calculate scenes
This commit is contained in:
782
data/evaluations/Scene5/aruco_positions_initial.json
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782
data/evaluations/Scene5/aruco_positions_initial.json
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781
data/evaluations/Scene5/aruco_positions_optimized.json
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781
data/evaluations/Scene5/aruco_positions_optimized.json
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@@ -0,0 +1,781 @@
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2320
data/evaluations/Scene5/render_a_aruco_detection.json
Normal file
2320
data/evaluations/Scene5/render_a_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
610
data/evaluations/Scene5/render_a_camera_pose.json
Normal file
610
data/evaluations/Scene5/render_a_camera_pose.json
Normal file
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3022
data/evaluations/Scene5/render_b_aruco_detection.json
Normal file
3022
data/evaluations/Scene5/render_b_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
753
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Normal file
753
data/evaluations/Scene5/render_b_camera_pose.json
Normal file
@@ -0,0 +1,753 @@
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1174
data/evaluations/Scene5/render_c_aruco_detection.json
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1174
data/evaluations/Scene5/render_c_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
285
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Normal file
285
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Normal file
@@ -0,0 +1,285 @@
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1269
data/evaluations/Scene5/render_d_aruco_detection.json
Normal file
1269
data/evaluations/Scene5/render_d_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
355
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Normal file
355
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Normal file
@@ -0,0 +1,355 @@
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1988
data/evaluations/Scene5/render_e_aruco_detection.json
Normal file
1988
data/evaluations/Scene5/render_e_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
537
data/evaluations/Scene5/render_e_camera_pose.json
Normal file
537
data/evaluations/Scene5/render_e_camera_pose.json
Normal file
@@ -0,0 +1,537 @@
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2137
data/evaluations/Scene5/render_f_aruco_detection.json
Normal file
2137
data/evaluations/Scene5/render_f_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
597
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Normal file
597
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Normal file
@@ -0,0 +1,597 @@
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2353
data/evaluations/Scene5/render_g_aruco_detection.json
Normal file
2353
data/evaluations/Scene5/render_g_aruco_detection.json
Normal file
File diff suppressed because it is too large
Load Diff
656
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Normal file
656
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Normal file
@@ -0,0 +1,656 @@
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||||
"qa": {
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||||
"sanity_notes": []
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||||
}
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||||
}
|
||||
Reference in New Issue
Block a user