Tom Forsyth

Kinematic singularities can cause the M matrix of the LCP to lose rank. Detect these singularities and reduce the dimension of the LCP to yield a valid solution.

Inaccurate Z position and poor refined calibration result

6

Hi! Thank you for implementing this - this has been super helpful so far! I'm having an issue with some inaccurate results and the nonlinear refinement stage. I have several...

Epoch timer improvement when using multi_scale=True

4

### Search before asking - [x] I have searched the Ultralytics [issues](https://github.com/ultralytics/ultralytics/issues) and found no similar feature requests. ### Description Currently, when using `multi_scale=True`, the remaining time estimate of the...