Claude: Findet .npz Fehler
This commit is contained in:
537
data/evaluations/Scene8/render_e_camera_pose.json
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537
data/evaluations/Scene8/render_e_camera_pose.json
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"confidence": 0.11774828338549573
|
||||
},
|
||||
{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
379.0,
|
||||
409.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
378.81402587890625,
|
||||
409.4864501953125
|
||||
],
|
||||
"reprojection_error_px": 0.3008239827206471,
|
||||
"confidence": 0.08897781183808398
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user