Claude: über nacht arbeiten. Pipeline verbessern
This commit is contained in:
@@ -1,6 +1,6 @@
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"created_utc": "2026-06-01T23:08:39Z",
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"projected_center_px": [
|
||||
1174.74560546875,
|
||||
517.7820434570312
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||||
1321.26806640625,
|
||||
718.3219604492188
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||||
],
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||||
"reprojection_error_px": 0.5326348689648198,
|
||||
"confidence": 0.1152962676763461
|
||||
"reprojection_error_px": 0.07419367416804708,
|
||||
"confidence": 0.18132418976890263
|
||||
},
|
||||
{
|
||||
"marker_id": 82,
|
||||
"observed_center_px": [
|
||||
1097.25,
|
||||
667.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
1097.1846923828125,
|
||||
667.2700805664062
|
||||
],
|
||||
"reprojection_error_px": 0.06832506136041783,
|
||||
"confidence": 0.14200071347644871
|
||||
}
|
||||
]
|
||||
},
|
||||
|
||||
Reference in New Issue
Block a user