16MPixel Bilder + Arbeiten an Statistik
This commit is contained in:
726
data/evaluations/Scene9b/aruco_positions_initial.json
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726
data/evaluations/Scene9b/aruco_positions_initial.json
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725
data/evaluations/Scene9b/aruco_positions_optimized.json
Normal file
725
data/evaluations/Scene9b/aruco_positions_optimized.json
Normal file
@@ -0,0 +1,725 @@
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1618
data/evaluations/Scene9b/render_a_aruco_detection.json
Normal file
1618
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Normal file
File diff suppressed because it is too large
Load Diff
445
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3014
data/evaluations/Scene9b/render_b_aruco_detection.json
Normal file
3014
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Normal file
File diff suppressed because it is too large
Load Diff
776
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Normal file
776
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Normal file
@@ -0,0 +1,776 @@
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820
data/evaluations/Scene9b/render_c_aruco_detection.json
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820
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324
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1194
data/evaluations/Scene9b/render_d_aruco_detection.json
Normal file
1194
data/evaluations/Scene9b/render_d_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
369
data/evaluations/Scene9b/render_d_camera_pose.json
Normal file
369
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Normal file
@@ -0,0 +1,369 @@
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2075
data/evaluations/Scene9b/render_e_aruco_detection.json
Normal file
2075
data/evaluations/Scene9b/render_e_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
609
data/evaluations/Scene9b/render_e_camera_pose.json
Normal file
609
data/evaluations/Scene9b/render_e_camera_pose.json
Normal file
@@ -0,0 +1,609 @@
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||||
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2066
data/evaluations/Scene9b/render_f_aruco_detection.json
Normal file
2066
data/evaluations/Scene9b/render_f_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
627
data/evaluations/Scene9b/render_f_camera_pose.json
Normal file
627
data/evaluations/Scene9b/render_f_camera_pose.json
Normal file
@@ -0,0 +1,627 @@
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2170
data/evaluations/Scene9b/render_g_aruco_detection.json
Normal file
2170
data/evaluations/Scene9b/render_g_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
640
data/evaluations/Scene9b/render_g_camera_pose.json
Normal file
640
data/evaluations/Scene9b/render_g_camera_pose.json
Normal file
@@ -0,0 +1,640 @@
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5025
data/evaluations/Scene9b/robot_state.json
Normal file
5025
data/evaluations/Scene9b/robot_state.json
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user