Claude: Docker Phase 1
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
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Load Diff
@@ -1,6 +1,6 @@
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"created_utc": "2026-06-02T09:26:17Z",
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"created_utc": "2026-06-02T14:49:27Z",
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@@ -36,25 +36,23 @@
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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
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File diff suppressed because it is too large
Load Diff
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|
||||
185.1165313720703
|
||||
416.6551208496094,
|
||||
185.05662536621094
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||||
],
|
||||
"reprojection_error_px": 2.8501664203300714,
|
||||
"reprojection_error_px": 2.930626399789071,
|
||||
"confidence": 0.3384322903762507
|
||||
},
|
||||
{
|
||||
@@ -540,10 +540,10 @@
|
||||
183.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
273.87469482421875,
|
||||
181.97755432128906
|
||||
273.7690124511719,
|
||||
182.0309295654297
|
||||
],
|
||||
"reprojection_error_px": 2.226984005116994,
|
||||
"reprojection_error_px": 2.27034927619664,
|
||||
"confidence": 0.3375471143770103
|
||||
},
|
||||
{
|
||||
@@ -553,10 +553,10 @@
|
||||
124.5
|
||||
],
|
||||
"projected_center_px": [
|
||||
309.15228271484375,
|
||||
123.18411254882812
|
||||
309.096435546875,
|
||||
123.10820770263672
|
||||
],
|
||||
"reprojection_error_px": 1.8835874455040698,
|
||||
"reprojection_error_px": 1.9766332419232053,
|
||||
"confidence": 0.3375471143770103
|
||||
},
|
||||
{
|
||||
@@ -566,10 +566,10 @@
|
||||
66.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
161.47378540039062,
|
||||
64.667236328125
|
||||
161.25509643554688,
|
||||
64.62251281738281
|
||||
],
|
||||
"reprojection_error_px": 1.4144722021634208,
|
||||
"reprojection_error_px": 1.4009086800014332,
|
||||
"confidence": 0.3158166687011719
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||||
},
|
||||
{
|
||||
@@ -579,10 +579,10 @@
|
||||
56.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
],
|
||||
"reprojection_error_px": 1.8446131303322555,
|
||||
"reprojection_error_px": 1.6645239890700165,
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||||
"confidence": 0.2485923429199218
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||||
}
|
||||
]
|
||||
|
||||
@@ -1,58 +1,58 @@
|
||||
{
|
||||
"schema_version": "1.0",
|
||||
"created_utc": "2026-06-02T09:26:33Z",
|
||||
"created_utc": "2026-06-02T14:49:44Z",
|
||||
"method": "hybrid",
|
||||
"movements": {
|
||||
"x": {
|
||||
"value": 52.71680357433185,
|
||||
"value": 50.659401898165285,
|
||||
"unit": "mm",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 3
|
||||
},
|
||||
"y": {
|
||||
"value": -2.4451532872107116,
|
||||
"value": -2.1097603023451983,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 3
|
||||
},
|
||||
"z": {
|
||||
"value": 94.6739025934215,
|
||||
"value": 95.05807492180365,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "high",
|
||||
"n_markers": 3
|
||||
"n_markers": 4
|
||||
},
|
||||
"a": {
|
||||
"value": 20.96650348696646,
|
||||
"value": 19.456685522853544,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "high",
|
||||
"n_markers": 3
|
||||
},
|
||||
"b": {
|
||||
"value": 58.92773548591313,
|
||||
"value": 59.493593848762565,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 5
|
||||
},
|
||||
"c": {
|
||||
"value": 9.045859059059458,
|
||||
"value": 9.086864644282954,
|
||||
"unit": "deg",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 5
|
||||
},
|
||||
"e": {
|
||||
"value": 1.2993720253335839,
|
||||
"value": 2.3223695087189475,
|
||||
"unit": "mm",
|
||||
"observable": true,
|
||||
"confidence": "medium",
|
||||
"n_markers": 5
|
||||
}
|
||||
},
|
||||
"residual_rms": 2.1752805972816693,
|
||||
"num_markers": 54
|
||||
"residual_rms": 1.8980586620716353,
|
||||
"num_markers": 48
|
||||
}
|
||||
Reference in New Issue
Block a user