From 9c8d12d2deafae057353d0ecefee0bb09f1116ce Mon Sep 17 00:00:00 2001
From: lxm <1367240116@qq.com>
Date: Mon, 24 Jul 2023 19:21:16 +0800
Subject: [PATCH 1/2] Eval model on COCO val

---
 CMakeLists.txt                                |     3 +
 .../test/eval_mAP_on_coco_val/coco_eval.py    |    29 +
 .../eval_mAP_on_coco_val.cpp                  |    99 +
 .../test/eval_mAP_on_coco_val/gt_coco.json    | 15382 ++++++++++++++++
 .../test/eval_mAP_on_coco_val/pd2coco_json.py |    73 +
 5 files changed, 15586 insertions(+)
 create mode 100644 samples/test/eval_mAP_on_coco_val/coco_eval.py
 create mode 100644 samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp
 create mode 100644 samples/test/eval_mAP_on_coco_val/gt_coco.json
 create mode 100644 samples/test/eval_mAP_on_coco_val/pd2coco_json.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e35dffe..d19ed0c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -269,6 +269,9 @@ target_link_libraries(GimbalUdpDetectionInfoSender sv_world)
 add_executable(EvalFpsOnVideo samples/test/eval_fps_on_video.cpp)
 target_link_libraries(EvalFpsOnVideo sv_world)
 
+add_executable(EvalModelOnCocoVal samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp)
+target_link_libraries(EvalModelOnCocoVal sv_world)
+
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/samples/calib)
 add_executable(CameraCalibrarion samples/calib/calibrate_camera_charuco.cpp)
 target_link_libraries(CameraCalibrarion ${OpenCV_LIBS})
diff --git a/samples/test/eval_mAP_on_coco_val/coco_eval.py b/samples/test/eval_mAP_on_coco_val/coco_eval.py
new file mode 100644
index 0000000..89ac998
--- /dev/null
+++ b/samples/test/eval_mAP_on_coco_val/coco_eval.py
@@ -0,0 +1,29 @@
+from pycocotools.coco import COCO
+from pycocotools.cocoeval import COCOeval
+
+if __name__ == '__main__':
+	pred_json = '/home/amov/SpireCV/samples/test/eval_mAP_on_coco_val/pd_coco.json'
+	anno_json = '/home/amov/SpireCV/samples/test/eval_mAP_on_coco_val/gt_coco.json'
+
+	# use COCO API to load forecast results and annotations
+	cocoGt = COCO(anno_json)
+	cocoDt = cocoGt.loadRes(pred_json)
+
+	# create COCO eval object
+	cocoEval = COCOeval(cocoGt, cocoDt, 'bbox')
+
+	# assessment
+	cocoEval.evaluate()
+	cocoEval.accumulate()
+	cocoEval.summarize()
+
+	# save results
+	with open('coco_eval.txt', 'w') as f:
+		f.write(str(cocoEval.stats))
+
+
+
+
+
+
+
diff --git a/samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp b/samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp
new file mode 100644
index 0000000..c4da828
--- /dev/null
+++ b/samples/test/eval_mAP_on_coco_val/eval_mAP_on_coco_val.cpp
@@ -0,0 +1,99 @@
+#include <iostream>
+#include <string>
+// 包含SpireCV SDK头文件
+#include <sv_world.h>
+
+using namespace std;
+using namespace cv;
+
+//extract name
+std::string GetImageFileName(const std::string& imagePath) {
+    size_t lastSlash = imagePath.find_last_of("/\\");
+    if (lastSlash == std::string::npos) {
+        return imagePath;
+    } else {
+        std::string fileName = imagePath.substr(lastSlash + 1);
+        size_t lastDot = fileName.find_last_of(".");
+        if (lastDot != std::string::npos) {
+            return fileName.substr(0, lastDot);
+        }
+        return fileName;
+    }
+}
+
+
+int main(int argc, char *argv[])
+{
+  // 实例化 通用目标 检测器类
+  sv::CommonObjectDetector cod;
+  // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+
+  //load data
+  string val_path = sv::get_home() + "/SpireCV/datasets/coco128/images/train2017"; 
+  vector<string> val_image;
+  glob(val_path, val_image, false);
+  if (val_image.size() == 0)
+  { 
+    printf("val_image error!!!\n");
+    exit(1);
+  }
+
+  //preds folder
+  std::string folder = sv::get_home() + "/SpireCV/datasets/coco128/preds";
+  int checkStatus = std::system(("if [ -d \"" + folder + "\" ]; then echo; fi").c_str());
+  if(checkStatus == 0)
+  {
+    int removeStatus = std::system(("rm -rf \"" + folder + "\"").c_str());
+    if(removeStatus != 0)
+    {
+      printf("remove older preds folder error!!!\n");
+      exit(1);
+    }
+  } 
+
+  int status = std::system(("mkdir \""+folder+"\"").c_str());
+  if(status != 0)
+  {
+    printf("create preds folder error!!!\n");
+    exit(1);
+  }
+
+
+  for (int i = 0; i < val_image.size(); i++) {
+
+    //create pred file
+    std::string val_image_name = GetImageFileName(val_image[i]);
+    std::string filename = sv::get_home() + "/SpireCV/datasets/coco128/preds/"+ val_image_name + ".txt";
+    std::ofstream file(filename);
+    file.is_open();
+    file<<std::fixed<<std::setprecision(6);
+
+    // 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
+    sv::TargetsInFrame tgts(i);
+    cv::Mat img = imread(val_image[i]);
+
+    int rows = img.rows;
+    int cols = img.cols;
+   
+    // 执行通用目标检测
+    cod.detect(img, tgts);
+    // 可视化检测结果，叠加到img上
+    sv::drawTargetsInFrame(img, tgts);
+    
+    // reslusts
+    for (int j = 0; j < tgts.targets.size(); j++)
+    {
+        sv::Box b;
+        tgts.targets[j].getBox(b);
+        file<<tgts.targets[j].category_id<<" "<<(float)(b.x1+b.x2)/(2*cols)<<" "<<(float)(b.y1+b.y2)/(2*rows)<<" "<<(float)(b.x2-b.x1)/cols<<" "<<(float)(b.y2-b.y1)/rows<<" "<<(float)tgts.targets[j].score<<"\n";
+    }
+    file.close();
+    
+    cv::imshow("image", img);
+    cv::waitKey(1000);
+    img.release();
+    cv::destroyAllWindows();
+    }
+  return 0;
+}
diff --git a/samples/test/eval_mAP_on_coco_val/gt_coco.json b/samples/test/eval_mAP_on_coco_val/gt_coco.json
new file mode 100644
index 0000000..42183ae
--- /dev/null
+++ b/samples/test/eval_mAP_on_coco_val/gt_coco.json
@@ -0,0 +1,15382 @@
+{
+  "info": {
+    "description": "COCOVal Dataset",
+    "url": "www.amov.com",
+    "version": "1.0",
+    "year": 2023,
+    "contributor": "lxm",
+    "date_created": "2023-07-23 08:34:00.041111"
+  },
+  "licenses": [
+    {
+      "url": "http://creativecommons.org/licenses/by-nc-sa/2.0/",
+      "id": 1,
+      "name": "Attribution-NonCommercial-ShareAlike License"
+    }
+  ],
+  "images": [
+    {
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+      "area": 597.6202441605121,
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+    }
+  ],
+  "categories": [
+    {
+      "id": 1,
+      "name": "person",
+      "supercategory": "person"
+    },
+    {
+      "id": 2,
+      "name": "bicycle",
+      "supercategory": "bicycle"
+    },
+    {
+      "id": 3,
+      "name": "car",
+      "supercategory": "car"
+    },
+    {
+      "id": 4,
+      "name": "motorcycle",
+      "supercategory": "motorcycle"
+    },
+    {
+      "id": 5,
+      "name": "airplane",
+      "supercategory": "airplane"
+    },
+    {
+      "id": 6,
+      "name": "bus",
+      "supercategory": "bus"
+    },
+    {
+      "id": 7,
+      "name": "train",
+      "supercategory": "train"
+    },
+    {
+      "id": 8,
+      "name": "truck",
+      "supercategory": "truck"
+    },
+    {
+      "id": 9,
+      "name": "boat",
+      "supercategory": "boat"
+    },
+    {
+      "id": 10,
+      "name": "traffic light",
+      "supercategory": "traffic light"
+    },
+    {
+      "id": 11,
+      "name": "fire hydrant",
+      "supercategory": "fire hydrant"
+    },
+    {
+      "id": 12,
+      "name": "stop sign",
+      "supercategory": "stop sign"
+    },
+    {
+      "id": 13,
+      "name": "parking meter",
+      "supercategory": "parking meter"
+    },
+    {
+      "id": 14,
+      "name": "bench",
+      "supercategory": "bench"
+    },
+    {
+      "id": 15,
+      "name": "bird",
+      "supercategory": "bird"
+    },
+    {
+      "id": 16,
+      "name": "cat",
+      "supercategory": "cat"
+    },
+    {
+      "id": 17,
+      "name": "dog",
+      "supercategory": "dog"
+    },
+    {
+      "id": 18,
+      "name": "horse",
+      "supercategory": "horse"
+    },
+    {
+      "id": 19,
+      "name": "sheep",
+      "supercategory": "sheep"
+    },
+    {
+      "id": 20,
+      "name": "cow",
+      "supercategory": "cow"
+    },
+    {
+      "id": 21,
+      "name": "elephant",
+      "supercategory": "elephant"
+    },
+    {
+      "id": 22,
+      "name": "bear",
+      "supercategory": "bear"
+    },
+    {
+      "id": 23,
+      "name": "zebra",
+      "supercategory": "zebra"
+    },
+    {
+      "id": 24,
+      "name": "giraffe",
+      "supercategory": "giraffe"
+    },
+    {
+      "id": 25,
+      "name": "backpack",
+      "supercategory": "backpack"
+    },
+    {
+      "id": 26,
+      "name": "umbrella",
+      "supercategory": "umbrella"
+    },
+    {
+      "id": 27,
+      "name": "handbag",
+      "supercategory": "handbag"
+    },
+    {
+      "id": 28,
+      "name": "tie",
+      "supercategory": "tie"
+    },
+    {
+      "id": 29,
+      "name": "suitcase",
+      "supercategory": "suitcase"
+    },
+    {
+      "id": 30,
+      "name": "frisbee",
+      "supercategory": "frisbee"
+    },
+    {
+      "id": 31,
+      "name": "skis",
+      "supercategory": "skis"
+    },
+    {
+      "id": 32,
+      "name": "snowboard",
+      "supercategory": "snowboard"
+    },
+    {
+      "id": 33,
+      "name": "sports ball",
+      "supercategory": "sports ball"
+    },
+    {
+      "id": 34,
+      "name": "kite",
+      "supercategory": "kite"
+    },
+    {
+      "id": 35,
+      "name": "baseball bat",
+      "supercategory": "baseball bat"
+    },
+    {
+      "id": 36,
+      "name": "baseball glove",
+      "supercategory": "baseball glove"
+    },
+    {
+      "id": 37,
+      "name": "skateboard",
+      "supercategory": "skateboard"
+    },
+    {
+      "id": 38,
+      "name": "surfboard",
+      "supercategory": "surfboard"
+    },
+    {
+      "id": 39,
+      "name": "tennis racket",
+      "supercategory": "tennis racket"
+    },
+    {
+      "id": 40,
+      "name": "bottle",
+      "supercategory": "bottle"
+    },
+    {
+      "id": 41,
+      "name": "wine glass",
+      "supercategory": "wine glass"
+    },
+    {
+      "id": 42,
+      "name": "cup",
+      "supercategory": "cup"
+    },
+    {
+      "id": 43,
+      "name": "fork",
+      "supercategory": "fork"
+    },
+    {
+      "id": 44,
+      "name": "knife",
+      "supercategory": "knife"
+    },
+    {
+      "id": 45,
+      "name": "spoon",
+      "supercategory": "spoon"
+    },
+    {
+      "id": 46,
+      "name": "bowl",
+      "supercategory": "bowl"
+    },
+    {
+      "id": 47,
+      "name": "banana",
+      "supercategory": "banana"
+    },
+    {
+      "id": 48,
+      "name": "apple",
+      "supercategory": "apple"
+    },
+    {
+      "id": 49,
+      "name": "sandwich",
+      "supercategory": "sandwich"
+    },
+    {
+      "id": 50,
+      "name": "orange",
+      "supercategory": "orange"
+    },
+    {
+      "id": 51,
+      "name": "broccoli",
+      "supercategory": "broccoli"
+    },
+    {
+      "id": 52,
+      "name": "carrot",
+      "supercategory": "carrot"
+    },
+    {
+      "id": 53,
+      "name": "hot dog",
+      "supercategory": "hot dog"
+    },
+    {
+      "id": 54,
+      "name": "pizza",
+      "supercategory": "pizza"
+    },
+    {
+      "id": 55,
+      "name": "donut",
+      "supercategory": "donut"
+    },
+    {
+      "id": 56,
+      "name": "cake",
+      "supercategory": "cake"
+    },
+    {
+      "id": 57,
+      "name": "chair",
+      "supercategory": "chair"
+    },
+    {
+      "id": 58,
+      "name": "couch",
+      "supercategory": "couch"
+    },
+    {
+      "id": 59,
+      "name": "potted plant",
+      "supercategory": "potted plant"
+    },
+    {
+      "id": 60,
+      "name": "bed",
+      "supercategory": "bed"
+    },
+    {
+      "id": 61,
+      "name": "dining table",
+      "supercategory": "dining table"
+    },
+    {
+      "id": 62,
+      "name": "toilet",
+      "supercategory": "toilet"
+    },
+    {
+      "id": 63,
+      "name": "tv",
+      "supercategory": "tv"
+    },
+    {
+      "id": 64,
+      "name": "laptop",
+      "supercategory": "laptop"
+    },
+    {
+      "id": 65,
+      "name": "mouse",
+      "supercategory": "mouse"
+    },
+    {
+      "id": 66,
+      "name": "remote",
+      "supercategory": "remote"
+    },
+    {
+      "id": 67,
+      "name": "keyboard",
+      "supercategory": "keyboard"
+    },
+    {
+      "id": 68,
+      "name": "cell phone",
+      "supercategory": "cell phone"
+    },
+    {
+      "id": 69,
+      "name": "microwave",
+      "supercategory": "microwave"
+    },
+    {
+      "id": 70,
+      "name": "oven",
+      "supercategory": "oven"
+    },
+    {
+      "id": 71,
+      "name": "toaster",
+      "supercategory": "toaster"
+    },
+    {
+      "id": 72,
+      "name": "sink",
+      "supercategory": "sink"
+    },
+    {
+      "id": 73,
+      "name": "refrigerator",
+      "supercategory": "refrigerator"
+    },
+    {
+      "id": 74,
+      "name": "book",
+      "supercategory": "book"
+    },
+    {
+      "id": 75,
+      "name": "clock",
+      "supercategory": "clock"
+    },
+    {
+      "id": 76,
+      "name": "vase",
+      "supercategory": "vase"
+    },
+    {
+      "id": 77,
+      "name": "scissors",
+      "supercategory": "scissors"
+    },
+    {
+      "id": 78,
+      "name": "teddy bear",
+      "supercategory": "teddy bear"
+    },
+    {
+      "id": 79,
+      "name": "hair drier",
+      "supercategory": "hair drier"
+    },
+    {
+      "id": 80,
+      "name": "toothbrush",
+      "supercategory": "toothbrush"
+    }
+  ]
+}
\ No newline at end of file
diff --git a/samples/test/eval_mAP_on_coco_val/pd2coco_json.py b/samples/test/eval_mAP_on_coco_val/pd2coco_json.py
new file mode 100644
index 0000000..ddfa577
--- /dev/null
+++ b/samples/test/eval_mAP_on_coco_val/pd2coco_json.py
@@ -0,0 +1,73 @@
+import datetime
+import json
+import os
+import cv2
+
+# revert prediction results to coco_json 
+
+# all files dir
+images_path = '/home/amov/SpireCV/datasets/coco128/images/train2017'
+preds_path = '/home/amov/SpireCV/datasets/coco128/preds'
+output_path = '/home/amov/SpireCV/samples/test/eval_mAP_on_coco_val'
+coco_json_save = output_path + '/pd_coco.json'
+
+# config coco_json
+coco_json = []
+
+# Determine whether the folder exists
+if not os.path.exists(output_path):
+	os.makedirs(output_path)
+
+# load images dir
+images = os.listdir(images_path)
+for image in images:
+	print(image)
+	# get image name
+	image_name, image_suffix = os.path.splitext(image)
+	# get image W and H
+	image_path = images_path + '/' + image
+	img = cv2.imread(image_path)
+	height, width, _ = img.shape
+	
+	# read pred's txt
+	pred_path = preds_path + '/' + image_name + '.txt'
+	if not os.path.exists(pred_path):
+		continue
+	with open(pred_path, 'r') as f:
+		preds = f.readlines()
+		preds = [l.strip() for l in preds]
+		for j,pred in enumerate(preds):
+			pred = pred.split(' ')
+			category_id = int(pred[0])
+
+			x = float(pred[1]) * width
+			y = float(pred[2]) * height
+			w = float(pred[3]) * width
+			h = float(pred[4]) * height
+			xmin = x - w / 2
+			ymin = y - h / 2
+			xmax = x + w / 2
+			ymax = y + h / 2
+			
+			coco_json.append({
+				'image_id': int(image_name),
+				'category_id': category_id + 1,
+				'bbox': [xmin, ymin, w, h],
+				'score': float(pred[5]),
+				'area': w * h
+				
+			})
+
+# save json
+with open(os.path.join(coco_json_save), 'w') as f:
+	json.dump(coco_json, f, indent=2)
+
+print(len(coco_json), 'Done!')
+
+
+
+
+
+
+
+

From 39185f7af14eefa381f7d7da9884de53f3fb4e6e Mon Sep 17 00:00:00 2001
From: jario-jin <jariof@foxmail.com>
Date: Tue, 25 Jul 2023 09:13:01 +0000
Subject: [PATCH 2/2] =?UTF-8?q?=E5=88=A0=E9=99=A4=E6=96=87=E4=BB=B6=20samp?=
 =?UTF-8?q?les/test/eval=5FmAP=5Fon=5Fcoco=5Fval/gt=5Fcoco.json?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../test/eval_mAP_on_coco_val/gt_coco.json    | 15382 ----------------
 1 file changed, 15382 deletions(-)
 delete mode 100644 samples/test/eval_mAP_on_coco_val/gt_coco.json

diff --git a/samples/test/eval_mAP_on_coco_val/gt_coco.json b/samples/test/eval_mAP_on_coco_val/gt_coco.json
deleted file mode 100644
index 42183ae..0000000
--- a/samples/test/eval_mAP_on_coco_val/gt_coco.json
+++ /dev/null
@@ -1,15382 +0,0 @@
-{
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-      "name": "cow",
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-      "name": "giraffe",
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-    },
-    {
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-      "name": "backpack",
-      "supercategory": "backpack"
-    },
-    {
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-      "name": "umbrella",
-      "supercategory": "umbrella"
-    },
-    {
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-      "name": "handbag",
-      "supercategory": "handbag"
-    },
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-      "name": "tie",
-      "supercategory": "tie"
-    },
-    {
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-      "name": "suitcase",
-      "supercategory": "suitcase"
-    },
-    {
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-      "name": "frisbee",
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-      "name": "snowboard",
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-      "supercategory": "sports ball"
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-    },
-    {
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-      "name": "baseball bat",
-      "supercategory": "baseball bat"
-    },
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-      "name": "baseball glove",
-      "supercategory": "baseball glove"
-    },
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-      "name": "skateboard",
-      "supercategory": "skateboard"
-    },
-    {
-      "id": 38,
-      "name": "surfboard",
-      "supercategory": "surfboard"
-    },
-    {
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-      "name": "tennis racket",
-      "supercategory": "tennis racket"
-    },
-    {
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-      "name": "bottle",
-      "supercategory": "bottle"
-    },
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-      "name": "wine glass",
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-    },
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-    },
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-    },
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-      "supercategory": "sandwich"
-    },
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-      "name": "orange",
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-    },
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-      "name": "hot dog",
-      "supercategory": "hot dog"
-    },
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-      "name": "pizza",
-      "supercategory": "pizza"
-    },
-    {
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-      "name": "donut",
-      "supercategory": "donut"
-    },
-    {
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-      "name": "cake",
-      "supercategory": "cake"
-    },
-    {
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-      "name": "chair",
-      "supercategory": "chair"
-    },
-    {
-      "id": 58,
-      "name": "couch",
-      "supercategory": "couch"
-    },
-    {
-      "id": 59,
-      "name": "potted plant",
-      "supercategory": "potted plant"
-    },
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-      "name": "bed",
-      "supercategory": "bed"
-    },
-    {
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-      "name": "dining table",
-      "supercategory": "dining table"
-    },
-    {
-      "id": 62,
-      "name": "toilet",
-      "supercategory": "toilet"
-    },
-    {
-      "id": 63,
-      "name": "tv",
-      "supercategory": "tv"
-    },
-    {
-      "id": 64,
-      "name": "laptop",
-      "supercategory": "laptop"
-    },
-    {
-      "id": 65,
-      "name": "mouse",
-      "supercategory": "mouse"
-    },
-    {
-      "id": 66,
-      "name": "remote",
-      "supercategory": "remote"
-    },
-    {
-      "id": 67,
-      "name": "keyboard",
-      "supercategory": "keyboard"
-    },
-    {
-      "id": 68,
-      "name": "cell phone",
-      "supercategory": "cell phone"
-    },
-    {
-      "id": 69,
-      "name": "microwave",
-      "supercategory": "microwave"
-    },
-    {
-      "id": 70,
-      "name": "oven",
-      "supercategory": "oven"
-    },
-    {
-      "id": 71,
-      "name": "toaster",
-      "supercategory": "toaster"
-    },
-    {
-      "id": 72,
-      "name": "sink",
-      "supercategory": "sink"
-    },
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-      "name": "refrigerator",
-      "supercategory": "refrigerator"
-    },
-    {
-      "id": 74,
-      "name": "book",
-      "supercategory": "book"
-    },
-    {
-      "id": 75,
-      "name": "clock",
-      "supercategory": "clock"
-    },
-    {
-      "id": 76,
-      "name": "vase",
-      "supercategory": "vase"
-    },
-    {
-      "id": 77,
-      "name": "scissors",
-      "supercategory": "scissors"
-    },
-    {
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-      "name": "teddy bear",
-      "supercategory": "teddy bear"
-    },
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-      "id": 79,
-      "name": "hair drier",
-      "supercategory": "hair drier"
-    },
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-      "id": 80,
-      "name": "toothbrush",
-      "supercategory": "toothbrush"
-    }
-  ]
-}
\ No newline at end of file