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This commit is contained in:
551
test/temp/cam1_hires_1781074183695_camera_pose.json
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551
test/temp/cam1_hires_1781074183695_camera_pose.json
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859.344970703125
|
||||
],
|
||||
"reprojection_error_px": 2.7179420081717525,
|
||||
"confidence": 0.4233448853603915
|
||||
},
|
||||
{
|
||||
"marker_id": 81,
|
||||
"observed_center_px": [
|
||||
846.75,
|
||||
870.25
|
||||
],
|
||||
"projected_center_px": [
|
||||
847.3787231445312,
|
||||
871.1409301757812
|
||||
],
|
||||
"reprojection_error_px": 1.0904354041330793,
|
||||
"confidence": 0.3887985352320142
|
||||
},
|
||||
{
|
||||
"marker_id": 77,
|
||||
"observed_center_px": [
|
||||
985.75,
|
||||
867.0
|
||||
],
|
||||
"projected_center_px": [
|
||||
985.7974853515625,
|
||||
866.8070678710938
|
||||
],
|
||||
"reprojection_error_px": 0.1986898713505852,
|
||||
"confidence": 0.4081027110350248
|
||||
}
|
||||
]
|
||||
},
|
||||
"qa": {
|
||||
"sanity_notes": []
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user