2824732f40f6cc214e07 +size 1033397 diff --git a/0008_/images/000045.png b/0008_/images/000045.png new file mode 100644 index 0000000000000000000000000000000000000000..1be18743bbdadb48de29b5e5a4d2bfee0160ec30 --- /dev/null +++ b/0008_/images/000045.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1497d9fd1bc8f5e9f2941f997bedd4ee132c311c6c1688ca6c918c9e94a65611 +size 1039753 diff --git a/0008_/images/000046.png b/0008_/images/000046.png new file mode 100644 index 0000000000000000000000000000000000000000..db4c324015abfa374e2e82b158394e462ab4d820 --- /dev/null +++ b/0008_/images/000046.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b97c005bb679cd923e51666b460d304bbfc5e7c2ca5a87d4f649b83ce94de71 +size 1053045 diff --git a/0008_/images/000047.png b/0008_/images/000047.png new file mode 100644 index 0000000000000000000000000000000000000000..d27b5f52b7da7b36e88c182c3d0c6d07c1faf143 --- /dev/null +++ b/0008_/images/000047.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af478f202cd2d27fa8f95f1b57a95de869c4c5ad3e0b6859940f4404ac5550c6 +size 1051529 diff --git a/0008_/images/000048.png b/0008_/images/000048.png new file mode 100644 index 0000000000000000000000000000000000000000..41280de78d2f6d1265c6ef2f080ddae1ab5dc2c7 --- /dev/null +++ b/0008_/images/000048.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:635d0dfea30fb43f78887df889fddc62655ccfe82d1d22c7cbb98b66c10ee287 +size 1069073 diff --git a/0008_/images/000049.png b/0008_/images/000049.png new file mode 100644 index 0000000000000000000000000000000000000000..af2505c19f20cb9f81de3bbb33179869e6d17fc0 --- /dev/null +++ b/0008_/images/000049.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5de85fda7304df4378faf4f57dce2c7be644e391588d1dac9b0054897bbbfacd +size 1075067 diff --git a/0008_/images/000050.png b/0008_/images/000050.png new file mode 100644 index 0000000000000000000000000000000000000000..fc162a796338f4ab28824df63cdb15398fd3cefc --- /dev/null +++ b/0008_/images/000050.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e00cd1ad877a5f5a39adfbce26aeffe13565712385b8defdbaaf8e95a45e7fdf +size 1089944 diff --git a/0008_/images/000051.png b/0008_/images/000051.png new file mode 100644 index 0000000000000000000000000000000000000000..1750c30893cd7ba2fa427015f875dd8e1c627e83 --- /dev/null +++ b/0008_/images/000051.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:310c9504bb24ef9da2e6aa73cc96711da2381659900ed48afd34e5bf78b49d65 +size 1099788 diff --git a/0008_/images/000052.png b/0008_/images/000052.png new file mode 100644 index 0000000000000000000000000000000000000000..95c9d43eaa63dafa3fa8ea72e3ffed748f05a80d --- /dev/null +++ b/0008_/images/000052.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f68eae15ddff37dbbbaeba33c2ba9cfb0c6f11143520bfe661f6e8894dcb66f8 +size 1103805 diff --git a/0008_/images/000053.png b/0008_/images/000053.png new file mode 100644 index 0000000000000000000000000000000000000000..f0391dd0215fa2ab5b0b1b46a90fb0f4c59f3178 --- /dev/null +++ b/0008_/images/000053.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc4bf696a22c75da26678ce7352ec404f24eb6d65c096acf96fbfd521095cacd +size 1100131 diff --git a/0008_/images/000054.png b/0008_/images/000054.png new file mode 100644 index 0000000000000000000000000000000000000000..6a5d1ef47069a84f213b228e229156e5feb4609c --- /dev/null +++ b/0008_/images/000054.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60431993a32fd7658376fdc907bbf0b10e154504e77205a8a2cf25d4d3b0030a +size 1096093 diff --git a/0008_/images/000055.png b/0008_/images/000055.png new file mode 100644 index 0000000000000000000000000000000000000000..62457508312eea45dc6b0b9ea1d2fb4944ac4928 --- /dev/null +++ b/0008_/images/000055.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a964badded5b4d1fa8a9144d7a3320a3ba1805a6ebaef67af2ad46a0a04ce32 +size 1082608 diff --git a/0008_/images/000056.png b/0008_/images/000056.png new file mode 100644 index 0000000000000000000000000000000000000000..1eeb9e921931fa66e442d0cdcb6b191887d39fa9 --- /dev/null +++ b/0008_/images/000056.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6245d8ad24ccc6db5375fd3853d71d6433c83aba257ac88bab13b46b269bee +size 1061575 diff --git a/0008_/images/000057.png b/0008_/images/000057.png new file mode 100644 index 0000000000000000000000000000000000000000..29a4746b4680ca18cfdf6517b1683f8ea39d3c96 --- /dev/null +++ b/0008_/images/000057.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65dfe08ca1f21567111043953248a255e4a23eff0490c04feff351492e8998f4 +size 1091065 diff --git a/0008_/images/000058.png b/0008_/images/000058.png new file mode 100644 index 0000000000000000000000000000000000000000..21cda9f9e3c74dad75392a2ece4a0c392a5c963e --- /dev/null +++ b/0008_/images/000058.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7469e87ab0766fee4b83a9029254d1d77e67a6f608285f7ba8a9db0cfa267f7f +size 1094776 diff --git a/0008_/images/000059.png b/0008_/images/000059.png new file mode 100644 index 0000000000000000000000000000000000000000..98eb990597c9f9630a609f0a9810037b3826bbf1 --- /dev/null +++ b/0008_/images/000059.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b303c48d023eac3ae9ceb85a9fd79f9cd7260b1825aa46707c5f2cb43c46b484 +size 1071089 diff --git a/0008_/images/000060.png b/0008_/images/000060.png new file mode 100644 index 0000000000000000000000000000000000000000..e1cedd8f20e47706574037634cee6167f38559d5 --- /dev/null +++ b/0008_/images/000060.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f21ba598ab850b7084c7d2b8f0b1a174300cf474875d789f27bc366365596e30 +size 1086190 diff --git a/0008_/images/000061.png b/0008_/images/000061.png new file mode 100644 index 0000000000000000000000000000000000000000..8bcd8abe3ec77ca41f79055e4e450def2882cac1 --- /dev/null +++ b/0008_/images/000061.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ca016c4f8b6fe026d8d556f0533fb425e0385d72e7cd03e4e27faa2644d2657 +size 1074263 diff --git a/0008_/images/000062.png b/0008_/images/000062.png new file mode 100644 index 0000000000000000000000000000000000000000..8fd315f0b06af8e8d2ee757bbbd29e6c096dc3e1 --- /dev/null +++ b/0008_/images/000062.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f01dabc38f690d17ec7879bda8fcd65517c00c4bf5477b0816b33909f72e6e55 +size 1066923 diff --git a/0008_/images/000063.png b/0008_/images/000063.png new file mode 100644 index 0000000000000000000000000000000000000000..c781629b793746daf641485ca96b7bfb23768fd4 --- /dev/null +++ b/0008_/images/000063.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:253274a5c797cf24695e445aa0c4e3b5e4eea67fee4f3f344089d1e050b62f2f +size 1051619 diff --git a/0008_/images/000064.png b/0008_/images/000064.png new file mode 100644 index 0000000000000000000000000000000000000000..97de399989c90a89c987e0d477fdb78b525119d5 --- /dev/null +++ b/0008_/images/000064.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:099354aff807b22602ce56c1ab45191c1baf99b931f92f04797155ac85ab07b0 +size 1066973 diff --git a/0008_/images/000065.png b/0008_/images/000065.png new file mode 100644 index 0000000000000000000000000000000000000000..0707066fd472b75c0223618e4ef36c3c54bc4171 --- /dev/null +++ b/0008_/images/000065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b0e96195f4e4630398a26776a8c699088dfb0ebf2ab8c33673a3f9ccad3fc08 +size 1065736 diff --git a/0008_/images/000066.png b/0008_/images/000066.png new file mode 100644 index 0000000000000000000000000000000000000000..0a3bd1d917732a0b208c67719e98d60c55771c9f --- /dev/null +++ b/0008_/images/000066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00f34d7ccefd8ab12caf17df7aadf84a98bb30307e0c707290243faf0fa75426 +size 1050390 diff --git a/0008_/images/000067.png b/0008_/images/000067.png new file mode 100644 index 0000000000000000000000000000000000000000..12a893af9b38215f28b7cc00fa0c64cbd1d7cc7f --- /dev/null +++ b/0008_/images/000067.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff6b398ccd620b362d6539e6a856f24063769303ee46ab3be60a8b388f55b755 +size 1058972 diff --git a/0008_/images/000068.png b/0008_/images/000068.png new file mode 100644 index 0000000000000000000000000000000000000000..9ae21a4dcd1778b48a5826b3b69c4d49f8f1ebbd --- /dev/null +++ b/0008_/images/000068.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ec3f2182eff0f774f555c3a188e05e38f952f6b9e11575dd70777126387adec +size 1042202 diff --git a/0008_/images/000069.png b/0008_/images/000069.png new file mode 100644 index 0000000000000000000000000000000000000000..68a3921a1c94148a21f1aa70bc712b2786bc7603 --- /dev/null +++ b/0008_/images/000069.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b50818394649b87793bab40ef9a2608c20b32dcfdc81c774b4a3a00eab366134 +size 1041387 diff --git a/0008_/images/000070.png b/0008_/images/000070.png new file mode 100644 index 0000000000000000000000000000000000000000..cf42eedc3d0aa1871748715c16bc7fc22581e576 --- /dev/null +++ b/0008_/images/000070.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b18a770513289c53e92fa67c21bce5077df4a5cbe6e811a2551ceb6932b56a8 +size 1049997 diff --git a/0008_/images/000071.png b/0008_/images/000071.png new file mode 100644 index 0000000000000000000000000000000000000000..336c2f42536c4c9ba1c6f382cd4812f1c09c0e99 --- /dev/null +++ b/0008_/images/000071.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c69192e9a4104d93c4f7256267d05ce39fe37b45065633ffa02da55af1bbe4a5 +size 1052041 diff --git a/0008_/images/000072.png b/0008_/images/000072.png new file mode 100644 index 0000000000000000000000000000000000000000..c279754bdb3e6a83a35c689c4a91caba3f6c3674 --- /dev/null +++ b/0008_/images/000072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bed5f3c611ec3283e6233c4122108de23deec891497cf6e37addd1024f6332cb +size 1051891 diff --git a/0008_/images/000073.png b/0008_/images/000073.png new file mode 100644 index 0000000000000000000000000000000000000000..6ddae58d2c5d2370c478d9d14b17a781179ef964 --- /dev/null +++ b/0008_/images/000073.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e2c8f3d62ec28b8d35bb6525e97bc838388642548d67ebf481b320dbffbb006 +size 1043837 diff --git a/0008_/images/000074.png b/0008_/images/000074.png new file mode 100644 index 0000000000000000000000000000000000000000..1df5f917801b832915c1fedb141c44746428377e --- /dev/null +++ b/0008_/images/000074.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b7c5d10ebb66c68710d644c4f50be8efb41e89d98dd37af9e0c13ab8fd03b69 +size 1056809 diff --git a/0008_/images/000075.png b/0008_/images/000075.png new file mode 100644 index 0000000000000000000000000000000000000000..614154414c7ec97edef9bd6d60926f7a135ac5a1 --- /dev/null +++ b/0008_/images/000075.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebd11fd17718ad8f05270380a963b82bd45681919b696f65c417849fbef1c89e +size 1055273 diff --git a/0008_/images/000076.png b/0008_/images/000076.png new file mode 100644 index 0000000000000000000000000000000000000000..600042622b014b46301c50c1761278dd46306f91 --- /dev/null +++ b/0008_/images/000076.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:313ce9a42fd7b193eb534a3959413e325b7fa8a08c398b387fd5dd93d94bae7c +size 1034988 diff --git a/0008_/images/000077.png b/0008_/images/000077.png new file mode 100644 index 0000000000000000000000000000000000000000..17bca597f6d349436cdc180d40930d92aeaeb1b5 --- /dev/null +++ b/0008_/images/000077.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff54c7c73903160e722babde22612ec2f1e94fab3f58b6410be56e45d2987f6d +size 1012815 diff --git a/0008_/images/000078.png b/0008_/images/000078.png new file mode 100644 index 0000000000000000000000000000000000000000..7e17b5fb9354d3d50c529df1a5fae038cb3117e5 --- /dev/null +++ b/0008_/images/000078.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d60eece53d2d38028d1eefa65d8c087c019f7cc1036a124a8cdae49e149beb3a +size 995366 diff --git a/0008_/images/000079.png b/0008_/images/000079.png new file mode 100644 index 0000000000000000000000000000000000000000..8b1a939985452159b9903e571e66103a279675aa --- /dev/null +++ b/0008_/images/000079.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:692413876b1c92124f1d921d2f828ad12a2b2f8c890417982394810583b9640a +size 991925 diff --git a/0008_/images/000080.png b/0008_/images/000080.png new file mode 100644 index 0000000000000000000000000000000000000000..0e905deef73b5391399a398b72831cf3cef97ce6 --- /dev/null +++ b/0008_/images/000080.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b2bcfa6a0be78173b6cd40a7ffb1bdb1ce366d8b4c39ead6a406420ca5beceb +size 996624 diff --git a/0008_/images/000081.png b/0008_/images/000081.png new file mode 100644 index 0000000000000000000000000000000000000000..e41a6430fcfa45f592986905635d695ddb3984ab --- /dev/null +++ b/0008_/images/000081.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f46f621871e4263db2b2244ef46807644af242d80628ebce9f2f9025b43e02b3 +size 987122 diff --git a/0008_/images/000082.png b/0008_/images/000082.png new file mode 100644 index 0000000000000000000000000000000000000000..01b32f3a9d98ac6f04b8a8ceab115694e79093f8 --- /dev/null +++ b/0008_/images/000082.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:840cc951b77fb2cd9df875729b50f735a534c6948f231872ab5a40798325338d +size 973679 diff --git a/0008_/images/000083.png b/0008_/images/000083.png new file mode 100644 index 0000000000000000000000000000000000000000..2151a6e93b07b85baf7eab0fa0d981f632ba645f --- /dev/null +++ b/0008_/images/000083.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4acfce260c8ff3bb7bd828b1ebb6f8a1feef2c53d0df3b8742b9db3e646327bb +size 990235 diff --git a/0008_/images/000084.png b/0008_/images/000084.png new file mode 100644 index 0000000000000000000000000000000000000000..7dead9f07fde28ab42489efe079643c650dd1518 --- /dev/null +++ b/0008_/images/000084.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c1ff979890ddcd57ca5c20eebcc0721dce0b5c234407812a2519303ce096738 +size 1020221 diff --git a/0008_/images/000085.png b/0008_/images/000085.png new file mode 100644 index 0000000000000000000000000000000000000000..1654e001c2e3b03f32f927f36e5f05ee96e9f1c6 --- /dev/null +++ b/0008_/images/000085.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a3db170ce825fa81587690d4e5339df1792a6d1548058a383e3fbb53731800c +size 1073180 diff --git a/0008_/images/000086.png b/0008_/images/000086.png new file mode 100644 index 0000000000000000000000000000000000000000..2dcb4f47821c3a395622a73e5721a708b2e47bed --- /dev/null +++ b/0008_/images/000086.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4930b21e0c794c1166bf98971b44606f0eaccd90e38c92a09c4b9b6b396795ca +size 1149421 diff --git a/0008_/images/000087.png b/0008_/images/000087.png new file mode 100644 index 0000000000000000000000000000000000000000..7c3bc891289f5a5e441de85e833e923e99142df6 --- /dev/null +++ b/0008_/images/000087.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:818868d4bbeea8c151ce1a34a761be3fc817caa943c0df82402cdfba09f40d8f +size 1105666 diff --git a/0008_/images/000088.png b/0008_/images/000088.png new file mode 100644 index 0000000000000000000000000000000000000000..29b8fcd260434deaf7bde6eeafb1793a1b1a6322 --- /dev/null +++ b/0008_/images/000088.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24ad47e97ec72ec57fffd8dbc04c2b2cc4ff3437050a9467aac456cb6040656b +size 1062209 diff --git a/0008_/images/000089.png b/0008_/images/000089.png new file mode 100644 index 0000000000000000000000000000000000000000..d783600736e9cb8ef94f699f34a2c56558d45439 --- /dev/null +++ b/0008_/images/000089.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6815d5917970a3cc91b2cc5efdabdab852593a38f54569892fadd3a4104227c +size 1088433 diff --git a/0008_/images/000090.png b/0008_/images/000090.png new file mode 100644 index 0000000000000000000000000000000000000000..f975e732bccfe4e8af4b462d306e603ade2207db --- /dev/null +++ b/0008_/images/000090.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31f5c3ce268a44b962eee4605457768a8a9dd864a173fd634777773581cc3508 +size 1085846 diff --git a/0008_/images/000091.png b/0008_/images/000091.png new file mode 100644 index 0000000000000000000000000000000000000000..483d1d09e0b9351f2bbd60486e10006a622ee911 --- /dev/null +++ b/0008_/images/000091.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d09bda610f586ae3444870603d6987e0601cd7ea3f88edefdeed8cfd8053ca89 +size 1094658 diff --git a/0008_/images/000092.png b/0008_/images/000092.png new file mode 100644 index 0000000000000000000000000000000000000000..8a231420a66df487b7697087a3467b967f5e07ee --- /dev/null +++ b/0008_/images/000092.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:490745060a05be25626409050616c4f2c3a414e9938d036eca9bc413c79b49b8 +size 1104949 diff --git a/0008_/images/000093.png b/0008_/images/000093.png new file mode 100644 index 0000000000000000000000000000000000000000..ad66fae03793d00fbf53c180c4fffc54f22564e3 --- /dev/null +++ b/0008_/images/000093.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d10e596d5f66c3a00fc53e3cf8b513015ab366398766f60b52eb404c8afc2aa6 +size 1122507 diff --git a/0008_/images/000094.png b/0008_/images/000094.png new file mode 100644 index 0000000000000000000000000000000000000000..8f390792a1d49bdb7b7bc9516c3c9d32548bbeb0 --- /dev/null +++ b/0008_/images/000094.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44b5b0b68a4055584c98b68cb1cc56f4e4673d09f4de2224cb3205a4c5431f87 +size 1134904 diff --git a/0008_/images/000095.png b/0008_/images/000095.png new file mode 100644 index 0000000000000000000000000000000000000000..fe70f881ea9fc35ef1c91a7c36b744d8a9aca2db --- /dev/null +++ b/0008_/images/000095.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:699181eb397dc41277cd8d0b0e55639d0b42fa001d990a5f61a1e6cc74e15de5 +size 1130905 diff --git a/0008_/images/000096.png b/0008_/images/000096.png new file mode 100644 index 0000000000000000000000000000000000000000..186d8a04d10538c50bb67daa8f71e8cf10754ec4 --- /dev/null +++ b/0008_/images/000096.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b5dc8b64c7fe01277f7947db659147b89b5c2f06d9980dfaf8f3dbd1a4f1c0d8 +size 1125306 diff --git a/0008_/images/000097.png b/0008_/images/000097.png new file mode 100644 index 0000000000000000000000000000000000000000..71cff03f9d85ab9f69c60a794d5c7dc92817a177 --- /dev/null +++ b/0008_/images/000097.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bc950ef45461b82f912fb27eecb48edb1f271e18dab9d5c0aa477dba78a5c47 +size 1112634 diff --git a/0008_/images/000098.png b/0008_/images/000098.png new file mode 100644 index 0000000000000000000000000000000000000000..40a63bab1c9d20fbda3420799827567512e2f03f --- /dev/null +++ b/0008_/images/000098.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15257223184a5077dbfd205323047eb7b5e9ca2de5d58a73de450540a99f1090 +size 1104732 diff --git a/0008_/images/000099.png b/0008_/images/000099.png new file mode 100644 index 0000000000000000000000000000000000000000..5cafb4d13865f28cdd8c3893b848f7eb9b72cf04 --- /dev/null +++ b/0008_/images/000099.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:005a68d5dfca5de4d4bca0556432ff1934706e083bac9b2002878f6c35cd8cd7 +size 1083639 diff --git a/0008_/images/000100.png b/0008_/images/000100.png new file mode 100644 index 0000000000000000000000000000000000000000..502ea75d1b97c1b21e2f9c65787ad36800920aec --- /dev/null +++ b/0008_/images/000100.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c14d3d6c7135dbd0fe08ecde54dfc36df98b2dfd1d322c3c71948b2dcdb5888a +size 1097342 diff --git a/0008_/images/000101.png b/0008_/images/000101.png new file mode 100644 index 0000000000000000000000000000000000000000..540997f05eedc8c91b8dcbab766e16a301dbb550 --- /dev/null +++ b/0008_/images/000101.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:19816d350bc7e04cd66ea0450fd0c9233fd2c52ac1197aa9e5a1d66218e13310 +size 1106936 diff --git a/0008_/images/000102.png b/0008_/images/000102.png new file mode 100644 index 0000000000000000000000000000000000000000..3f42b1a946825e45b611cd472a96eccb6cb53186 --- /dev/null +++ b/0008_/images/000102.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c77724f9bc04b0f88a381b7d9a980f4d3a1fe077dc4f1456552ea8520d1992c +size 1120792 diff --git a/0008_/images/000103.png b/0008_/images/000103.png new file mode 100644 index 0000000000000000000000000000000000000000..fe3582b105badccfe2ae19f788238d842f4524c8 --- /dev/null +++ b/0008_/images/000103.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c4eebc35ac8a674e5b602523d10bd66cf3ac088bb2350769b370b40a63bf591 +size 1097029 diff --git a/0008_/images/000104.png b/0008_/images/000104.png new file mode 100644 index 0000000000000000000000000000000000000000..ae22d8f43e2e09960e9219d549b54490abfd922b --- /dev/null +++ b/0008_/images/000104.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c86d96fea07d8871728e7135354e93be5a4c5662f0e1eadd4b9b557f33df981f +size 1106562 diff --git a/0008_/images/000105.png b/0008_/images/000105.png new file mode 100644 index 0000000000000000000000000000000000000000..0fe48946f17ccf903c488bc6fd9fabc90a27602d --- /dev/null +++ b/0008_/images/000105.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e92358b21ec3c2fd67968a6a680a0b4167ec8a3884223edc3965f760862d8ae +size 1115313 diff --git a/0008_/images/000106.png b/0008_/images/000106.png new file mode 100644 index 0000000000000000000000000000000000000000..81bb2cea3f93866e0a12679a706796ba94fa00ae --- /dev/null +++ b/0008_/images/000106.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd3c35c466911db35c0a83f884ee09e0926713e9a80dc4cc117796a76000613f +size 1122871 diff --git a/0008_/images/000107.png b/0008_/images/000107.png new file mode 100644 index 0000000000000000000000000000000000000000..6157b443f27608474b4ddaae2a0db9dd7a5798e3 --- /dev/null +++ b/0008_/images/000107.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88f4dae94c5abe5bfda2b7ef798f05e0cb3739c8ec962b41a4efb125b32a245c +size 1133664 diff --git a/0008_/images/000108.png b/0008_/images/000108.png new file mode 100644 index 0000000000000000000000000000000000000000..ab2f95ff5a96eaa1b058ac1e036efac39d5e0b9a --- /dev/null +++ b/0008_/images/000108.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:557d4f3775900e2f45f9958bcb7b64a2df6f2c1b52192c9ffc6335fffcded3f8 +size 1136048 diff --git a/0008_/images/000109.png b/0008_/images/000109.png new file mode 100644 index 0000000000000000000000000000000000000000..7d6ed63eaa9a37ff79260cc4b0892f3f5235469d --- /dev/null +++ b/0008_/images/000109.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e36fd3c31bd3b6f02d9cde9261af302798312b15a636903ded5c827c23ef4d12 +size 1124605 diff --git a/0008_/images/000110.png b/0008_/images/000110.png new file mode 100644 index 0000000000000000000000000000000000000000..2153d74e60ff1f8cda7a54ef809681dd5821421a --- /dev/null +++ b/0008_/images/000110.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e85a179f246ae761dc769918e51fb90d28c72978c9d6475e2c0a3baaabd91ff7 +size 1122822 diff --git a/0008_/images/000111.png b/0008_/images/000111.png new file mode 100644 index 0000000000000000000000000000000000000000..99075f42d51731bb4a24f01a115db8ccc13c3d7c --- /dev/null +++ b/0008_/images/000111.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a27427b862a4a40e59bad77e32f2233c5d26d9ebced496fb911fd02ed4cee947 +size 1123330 diff --git a/0008_/images/000112.png b/0008_/images/000112.png new file mode 100644 index 0000000000000000000000000000000000000000..28ca3f9b107f752ad54e21f7c2e4ebf464d62fed --- /dev/null +++ b/0008_/images/000112.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:340dae7809abe6be6499fa76c1863c5fd926653e7fa27396cdc9135f8ee403cb +size 1110119 diff --git a/0008_/images/000113.png b/0008_/images/000113.png new file mode 100644 index 0000000000000000000000000000000000000000..707824a030f8f1be4f5b6b79adeb93cf69305fe6 --- /dev/null +++ b/0008_/images/000113.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4301c9ca0b2c2fa0329e061f821e4ffc0a85c0cd733b2f999aa6d781bb652d49 +size 1126144 diff --git a/0008_/images/000114.png b/0008_/images/000114.png new file mode 100644 index 0000000000000000000000000000000000000000..cfbac43ccae605cbcd3406965472432d9696d5af --- /dev/null +++ b/0008_/images/000114.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc402b7e959dc2a0bfd7baa3f5dc5a22433de1e4060194967af01f29799807a8 +size 1135169 diff --git a/0008_/images/000115.png b/0008_/images/000115.png new file mode 100644 index 0000000000000000000000000000000000000000..5d7a35c38202bcbfc393bd19d0424404cb8a7b4c --- /dev/null +++ b/0008_/images/000115.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:499db8df5a1ae80711742b1165f0ea5caef9909982e3a5cd6dd7610d2c9f4ed4 +size 1116021 diff --git a/0008_/images/000116.png b/0008_/images/000116.png new file mode 100644 index 0000000000000000000000000000000000000000..8248e2ad47acf06e9ccc0a532c6d6b21eb3c0989 --- /dev/null +++ b/0008_/images/000116.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bb69d346a3692ec747af91486158494d330ce2956b50c3a2ee30c79c881e73e +size 1056266 diff --git a/0008_/images/000117.png b/0008_/images/000117.png new file mode 100644 index 0000000000000000000000000000000000000000..f3301b80dba3df17be7b14c44835cd3c598e4f57 --- /dev/null +++ b/0008_/images/000117.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a178cf9b68918624632fadb56eef7e178606d6ba17062ec4f6ecc3e92cd6c49 +size 1054390 diff --git a/0008_/images/000118.png b/0008_/images/000118.png new file mode 100644 index 0000000000000000000000000000000000000000..ce9d5a64c7b8c257912d93d1de939684b52bddaa --- /dev/null +++ b/0008_/images/000118.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bc5d2a8ee5aaec4e3cdee98d17fc9603c06ab4d7d2b0104d303a54cc1a3efb7 +size 1049300 diff --git a/0008_/images/000119.png b/0008_/images/000119.png new file mode 100644 index 0000000000000000000000000000000000000000..eb80b2c352e041d9c7d6668dbd31c8652f349bd1 --- /dev/null +++ b/0008_/images/000119.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6fe28c8afd70fd66430aa4d9951c4a3392e6eb95d70dd51f828bcbbb69848da +size 1049383 diff --git a/0008_/images/000120.png b/0008_/images/000120.png new file mode 100644 index 0000000000000000000000000000000000000000..6746534471d367106e6b31dc4b7d0115309e5ed9 --- /dev/null +++ b/0008_/images/000120.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:796c1a093f911c212e63ca64d042244ad30b7a1e5b740d635fb949883da25bc3 +size 1047339 diff --git a/0008_/images/000121.png b/0008_/images/000121.png new file mode 100644 index 0000000000000000000000000000000000000000..be5df53fef058dd39cfc6881f2a179e7d099eb59 --- /dev/null +++ b/0008_/images/000121.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cdbedfb6c93a3cd45b7dd21ed37b0afb1246b1cb685f005a8840894987cf342 +size 1038646 diff --git a/0008_/images/000122.png b/0008_/images/000122.png new file mode 100644 index 0000000000000000000000000000000000000000..fa9c4623698138ae43d8c5a990fd6bfc4d7f9d15 --- /dev/null +++ b/0008_/images/000122.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cba5fc26c59edf13da840dd95e34d90039c95982135e212e0d3a3ba3a97202c9 +size 1030557 diff --git a/0008_/images/000123.png b/0008_/images/000123.png new file mode 100644 index 0000000000000000000000000000000000000000..893901c7465b6c2ea35169fd3b44bd4cfea22e84 --- /dev/null +++ b/0008_/images/000123.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b197d327fd482d4d536443537661671c100fe987f958ed7d0d269d413a004cc7 +size 1046278 diff --git a/0008_/images/000124.png b/0008_/images/000124.png new file mode 100644 index 0000000000000000000000000000000000000000..56db7da1334961b54059c02c95d8a8e33786af1b --- /dev/null +++ b/0008_/images/000124.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a288824ac41b6ce1dc9d4027f8ac73d04936c512b09ca704b056c3618126eee1 +size 1052640 diff --git a/0008_/images/000125.png b/0008_/images/000125.png new file mode 100644 index 0000000000000000000000000000000000000000..27a3dd371a7a8def8dc085123716529276543d4c --- /dev/null +++ b/0008_/images/000125.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57bd28ad0285a78b4b617e568a23d91224b0d2a1140b7ad16f91c64f6a20cb2f +size 1063070 diff --git a/0008_/images/000126.png b/0008_/images/000126.png new file mode 100644 index 0000000000000000000000000000000000000000..1a173d502d3fa1d52c4b56b7a9ac3f4b3a6b6b95 --- /dev/null +++ b/0008_/images/000126.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5d84cb14594bf185ea24cb3742045c2c5999fa7f606b8e1d687a2ef535813e6 +size 1098112 diff --git a/0008_/images/000127.png b/0008_/images/000127.png new file mode 100644 index 0000000000000000000000000000000000000000..45f8880da6837fdf0dde872282b99010c30a1a97 --- /dev/null +++ b/0008_/images/000127.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30971d27be4c86a8288f47e93c65a8ccab2a969dde3b63c58a9a078e920afedd +size 1118678 diff --git a/0008_/images/000128.png b/0008_/images/000128.png new file mode 100644 index 0000000000000000000000000000000000000000..1ecaf2dffcc757aa09a215059c246f780d4e0c7f --- /dev/null +++ b/0008_/images/000128.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83fe491eb9b1337851e92899b9ebd2052404690c4b6b8844a3d563b470b75c72 +size 1177928 diff --git a/0008_/images/000129.png b/0008_/images/000129.png new file mode 100644 index 0000000000000000000000000000000000000000..2d79e4689bbdecb02d6080e3a96afbdb6dbc8624 --- /dev/null +++ b/0008_/images/000129.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c619e1e815567d3f50c48e3e8b11e18caf85047804d605e4747c142b0fa575fc +size 1172174 diff --git a/0008_/images/000130.png b/0008_/images/000130.png new file mode 100644 index 0000000000000000000000000000000000000000..6f9ccec676e53d8f14b28cc8cb1f0b4ccf955fc0 --- /dev/null +++ b/0008_/images/000130.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09c6865995582a31edc663caeeeca8c4b52cf2dafcc66dde0d9149c1b38a2f13 +size 1167931 diff --git a/0008_/images/000131.png b/0008_/images/000131.png new file mode 100644 index 0000000000000000000000000000000000000000..60732f1afcd05394c407b13f2a95a02afba8309d --- /dev/null +++ b/0008_/images/000131.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26dc9a8318f633d7539e96feec8bd90e60b6402be2bf84ff3fd0db9b718ca1ba +size 1170154 diff --git a/0008_/images/000132.png b/0008_/images/000132.png new file mode 100644 index 0000000000000000000000000000000000000000..bb04bc747f9af662e30670dc45e74a5a2807cb24 --- /dev/null +++ b/0008_/images/000132.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89bf16c98482d997d39a2b2ff7f16988854a604c6cf1a50637fbd02829c972a1 +size 1190268 diff --git a/0008_/images/000133.png b/0008_/images/000133.png new file mode 100644 index 0000000000000000000000000000000000000000..b5253c206f6454e3cf1703b615c8a53f81f42342 --- /dev/null +++ b/0008_/images/000133.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02feea1de7931f2cafd48544de1607ae1af98aceeed33d9ce7fa7dedc9a1bc10 +size 1169143 diff --git a/0008_/images/000134.png b/0008_/images/000134.png new file mode 100644 index 0000000000000000000000000000000000000000..40a05cb99aa42793abc53d8d8934db4faa610772 --- /dev/null +++ b/0008_/images/000134.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ddcf8a2c08364dc93134f1b14c308be4a24c8de998a910c180ed85639f2cd19 +size 1158419 diff --git a/0008_/images/000135.png b/0008_/images/000135.png new file mode 100644 index 0000000000000000000000000000000000000000..17808e81884816ea664011045c108e2480a209fe --- /dev/null +++ b/0008_/images/000135.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:327f04d5bf21496912c7b0060c7190b8d768f62ba5bac7277df1c97a0b7ec0bd +size 1120286 diff --git a/0008_/images/000136.png b/0008_/images/000136.png new file mode 100644 index 0000000000000000000000000000000000000000..333477b6688d38c8fb9a7b570dfaa33ab6d9d1f0 --- /dev/null +++ b/0008_/images/000136.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b668b44612bb626aa1dcebcdc51de0bf9e9bc0e1659057f47acc9c7be8201715 +size 1142042 diff --git a/0008_/images/000137.png b/0008_/images/000137.png new file mode 100644 index 0000000000000000000000000000000000000000..d3c450aa1506e6f2bc1d4e1b0506c2c6a1c0defa --- /dev/null +++ b/0008_/images/000137.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8947a832ca8bb56e866422b4e3b3b32400a29d7880537fb5297f5c6ed1d7244 +size 1185169 diff --git a/0008_/images/000138.png b/0008_/images/000138.png new file mode 100644 index 0000000000000000000000000000000000000000..190d61305183ec40a6943f3243266e060520525d --- /dev/null +++ b/0008_/images/000138.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5e354c7be33a13e1013c4ddd4ad3dc3587d8f53ac1ce3d9d943579850953ec0 +size 1178681 diff --git a/0008_/images/000139.png b/0008_/images/000139.png new file mode 100644 index 0000000000000000000000000000000000000000..d340c9d3f8956d756e2090a5d86ac395e2370090 --- /dev/null +++ b/0008_/images/000139.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc393a0dd5f36837e3e7cccd2f7d07214bba90c7bf2db140f5e60f84aa7a7cd1 +size 1159965 diff --git a/0008_/images/000140.png b/0008_/images/000140.png new file mode 100644 index 0000000000000000000000000000000000000000..1da33130368bf91d5e7431cb3c63b58754cc031d --- /dev/null +++ b/0008_/images/000140.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b5a54c4ca1e65cfd607f3f7c6fa79e9ae03b80ff45e4bfb243a5030cf9b45e1 +size 1163725 diff --git a/0008_/images/000141.png b/0008_/images/000141.png new file mode 100644 index 0000000000000000000000000000000000000000..3440a45057ba01797b50ff506104ebe9c9629497 --- /dev/null +++ b/0008_/images/000141.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9b0fbd6d0ce18fae98e2509cb4d4278d5a76d03bd7404e665b824a97982643f +size 1168380 diff --git a/0008_/images/000142.png b/0008_/images/000142.png new file mode 100644 index 0000000000000000000000000000000000000000..15ebf2f98a284ab73fec68d3904c2a88c204cbdf --- /dev/null +++ b/0008_/images/000142.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e01c52798e0467b2b8f1fe873e54103a650e44d11f82534f9dee8381ee61bed +size 1157446 diff --git a/0008_/images/000143.png b/0008_/images/000143.png new file mode 100644 index 0000000000000000000000000000000000000000..b878826749d3b23df1852a176966276166639883 --- /dev/null +++ b/0008_/images/000143.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2737e3357db434d9936cd9a79b6d3080038f44d41ebb6d1903c4dc7b175bcad +size 1171308 diff --git a/0008_/images/000144.png b/0008_/images/000144.png new file mode 100644 index 0000000000000000000000000000000000000000..42fb34ed84a36da75a067b7c47b1d42836f340fe --- /dev/null +++ b/0008_/images/000144.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ff77b39a3033a2a089a64fa2613ffa6e624cf33dbf90b7ba0b0e9c9d9c54826 +size 1166475 diff --git a/0008_/images/000145.png b/0008_/images/000145.png new file mode 100644 index 0000000000000000000000000000000000000000..c0c5b2c6da06ed7849fd961e605e93696c954cb9 --- /dev/null +++ b/0008_/images/000145.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f0fcc12c826c8064ef7dce9decf19df867e06a251c4c3a61eadad78a1e1cb44 +size 1169444 diff --git a/0008_/images/000146.png b/0008_/images/000146.png new file mode 100644 index 0000000000000000000000000000000000000000..0dd7d486bf29dc8ed4610bfef0647016c41cf0bd --- /dev/null +++ b/0008_/images/000146.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae7253a8f67d7cae46cc87ad19fa3d473def0e8fd5445eb313662c7017fcc5eb +size 1168971 diff --git a/0008_/images/000147.png b/0008_/images/000147.png new file mode 100644 index 0000000000000000000000000000000000000000..f13df62ce56bf6137567c7c8729bb482d100b840 --- /dev/null +++ b/0008_/images/000147.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e59b868e131425a16ec2cee6f3211b1a9b9ecbd01bf120d95ae7c764e4b09cc3 +size 1181038 diff --git a/0008_/images/000148.png b/0008_/images/000148.png new file mode 100644 index 0000000000000000000000000000000000000000..96221f5c9e0f331f074f9e50ca14a45c2c519fd9 --- /dev/null +++ b/0008_/images/000148.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8474b7bbf3321d7bbf40725c91c1c8db2666a2a2cfe23173513e1c1dfcf31d9 +size 1181067 diff --git a/0008_/images/000149.png b/0008_/images/000149.png new file mode 100644 index 0000000000000000000000000000000000000000..c976149d8fb9feca7d9b661196fadf27c4b9c71f --- /dev/null +++ b/0008_/images/000149.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab8b5ada673e496dc1d8e365ef398d4772505b5a4c45ad3024a09c94e8084627 +size 1203900 diff --git a/0008_/images/000150.png b/0008_/images/000150.png new file mode 100644 index 0000000000000000000000000000000000000000..2a351eb8c3dfe0e24becd4f785a0da1b53897a41 --- /dev/null +++ b/0008_/images/000150.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97075f5225fb0f91bdc8086f48ddc3538a368d57c899cf1cd002c64aa471e78a +size 1196082 diff --git a/0008_/images/000151.png b/0008_/images/000151.png new file mode 100644 index 0000000000000000000000000000000000000000..11ef492d7c290f656a864efc6b1b60435c479a3c --- /dev/null +++ b/0008_/images/000151.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cdbfacae29ad31faf39d7ddffd7a3dbca92ca0b3c5a318420ee244dbbb29df3 +size 1163775 diff --git a/0008_/images/000152.png b/0008_/images/000152.png new file mode 100644 index 0000000000000000000000000000000000000000..b4df7e77d26be975145403271b80fa71de1aa478 --- /dev/null +++ b/0008_/images/000152.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6f6158e5f3eeeb032d8ea9d05d2630bc7a49b61c02b8d9b94730e2227825661 +size 1179050 diff --git a/0008_/images/000153.png b/0008_/images/000153.png new file mode 100644 index 0000000000000000000000000000000000000000..c418427788e4aa94799a45c574a6481d53d0b4f4 --- /dev/null +++ b/0008_/images/000153.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d901483bfed12bab0e422b1f20ec8c23684ca1e96ab5679998ec7d2ae8b07f9 +size 1170458 diff --git a/0008_/images/000154.png b/0008_/images/000154.png new file mode 100644 index 0000000000000000000000000000000000000000..9496f3e1e086e0f81bbbaf4c59ec92d09796cd5d --- /dev/null +++ b/0008_/images/000154.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:feea6cf36879b3b22bb5230e91c089654abea8e7c6a0ab0d25b1e0003e879c3d +size 1210488 diff --git a/0008_/images/000155.png b/0008_/images/000155.png new file mode 100644 index 0000000000000000000000000000000000000000..813a1c68578c2389f45928ff8c68e9e2419c6f98 --- /dev/null +++ b/0008_/images/000155.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8307e5c19070bb5facc4485566b3ce04d3b870ee33467c1c613ee1126ad2a329 +size 1213519 diff --git a/0008_/images/000156.png b/0008_/images/000156.png new file mode 100644 index 0000000000000000000000000000000000000000..71cd03b5f08284d970a80b0a19a77ea2265ed270 --- /dev/null +++ b/0008_/images/000156.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e30d0f79f64f5f1ecd707d8a485b97e08466696b20bc5b38f8056ccdc9c06a28 +size 1206200 diff --git a/0008_/images/000157.png b/0008_/images/000157.png new file mode 100644 index 0000000000000000000000000000000000000000..2dc47e35f70fcec66625abce743c3f0753d45247 --- /dev/null +++ b/0008_/images/000157.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d62572f508c97679ea6f240f9a9c5b29e565e18ad817875df544779a4e591762 +size 1183508 diff --git a/0008_/images/000158.png b/0008_/images/000158.png new file mode 100644 index 0000000000000000000000000000000000000000..daaca9a6fd2c76505a89b42c646397eb0c7a8a4c --- /dev/null +++ b/0008_/images/000158.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37e16f07fdc307ba6223dd075abdf399fcd44d1a7cf5dd857379b941a958ef6a +size 1209867 diff --git a/0008_/images/000159.png b/0008_/images/000159.png new file mode 100644 index 0000000000000000000000000000000000000000..97c00fab92c4cad03981bf116edd0000dea32977 --- /dev/null +++ b/0008_/images/000159.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2285e2c35b07e2ae27aba698aaf1e47b6cf2a33004c628a6b80948c0fa5af33a +size 1215283 diff --git a/0008_/images/000160.png b/0008_/images/000160.png new file mode 100644 index 0000000000000000000000000000000000000000..7d5eb703ebbcf5eace81471a38a0109e6098a6b0 --- /dev/null +++ b/0008_/images/000160.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbdbf614ef06c323e17be1dd27c03012b3badd566939d9fb32ae428741e3ef58 +size 1205316 diff --git a/0008_/images/000161.png b/0008_/images/000161.png new file mode 100644 index 0000000000000000000000000000000000000000..684ee81d0aacfcf692f430171d0ede550597c3b6 --- /dev/null +++ b/0008_/images/000161.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ae771cc1c7115910e77e22faab17a827de146af0d310c48428d9a345273388d +size 1171784 diff --git a/0008_/images/000162.png b/0008_/images/000162.png new file mode 100644 index 0000000000000000000000000000000000000000..11df6385b1ee48ce48d400708492b2036c363d0e --- /dev/null +++ b/0008_/images/000162.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b45340d9ee06dd096882af7c4322b333a434df4dd69c518f4a9749a44a4c5be +size 1165444 diff --git a/0008_/images/000163.png b/0008_/images/000163.png new file mode 100644 index 0000000000000000000000000000000000000000..43c741a53705c5e523597a725db99365410ca594 --- /dev/null +++ b/0008_/images/000163.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8c962a15ad03d52970b9fa1bc3142a4216c5c4d020574f887a2f5a12dfdad5e +size 1169789 diff --git a/0008_/images/000164.png b/0008_/images/000164.png new file mode 100644 index 0000000000000000000000000000000000000000..0ad32efb24ca91fd3aaea84ddb2d6e7488d1b476 --- /dev/null +++ b/0008_/images/000164.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88142690dc664c80cb755aded356e3c9dec0647d0b874a70da02aa0276e4e6ca +size 1166479 diff --git a/0008_/images/000165.png b/0008_/images/000165.png new file mode 100644 index 0000000000000000000000000000000000000000..a599dcb44b4dc911cc9cf03900adcc04e99a8fa3 --- /dev/null +++ b/0008_/images/000165.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:674e8aafc379825640fc7db228f2d3ee5ac3e9430f8c1d15bb1968af5c0ae608 +size 1157103 diff --git a/0008_/images/000166.png b/0008_/images/000166.png new file mode 100644 index 0000000000000000000000000000000000000000..6df78da69e4e7c87893578fd02f1fb6c214cb81f --- /dev/null +++ b/0008_/images/000166.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f48d8bdad35dffbbe9f08d80424e5a29aec76d7426f2f7d660b9653204a3e51 +size 1168855 diff --git a/0008_/images/000167.png b/0008_/images/000167.png new file mode 100644 index 0000000000000000000000000000000000000000..f0f5a15a9245adbca18773216e73b116e25b4335 --- /dev/null +++ b/0008_/images/000167.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c9e34aa68a9eaa1faa0cfbf6d225c67f24bcbd31699cf88b09b0feec73f0d5b +size 1186982 diff --git a/0008_/images/000168.png b/0008_/images/000168.png new file mode 100644 index 0000000000000000000000000000000000000000..91eef3698c054b99a341359efbef3af08674a62d --- /dev/null +++ b/0008_/images/000168.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d936caca0988672f87e221f2b359697df5426d3c9d5a8ad85e363a5dd04f31b4 +size 1173622 diff --git a/0008_/images/000169.png b/0008_/images/000169.png new file mode 100644 index 0000000000000000000000000000000000000000..cf0c5bd6c697b8dd8661770620ec5728e33a4068 --- /dev/null +++ b/0008_/images/000169.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e52db6e4c637570a9d062300be33946f82d5fd8b7613b8b722d4b93ee112228 +size 1154517 diff --git a/0008_/images/000170.png b/0008_/images/000170.png new file mode 100644 index 0000000000000000000000000000000000000000..5d3555b627cf23f33b2aebeb6e9f505a98e5b1c6 --- /dev/null +++ b/0008_/images/000170.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f27ab215927d3fb9c322c8d97d28a01c716625fa673d3da24a9dfd9c37a920e +size 1149255 diff --git a/0008_/images/000171.png b/0008_/images/000171.png new file mode 100644 index 0000000000000000000000000000000000000000..1a02332f501bad62cf4ff2625d1705f8933af0b7 --- /dev/null +++ b/0008_/images/000171.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc2dee7cb8ba8d8b69b368f2e2026d2d0b7b9a8f4ef2008c3e1a1b4e49130f73 +size 1105192 diff --git a/0008_/images/000172.png b/0008_/images/000172.png new file mode 100644 index 0000000000000000000000000000000000000000..1a023c65aa0c570d2eeda739834025d0d35d8aaf --- /dev/null +++ b/0008_/images/000172.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec01def2054f90ef3104c540715c9c7d04f3fb0b8d4ea046e90c8bd21e23a2c1 +size 1084412 diff --git a/0008_/images/000173.png b/0008_/images/000173.png new file mode 100644 index 0000000000000000000000000000000000000000..19b044792090d286818d6c4ac5136cdec64ce772 --- /dev/null +++ b/0008_/images/000173.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48b134e7d29afd0b885f533a81b48b8bedcde887804b6b617ed21c691ff79e3e +size 1057232 diff --git a/0008_/images/000174.png b/0008_/images/000174.png new file mode 100644 index 0000000000000000000000000000000000000000..6d968e6b0440cdd8395f62fe134ff1571fb31ccf --- /dev/null +++ b/0008_/images/000174.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b59b000b7681a0054806cf2b6c51370431240abadd06ca8e70feab975213591f +size 1056999 diff --git a/0008_/images/000175.png b/0008_/images/000175.png new file mode 100644 index 0000000000000000000000000000000000000000..494eb56269d381b2c2751d4b3cde4e9c55e05eba --- /dev/null +++ b/0008_/images/000175.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea1575a1ebad90fb3c73159d8a8c2389f7053bdf585b472e46638053e82eb29b +size 1047131 diff --git a/0008_/images/000176.png b/0008_/images/000176.png new file mode 100644 index 0000000000000000000000000000000000000000..1e11901cd3f5f58ddc6715beda6371107939d064 --- /dev/null +++ b/0008_/images/000176.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:213a242783b74502dd79349f5538964571a63032fd5357f79dcbc4b0f3cd4019 +size 1049129 diff --git a/0008_/images/000177.png b/0008_/images/000177.png new file mode 100644 index 0000000000000000000000000000000000000000..f60a96fe2edb115712fbe0aeda1361a36f8e1103 --- /dev/null +++ b/0008_/images/000177.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ae74046fa83025acdcccb32512cf51315cb00d604f9e2256882eceb54c4fd11 +size 1050577 diff --git a/0008_/images/000178.png b/0008_/images/000178.png new file mode 100644 index 0000000000000000000000000000000000000000..6789e0bf869e414a8197a3d07ef07df1ffcde9a1 --- /dev/null +++ b/0008_/images/000178.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d6ba9199320f0073c609d01dca106287112dc452fe40f5add60015b8cccfe3f +size 1040115 diff --git a/0008_/images/000179.png b/0008_/images/000179.png new file mode 100644 index 0000000000000000000000000000000000000000..fc55d2a732565741d90ef91c091ad2a57fc175d8 --- /dev/null +++ b/0008_/images/000179.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc61cc234f6e82066e96f27d18687dd920f91cb6440b7bbc3cb3bd2f1488de91 +size 1036089 diff --git a/0008_/images/000180.png b/0008_/images/000180.png new file mode 100644 index 0000000000000000000000000000000000000000..04e86ad103973401b24ed9717f5b7a105aafc1b9 --- /dev/null +++ b/0008_/images/000180.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78baf559a36fa4fa22c3c58282ea52948ebea0c9427be85da021197f7feb6e47 +size 1062443 diff --git a/0008_/images/000181.png b/0008_/images/000181.png new file mode 100644 index 0000000000000000000000000000000000000000..15a18f9dd607a2c5b2815c3b9d7fa1bd04f7d59e --- /dev/null +++ b/0008_/images/000181.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:083dea0991d21bb4fa082d983a379e146120a15ca729c2d29e863efe559823c1 +size 1075243 diff --git a/0008_/images/000182.png b/0008_/images/000182.png new file mode 100644 index 0000000000000000000000000000000000000000..ae1ff39702ba2bc3e2889246166dc54256e3f662 --- /dev/null +++ b/0008_/images/000182.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bda62e586672db6fda79e77af0e8e003e7d3015f8d67af5c06ab64c41647513f +size 1099235 diff --git a/0008_/images/000183.png b/0008_/images/000183.png new file mode 100644 index 0000000000000000000000000000000000000000..529978592bd10e181ad5109ced009f8a5a4c9bed --- /dev/null +++ b/0008_/images/000183.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0eb0fa13c7d334f671fe32ce55eb0bcde48320f26689de723347ece5d4582163 +size 1112363 diff --git a/0008_/images/000184.png b/0008_/images/000184.png new file mode 100644 index 0000000000000000000000000000000000000000..5232840a9bcb77a132da66b3f030077a9a6d00a2 --- /dev/null +++ b/0008_/images/000184.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b95a87e4b36dd8b3873aaa2cc78bb7bcd0b232a1f17482e8fd5bb672b8c136b +size 1088271 diff --git a/0008_/images/000185.png b/0008_/images/000185.png new file mode 100644 index 0000000000000000000000000000000000000000..63041b04be95104769e889891dc70d97da46c2a2 --- /dev/null +++ b/0008_/images/000185.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cd5193539c83627945f948e118b3ffdde459dcb21302b039b80d485fe0c632a +size 1086974 diff --git a/0008_/images/000186.png b/0008_/images/000186.png new file mode 100644 index 0000000000000000000000000000000000000000..4bf270d56af0de80b11c1121cbd2bfbd36839836 --- /dev/null +++ b/0008_/images/000186.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8bd422e0f7b6572b15285264a469f4677a1c1b31bd07a88ae65e929b723d754 +size 1095934 diff --git a/0008_/images/000187.png b/0008_/images/000187.png new file mode 100644 index 0000000000000000000000000000000000000000..7c579b49c0f1fe3374cb98bc978a3e2d962d0a4f --- /dev/null +++ b/0008_/images/000187.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7be752d37bdec3ac3d74f9cfc080487febfa6b7b77d4f86f2257fd8cf01c6d16 +size 1096683 diff --git a/0008_/images/000188.png b/0008_/images/000188.png new file mode 100644 index 0000000000000000000000000000000000000000..57c94beb5d4e4448c41bac9ec7daf593a0faf7c1 --- /dev/null +++ b/0008_/images/000188.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24a57fab13808b971271e7120c4b2cd632fdeb7d3b846a3fe7254c928b525a34 +size 1093436 diff --git a/0008_/images/000189.png b/0008_/images/000189.png new file mode 100644 index 0000000000000000000000000000000000000000..1430a7c0ef7628eab4cb782dfc494a2089f5130f --- /dev/null +++ b/0008_/images/000189.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bef3f68d41793b0cbf345f4c9e01b0602701ba14f274480ee9c034c3ba41a0ce +size 1122401 diff --git a/0008_/images/000190.png b/0008_/images/000190.png new file mode 100644 index 0000000000000000000000000000000000000000..62bbe5b19963063263ab59f2d11195d5b769b5d8 --- /dev/null +++ b/0008_/images/000190.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33ff095f12a676ab48cb78669fd8f599ce317fef649e647a6c7164ea77dd9421 +size 1155057 diff --git a/0008_/images/000191.png b/0008_/images/000191.png new file mode 100644 index 0000000000000000000000000000000000000000..dbb2a71bc96a3cacf495dd97a9418f9d41604748 --- /dev/null +++ b/0008_/images/000191.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:907675076d64bd0c43c265c1653deca4a21e539029a74f577106e5ab7bd33ecd +size 1168440 diff --git a/0008_/images/000192.png b/0008_/images/000192.png new file mode 100644 index 0000000000000000000000000000000000000000..3baaf72d4f17890d3812f720de43a75d63631c72 --- /dev/null +++ b/0008_/images/000192.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d2607baf22eb1f6007822b9ad43d3f258fcabbaaa83bfdbe67553c5d9c9f52a +size 1179843 diff --git a/0008_/images/000193.png b/0008_/images/000193.png new file mode 100644 index 0000000000000000000000000000000000000000..a0de799a50efc500b260a27c74f97a541d0fccee --- /dev/null +++ b/0008_/images/000193.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d961bfcabd7a1b753ee3a35fcac20476859af32e1ee304bd27699f8ea834263b +size 1202421 diff --git a/0008_/images/000194.png b/0008_/images/000194.png new file mode 100644 index 0000000000000000000000000000000000000000..24da420b9592a1e400ef52a3a69e0a625d25c693 --- /dev/null +++ b/0008_/images/000194.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3305dc3be411d556bf08c81d53210b450cb79ac82284acdebea3c6bb66a50e0 +size 1194364 diff --git a/0008_/images/000195.png b/0008_/images/000195.png new file mode 100644 index 0000000000000000000000000000000000000000..5681ddbfbcd56ecd2e03823e2bce5d77ed8ae7f5 --- /dev/null +++ b/0008_/images/000195.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd285fd132e691df6e9b6a8501114741a0aafc6393eac3c688902653e70f97e7 +size 1185753 diff --git a/0008_/images/000196.png b/0008_/images/000196.png new file mode 100644 index 0000000000000000000000000000000000000000..7062a65d2f871055f3946bb34a3e86058530e677 --- /dev/null +++ b/0008_/images/000196.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91eeafd9c68eaf65adfcdf8facbd4c8f00ec9ea63a0e52399a444e214f5d3be0 +size 1202167 diff --git a/0008_/images/000197.png b/0008_/images/000197.png new file mode 100644 index 0000000000000000000000000000000000000000..4fee5bdc71405eaa1609c5d79f5c8aa2c3239d5a --- /dev/null +++ b/0008_/images/000197.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d160a2eda83a2ee07797b193f129b0c86d7ce0c0751357cf83b6e680ae56433a +size 1199740 diff --git a/0008_/images/000198.png b/0008_/images/000198.png new file mode 100644 index 0000000000000000000000000000000000000000..86cbb63136bfcd7cb7d2ee2eda6298bb199e4605 --- /dev/null +++ b/0008_/images/000198.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96655156cb22f9ce25d6f117fc25ccfe8ed872975eccb17eef70f230dd570149 +size 1177420 diff --git a/0008_/images/000199.png b/0008_/images/000199.png new file mode 100644 index 0000000000000000000000000000000000000000..93eff0b692b76c6bcfa46e08d7ea403727f2af9f --- /dev/null +++ b/0008_/images/000199.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4922f2219a0edb7a3e6ece574587320881100727d1a38e03d38bafe812e0388b +size 1137481 diff --git a/0008_/images/000200.png b/0008_/images/000200.png new file mode 100644 index 0000000000000000000000000000000000000000..49bccf59a77a5f95088aedb75744e4db73aee6e4 --- /dev/null +++ b/0008_/images/000200.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dac70b1e3661e07af992c92efdc74514c44f10dcd1b34d001e139163ad55ae2 +size 1108408 diff --git a/0008_/images/000201.png b/0008_/images/000201.png new file mode 100644 index 0000000000000000000000000000000000000000..5f2503aa769497301df8f1ab2cfad6f0b5535380 --- /dev/null +++ b/0008_/images/000201.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e130cde26a4239b2dbe1a720881dac3ca234d5acb2d43ae42cdb23a1885ef01 +size 1102407 diff --git a/0008_/images/000202.png b/0008_/images/000202.png new file mode 100644 index 0000000000000000000000000000000000000000..047f511b7e0b7bf9919927a7e27f9eeff9791ec5 --- /dev/null +++ b/0008_/images/000202.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a5d71e40072eddb0ef2a88811f889c30d4b849629ed90b621b38eba500b15c1 +size 1073291 diff --git a/0008_/images/000203.png b/0008_/images/000203.png new file mode 100644 index 0000000000000000000000000000000000000000..251e5a87872ee3a6228ae79d9e8813c7663187d2 --- /dev/null +++ b/0008_/images/000203.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f49176685b7bcb9e301ddc719ae7f889939df2f5aadd46df409176f42a5dde35 +size 1062489 diff --git a/0008_/images/000204.png b/0008_/images/000204.png new file mode 100644 index 0000000000000000000000000000000000000000..1e6f476d92c0bf351561efbb1021ec4f9657fae3 --- /dev/null +++ b/0008_/images/000204.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fed4942464f843a8ae897ce4a9f4c802d9201226a50379c851fe6adba88c65e +size 1060973 diff --git a/0008_/images/000205.png b/0008_/images/000205.png new file mode 100644 index 0000000000000000000000000000000000000000..5bcd310622144026f77e127dd76ac85f0d2440b0 --- /dev/null +++ b/0008_/images/000205.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b9f83999c480385776a701f503f12a99b37c8b2e066415725e8c74c51da8485 +size 1066762 diff --git a/0008_/images/000206.png b/0008_/images/000206.png new file mode 100644 index 0000000000000000000000000000000000000000..192c85d220b696e27756a07885726c6db280386d --- /dev/null +++ b/0008_/images/000206.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e569be9df7bfaf3b5129fdc916e9dee037ddf817860fba4010f484b21d4796ae +size 1070545 diff --git a/0008_/images/000207.png b/0008_/images/000207.png new file mode 100644 index 0000000000000000000000000000000000000000..111c6040ac8dc1db271fa4981cbf7ad1e0852594 --- /dev/null +++ b/0008_/images/000207.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4b662c9491ed59c9fda009e922431fdf609ab511a543dc8357c505ebe508804 +size 1067203 diff --git a/0008_/images/000208.png b/0008_/images/000208.png new file mode 100644 index 0000000000000000000000000000000000000000..e5ef3266497b30b2bd0e1dc5fb4e9ce7dcd7e614 --- /dev/null +++ b/0008_/images/000208.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b184aed428fc3a20e440ee60c6bb6e046f80fcd3fcc1185b88c41d64bb1911e4 +size 1090826 diff --git a/0008_/images/000209.png b/0008_/images/000209.png new file mode 100644 index 0000000000000000000000000000000000000000..04ac2e95d848f52ee5b6c616f37f84762d52c4e1 --- /dev/null +++ b/0008_/images/000209.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8a7ff02af46a923e6bb78e3dbe311a121455b854bc1626c1354706cf83c1390 +size 1118138 diff --git a/0008_/images/000210.png b/0008_/images/000210.png new file mode 100644 index 0000000000000000000000000000000000000000..ca465e409084269150b4d1eea323b4abf3d527de --- /dev/null +++ b/0008_/images/000210.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd87802da4c9b3d28d4dcef61c23aacbafdeef52a87a8622837e53dca1caa3c7 +size 1129994 diff --git a/0008_/images/000211.png b/0008_/images/000211.png new file mode 100644 index 0000000000000000000000000000000000000000..5ec4166c3e927cce94ce67c7a928376dea173ad1 --- /dev/null +++ b/0008_/images/000211.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26fc6c1591202d6eba81c52f54201018876d8d8594d6d33974a6bfbc21c4f864 +size 1142347 diff --git a/0008_/images/000212.png b/0008_/images/000212.png new file mode 100644 index 0000000000000000000000000000000000000000..3431420668cf0ff741eb550c3922ac0fbe56baec --- /dev/null +++ b/0008_/images/000212.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:541229153d35c962038688e84a4e904fef6c557b4f95656484cb2c280b44d940 +size 1170544 diff --git a/0008_/images/000213.png b/0008_/images/000213.png new file mode 100644 index 0000000000000000000000000000000000000000..62ca2e77e95b4e0542455a6c24fe1e8b61e74324 --- /dev/null +++ b/0008_/images/000213.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f7a022a1ff345ad4c600cfa72a072df6bc2906d4a549f437c505506227a86e1 +size 1177172 diff --git a/0008_/images/000214.png b/0008_/images/000214.png new file mode 100644 index 0000000000000000000000000000000000000000..13cba81ba46f0309f3a4de52754aa72749485da2 --- /dev/null +++ b/0008_/images/000214.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5e905a31eb05198ca604c1147f24c3dccd5b266583dd9aaf68246bb7904b49c +size 1155344 diff --git a/0008_/images/000215.png b/0008_/images/000215.png new file mode 100644 index 0000000000000000000000000000000000000000..aafb12f41356523e9492d0dc9a605025d7095651 --- /dev/null +++ b/0008_/images/000215.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6834297a6c28c4402b6d96721790075d5a6741cb6ebd443669833611d55fac0 +size 1102900 diff --git a/0008_/images/000216.png b/0008_/images/000216.png new file mode 100644 index 0000000000000000000000000000000000000000..61d04f5137cc52e37d78cc212c2002daea4f0d6e --- /dev/null +++ b/0008_/images/000216.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2c7a270371c7b721341caa57f0c0ab2bfc955f58616fa3c05e00af186dabb22 +size 1070235 diff --git a/0008_/images/000217.png b/0008_/images/000217.png new file mode 100644 index 0000000000000000000000000000000000000000..64f10067fcbea4e65c3be3ad8dc557c816ef30b5 --- /dev/null +++ b/0008_/images/000217.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66a5cb73fe597a9d9628689a9b83a1097f3e53c115480990e0c518042c40b785 +size 1054860 diff --git a/0008_/images/000218.png b/0008_/images/000218.png new file mode 100644 index 0000000000000000000000000000000000000000..2fe233f529a6947133f9112b3357e7625d4a676f --- /dev/null +++ b/0008_/images/000218.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a469c339dbb4676a68456f36a11a2da41b75af679bd3cd6b43998400e02909b +size 1033262 diff --git a/0008_/images/000219.png b/0008_/images/000219.png new file mode 100644 index 0000000000000000000000000000000000000000..a09b3bcbe40697f97fb29079eae0e793872614b7 --- /dev/null +++ b/0008_/images/000219.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:899afe93ae16a23bd69e5a85dc3594c94f9ef4ac99a659fb9debf9c9bc024fdc +size 1030443 diff --git a/0008_/images/000220.png b/0008_/images/000220.png new file mode 100644 index 0000000000000000000000000000000000000000..f316ab9f8349bc27180ef0d0f079a5ee0613d023 --- /dev/null +++ b/0008_/images/000220.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55476ae036b46b88f84b50bf94ac826701ab3e1df176bd2518278489044f93ee +size 1046755 diff --git a/0008_/images/000221.png b/0008_/images/000221.png new file mode 100644 index 0000000000000000000000000000000000000000..b50a676cd6e9f4250de14953fb27e5a6c571fd34 --- /dev/null +++ b/0008_/images/000221.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:070ff1c538bfdd6a2a50bf819dd7f6c03bba1ca5a4b64511fcb600a8e8141a34 +size 1037877 diff --git a/0008_/images/000222.png b/0008_/images/000222.png new file mode 100644 index 0000000000000000000000000000000000000000..a207f3950016f2205e03a167c54a0820e1205a77 --- /dev/null +++ b/0008_/images/000222.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56a08272bfb423ee5e9a7b299ecfa59e395c1547b86fe77a935cc3225716d4fb +size 1045680 diff --git a/0008_/images/000223.png b/0008_/images/000223.png new file mode 100644 index 0000000000000000000000000000000000000000..fd6a06bbeda1728eda90b0be2117096bf8830eb0 --- /dev/null +++ b/0008_/images/000223.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95cc647bf72d1e5294077484c1022d8b17057a561ec310172c6a34040927c8a6 +size 1049884 diff --git a/0008_/images/000224.png b/0008_/images/000224.png new file mode 100644 index 0000000000000000000000000000000000000000..92f220a43f23a46bf105e304b33f9f53142f6fdc --- /dev/null +++ b/0008_/images/000224.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96cc371964403031f8936a81b98261571ad311f8df0b9b3a6b122803e03436c4 +size 1040664 diff --git a/0008_/images/000225.png b/0008_/images/000225.png new file mode 100644 index 0000000000000000000000000000000000000000..65b30a6f733752533e3dfad251b2ff54566e7671 --- /dev/null +++ b/0008_/images/000225.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ce2e3a9b0abe622c2c7eb8ba2aeedb6d45cf77959de2aac1ae0d0bf46b9ceb2 +size 1063301 diff --git a/0008_/images/000226.png b/0008_/images/000226.png new file mode 100644 index 0000000000000000000000000000000000000000..de7ab382f198fccf395c3c725bed28775243e0f0 --- /dev/null +++ b/0008_/images/000226.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e14f71d025f793a9c4442b86eec57a1dc4e8aa2eb52e0b5a9817397a4d015f87 +size 1092672 diff --git a/0008_/images/000227.png b/0008_/images/000227.png new file mode 100644 index 0000000000000000000000000000000000000000..7931b56d55606a46b47eed8284847191d14189d4 --- /dev/null +++ b/0008_/images/000227.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6f11256f2a60a834dac5baf5c5739926825e2687fce7088b99fd8ef80f670b8 +size 1089120 diff --git a/0008_/images/000228.png b/0008_/images/000228.png new file mode 100644 index 0000000000000000000000000000000000000000..be80b6557ea363ec8540ea47805619cacc1cf656 --- /dev/null +++ b/0008_/images/000228.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a7067c79e67e2385163e078b76c106ad8dbe8b55d109c64e48e53662e4cd472 +size 1109459 diff --git a/0008_/images/000229.png b/0008_/images/000229.png new file mode 100644 index 0000000000000000000000000000000000000000..8c76a58597ef67c5fafc44a6296c3b919d102dfc --- /dev/null +++ b/0008_/images/000229.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:970d9075867d554a2c0e17d0ae3a1c96168024daff85aa305df3fbac4bf5dd78 +size 1100155 diff --git a/0008_/images/000230.png b/0008_/images/000230.png new file mode 100644 index 0000000000000000000000000000000000000000..05ced9054f21168a8c8f891adea99e674d6d10a9 --- /dev/null +++ b/0008_/images/000230.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:707cc63fc7c272676ade49f9723251abf4d1ae5bc81a1b95f564cfc6e9a68fd1 +size 1101061 diff --git a/0008_/images/000231.png b/0008_/images/000231.png new file mode 100644 index 0000000000000000000000000000000000000000..7ca98b61be7ab5df610493fe8a03ef8b1f8ef701 --- /dev/null +++ b/0008_/images/000231.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ddc2028e388ea0c320f9b0454cc849007c217ee96fff58c9aedbebc104ba3dda +size 1115648