16MPixel Bilder + Arbeiten an Statistik
This commit is contained in:
551
data/evaluations/Scene9a/render_a_camera_pose.json
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551
data/evaluations/Scene9a/render_a_camera_pose.json
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"reprojection_error_px": 1.6768521744465406,
|
||||
"confidence": 0.2647897353782805
|
||||
},
|
||||
{
|
||||
"marker_id": 84,
|
||||
"observed_center_px": [
|
||||
651.25,
|
||||
449.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
652.8363647460938,
|
||||
451.49468994140625
|
||||
],
|
||||
"reprojection_error_px": 2.7486698675358383,
|
||||
"confidence": 0.2690571067318116
|
||||
},
|
||||
{
|
||||
"marker_id": 76,
|
||||
"observed_center_px": [
|
||||
1005.25,
|
||||
387.75
|
||||
],
|
||||
"projected_center_px": [
|
||||
1003.25341796875,
|
||||
391.5485534667969
|
||||
],
|
||||
"reprojection_error_px": 4.2913107843204426,
|
||||
"confidence": 0.2429182303832221
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user