16MPixel Bilder + Arbeiten an Statistik
This commit is contained in:
537
data/evaluations/Scene9/render_e_camera_pose.json
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537
data/evaluations/Scene9/render_e_camera_pose.json
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{
|
||||
"marker_id": 64,
|
||||
"observed_center_px": [
|
||||
378.5,
|
||||
409.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
377.0504150390625,
|
||||
409.83306884765625
|
||||
],
|
||||
"reprojection_error_px": 1.5624550681806375,
|
||||
"confidence": 0.09620577544552089
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user