2944 lines
59 KiB
JSON
2944 lines
59 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-16T13:54:13Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "cam1",
|
|
"intrinsics_file": "/app/data/calibration/20260610_092149/cam1_calibration.npz",
|
|
"camera_matrix": [
|
|
[
|
|
1367.5723876953125,
|
|
0.0,
|
|
672.1165771484375
|
|
],
|
|
[
|
|
0.0,
|
|
1372.3011474609375,
|
|
445.8396911621094
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.01016925647854805,
|
|
0.7656787633895874,
|
|
-0.0031530377455055714,
|
|
-0.00288817984983325,
|
|
-2.490830183029175
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "/app/data/homing/20260616_135403/cam1.jpg",
|
|
"image_sha256": "0ad5a1796be0c97016ea6ad0a2c7e536f51cb31048dda678458ce000215d1f80",
|
|
"width_px": 1280,
|
|
"height_px": 960
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 42,
|
|
"num_rejected_candidates": 25
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "03640bcc-ad71-465f-8153-c60f12d0f7f2",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1153.0,
|
|
271.0
|
|
],
|
|
[
|
|
1148.0,
|
|
306.0
|
|
],
|
|
[
|
|
1112.0,
|
|
300.0
|
|
],
|
|
[
|
|
1116.0,
|
|
266.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1132.25,
|
|
285.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1284.0,
|
|
"perimeter_px": 143.4227066040039,
|
|
"sharpness": {
|
|
"laplacian_var": 3120.7149808429117
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 189.0,
|
|
"dynamic_range": 186.0,
|
|
"mean_gray": 67.78850574712644,
|
|
"std_gray": 73.04826844665494
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6614887714385986,
|
|
"distance_to_border_px": 127.0
|
|
},
|
|
"edge_ratio": 1.0906051848793759,
|
|
"edge_lengths_px": [
|
|
35.35533905029297,
|
|
36.49657440185547,
|
|
34.2344856262207,
|
|
37.336307525634766
|
|
]
|
|
},
|
|
"confidence": 0.7848853204330548
|
|
},
|
|
{
|
|
"observation_id": "475d5b81-df5e-47be-a45b-f33300176c24",
|
|
"type": "aruco",
|
|
"marker_id": 180,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
517.0,
|
|
103.0
|
|
],
|
|
[
|
|
545.0,
|
|
122.0
|
|
],
|
|
[
|
|
533.0,
|
|
155.0
|
|
],
|
|
[
|
|
504.0,
|
|
134.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
524.75,
|
|
128.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1162.0,
|
|
"perimeter_px": 138.3724479675293,
|
|
"sharpness": {
|
|
"laplacian_var": 2959.7095578623607
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 200.79999999999995,
|
|
"dynamic_range": 193.79999999999995,
|
|
"mean_gray": 86.65098039215687,
|
|
"std_gray": 75.15018350435464
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.46238985657691956,
|
|
"distance_to_border_px": 103.0
|
|
},
|
|
"edge_ratio": 1.0651353696408594,
|
|
"edge_lengths_px": [
|
|
33.83784866333008,
|
|
35.11410140991211,
|
|
35.80502700805664,
|
|
33.61547088623047
|
|
]
|
|
},
|
|
"confidence": 0.7272940968319055
|
|
},
|
|
{
|
|
"observation_id": "2950d151-6233-4407-92de-b1c04217b2ef",
|
|
"type": "aruco",
|
|
"marker_id": 143,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
544.0,
|
|
336.0
|
|
],
|
|
[
|
|
511.0,
|
|
332.0
|
|
],
|
|
[
|
|
515.0,
|
|
297.0
|
|
],
|
|
[
|
|
549.0,
|
|
302.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
529.75,
|
|
316.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1176.0,
|
|
"perimeter_px": 137.2007293701172,
|
|
"sharpness": {
|
|
"laplacian_var": 3043.505410155228
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 198.0,
|
|
"dynamic_range": 188.0,
|
|
"mean_gray": 83.78478002378121,
|
|
"std_gray": 73.9647379203724
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2462393045425415,
|
|
"distance_to_border_px": 297.0
|
|
},
|
|
"edge_ratio": 1.059753249629622,
|
|
"edge_lengths_px": [
|
|
33.241539001464844,
|
|
35.22782897949219,
|
|
34.36568069458008,
|
|
34.36568069458008
|
|
]
|
|
},
|
|
"confidence": 0.7397948534472565
|
|
},
|
|
{
|
|
"observation_id": "24b029a7-7af1-4f8b-b980-2eb3364fd330",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1180.0,
|
|
409.0
|
|
],
|
|
[
|
|
1175.0,
|
|
442.0
|
|
],
|
|
[
|
|
1140.0,
|
|
434.0
|
|
],
|
|
[
|
|
1144.0,
|
|
403.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1159.75,
|
|
422.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1167.5,
|
|
"perimeter_px": 137.0328598022461,
|
|
"sharpness": {
|
|
"laplacian_var": 2747.225110455187
|
|
},
|
|
"contrast": {
|
|
"p05": 2.0,
|
|
"p95": 181.8499999999999,
|
|
"dynamic_range": 179.8499999999999,
|
|
"mean_gray": 64.69776119402985,
|
|
"std_gray": 69.758802258211
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6537201404571533,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.1676288331410138,
|
|
"edge_lengths_px": [
|
|
33.37664031982422,
|
|
35.902645111083984,
|
|
31.256999969482422,
|
|
36.49657440185547
|
|
]
|
|
},
|
|
"confidence": 0.6665931083934911
|
|
},
|
|
{
|
|
"observation_id": "84249fa3-5a90-40fc-8687-661d69bc502d",
|
|
"type": "aruco",
|
|
"marker_id": 146,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
531.0,
|
|
432.0
|
|
],
|
|
[
|
|
497.0,
|
|
429.0
|
|
],
|
|
[
|
|
502.0,
|
|
395.0
|
|
],
|
|
[
|
|
535.0,
|
|
400.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
516.25,
|
|
414.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1123.5,
|
|
"perimeter_px": 134.1234474182129,
|
|
"sharpness": {
|
|
"laplacian_var": 2455.314281381727
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 190.0,
|
|
"dynamic_range": 186.0,
|
|
"mean_gray": 69.50123762376238,
|
|
"std_gray": 71.19710124851335
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.17531250417232513,
|
|
"distance_to_border_px": 395.0
|
|
},
|
|
"edge_ratio": 1.065634518547083,
|
|
"edge_lengths_px": [
|
|
34.13209533691406,
|
|
34.36568069458008,
|
|
33.37664031982422,
|
|
32.24903106689453
|
|
]
|
|
},
|
|
"confidence": 0.702867622025991
|
|
},
|
|
{
|
|
"observation_id": "c78f762e-db60-49cb-8b92-93f2c62b5f0f",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
570.0,
|
|
586.0
|
|
],
|
|
[
|
|
542.0,
|
|
577.0
|
|
],
|
|
[
|
|
558.0,
|
|
548.0
|
|
],
|
|
[
|
|
584.0,
|
|
555.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
563.5,
|
|
566.5
|
|
],
|
|
"quality": {
|
|
"area_px": 930.0,
|
|
"perimeter_px": 123.47239875793457,
|
|
"sharpness": {
|
|
"laplacian_var": 3089.5199107198214
|
|
},
|
|
"contrast": {
|
|
"p05": 36.0,
|
|
"p95": 241.0,
|
|
"dynamic_range": 205.0,
|
|
"mean_gray": 112.5763779527559,
|
|
"std_gray": 77.69657361965909
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.14434388279914856,
|
|
"distance_to_border_px": 374.0
|
|
},
|
|
"edge_ratio": 1.263274351014806,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
33.12099075317383,
|
|
26.925823211669922,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.4907880853449968
|
|
},
|
|
{
|
|
"observation_id": "304abe61-1cb8-4b23-97b0-b2709e77c274",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
903.0,
|
|
247.0
|
|
],
|
|
[
|
|
902.0,
|
|
279.0
|
|
],
|
|
[
|
|
873.0,
|
|
274.0
|
|
],
|
|
[
|
|
875.0,
|
|
243.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
888.25,
|
|
260.75
|
|
],
|
|
"quality": {
|
|
"area_px": 904.5,
|
|
"perimeter_px": 120.7922191619873,
|
|
"sharpness": {
|
|
"laplacian_var": 1503.08296875
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 193.0,
|
|
"dynamic_range": 177.0,
|
|
"mean_gray": 88.5984375,
|
|
"std_gray": 70.3662716438678
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.41400977969169617,
|
|
"distance_to_border_px": 243.0
|
|
},
|
|
"edge_ratio": 1.1319231424906049,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
29.42787742614746,
|
|
31.064449310302734,
|
|
28.284271240234375
|
|
]
|
|
},
|
|
"confidence": 0.532721681679907
|
|
},
|
|
{
|
|
"observation_id": "4d85c767-8c8c-4f9c-a466-0754c99ccc45",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
761.0,
|
|
116.0
|
|
],
|
|
[
|
|
761.0,
|
|
148.0
|
|
],
|
|
[
|
|
734.0,
|
|
144.0
|
|
],
|
|
[
|
|
735.0,
|
|
112.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
747.75,
|
|
130.0
|
|
],
|
|
"quality": {
|
|
"area_px": 850.0,
|
|
"perimeter_px": 117.61620140075684,
|
|
"sharpness": {
|
|
"laplacian_var": 1987.3424575537706
|
|
},
|
|
"contrast": {
|
|
"p05": 9.400000000000002,
|
|
"p95": 200.0,
|
|
"dynamic_range": 190.6,
|
|
"mean_gray": 104.15927750410509,
|
|
"std_gray": 76.3124846950475
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.45776301622390747,
|
|
"distance_to_border_px": 112.0
|
|
},
|
|
"edge_ratio": 1.2170512992297489,
|
|
"edge_lengths_px": [
|
|
32.0,
|
|
27.294687271118164,
|
|
32.015621185302734,
|
|
26.305892944335938
|
|
]
|
|
},
|
|
"confidence": 0.46560622960207215
|
|
},
|
|
{
|
|
"observation_id": "2a3910ca-ef95-4de1-9e64-b3f292699f10",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
922.0,
|
|
382.0
|
|
],
|
|
[
|
|
921.0,
|
|
410.0
|
|
],
|
|
[
|
|
892.0,
|
|
404.0
|
|
],
|
|
[
|
|
893.0,
|
|
376.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
907.0,
|
|
393.0
|
|
],
|
|
"quality": {
|
|
"area_px": 818.0,
|
|
"perimeter_px": 115.26407241821289,
|
|
"sharpness": {
|
|
"laplacian_var": 1621.4380958602007
|
|
},
|
|
"contrast": {
|
|
"p05": 14.3,
|
|
"p95": 184.0,
|
|
"dynamic_range": 169.7,
|
|
"mean_gray": 79.18518518518519,
|
|
"std_gray": 63.880835317873455
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.35102084279060364,
|
|
"distance_to_border_px": 358.0
|
|
},
|
|
"edge_ratio": 1.0569756211663317,
|
|
"edge_lengths_px": [
|
|
28.017850875854492,
|
|
29.614185333251953,
|
|
28.017850875854492,
|
|
29.614185333251953
|
|
]
|
|
},
|
|
"confidence": 0.51593747520078
|
|
},
|
|
{
|
|
"observation_id": "36ea69e1-0557-4fcd-ba61-5f331f18cf84",
|
|
"type": "aruco",
|
|
"marker_id": 132,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
509.0,
|
|
592.0
|
|
],
|
|
[
|
|
484.0,
|
|
583.0
|
|
],
|
|
[
|
|
490.0,
|
|
552.0
|
|
],
|
|
[
|
|
514.0,
|
|
561.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
499.25,
|
|
572.0
|
|
],
|
|
"quality": {
|
|
"area_px": 809.0,
|
|
"perimeter_px": 115.17861366271973,
|
|
"sharpness": {
|
|
"laplacian_var": 2572.640138365404
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 211.64999999999998,
|
|
"dynamic_range": 202.64999999999998,
|
|
"mean_gray": 75.50176056338029,
|
|
"std_gray": 77.26415725872131
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.21018803119659424,
|
|
"distance_to_border_px": 368.0
|
|
},
|
|
"edge_ratio": 1.2318700015090907,
|
|
"edge_lengths_px": [
|
|
26.570659637451172,
|
|
31.575305938720703,
|
|
25.63201141357422,
|
|
31.400636672973633
|
|
]
|
|
},
|
|
"confidence": 0.43781676043139955
|
|
},
|
|
{
|
|
"observation_id": "e22a66fc-9516-4c3e-b16f-9d3e6d468a60",
|
|
"type": "aruco",
|
|
"marker_id": 129,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
471.0,
|
|
579.0
|
|
],
|
|
[
|
|
447.0,
|
|
570.0
|
|
],
|
|
[
|
|
451.0,
|
|
540.0
|
|
],
|
|
[
|
|
475.0,
|
|
547.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
461.0,
|
|
559.0
|
|
],
|
|
"quality": {
|
|
"area_px": 776.0,
|
|
"perimeter_px": 113.14653396606445,
|
|
"sharpness": {
|
|
"laplacian_var": 3082.540277423469
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 212.04999999999995,
|
|
"dynamic_range": 204.04999999999995,
|
|
"mean_gray": 88.99821428571428,
|
|
"std_gray": 80.28879790007942
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24457234144210815,
|
|
"distance_to_border_px": 381.0
|
|
},
|
|
"edge_ratio": 1.2899612426757812,
|
|
"edge_lengths_px": [
|
|
25.63201141357422,
|
|
30.265491485595703,
|
|
25.0,
|
|
32.24903106689453
|
|
]
|
|
},
|
|
"confidence": 0.4010456409219109
|
|
},
|
|
{
|
|
"observation_id": "eb8cbbf9-cd26-4af7-8772-e1461371cee8",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
719.0,
|
|
149.0
|
|
],
|
|
[
|
|
720.0,
|
|
180.0
|
|
],
|
|
[
|
|
695.0,
|
|
177.0
|
|
],
|
|
[
|
|
695.0,
|
|
146.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
707.25,
|
|
163.0
|
|
],
|
|
"quality": {
|
|
"area_px": 758.0,
|
|
"perimeter_px": 111.38225555419922,
|
|
"sharpness": {
|
|
"laplacian_var": 1751.9271672323475
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 173.0,
|
|
"mean_gray": 55.57627118644068,
|
|
"std_gray": 57.894762325619894
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.405068576335907,
|
|
"distance_to_border_px": 146.0
|
|
},
|
|
"edge_ratio": 1.2823589298338793,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
25.179357528686523,
|
|
31.0,
|
|
24.1867733001709
|
|
]
|
|
},
|
|
"confidence": 0.39406543798060945
|
|
},
|
|
{
|
|
"observation_id": "55725fc0-41dd-49d9-8da9-c9dd68b75bfe",
|
|
"type": "aruco",
|
|
"marker_id": 148,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
579.0,
|
|
288.0
|
|
],
|
|
[
|
|
558.0,
|
|
286.0
|
|
],
|
|
[
|
|
564.0,
|
|
251.0
|
|
],
|
|
[
|
|
584.0,
|
|
254.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
571.25,
|
|
269.75
|
|
],
|
|
"quality": {
|
|
"area_px": 721.0,
|
|
"perimeter_px": 111.19501495361328,
|
|
"sharpness": {
|
|
"laplacian_var": 1733.5275676793517
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 63.94324853228963,
|
|
"std_gray": 50.32149778523281
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2765061855316162,
|
|
"distance_to_border_px": 251.0
|
|
},
|
|
"edge_ratio": 1.755884263320365,
|
|
"edge_lengths_px": [
|
|
21.095022201538086,
|
|
35.510562896728516,
|
|
20.2237491607666,
|
|
34.36568069458008
|
|
]
|
|
},
|
|
"confidence": 0.27374621249679026
|
|
},
|
|
{
|
|
"observation_id": "d33dc46e-69e7-4492-bc36-765dd54f3e77",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
787.0,
|
|
246.0
|
|
],
|
|
[
|
|
786.0,
|
|
275.0
|
|
],
|
|
[
|
|
760.0,
|
|
270.0
|
|
],
|
|
[
|
|
760.0,
|
|
242.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
773.25,
|
|
258.25
|
|
],
|
|
"quality": {
|
|
"area_px": 757.5,
|
|
"perimeter_px": 110.78832817077637,
|
|
"sharpness": {
|
|
"laplacian_var": 1581.1888523590142
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 190.5,
|
|
"dynamic_range": 178.5,
|
|
"mean_gray": 89.969868173258,
|
|
"std_gray": 68.75006615837627
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.32338207960128784,
|
|
"distance_to_border_px": 242.0
|
|
},
|
|
"edge_ratio": 1.0959659212516788,
|
|
"edge_lengths_px": [
|
|
29.017236709594727,
|
|
26.476404190063477,
|
|
28.0,
|
|
27.294687271118164
|
|
]
|
|
},
|
|
"confidence": 0.46078075075842734
|
|
},
|
|
{
|
|
"observation_id": "fbd412a2-06ed-4b39-9684-bb21d802aacd",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1134.0,
|
|
853.0
|
|
],
|
|
[
|
|
1132.0,
|
|
875.0
|
|
],
|
|
[
|
|
1102.0,
|
|
864.0
|
|
],
|
|
[
|
|
1104.0,
|
|
841.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1118.0,
|
|
858.25
|
|
],
|
|
"quality": {
|
|
"area_px": 698.0,
|
|
"perimeter_px": 109.44159317016602,
|
|
"sharpness": {
|
|
"laplacian_var": 2327.7107108230393
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 148.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 77.96610169491525,
|
|
"std_gray": 56.11258087328407
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.761943519115448,
|
|
"distance_to_border_px": 85.0
|
|
},
|
|
"edge_ratio": 1.4626498242948047,
|
|
"edge_lengths_px": [
|
|
22.090721130371094,
|
|
31.95309066772461,
|
|
23.0867919921875,
|
|
32.31098937988281
|
|
]
|
|
},
|
|
"confidence": 0.31814404623997206
|
|
},
|
|
{
|
|
"observation_id": "560a393a-c675-47aa-bdd9-2f99f7d073e7",
|
|
"type": "aruco",
|
|
"marker_id": 144,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
558.0,
|
|
433.0
|
|
],
|
|
[
|
|
536.0,
|
|
433.0
|
|
],
|
|
[
|
|
542.0,
|
|
400.0
|
|
],
|
|
[
|
|
562.0,
|
|
401.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
549.5,
|
|
416.75
|
|
],
|
|
"quality": {
|
|
"area_px": 685.0,
|
|
"perimeter_px": 107.81503486633301,
|
|
"sharpness": {
|
|
"laplacian_var": 2536.4048567708332
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 67.56875,
|
|
"std_gray": 59.0943407338709
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.138015016913414,
|
|
"distance_to_border_px": 400.0
|
|
},
|
|
"edge_ratio": 1.6749585835946554,
|
|
"edge_lengths_px": [
|
|
22.0,
|
|
33.541019439697266,
|
|
20.02498435974121,
|
|
32.24903106689453
|
|
]
|
|
},
|
|
"confidence": 0.2726435573628376
|
|
},
|
|
{
|
|
"observation_id": "0ab78e60-1afb-403d-b772-ee225fbcd80d",
|
|
"type": "aruco",
|
|
"marker_id": 77,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1080.0,
|
|
829.0
|
|
],
|
|
[
|
|
1078.0,
|
|
852.0
|
|
],
|
|
[
|
|
1049.0,
|
|
840.0
|
|
],
|
|
[
|
|
1050.0,
|
|
820.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1064.25,
|
|
835.25
|
|
],
|
|
"quality": {
|
|
"area_px": 650.0,
|
|
"perimeter_px": 105.8174057006836,
|
|
"sharpness": {
|
|
"laplacian_var": 1790.3636560156046
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 146.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 52.15919282511211,
|
|
"std_gray": 54.16557610902803
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6916812062263489,
|
|
"distance_to_border_px": 108.0
|
|
},
|
|
"edge_ratio": 1.5672776441706666,
|
|
"edge_lengths_px": [
|
|
23.0867919921875,
|
|
31.38471031188965,
|
|
20.02498435974121,
|
|
31.320919036865234
|
|
]
|
|
},
|
|
"confidence": 0.2764879183628208
|
|
},
|
|
{
|
|
"observation_id": "39e8e23a-92d1-4e33-a350-7f605e0d3c4a",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
758.0,
|
|
364.0
|
|
],
|
|
[
|
|
758.0,
|
|
391.0
|
|
],
|
|
[
|
|
733.0,
|
|
385.0
|
|
],
|
|
[
|
|
733.0,
|
|
359.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
745.5,
|
|
374.75
|
|
],
|
|
"quality": {
|
|
"area_px": 662.5,
|
|
"perimeter_px": 104.20501899719238,
|
|
"sharpness": {
|
|
"laplacian_var": 1506.2174493182076
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 175.0,
|
|
"mean_gray": 101.60801781737194,
|
|
"std_gray": 63.27222289134589
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1862785667181015,
|
|
"distance_to_border_px": 359.0
|
|
},
|
|
"edge_ratio": 1.0590271070641277,
|
|
"edge_lengths_px": [
|
|
27.0,
|
|
25.70992088317871,
|
|
26.0,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.4170494444576311
|
|
},
|
|
{
|
|
"observation_id": "906559ae-b9b4-4e08-b0ca-e4f55fb66dde",
|
|
"type": "aruco",
|
|
"marker_id": 204,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
761.0,
|
|
793.0
|
|
],
|
|
[
|
|
736.0,
|
|
782.0
|
|
],
|
|
[
|
|
735.0,
|
|
760.0
|
|
],
|
|
[
|
|
760.0,
|
|
769.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
748.0,
|
|
776.0
|
|
],
|
|
"quality": {
|
|
"area_px": 565.0,
|
|
"perimeter_px": 99.92719841003418,
|
|
"sharpness": {
|
|
"laplacian_var": 2151.399088179695
|
|
},
|
|
"contrast": {
|
|
"p05": 1.5,
|
|
"p95": 155.5,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 51.9539641943734,
|
|
"std_gray": 55.90129159906531
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3938590884208679,
|
|
"distance_to_border_px": 167.0
|
|
},
|
|
"edge_ratio": 1.2402194826110133,
|
|
"edge_lengths_px": [
|
|
27.312999725341797,
|
|
22.022714614868164,
|
|
26.570659637451172,
|
|
24.020824432373047
|
|
]
|
|
},
|
|
"confidence": 0.3037096836067085
|
|
},
|
|
{
|
|
"observation_id": "ea7467c7-b3b4-4c51-a719-1cc3a310a26e",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
988.0,
|
|
813.0
|
|
],
|
|
[
|
|
988.0,
|
|
834.0
|
|
],
|
|
[
|
|
962.0,
|
|
825.0
|
|
],
|
|
[
|
|
962.0,
|
|
802.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
975.0,
|
|
818.5
|
|
],
|
|
"quality": {
|
|
"area_px": 572.0,
|
|
"perimeter_px": 99.74482154846191,
|
|
"sharpness": {
|
|
"laplacian_var": 2298.8304956126926
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 149.25,
|
|
"dynamic_range": 148.25,
|
|
"mean_gray": 51.02020202020202,
|
|
"std_gray": 54.037487885068124
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5953035950660706,
|
|
"distance_to_border_px": 126.0
|
|
},
|
|
"edge_ratio": 1.344342277163551,
|
|
"edge_lengths_px": [
|
|
21.0,
|
|
27.513633728027344,
|
|
23.0,
|
|
28.23118782043457
|
|
]
|
|
},
|
|
"confidence": 0.28365791942355234
|
|
},
|
|
{
|
|
"observation_id": "8e802bc5-b29d-411f-aaa2-d036c3ab30e7",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
697.0,
|
|
321.0
|
|
],
|
|
[
|
|
698.0,
|
|
348.0
|
|
],
|
|
[
|
|
675.0,
|
|
342.0
|
|
],
|
|
[
|
|
674.0,
|
|
317.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
686.0,
|
|
332.0
|
|
],
|
|
"quality": {
|
|
"area_px": 593.0,
|
|
"perimeter_px": 99.15346908569336,
|
|
"sharpness": {
|
|
"laplacian_var": 1521.318716080387
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 167.0,
|
|
"mean_gray": 90.98525798525799,
|
|
"std_gray": 65.86606750833138
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19372983276844025,
|
|
"distance_to_border_px": 317.0
|
|
},
|
|
"edge_ratio": 1.15734588970726,
|
|
"edge_lengths_px": [
|
|
27.018512725830078,
|
|
23.76972770690918,
|
|
25.01999282836914,
|
|
23.34523582458496
|
|
]
|
|
},
|
|
"confidence": 0.34158615574582396
|
|
},
|
|
{
|
|
"observation_id": "3e08e8e0-68d2-4ed6-b09a-21bacfc44b18",
|
|
"type": "aruco",
|
|
"marker_id": 57,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
459.0,
|
|
78.0
|
|
],
|
|
[
|
|
462.0,
|
|
107.0
|
|
],
|
|
[
|
|
442.0,
|
|
104.0
|
|
],
|
|
[
|
|
439.0,
|
|
75.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
450.5,
|
|
91.0
|
|
],
|
|
"quality": {
|
|
"area_px": 571.0,
|
|
"perimeter_px": 98.75701904296875,
|
|
"sharpness": {
|
|
"laplacian_var": 3630.0554051073423
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 187.0,
|
|
"dynamic_range": 184.0,
|
|
"mean_gray": 81.93811881188118,
|
|
"std_gray": 69.60965160422175
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5408778190612793,
|
|
"distance_to_border_px": 75.0
|
|
},
|
|
"edge_ratio": 1.441610065915821,
|
|
"edge_lengths_px": [
|
|
29.154760360717773,
|
|
20.2237491607666,
|
|
29.154760360717773,
|
|
20.2237491607666
|
|
]
|
|
},
|
|
"confidence": 0.2640566098051195
|
|
},
|
|
{
|
|
"observation_id": "5036b938-ab28-4191-bf85-818a6e948f2a",
|
|
"type": "aruco",
|
|
"marker_id": 81,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
949.0,
|
|
760.0
|
|
],
|
|
[
|
|
948.0,
|
|
782.0
|
|
],
|
|
[
|
|
922.0,
|
|
772.0
|
|
],
|
|
[
|
|
923.0,
|
|
751.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
935.5,
|
|
766.25
|
|
],
|
|
"quality": {
|
|
"area_px": 568.5,
|
|
"perimeter_px": 98.41692161560059,
|
|
"sharpness": {
|
|
"laplacian_var": 1463.2632648965034
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 132.39999999999998,
|
|
"dynamic_range": 131.39999999999998,
|
|
"mean_gray": 48.44020356234097,
|
|
"std_gray": 50.60073833010184
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5142642259597778,
|
|
"distance_to_border_px": 178.0
|
|
},
|
|
"edge_ratio": 1.3250117668149328,
|
|
"edge_lengths_px": [
|
|
22.022714614868164,
|
|
27.85677719116211,
|
|
21.02379608154297,
|
|
27.513633728027344
|
|
]
|
|
},
|
|
"confidence": 0.2860351956805948
|
|
},
|
|
{
|
|
"observation_id": "5417f858-bb85-4b0d-b4e3-cf533b02c8e7",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
662.0,
|
|
326.0
|
|
],
|
|
[
|
|
664.0,
|
|
353.0
|
|
],
|
|
[
|
|
641.0,
|
|
347.0
|
|
],
|
|
[
|
|
641.0,
|
|
322.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
652.0,
|
|
337.0
|
|
],
|
|
"quality": {
|
|
"area_px": 567.0,
|
|
"perimeter_px": 97.22125816345215,
|
|
"sharpness": {
|
|
"laplacian_var": 1779.6183744005714
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 145.25,
|
|
"dynamic_range": 140.25,
|
|
"mean_gray": 38.42424242424242,
|
|
"std_gray": 44.1521338947098
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.17937825620174408,
|
|
"distance_to_border_px": 322.0
|
|
},
|
|
"edge_ratio": 1.2664670591899694,
|
|
"edge_lengths_px": [
|
|
27.073972702026367,
|
|
23.76972770690918,
|
|
25.0,
|
|
21.3775577545166
|
|
]
|
|
},
|
|
"confidence": 0.29846808668025543
|
|
},
|
|
{
|
|
"observation_id": "63662b4f-a9bd-4762-bd3d-97414c89e0d2",
|
|
"type": "aruco",
|
|
"marker_id": 201,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
790.0,
|
|
721.0
|
|
],
|
|
[
|
|
790.0,
|
|
695.0
|
|
],
|
|
[
|
|
805.0,
|
|
681.0
|
|
],
|
|
[
|
|
807.0,
|
|
706.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
798.0,
|
|
700.75
|
|
],
|
|
"quality": {
|
|
"area_px": 422.5,
|
|
"perimeter_px": 94.26972389221191,
|
|
"sharpness": {
|
|
"laplacian_var": 1050.5004191025898
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 115.0,
|
|
"dynamic_range": 106.0,
|
|
"mean_gray": 44.91530944625407,
|
|
"std_gray": 34.01493243875457
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33933430910110474,
|
|
"distance_to_border_px": 239.0
|
|
},
|
|
"edge_ratio": 1.2671625072391421,
|
|
"edge_lengths_px": [
|
|
26.0,
|
|
20.51828384399414,
|
|
25.079872131347656,
|
|
22.671567916870117
|
|
]
|
|
},
|
|
"confidence": 0.22228140830993656
|
|
},
|
|
{
|
|
"observation_id": "92790a99-137d-4225-9986-01d613a241d9",
|
|
"type": "aruco",
|
|
"marker_id": 101,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
960.0,
|
|
884.0
|
|
],
|
|
[
|
|
959.0,
|
|
905.0
|
|
],
|
|
[
|
|
934.0,
|
|
894.0
|
|
],
|
|
[
|
|
935.0,
|
|
875.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
947.0,
|
|
889.5
|
|
],
|
|
"quality": {
|
|
"area_px": 510.0,
|
|
"perimeter_px": 93.93375396728516,
|
|
"sharpness": {
|
|
"laplacian_var": 2087.790714861596
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 142.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 61.4344262295082,
|
|
"std_gray": 53.35257319193557
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6397500038146973,
|
|
"distance_to_border_px": 55.0
|
|
},
|
|
"edge_ratio": 1.4355393242882892,
|
|
"edge_lengths_px": [
|
|
21.02379608154297,
|
|
27.312999725341797,
|
|
19.02629852294922,
|
|
26.570659637451172
|
|
]
|
|
},
|
|
"confidence": 0.2368447831748287
|
|
},
|
|
{
|
|
"observation_id": "0a0c2764-6c7a-41c1-a25a-962285f80284",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
451.0,
|
|
175.0
|
|
],
|
|
[
|
|
454.0,
|
|
202.0
|
|
],
|
|
[
|
|
435.0,
|
|
198.0
|
|
],
|
|
[
|
|
431.0,
|
|
172.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
442.75,
|
|
186.75
|
|
],
|
|
"quality": {
|
|
"area_px": 504.5,
|
|
"perimeter_px": 93.11228561401367,
|
|
"sharpness": {
|
|
"laplacian_var": 2626.110868261583
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 184.0,
|
|
"dynamic_range": 179.0,
|
|
"mean_gray": 101.62078651685393,
|
|
"std_gray": 70.3941911821592
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.44177043437957764,
|
|
"distance_to_border_px": 172.0
|
|
},
|
|
"edge_ratio": 1.3991280995599928,
|
|
"edge_lengths_px": [
|
|
27.166154861450195,
|
|
19.416488647460938,
|
|
26.305892944335938,
|
|
20.2237491607666
|
|
]
|
|
},
|
|
"confidence": 0.2403878054047415
|
|
},
|
|
{
|
|
"observation_id": "2fb6f7c5-07ea-43ee-a407-e67b789b7577",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
392.0,
|
|
120.0
|
|
],
|
|
[
|
|
396.0,
|
|
147.0
|
|
],
|
|
[
|
|
377.0,
|
|
144.0
|
|
],
|
|
[
|
|
373.0,
|
|
118.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
384.5,
|
|
132.25
|
|
],
|
|
"quality": {
|
|
"area_px": 493.5,
|
|
"perimeter_px": 91.94093704223633,
|
|
"sharpness": {
|
|
"laplacian_var": 3053.9004726785383
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 174.0,
|
|
"mean_gray": 59.71954674220963,
|
|
"std_gray": 61.628587676970284
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5394011735916138,
|
|
"distance_to_border_px": 118.0
|
|
},
|
|
"edge_ratio": 1.428669252797482,
|
|
"edge_lengths_px": [
|
|
27.294687271118164,
|
|
19.235383987426758,
|
|
26.305892944335938,
|
|
19.10497283935547
|
|
]
|
|
},
|
|
"confidence": 0.2302842308363423
|
|
},
|
|
{
|
|
"observation_id": "a6a2af3b-6797-4c66-bbc7-972e16ada319",
|
|
"type": "aruco",
|
|
"marker_id": 71,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
350.0,
|
|
154.0
|
|
],
|
|
[
|
|
353.0,
|
|
180.0
|
|
],
|
|
[
|
|
336.0,
|
|
177.0
|
|
],
|
|
[
|
|
332.0,
|
|
151.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
342.75,
|
|
165.5
|
|
],
|
|
"quality": {
|
|
"area_px": 444.5,
|
|
"perimeter_px": 87.98936080932617,
|
|
"sharpness": {
|
|
"laplacian_var": 3704.0251068376074
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 185.45,
|
|
"dynamic_range": 181.45,
|
|
"mean_gray": 102.75,
|
|
"std_gray": 68.86363569049212
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5409306287765503,
|
|
"distance_to_border_px": 151.0
|
|
},
|
|
"edge_ratio": 1.523859486218283,
|
|
"edge_lengths_px": [
|
|
26.172504425048828,
|
|
17.262676239013672,
|
|
26.305892944335938,
|
|
18.248287200927734
|
|
]
|
|
},
|
|
"confidence": 0.19446237400059435
|
|
},
|
|
{
|
|
"observation_id": "f81f6875-be51-4e69-bbd7-c508d769f399",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
439.0,
|
|
233.0
|
|
],
|
|
[
|
|
442.0,
|
|
258.0
|
|
],
|
|
[
|
|
424.0,
|
|
254.0
|
|
],
|
|
[
|
|
421.0,
|
|
229.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
431.5,
|
|
243.5
|
|
],
|
|
"quality": {
|
|
"area_px": 438.0,
|
|
"perimeter_px": 87.23689270019531,
|
|
"sharpness": {
|
|
"laplacian_var": 3440.2856903467705
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 186.0,
|
|
"dynamic_range": 178.0,
|
|
"mean_gray": 108.84466019417475,
|
|
"std_gray": 65.18459086107664
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.39410600066185,
|
|
"distance_to_border_px": 229.0
|
|
},
|
|
"edge_ratio": 1.365542395969627,
|
|
"edge_lengths_px": [
|
|
25.179357528686523,
|
|
18.439088821411133,
|
|
25.179357528686523,
|
|
18.439088821411133
|
|
]
|
|
},
|
|
"confidence": 0.21383444473187546
|
|
},
|
|
{
|
|
"observation_id": "f8529044-3a0b-4161-935f-84e40bb9449a",
|
|
"type": "aruco",
|
|
"marker_id": 78,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
282.0,
|
|
80.0
|
|
],
|
|
[
|
|
287.0,
|
|
105.0
|
|
],
|
|
[
|
|
269.0,
|
|
103.0
|
|
],
|
|
[
|
|
265.0,
|
|
78.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
275.75,
|
|
91.5
|
|
],
|
|
"quality": {
|
|
"area_px": 428.5,
|
|
"perimeter_px": 86.04109001159668,
|
|
"sharpness": {
|
|
"laplacian_var": 3791.688437457772
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 168.14999999999998,
|
|
"dynamic_range": 164.14999999999998,
|
|
"mean_gray": 75.66107382550335,
|
|
"std_gray": 61.55432937347876
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6656884551048279,
|
|
"distance_to_border_px": 78.0
|
|
},
|
|
"edge_ratio": 1.4894395313763147,
|
|
"edge_lengths_px": [
|
|
25.495098114013672,
|
|
18.11077117919922,
|
|
25.317977905273438,
|
|
17.11724281311035
|
|
]
|
|
},
|
|
"confidence": 0.19179473932902583
|
|
},
|
|
{
|
|
"observation_id": "bfb8403e-daa2-4338-b70a-f0e682dfb339",
|
|
"type": "aruco",
|
|
"marker_id": 65,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
306.0,
|
|
133.0
|
|
],
|
|
[
|
|
310.0,
|
|
159.0
|
|
],
|
|
[
|
|
293.0,
|
|
156.0
|
|
],
|
|
[
|
|
289.0,
|
|
131.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
299.5,
|
|
144.75
|
|
],
|
|
"quality": {
|
|
"area_px": 423.5,
|
|
"perimeter_px": 86.0037899017334,
|
|
"sharpness": {
|
|
"laplacian_var": 4012.671201814059
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 174.0,
|
|
"mean_gray": 81.14625850340136,
|
|
"std_gray": 64.79257093144217
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.597302258014679,
|
|
"distance_to_border_px": 131.0
|
|
},
|
|
"edge_ratio": 1.5368066710012351,
|
|
"edge_lengths_px": [
|
|
26.305892944335938,
|
|
17.262676239013672,
|
|
25.317977905273438,
|
|
17.11724281311035
|
|
]
|
|
},
|
|
"confidence": 0.18371428147783359
|
|
},
|
|
{
|
|
"observation_id": "1d677c24-b30e-49df-8e7b-31a1b3c04f9e",
|
|
"type": "aruco",
|
|
"marker_id": 80,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
254.0,
|
|
85.0
|
|
],
|
|
[
|
|
258.0,
|
|
111.0
|
|
],
|
|
[
|
|
242.0,
|
|
108.0
|
|
],
|
|
[
|
|
238.0,
|
|
83.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
248.0,
|
|
96.75
|
|
],
|
|
"quality": {
|
|
"area_px": 398.0,
|
|
"perimeter_px": 84.02720642089844,
|
|
"sharpness": {
|
|
"laplacian_var": 2162.012261359238
|
|
},
|
|
"contrast": {
|
|
"p05": 3.1000000000000014,
|
|
"p95": 171.79999999999995,
|
|
"dynamic_range": 168.69999999999996,
|
|
"mean_gray": 67.113074204947,
|
|
"std_gray": 63.45395318933973
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6852743029594421,
|
|
"distance_to_border_px": 83.0
|
|
},
|
|
"edge_ratio": 1.6314222210130485,
|
|
"edge_lengths_px": [
|
|
26.305892944335938,
|
|
16.278820037841797,
|
|
25.317977905273438,
|
|
16.124515533447266
|
|
]
|
|
},
|
|
"confidence": 0.16263927873225353
|
|
},
|
|
{
|
|
"observation_id": "9561cb71-adc1-486c-a0b4-0e65e0aafa59",
|
|
"type": "aruco",
|
|
"marker_id": 99,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
190.0,
|
|
92.0
|
|
],
|
|
[
|
|
195.0,
|
|
116.0
|
|
],
|
|
[
|
|
180.0,
|
|
113.0
|
|
],
|
|
[
|
|
176.0,
|
|
90.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
185.25,
|
|
102.75
|
|
],
|
|
"quality": {
|
|
"area_px": 329.5,
|
|
"perimeter_px": 77.29973030090332,
|
|
"sharpness": {
|
|
"laplacian_var": 3889.916103574997
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 159.79999999999995,
|
|
"dynamic_range": 156.79999999999995,
|
|
"mean_gray": 73.67078189300412,
|
|
"std_gray": 58.3267954908218
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7385745048522949,
|
|
"distance_to_border_px": 90.0
|
|
},
|
|
"edge_ratio": 1.7334935408100178,
|
|
"edge_lengths_px": [
|
|
24.515300750732422,
|
|
15.29705810546875,
|
|
23.34523582458496,
|
|
14.142135620117188
|
|
]
|
|
},
|
|
"confidence": 0.1267190569190249
|
|
},
|
|
{
|
|
"observation_id": "931f6a28-8b66-4821-bfbd-42e324b3acad",
|
|
"type": "aruco",
|
|
"marker_id": 87,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
216.0,
|
|
170.0
|
|
],
|
|
[
|
|
220.0,
|
|
194.0
|
|
],
|
|
[
|
|
206.0,
|
|
190.0
|
|
],
|
|
[
|
|
202.0,
|
|
168.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
211.0,
|
|
180.5
|
|
],
|
|
"quality": {
|
|
"area_px": 310.0,
|
|
"perimeter_px": 75.39408588409424,
|
|
"sharpness": {
|
|
"laplacian_var": 3057.1573362539502
|
|
},
|
|
"contrast": {
|
|
"p05": 3.5,
|
|
"p95": 169.0,
|
|
"dynamic_range": 165.5,
|
|
"mean_gray": 92.69491525423729,
|
|
"std_gray": 59.96079347212124
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6540036201477051,
|
|
"distance_to_border_px": 168.0
|
|
},
|
|
"edge_ratio": 1.7204651069950012,
|
|
"edge_lengths_px": [
|
|
24.331050872802734,
|
|
14.560219764709473,
|
|
22.360679626464844,
|
|
14.142135620117188
|
|
]
|
|
},
|
|
"confidence": 0.12012255629388194
|
|
},
|
|
{
|
|
"observation_id": "9eb851af-4e48-45ab-93d7-8ebc7a5417d4",
|
|
"type": "aruco",
|
|
"marker_id": 67,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
591.0,
|
|
714.0
|
|
],
|
|
[
|
|
592.0,
|
|
732.0
|
|
],
|
|
[
|
|
575.0,
|
|
725.0
|
|
],
|
|
[
|
|
573.0,
|
|
707.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
582.75,
|
|
719.5
|
|
],
|
|
"quality": {
|
|
"area_px": 304.5,
|
|
"perimeter_px": 73.83651161193848,
|
|
"sharpness": {
|
|
"laplacian_var": 2383.5783949003603
|
|
},
|
|
"contrast": {
|
|
"p05": 2.0,
|
|
"p95": 132.79999999999995,
|
|
"dynamic_range": 130.79999999999995,
|
|
"mean_gray": 49.60538116591928,
|
|
"std_gray": 44.696649363420924
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30780932307243347,
|
|
"distance_to_border_px": 228.0
|
|
},
|
|
"edge_ratio": 1.0713040440401636,
|
|
"edge_lengths_px": [
|
|
18.027755737304688,
|
|
18.384777069091797,
|
|
18.11077117919922,
|
|
19.313207626342773
|
|
]
|
|
},
|
|
"confidence": 0.18948869009626315
|
|
},
|
|
{
|
|
"observation_id": "49de5ac5-cca2-4e24-bc7f-88f10264a3f7",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
392.0,
|
|
457.0
|
|
],
|
|
[
|
|
376.0,
|
|
452.0
|
|
],
|
|
[
|
|
373.0,
|
|
432.0
|
|
],
|
|
[
|
|
389.0,
|
|
438.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
382.5,
|
|
444.75
|
|
],
|
|
"quality": {
|
|
"area_px": 295.5,
|
|
"perimeter_px": 73.31019401550293,
|
|
"sharpness": {
|
|
"laplacian_var": 3433.6195816850436
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 162.0,
|
|
"mean_gray": 65.03211009174312,
|
|
"std_gray": 54.51179382656303
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.32487693428993225,
|
|
"distance_to_border_px": 373.0
|
|
},
|
|
"edge_ratio": 1.2064477802552105,
|
|
"edge_lengths_px": [
|
|
16.76305389404297,
|
|
20.2237491607666,
|
|
17.0880069732666,
|
|
19.235383987426758
|
|
]
|
|
},
|
|
"confidence": 0.16328928878987772
|
|
},
|
|
{
|
|
"observation_id": "957cf4b2-27e2-4f05-a493-f83dd2a0843a",
|
|
"type": "aruco",
|
|
"marker_id": 50,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
547.0,
|
|
654.0
|
|
],
|
|
[
|
|
550.0,
|
|
673.0
|
|
],
|
|
[
|
|
532.0,
|
|
666.0
|
|
],
|
|
[
|
|
530.0,
|
|
649.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
539.75,
|
|
660.5
|
|
],
|
|
"quality": {
|
|
"area_px": 300.0,
|
|
"perimeter_px": 73.38587951660156,
|
|
"sharpness": {
|
|
"laplacian_var": 2453.07820443483
|
|
},
|
|
"contrast": {
|
|
"p05": 2.0,
|
|
"p95": 135.59999999999997,
|
|
"dynamic_range": 133.59999999999997,
|
|
"mean_gray": 45.83720930232558,
|
|
"std_gray": 45.55187701059914
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2580888867378235,
|
|
"distance_to_border_px": 287.0
|
|
},
|
|
"edge_ratio": 1.1282896338626744,
|
|
"edge_lengths_px": [
|
|
19.235383987426758,
|
|
19.313207626342773,
|
|
17.11724281311035,
|
|
17.72004508972168
|
|
]
|
|
},
|
|
"confidence": 0.17725945005388774
|
|
},
|
|
{
|
|
"observation_id": "0649f6f1-9e8c-4c62-a8e5-88d5ccbf04da",
|
|
"type": "aruco",
|
|
"marker_id": 98,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
554.0,
|
|
736.0
|
|
],
|
|
[
|
|
556.0,
|
|
753.0
|
|
],
|
|
[
|
|
540.0,
|
|
746.0
|
|
],
|
|
[
|
|
539.0,
|
|
729.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
547.25,
|
|
741.0
|
|
],
|
|
"quality": {
|
|
"area_px": 253.0,
|
|
"perimeter_px": 68.1638240814209,
|
|
"sharpness": {
|
|
"laplacian_var": 3827.072229379677
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 153.5,
|
|
"dynamic_range": 150.5,
|
|
"mean_gray": 70.49214659685863,
|
|
"std_gray": 55.11633285831109
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3462377190589905,
|
|
"distance_to_border_px": 207.0
|
|
},
|
|
"edge_ratio": 1.0550537989754234,
|
|
"edge_lengths_px": [
|
|
17.11724281311035,
|
|
17.464248657226562,
|
|
17.029386520385742,
|
|
16.552946090698242
|
|
]
|
|
},
|
|
"confidence": 0.15986546546769564
|
|
},
|
|
{
|
|
"observation_id": "2fd7432d-a47c-4c87-9795-cb5b3bac80c3",
|
|
"type": "aruco",
|
|
"marker_id": 90,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
506.0,
|
|
718.0
|
|
],
|
|
[
|
|
507.0,
|
|
735.0
|
|
],
|
|
[
|
|
492.0,
|
|
728.0
|
|
],
|
|
[
|
|
490.0,
|
|
711.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
498.75,
|
|
723.0
|
|
],
|
|
"quality": {
|
|
"area_px": 253.0,
|
|
"perimeter_px": 68.1638240814209,
|
|
"sharpness": {
|
|
"laplacian_var": 3313.8417455460553
|
|
},
|
|
"contrast": {
|
|
"p05": 2.0,
|
|
"p95": 158.09999999999997,
|
|
"dynamic_range": 156.09999999999997,
|
|
"mean_gray": 74.21390374331551,
|
|
"std_gray": 56.02365065179501
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3513379693031311,
|
|
"distance_to_border_px": 225.0
|
|
},
|
|
"edge_ratio": 1.0550537989754234,
|
|
"edge_lengths_px": [
|
|
17.029386520385742,
|
|
16.552946090698242,
|
|
17.11724281311035,
|
|
17.464248657226562
|
|
]
|
|
},
|
|
"confidence": 0.15986546546769564
|
|
},
|
|
{
|
|
"observation_id": "5b07e78f-9286-48b4-af4c-db01eccd7d8d",
|
|
"type": "aruco",
|
|
"marker_id": 93,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
291.0,
|
|
515.0
|
|
],
|
|
[
|
|
294.0,
|
|
533.0
|
|
],
|
|
[
|
|
280.0,
|
|
527.0
|
|
],
|
|
[
|
|
277.0,
|
|
510.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
285.5,
|
|
521.25
|
|
],
|
|
"quality": {
|
|
"area_px": 228.5,
|
|
"perimeter_px": 65.6085786819458,
|
|
"sharpness": {
|
|
"laplacian_var": 2404.1137109375
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 123.0,
|
|
"dynamic_range": 122.0,
|
|
"mean_gray": 45.975,
|
|
"std_gray": 42.300406321925564
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.44611483812332153,
|
|
"distance_to_border_px": 277.0
|
|
},
|
|
"edge_ratio": 1.2275126260544593,
|
|
"edge_lengths_px": [
|
|
18.248287200927734,
|
|
15.231546401977539,
|
|
17.262676239013672,
|
|
14.866068840026855
|
|
]
|
|
},
|
|
"confidence": 0.12409919873734558
|
|
},
|
|
{
|
|
"observation_id": "3c39f4c2-6205-4bbe-9275-fdc97c245ebb",
|
|
"type": "aruco",
|
|
"marker_id": 49,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
250.0,
|
|
513.0
|
|
],
|
|
[
|
|
254.0,
|
|
529.0
|
|
],
|
|
[
|
|
239.0,
|
|
523.0
|
|
],
|
|
[
|
|
236.0,
|
|
508.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
244.75,
|
|
518.25
|
|
],
|
|
"quality": {
|
|
"area_px": 205.5,
|
|
"perimeter_px": 62.81104373931885,
|
|
"sharpness": {
|
|
"laplacian_var": 3773.7832888888893
|
|
},
|
|
"contrast": {
|
|
"p05": 1.0,
|
|
"p95": 114.84999999999988,
|
|
"dynamic_range": 113.84999999999988,
|
|
"mean_gray": 34.12,
|
|
"std_gray": 37.666239525601696
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4963706135749817,
|
|
"distance_to_border_px": 236.0
|
|
},
|
|
"edge_ratio": 1.1094003587199885,
|
|
"edge_lengths_px": [
|
|
16.492422103881836,
|
|
16.155494689941406,
|
|
15.29705810546875,
|
|
14.866068840026855
|
|
]
|
|
},
|
|
"confidence": 0.12349013493926465
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
240.0,
|
|
488.0
|
|
],
|
|
[
|
|
253.0,
|
|
463.0
|
|
],
|
|
[
|
|
446.0,
|
|
514.0
|
|
],
|
|
[
|
|
443.0,
|
|
540.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
345.5,
|
|
501.25
|
|
],
|
|
"area_px": 5461.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
389.0,
|
|
483.0
|
|
],
|
|
[
|
|
397.0,
|
|
479.0
|
|
],
|
|
[
|
|
442.0,
|
|
494.0
|
|
],
|
|
[
|
|
438.0,
|
|
499.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
416.5,
|
|
488.75
|
|
],
|
|
"area_px": 304.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
694.0,
|
|
202.0
|
|
],
|
|
[
|
|
719.0,
|
|
206.0
|
|
],
|
|
[
|
|
720.0,
|
|
235.0
|
|
],
|
|
[
|
|
696.0,
|
|
231.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
707.25,
|
|
218.5
|
|
],
|
|
"area_px": 704.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
637.0,
|
|
581.0
|
|
],
|
|
[
|
|
651.0,
|
|
595.0
|
|
],
|
|
[
|
|
638.0,
|
|
625.0
|
|
],
|
|
[
|
|
623.0,
|
|
614.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
637.25,
|
|
603.75
|
|
],
|
|
"area_px": 625.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
734.0,
|
|
597.0
|
|
],
|
|
[
|
|
758.0,
|
|
603.0
|
|
],
|
|
[
|
|
760.0,
|
|
629.0
|
|
],
|
|
[
|
|
734.0,
|
|
620.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
746.5,
|
|
612.25
|
|
],
|
|
"area_px": 605.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
699.0,
|
|
431.0
|
|
],
|
|
[
|
|
724.0,
|
|
436.0
|
|
],
|
|
[
|
|
724.0,
|
|
462.0
|
|
],
|
|
[
|
|
701.0,
|
|
456.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
712.0,
|
|
446.25
|
|
],
|
|
"area_px": 606.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
414.0,
|
|
438.0
|
|
],
|
|
[
|
|
434.0,
|
|
443.0
|
|
],
|
|
[
|
|
438.0,
|
|
469.0
|
|
],
|
|
[
|
|
417.0,
|
|
463.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
425.75,
|
|
453.25
|
|
],
|
|
"area_px": 503.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
580.0,
|
|
298.0
|
|
],
|
|
[
|
|
574.0,
|
|
337.0
|
|
],
|
|
[
|
|
569.0,
|
|
339.0
|
|
],
|
|
[
|
|
573.0,
|
|
301.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
574.0,
|
|
318.75
|
|
],
|
|
"area_px": 218.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
430.0,
|
|
270.0
|
|
],
|
|
[
|
|
449.0,
|
|
275.0
|
|
],
|
|
[
|
|
451.0,
|
|
298.0
|
|
],
|
|
[
|
|
432.0,
|
|
294.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
440.5,
|
|
284.25
|
|
],
|
|
"area_px": 437.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
664.0,
|
|
735.0
|
|
],
|
|
[
|
|
684.0,
|
|
743.0
|
|
],
|
|
[
|
|
686.0,
|
|
761.0
|
|
],
|
|
[
|
|
666.0,
|
|
754.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
675.0,
|
|
748.25
|
|
],
|
|
"area_px": 355.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
644.0,
|
|
747.0
|
|
],
|
|
[
|
|
662.0,
|
|
754.0
|
|
],
|
|
[
|
|
664.0,
|
|
774.0
|
|
],
|
|
[
|
|
645.0,
|
|
766.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
653.75,
|
|
760.25
|
|
],
|
|
"area_px": 349.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
597.0,
|
|
673.0
|
|
],
|
|
[
|
|
616.0,
|
|
680.0
|
|
],
|
|
[
|
|
616.0,
|
|
700.0
|
|
],
|
|
[
|
|
598.0,
|
|
691.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
606.75,
|
|
686.0
|
|
],
|
|
"area_px": 347.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
148.0,
|
|
40.0
|
|
],
|
|
[
|
|
161.0,
|
|
40.0
|
|
],
|
|
[
|
|
166.0,
|
|
65.0
|
|
],
|
|
[
|
|
150.0,
|
|
63.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
156.25,
|
|
52.0
|
|
],
|
|
"area_px": 344.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
556.0,
|
|
637.0
|
|
],
|
|
[
|
|
574.0,
|
|
644.0
|
|
],
|
|
[
|
|
575.0,
|
|
662.0
|
|
],
|
|
[
|
|
558.0,
|
|
656.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
565.75,
|
|
649.75
|
|
],
|
|
"area_px": 314.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
220.0,
|
|
316.0
|
|
],
|
|
[
|
|
235.0,
|
|
320.0
|
|
],
|
|
[
|
|
239.0,
|
|
340.0
|
|
],
|
|
[
|
|
224.0,
|
|
336.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
229.5,
|
|
328.0
|
|
],
|
|
"area_px": 284.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
517.0,
|
|
711.0
|
|
],
|
|
[
|
|
533.0,
|
|
716.0
|
|
],
|
|
[
|
|
536.0,
|
|
735.0
|
|
],
|
|
[
|
|
519.0,
|
|
727.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
526.25,
|
|
722.25
|
|
],
|
|
"area_px": 272.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
472.0,
|
|
447.0
|
|
],
|
|
[
|
|
475.0,
|
|
453.0
|
|
],
|
|
[
|
|
469.0,
|
|
481.0
|
|
],
|
|
[
|
|
466.0,
|
|
473.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
470.5,
|
|
463.5
|
|
],
|
|
"area_px": 123.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
436.0,
|
|
697.0
|
|
],
|
|
[
|
|
451.0,
|
|
703.0
|
|
],
|
|
[
|
|
454.0,
|
|
721.0
|
|
],
|
|
[
|
|
438.0,
|
|
714.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
444.75,
|
|
708.75
|
|
],
|
|
"area_px": 255.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
364.0,
|
|
560.0
|
|
],
|
|
[
|
|
380.0,
|
|
567.0
|
|
],
|
|
[
|
|
383.0,
|
|
583.0
|
|
],
|
|
[
|
|
367.0,
|
|
577.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
373.5,
|
|
571.75
|
|
],
|
|
"area_px": 244.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
238.0,
|
|
394.0
|
|
],
|
|
[
|
|
251.0,
|
|
398.0
|
|
],
|
|
[
|
|
256.0,
|
|
417.0
|
|
],
|
|
[
|
|
241.0,
|
|
413.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
246.5,
|
|
405.5
|
|
],
|
|
"area_px": 250.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
358.0,
|
|
606.0
|
|
],
|
|
[
|
|
373.0,
|
|
612.0
|
|
],
|
|
[
|
|
376.0,
|
|
629.0
|
|
],
|
|
[
|
|
361.0,
|
|
623.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
367.0,
|
|
617.5
|
|
],
|
|
"area_px": 237.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
407.0,
|
|
678.0
|
|
],
|
|
[
|
|
422.0,
|
|
685.0
|
|
],
|
|
[
|
|
424.0,
|
|
701.0
|
|
],
|
|
[
|
|
409.0,
|
|
694.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
415.5,
|
|
689.5
|
|
],
|
|
"area_px": 226.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
319.0,
|
|
545.0
|
|
],
|
|
[
|
|
333.0,
|
|
551.0
|
|
],
|
|
[
|
|
335.0,
|
|
568.0
|
|
],
|
|
[
|
|
321.0,
|
|
562.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
327.0,
|
|
556.5
|
|
],
|
|
"area_px": 226.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
533.0,
|
|
488.0
|
|
],
|
|
[
|
|
531.0,
|
|
513.0
|
|
],
|
|
[
|
|
528.0,
|
|
517.0
|
|
],
|
|
[
|
|
530.0,
|
|
492.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
530.5,
|
|
502.5
|
|
],
|
|
"area_px": 67.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
912.0,
|
|
544.0
|
|
],
|
|
[
|
|
935.0,
|
|
548.0
|
|
],
|
|
[
|
|
936.0,
|
|
551.0
|
|
],
|
|
[
|
|
920.0,
|
|
548.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
925.75,
|
|
547.75
|
|
],
|
|
"area_px": 52.5
|
|
}
|
|
]
|
|
} |