wenig
This commit is contained in:
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
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File diff suppressed because it is too large
Load Diff
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File diff suppressed because it is too large
Load Diff
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File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
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{
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@@ -9,14 +9,14 @@
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Load Diff
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|
||||
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||||
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|
||||
[
|
||||
0.0,
|
||||
@@ -36,18 +36,23 @@
|
||||
"method": "single_camera_marker_center_lm",
|
||||
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
|
||||
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|
||||
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|
||||
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||||
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|
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|
||||
@@ -57,10 +62,10 @@
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3
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@@ -69,269 +74,334 @@
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File diff suppressed because it is too large
Load Diff
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File diff suppressed because it is too large
Load Diff
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@@ -1,58 +1,58 @@
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|
||||
Reference in New Issue
Block a user