2645 lines
52 KiB
JSON
2645 lines
52 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-25T17:25:09Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "cam0",
|
|
"intrinsics_file": "/app/data/calibration/20260610_092149/cam0_calibration.npz",
|
|
"camera_matrix": [
|
|
[
|
|
1424.7584228515625,
|
|
0.0,
|
|
635.95947265625
|
|
],
|
|
[
|
|
0.0,
|
|
1421.5770263671875,
|
|
482.1744384765625
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.05634751915931702,
|
|
0.33765655755996704,
|
|
0.002130246954038739,
|
|
-0.004022662527859211,
|
|
-1.182201862335205
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "/app/data/homing/20260625_172504/cam0.jpg",
|
|
"image_sha256": "38bce066381e4c8b923f17646421eee30b462a45466be3ceb450d49a042866bc",
|
|
"width_px": 1280,
|
|
"height_px": 960
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 36,
|
|
"num_rejected_candidates": 26
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "c667b25d-f2b1-4b3d-a359-a5172956a33b",
|
|
"type": "aruco",
|
|
"marker_id": 148,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
803.0,
|
|
214.0
|
|
],
|
|
[
|
|
757.0,
|
|
214.0
|
|
],
|
|
[
|
|
759.0,
|
|
166.0
|
|
],
|
|
[
|
|
805.0,
|
|
167.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
781.0,
|
|
190.25
|
|
],
|
|
"quality": {
|
|
"area_px": 2186.0,
|
|
"perimeter_px": 187.09505081176758,
|
|
"sharpness": {
|
|
"laplacian_var": 3418.3223930454024
|
|
},
|
|
"contrast": {
|
|
"p05": 84.0,
|
|
"p95": 251.0,
|
|
"dynamic_range": 167.0,
|
|
"mean_gray": 138.14713715046605,
|
|
"std_gray": 62.88174221336519
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4027950167655945,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.0443836709727412,
|
|
"edge_lengths_px": [
|
|
46.0,
|
|
48.041648864746094,
|
|
46.010868072509766,
|
|
47.04253387451172
|
|
]
|
|
},
|
|
"confidence": 0.9575025230608957
|
|
},
|
|
{
|
|
"observation_id": "94172787-546f-47fa-8fe7-1ecc5a93e7da",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
650.0,
|
|
928.0
|
|
],
|
|
[
|
|
652.0,
|
|
892.0
|
|
],
|
|
[
|
|
702.0,
|
|
892.0
|
|
],
|
|
[
|
|
701.0,
|
|
930.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
676.25,
|
|
910.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1870.0,
|
|
"perimeter_px": 175.10786819458008,
|
|
"sharpness": {
|
|
"laplacian_var": 2559.9819822756886
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 82.13986013986013,
|
|
"std_gray": 69.10939058672639
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5400293469429016,
|
|
"distance_to_border_px": 30.0
|
|
},
|
|
"edge_ratio": 1.4155727582742472,
|
|
"edge_lengths_px": [
|
|
36.055511474609375,
|
|
50.0,
|
|
38.01315689086914,
|
|
51.03919982910156
|
|
]
|
|
},
|
|
"confidence": 0.42385670146087856
|
|
},
|
|
{
|
|
"observation_id": "0817b641-2ecb-40d7-8c20-4b656477cd41",
|
|
"type": "aruco",
|
|
"marker_id": 144,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
798.0,
|
|
410.0
|
|
],
|
|
[
|
|
754.0,
|
|
410.0
|
|
],
|
|
[
|
|
754.0,
|
|
367.0
|
|
],
|
|
[
|
|
799.0,
|
|
367.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
776.25,
|
|
388.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1913.5,
|
|
"perimeter_px": 175.01162719726562,
|
|
"sharpness": {
|
|
"laplacian_var": 3923.123238824356
|
|
},
|
|
"contrast": {
|
|
"p05": 52.85,
|
|
"p95": 251.0,
|
|
"dynamic_range": 198.15,
|
|
"mean_gray": 137.8341158059468,
|
|
"std_gray": 80.48104021784783
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20515358448028564,
|
|
"distance_to_border_px": 367.0
|
|
},
|
|
"edge_ratio": 1.0465116279069768,
|
|
"edge_lengths_px": [
|
|
44.0,
|
|
43.0,
|
|
45.0,
|
|
43.011627197265625
|
|
]
|
|
},
|
|
"confidence": 0.9555555555555555
|
|
},
|
|
{
|
|
"observation_id": "e58b6790-fbbb-4fcb-969b-01e0052e89c1",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
451.0,
|
|
940.0
|
|
],
|
|
[
|
|
460.0,
|
|
903.0
|
|
],
|
|
[
|
|
509.0,
|
|
903.0
|
|
],
|
|
[
|
|
502.0,
|
|
938.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
480.5,
|
|
921.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1792.0,
|
|
"perimeter_px": 173.8112030029297,
|
|
"sharpness": {
|
|
"laplacian_var": 2171.978517210261
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 163.8499999999999,
|
|
"dynamic_range": 156.8499999999999,
|
|
"mean_gray": 54.33496732026144,
|
|
"std_gray": 60.18297714529273
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.586197018623352,
|
|
"distance_to_border_px": 20.0
|
|
},
|
|
"edge_ratio": 1.4299443118128083,
|
|
"edge_lengths_px": [
|
|
38.07886505126953,
|
|
49.0,
|
|
35.693138122558594,
|
|
51.03919982910156
|
|
]
|
|
},
|
|
"confidence": 0.2797311732321247
|
|
},
|
|
{
|
|
"observation_id": "96b6617a-5f43-4b97-bc56-9a7b0b7850bb",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1060.0,
|
|
860.0
|
|
],
|
|
[
|
|
1050.0,
|
|
827.0
|
|
],
|
|
[
|
|
1099.0,
|
|
827.0
|
|
],
|
|
[
|
|
1111.0,
|
|
860.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1080.0,
|
|
843.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1650.0,
|
|
"perimeter_px": 169.5959815979004,
|
|
"sharpness": {
|
|
"laplacian_var": 2958.162899511713
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 98.53564899451554,
|
|
"std_gray": 62.0568244467167
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7134119272232056,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.47903767781682,
|
|
"edge_lengths_px": [
|
|
34.48188018798828,
|
|
49.0,
|
|
35.11410140991211,
|
|
51.0
|
|
]
|
|
},
|
|
"confidence": 0.6761152978036918
|
|
},
|
|
{
|
|
"observation_id": "f0437940-d6c8-4dbf-abfc-b3b60cbf350d",
|
|
"type": "aruco",
|
|
"marker_id": 147,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
831.0,
|
|
279.0
|
|
],
|
|
[
|
|
792.0,
|
|
284.0
|
|
],
|
|
[
|
|
792.0,
|
|
240.0
|
|
],
|
|
[
|
|
833.0,
|
|
235.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
812.0,
|
|
259.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1755.0,
|
|
"perimeter_px": 168.66838836669922,
|
|
"sharpness": {
|
|
"laplacian_var": 3714.5398758069864
|
|
},
|
|
"contrast": {
|
|
"p05": 29.900000000000006,
|
|
"p95": 251.0,
|
|
"dynamic_range": 221.1,
|
|
"mean_gray": 97.03753127606339,
|
|
"std_gray": 78.44116865541442
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.34956279397010803,
|
|
"distance_to_border_px": 235.0
|
|
},
|
|
"edge_ratio": 1.1202013836027187,
|
|
"edge_lengths_px": [
|
|
39.31920623779297,
|
|
44.0,
|
|
41.30375289916992,
|
|
44.04542922973633
|
|
]
|
|
},
|
|
"confidence": 0.8926966299433279
|
|
},
|
|
{
|
|
"observation_id": "87cb3310-e8d4-4669-849d-f25e3cf554e7",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
730.0,
|
|
886.0
|
|
],
|
|
[
|
|
728.0,
|
|
851.0
|
|
],
|
|
[
|
|
777.0,
|
|
852.0
|
|
],
|
|
[
|
|
779.0,
|
|
885.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
753.5,
|
|
868.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1666.0,
|
|
"perimeter_px": 166.13805389404297,
|
|
"sharpness": {
|
|
"laplacian_var": 1759.6769308020353
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 45.85013380909902,
|
|
"std_gray": 53.1624580173282
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5059250593185425,
|
|
"distance_to_border_px": 74.0
|
|
},
|
|
"edge_ratio": 1.4824376271039765,
|
|
"edge_lengths_px": [
|
|
35.05709457397461,
|
|
49.01020431518555,
|
|
33.060550689697266,
|
|
49.01020431518555
|
|
]
|
|
},
|
|
"confidence": 0.6745646371332027
|
|
},
|
|
{
|
|
"observation_id": "efccc2d2-5af3-4cfd-9208-027220726a35",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
798.0,
|
|
598.0
|
|
],
|
|
[
|
|
755.0,
|
|
601.0
|
|
],
|
|
[
|
|
753.0,
|
|
563.0
|
|
],
|
|
[
|
|
796.0,
|
|
559.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
775.5,
|
|
580.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1662.5,
|
|
"perimeter_px": 163.39401245117188,
|
|
"sharpness": {
|
|
"laplacian_var": 2333.63356288185
|
|
},
|
|
"contrast": {
|
|
"p05": 34.300000000000004,
|
|
"p95": 223.0,
|
|
"dynamic_range": 188.7,
|
|
"mean_gray": 94.41915085817524,
|
|
"std_gray": 73.36844142361393
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.21069198846817017,
|
|
"distance_to_border_px": 359.0
|
|
},
|
|
"edge_ratio": 1.1348935265847708,
|
|
"edge_lengths_px": [
|
|
43.104522705078125,
|
|
38.05259704589844,
|
|
43.185646057128906,
|
|
39.051246643066406
|
|
]
|
|
},
|
|
"confidence": 0.8811399277333926
|
|
},
|
|
{
|
|
"observation_id": "fae996c5-2822-420b-9d31-500f7bfe6280",
|
|
"type": "aruco",
|
|
"marker_id": 118,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
732.0,
|
|
599.0
|
|
],
|
|
[
|
|
690.0,
|
|
600.0
|
|
],
|
|
[
|
|
689.0,
|
|
561.0
|
|
],
|
|
[
|
|
732.0,
|
|
561.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
710.75,
|
|
580.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1636.5,
|
|
"perimeter_px": 162.02471923828125,
|
|
"sharpness": {
|
|
"laplacian_var": 2144.4680598053515
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 218.0,
|
|
"dynamic_range": 186.0,
|
|
"mean_gray": 68.12388591800357,
|
|
"std_gray": 56.51202906871175
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15337669849395752,
|
|
"distance_to_border_px": 360.0
|
|
},
|
|
"edge_ratio": 1.131578947368421,
|
|
"edge_lengths_px": [
|
|
42.01190185546875,
|
|
39.0128173828125,
|
|
43.0,
|
|
38.0
|
|
]
|
|
},
|
|
"confidence": 0.8837209302325582
|
|
},
|
|
{
|
|
"observation_id": "61090e29-997e-4c6a-b41e-9cf7b9536af6",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1080.0,
|
|
797.0
|
|
],
|
|
[
|
|
1069.0,
|
|
770.0
|
|
],
|
|
[
|
|
1116.0,
|
|
769.0
|
|
],
|
|
[
|
|
1128.0,
|
|
798.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1098.25,
|
|
783.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1330.0,
|
|
"perimeter_px": 155.56052017211914,
|
|
"sharpness": {
|
|
"laplacian_var": 1217.6423677077862
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 143.5999999999999,
|
|
"dynamic_range": 134.5999999999999,
|
|
"mean_gray": 32.961011591148576,
|
|
"std_gray": 40.88818386782848
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6870512962341309,
|
|
"distance_to_border_px": 152.0
|
|
},
|
|
"edge_ratio": 1.6467435687868974,
|
|
"edge_lengths_px": [
|
|
29.154760360717773,
|
|
47.01063537597656,
|
|
31.38471031188965,
|
|
48.010414123535156
|
|
]
|
|
},
|
|
"confidence": 0.53843639257073
|
|
},
|
|
{
|
|
"observation_id": "1d35cfc3-8cca-4f4a-8e0a-ad0ea63b175e",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
598.0,
|
|
573.0
|
|
],
|
|
[
|
|
641.0,
|
|
573.0
|
|
],
|
|
[
|
|
642.0,
|
|
608.0
|
|
],
|
|
[
|
|
600.0,
|
|
608.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
620.25,
|
|
590.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1487.5,
|
|
"perimeter_px": 155.0713768005371,
|
|
"sharpness": {
|
|
"laplacian_var": 2181.9543597435872
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 218.0,
|
|
"dynamic_range": 187.0,
|
|
"mean_gray": 97.56387225548902,
|
|
"std_gray": 75.69147912513895
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.14031389355659485,
|
|
"distance_to_border_px": 352.0
|
|
},
|
|
"edge_ratio": 1.2280702977649327,
|
|
"edge_lengths_px": [
|
|
43.0,
|
|
35.0142822265625,
|
|
42.0,
|
|
35.05709457397461
|
|
]
|
|
},
|
|
"confidence": 0.8074999195660731
|
|
},
|
|
{
|
|
"observation_id": "2a90c6aa-2f09-4703-84c2-fb981abb9609",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
100.0,
|
|
834.0
|
|
],
|
|
[
|
|
117.0,
|
|
804.0
|
|
],
|
|
[
|
|
160.0,
|
|
803.0
|
|
],
|
|
[
|
|
144.0,
|
|
832.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
130.25,
|
|
818.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1258.5,
|
|
"perimeter_px": 154.65992736816406,
|
|
"sharpness": {
|
|
"laplacian_var": 1718.7308581451593
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 148.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 55.507990867579906,
|
|
"std_gray": 54.96051866517566
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7647080421447754,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.3298342902232072,
|
|
"edge_lengths_px": [
|
|
34.48188018798828,
|
|
43.011627197265625,
|
|
33.12099075317383,
|
|
44.04542922973633
|
|
]
|
|
},
|
|
"confidence": 0.6309056746154269
|
|
},
|
|
{
|
|
"observation_id": "5df84083-f67b-4389-9ce5-4cc25e5d4f93",
|
|
"type": "aruco",
|
|
"marker_id": 178,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
610.0,
|
|
67.0
|
|
],
|
|
[
|
|
640.0,
|
|
77.0
|
|
],
|
|
[
|
|
645.0,
|
|
122.0
|
|
],
|
|
[
|
|
613.0,
|
|
110.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
627.0,
|
|
94.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1320.0,
|
|
"perimeter_px": 154.18023681640625,
|
|
"sharpness": {
|
|
"laplacian_var": 4076.229188375383
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 224.0,
|
|
"dynamic_range": 209.0,
|
|
"mean_gray": 103.61606160616061,
|
|
"std_gray": 82.29810449731507
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4827735424041748,
|
|
"distance_to_border_px": 67.0
|
|
},
|
|
"edge_ratio": 1.4317820828951904,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
45.27692413330078,
|
|
34.1760139465332,
|
|
43.104522705078125
|
|
]
|
|
},
|
|
"confidence": 0.6146186703360346
|
|
},
|
|
{
|
|
"observation_id": "a1bb35ea-eb86-46fe-8c23-82c21a20a322",
|
|
"type": "aruco",
|
|
"marker_id": 143,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
748.0,
|
|
282.0
|
|
],
|
|
[
|
|
717.0,
|
|
277.0
|
|
],
|
|
[
|
|
717.0,
|
|
232.0
|
|
],
|
|
[
|
|
747.0,
|
|
237.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
732.25,
|
|
257.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1370.0,
|
|
"perimeter_px": 151.82555770874023,
|
|
"sharpness": {
|
|
"laplacian_var": 3726.956143170197
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 231.0,
|
|
"dynamic_range": 214.0,
|
|
"mean_gray": 108.81513513513514,
|
|
"std_gray": 84.23353243895154
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30165964365005493,
|
|
"distance_to_border_px": 232.0
|
|
},
|
|
"edge_ratio": 1.4799561283280895,
|
|
"edge_lengths_px": [
|
|
31.400636672973633,
|
|
45.0,
|
|
30.4138126373291,
|
|
45.0111083984375
|
|
]
|
|
},
|
|
"confidence": 0.6171354108754079
|
|
},
|
|
{
|
|
"observation_id": "0eb08464-0308-444b-9fa6-21d8f3f86b29",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
732.0,
|
|
825.0
|
|
],
|
|
[
|
|
732.0,
|
|
796.0
|
|
],
|
|
[
|
|
777.0,
|
|
795.0
|
|
],
|
|
[
|
|
779.0,
|
|
825.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
755.0,
|
|
810.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1357.5,
|
|
"perimeter_px": 151.07770156860352,
|
|
"sharpness": {
|
|
"laplacian_var": 2331.6486435169404
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 171.5999999999999,
|
|
"dynamic_range": 157.5999999999999,
|
|
"mean_gray": 68.26238145416228,
|
|
"std_gray": 62.348367521367116
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.43712493777275085,
|
|
"distance_to_border_px": 135.0
|
|
},
|
|
"edge_ratio": 1.6206896551724137,
|
|
"edge_lengths_px": [
|
|
29.0,
|
|
45.0111083984375,
|
|
30.066593170166016,
|
|
47.0
|
|
]
|
|
},
|
|
"confidence": 0.558404255319149
|
|
},
|
|
{
|
|
"observation_id": "23d5f551-7214-4cd9-a6a5-ffde721f8746",
|
|
"type": "aruco",
|
|
"marker_id": 146,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
746.0,
|
|
408.0
|
|
],
|
|
[
|
|
716.0,
|
|
400.0
|
|
],
|
|
[
|
|
713.0,
|
|
357.0
|
|
],
|
|
[
|
|
745.0,
|
|
365.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
730.0,
|
|
382.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1317.0,
|
|
"perimeter_px": 150.1493434906006,
|
|
"sharpness": {
|
|
"laplacian_var": 3500.9000013550117
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 221.0,
|
|
"dynamic_range": 203.0,
|
|
"mean_gray": 90.0788013318535,
|
|
"std_gray": 77.04876445041587
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16586066782474518,
|
|
"distance_to_border_px": 357.0
|
|
},
|
|
"edge_ratio": 1.38830319695383,
|
|
"edge_lengths_px": [
|
|
31.048349380493164,
|
|
43.104522705078125,
|
|
32.98484420776367,
|
|
43.011627197265625
|
|
]
|
|
},
|
|
"confidence": 0.6324266931938781
|
|
},
|
|
{
|
|
"observation_id": "284c6d1f-74fb-4765-8b7b-8403bc547b4c",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
814.0
|
|
],
|
|
[
|
|
444.0,
|
|
786.0
|
|
],
|
|
[
|
|
486.0,
|
|
784.0
|
|
],
|
|
[
|
|
480.0,
|
|
815.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
461.25,
|
|
799.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1279.5,
|
|
"perimeter_px": 148.04488945007324,
|
|
"sharpness": {
|
|
"laplacian_var": 1898.4866011511167
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 71.8202502844141,
|
|
"std_gray": 62.691051335665385
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.457902193069458,
|
|
"distance_to_border_px": 145.0
|
|
},
|
|
"edge_ratio": 1.5304235671951851,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
42.04759216308594,
|
|
31.575305938720703,
|
|
45.0111083984375
|
|
]
|
|
},
|
|
"confidence": 0.5573620390355706
|
|
},
|
|
{
|
|
"observation_id": "c7808cef-894f-4fba-b717-22efb8e98ac1",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
620.0,
|
|
797.0
|
|
],
|
|
[
|
|
621.0,
|
|
768.0
|
|
],
|
|
[
|
|
665.0,
|
|
767.0
|
|
],
|
|
[
|
|
664.0,
|
|
794.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
642.5,
|
|
781.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1230.0,
|
|
"perimeter_px": 144.14926719665527,
|
|
"sharpness": {
|
|
"laplacian_var": 2030.2197598123316
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 78.82366863905325,
|
|
"std_gray": 63.243183571021255
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3768879771232605,
|
|
"distance_to_border_px": 163.0
|
|
},
|
|
"edge_ratio": 1.6322939099424927,
|
|
"edge_lengths_px": [
|
|
29.017236709594727,
|
|
44.0113639831543,
|
|
27.018512725830078,
|
|
44.10215377807617
|
|
]
|
|
},
|
|
"confidence": 0.5023605093453355
|
|
},
|
|
{
|
|
"observation_id": "0f547793-80de-46b3-9812-c9debd93408e",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
216.0,
|
|
756.0
|
|
],
|
|
[
|
|
229.0,
|
|
730.0
|
|
],
|
|
[
|
|
269.0,
|
|
729.0
|
|
],
|
|
[
|
|
258.0,
|
|
755.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
243.0,
|
|
742.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1054.0,
|
|
"perimeter_px": 139.32447052001953,
|
|
"sharpness": {
|
|
"laplacian_var": 1964.3909426665516
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 60.33017591339648,
|
|
"std_gray": 58.16240429561631
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5949202179908752,
|
|
"distance_to_border_px": 204.0
|
|
},
|
|
"edge_ratio": 1.48813794597262,
|
|
"edge_lengths_px": [
|
|
29.068883895874023,
|
|
40.01249694824219,
|
|
28.23118782043457,
|
|
42.01190185546875
|
|
]
|
|
},
|
|
"confidence": 0.4721784486231997
|
|
},
|
|
{
|
|
"observation_id": "677d6f46-7ebc-4f6a-9a26-1489a7b20f98",
|
|
"type": "aruco",
|
|
"marker_id": 179,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
681.0,
|
|
124.0
|
|
],
|
|
[
|
|
710.0,
|
|
90.0
|
|
],
|
|
[
|
|
734.0,
|
|
86.0
|
|
],
|
|
[
|
|
703.0,
|
|
122.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
707.0,
|
|
105.5
|
|
],
|
|
"quality": {
|
|
"area_px": 715.0,
|
|
"perimeter_px": 138.61746978759766,
|
|
"sharpness": {
|
|
"laplacian_var": 5117.431845223827
|
|
},
|
|
"contrast": {
|
|
"p05": 27.0,
|
|
"p95": 199.0,
|
|
"dynamic_range": 172.0,
|
|
"mean_gray": 111.12317327766179,
|
|
"std_gray": 63.03903639952653
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4755576252937317,
|
|
"distance_to_border_px": 86.0
|
|
},
|
|
"edge_ratio": 2.1505813381224153,
|
|
"edge_lengths_px": [
|
|
44.68780517578125,
|
|
24.331050872802734,
|
|
47.50789260864258,
|
|
22.090721130371094
|
|
]
|
|
},
|
|
"confidence": 0.22164549566994052
|
|
},
|
|
{
|
|
"observation_id": "1910f211-ccd9-4396-ac60-f5994701de18",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
112.0,
|
|
726.0
|
|
],
|
|
[
|
|
128.0,
|
|
702.0
|
|
],
|
|
[
|
|
167.0,
|
|
702.0
|
|
],
|
|
[
|
|
152.0,
|
|
726.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
139.75,
|
|
714.0
|
|
],
|
|
"quality": {
|
|
"area_px": 948.0,
|
|
"perimeter_px": 136.14635276794434,
|
|
"sharpness": {
|
|
"laplacian_var": 1679.942156213018
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 150.54999999999995,
|
|
"dynamic_range": 145.54999999999995,
|
|
"mean_gray": 58.19538461538462,
|
|
"std_gray": 55.86762081582946
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6903419494628906,
|
|
"distance_to_border_px": 112.0
|
|
},
|
|
"edge_ratio": 1.4133305351821348,
|
|
"edge_lengths_px": [
|
|
28.844409942626953,
|
|
39.0,
|
|
28.301942825317383,
|
|
40.0
|
|
]
|
|
},
|
|
"confidence": 0.4471706966400147
|
|
},
|
|
{
|
|
"observation_id": "7f141f30-b688-4197-b434-f3a84542719e",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
326.0,
|
|
720.0
|
|
],
|
|
[
|
|
336.0,
|
|
697.0
|
|
],
|
|
[
|
|
375.0,
|
|
695.0
|
|
],
|
|
[
|
|
366.0,
|
|
720.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
350.75,
|
|
708.0
|
|
],
|
|
"quality": {
|
|
"area_px": 938.5,
|
|
"perimeter_px": 130.70177841186523,
|
|
"sharpness": {
|
|
"laplacian_var": 1552.29517627377
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 97.95238095238095,
|
|
"std_gray": 59.37647757151911
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4603829085826874,
|
|
"distance_to_border_px": 240.0
|
|
},
|
|
"edge_ratio": 1.5949044632489766,
|
|
"edge_lengths_px": [
|
|
25.079872131347656,
|
|
39.051246643066406,
|
|
26.570659637451172,
|
|
40.0
|
|
]
|
|
},
|
|
"confidence": 0.3922909999211629
|
|
},
|
|
{
|
|
"observation_id": "ac067053-d9fb-47e7-9b1e-2184b1902ee1",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
832.0,
|
|
697.0
|
|
],
|
|
[
|
|
830.0,
|
|
673.0
|
|
],
|
|
[
|
|
870.0,
|
|
674.0
|
|
],
|
|
[
|
|
874.0,
|
|
697.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
851.5,
|
|
685.25
|
|
],
|
|
"quality": {
|
|
"area_px": 962.0,
|
|
"perimeter_px": 129.44092178344727,
|
|
"sharpness": {
|
|
"laplacian_var": 1640.2315806902307
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 147.85000000000002,
|
|
"dynamic_range": 136.85000000000002,
|
|
"mean_gray": 38.221385542168676,
|
|
"std_gray": 41.325924218801255
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36839985847473145,
|
|
"distance_to_border_px": 263.0
|
|
},
|
|
"edge_ratio": 1.799082275954978,
|
|
"edge_lengths_px": [
|
|
24.083189010620117,
|
|
40.01249694824219,
|
|
23.34523582458496,
|
|
42.0
|
|
]
|
|
},
|
|
"confidence": 0.3564780454484243
|
|
},
|
|
{
|
|
"observation_id": "a36767aa-e429-444a-aac9-c85b70e56307",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
773.0,
|
|
711.0
|
|
],
|
|
[
|
|
772.0,
|
|
687.0
|
|
],
|
|
[
|
|
813.0,
|
|
686.0
|
|
],
|
|
[
|
|
815.0,
|
|
708.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
793.25,
|
|
698.0
|
|
],
|
|
"quality": {
|
|
"area_px": 957.5,
|
|
"perimeter_px": 129.23074340820312,
|
|
"sharpness": {
|
|
"laplacian_var": 2010.2993408332864
|
|
},
|
|
"contrast": {
|
|
"p05": 14.200000000000003,
|
|
"p95": 168.0,
|
|
"dynamic_range": 153.8,
|
|
"mean_gray": 80.81052631578947,
|
|
"std_gray": 62.91890145157787
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3330952525138855,
|
|
"distance_to_border_px": 249.0
|
|
},
|
|
"edge_ratio": 1.9060946822196703,
|
|
"edge_lengths_px": [
|
|
24.020824432373047,
|
|
41.01219177246094,
|
|
22.090721130371094,
|
|
42.10700607299805
|
|
]
|
|
},
|
|
"confidence": 0.3348906742607279
|
|
},
|
|
{
|
|
"observation_id": "e1e7876a-42c0-408b-9b76-3c7fffc9f3e3",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1176.0,
|
|
574.0
|
|
],
|
|
[
|
|
1215.0,
|
|
573.0
|
|
],
|
|
[
|
|
1230.0,
|
|
592.0
|
|
],
|
|
[
|
|
1189.0,
|
|
593.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1202.5,
|
|
583.0
|
|
],
|
|
"quality": {
|
|
"area_px": 774.0,
|
|
"perimeter_px": 127.25417518615723,
|
|
"sharpness": {
|
|
"laplacian_var": 2139.513973932892
|
|
},
|
|
"contrast": {
|
|
"p05": 7.5,
|
|
"p95": 147.0,
|
|
"dynamic_range": 139.5,
|
|
"mean_gray": 58.471869328493646,
|
|
"std_gray": 52.35761634246344
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.714815616607666,
|
|
"distance_to_border_px": 50.0
|
|
},
|
|
"edge_ratio": 1.7814557992300921,
|
|
"edge_lengths_px": [
|
|
39.0128173828125,
|
|
24.20743751525879,
|
|
41.01219177246094,
|
|
23.021728515625
|
|
]
|
|
},
|
|
"confidence": 0.28965074531908364
|
|
},
|
|
{
|
|
"observation_id": "92702c1d-daf0-46d4-a2a0-faed0216a21c",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
703.0
|
|
],
|
|
[
|
|
442.0,
|
|
680.0
|
|
],
|
|
[
|
|
480.0,
|
|
678.0
|
|
],
|
|
[
|
|
475.0,
|
|
701.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
458.0,
|
|
690.5
|
|
],
|
|
"quality": {
|
|
"area_px": 885.0,
|
|
"perimeter_px": 125.68140029907227,
|
|
"sharpness": {
|
|
"laplacian_var": 2173.634276381615
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 70.43238731218698,
|
|
"std_gray": 55.48762456870332
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3478376269340515,
|
|
"distance_to_border_px": 257.0
|
|
},
|
|
"edge_ratio": 1.7015601112260554,
|
|
"edge_lengths_px": [
|
|
24.041629791259766,
|
|
38.05259704589844,
|
|
23.53720474243164,
|
|
40.04996871948242
|
|
]
|
|
},
|
|
"confidence": 0.34674061533734285
|
|
},
|
|
{
|
|
"observation_id": "c141bd08-41ac-433d-a9ae-e3ccee35d167",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
676.0,
|
|
684.0
|
|
],
|
|
[
|
|
677.0,
|
|
661.0
|
|
],
|
|
[
|
|
716.0,
|
|
661.0
|
|
],
|
|
[
|
|
716.0,
|
|
683.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
696.25,
|
|
672.25
|
|
],
|
|
"quality": {
|
|
"area_px": 888.5,
|
|
"perimeter_px": 124.03422546386719,
|
|
"sharpness": {
|
|
"laplacian_var": 2470.381435815291
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 78.189852700491,
|
|
"std_gray": 55.596511934276705
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.250387579202652,
|
|
"distance_to_border_px": 276.0
|
|
},
|
|
"edge_ratio": 1.8187498612837358,
|
|
"edge_lengths_px": [
|
|
23.021728515625,
|
|
39.0,
|
|
22.0,
|
|
40.01249694824219
|
|
]
|
|
},
|
|
"confidence": 0.3256815826862768
|
|
},
|
|
{
|
|
"observation_id": "6cebfa2b-d87b-43a1-878b-0843e1a4a02a",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
601.0,
|
|
499.0
|
|
],
|
|
[
|
|
641.0,
|
|
497.0
|
|
],
|
|
[
|
|
641.0,
|
|
518.0
|
|
],
|
|
[
|
|
598.0,
|
|
518.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
620.25,
|
|
508.0
|
|
],
|
|
"quality": {
|
|
"area_px": 828.5,
|
|
"perimeter_px": 123.28535270690918,
|
|
"sharpness": {
|
|
"laplacian_var": 1837.3403008262126
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 70.32100840336135,
|
|
"std_gray": 50.64550860481377
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.04283074289560318,
|
|
"distance_to_border_px": 442.0
|
|
},
|
|
"edge_ratio": 2.2354635617415815,
|
|
"edge_lengths_px": [
|
|
40.04996871948242,
|
|
21.0,
|
|
43.0,
|
|
19.235383987426758
|
|
]
|
|
},
|
|
"confidence": 0.2470777617609778
|
|
},
|
|
{
|
|
"observation_id": "215be18e-7209-49e6-8801-0d5b8d6dc05a",
|
|
"type": "aruco",
|
|
"marker_id": 0,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
981.0,
|
|
580.0
|
|
],
|
|
[
|
|
1020.0,
|
|
580.0
|
|
],
|
|
[
|
|
1027.0,
|
|
598.0
|
|
],
|
|
[
|
|
987.0,
|
|
599.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1003.75,
|
|
589.25
|
|
],
|
|
"quality": {
|
|
"area_px": 734.0,
|
|
"perimeter_px": 118.25056266784668,
|
|
"sharpness": {
|
|
"laplacian_var": 2984.908518518518
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 64.06481481481481,
|
|
"std_gray": 56.668083830015874
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.47475260496139526,
|
|
"distance_to_border_px": 253.0
|
|
},
|
|
"edge_ratio": 2.071768590819997,
|
|
"edge_lengths_px": [
|
|
39.0,
|
|
19.313207626342773,
|
|
40.01249694824219,
|
|
19.92485809326172
|
|
]
|
|
},
|
|
"confidence": 0.2361911149254644
|
|
},
|
|
{
|
|
"observation_id": "bbb4252c-7620-4d82-84af-7451cf6464b6",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
607.0,
|
|
431.0
|
|
],
|
|
[
|
|
642.0,
|
|
430.0
|
|
],
|
|
[
|
|
642.0,
|
|
446.0
|
|
],
|
|
[
|
|
603.0,
|
|
447.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
623.5,
|
|
438.5
|
|
],
|
|
"quality": {
|
|
"area_px": 590.0,
|
|
"perimeter_px": 106.51952171325684,
|
|
"sharpness": {
|
|
"laplacian_var": 3027.346435986159
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 83.71764705882353,
|
|
"std_gray": 53.675717319452616
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.055824778974056244,
|
|
"distance_to_border_px": 430.0
|
|
},
|
|
"edge_ratio": 2.4383010864257812,
|
|
"edge_lengths_px": [
|
|
35.0142822265625,
|
|
16.0,
|
|
39.0128173828125,
|
|
16.492422103881836
|
|
]
|
|
},
|
|
"confidence": 0.16131450521965957
|
|
},
|
|
{
|
|
"observation_id": "987d800f-074e-4a0c-a78c-11a17795ec6d",
|
|
"type": "aruco",
|
|
"marker_id": 214,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
997.0,
|
|
512.0
|
|
],
|
|
[
|
|
1032.0,
|
|
510.0
|
|
],
|
|
[
|
|
1039.0,
|
|
526.0
|
|
],
|
|
[
|
|
1003.0,
|
|
527.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1017.75,
|
|
518.75
|
|
],
|
|
"quality": {
|
|
"area_px": 560.0,
|
|
"perimeter_px": 104.69072341918945,
|
|
"sharpness": {
|
|
"laplacian_var": 3056.7590187236547
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 88.80940594059406,
|
|
"std_gray": 55.22484025178536
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4746653735637665,
|
|
"distance_to_border_px": 241.0
|
|
},
|
|
"edge_ratio": 2.229203511822484,
|
|
"edge_lengths_px": [
|
|
35.05709457397461,
|
|
17.464248657226562,
|
|
36.013885498046875,
|
|
16.155494689941406
|
|
]
|
|
},
|
|
"confidence": 0.1674738673940608
|
|
},
|
|
{
|
|
"observation_id": "76b6b580-a479-4060-bb34-db7cd168c6a4",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
426.0,
|
|
525.0
|
|
],
|
|
[
|
|
458.0,
|
|
525.0
|
|
],
|
|
[
|
|
453.0,
|
|
540.0
|
|
],
|
|
[
|
|
420.0,
|
|
540.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
439.25,
|
|
532.5
|
|
],
|
|
"quality": {
|
|
"area_px": 487.5,
|
|
"perimeter_px": 96.96688270568848,
|
|
"sharpness": {
|
|
"laplacian_var": 2292.68210261852
|
|
},
|
|
"contrast": {
|
|
"p05": 26.0,
|
|
"p95": 140.0,
|
|
"dynamic_range": 114.0,
|
|
"mean_gray": 72.16201117318435,
|
|
"std_gray": 40.570464369974935
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2593767046928406,
|
|
"distance_to_border_px": 420.0
|
|
},
|
|
"edge_ratio": 2.087103293343648,
|
|
"edge_lengths_px": [
|
|
32.0,
|
|
15.81138801574707,
|
|
33.0,
|
|
16.155494689941406
|
|
]
|
|
},
|
|
"confidence": 0.15571821530659996
|
|
},
|
|
{
|
|
"observation_id": "9e637346-1f24-4e88-a1c0-91614dee18f0",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1015.0,
|
|
441.0
|
|
],
|
|
[
|
|
1009.0,
|
|
429.0
|
|
],
|
|
[
|
|
1040.0,
|
|
428.0
|
|
],
|
|
[
|
|
1045.0,
|
|
439.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1027.25,
|
|
434.25
|
|
],
|
|
"quality": {
|
|
"area_px": 359.0,
|
|
"perimeter_px": 86.58217144012451,
|
|
"sharpness": {
|
|
"laplacian_var": 2717.9174408284025
|
|
},
|
|
"contrast": {
|
|
"p05": 10.950000000000001,
|
|
"p95": 139.14999999999995,
|
|
"dynamic_range": 128.19999999999996,
|
|
"mean_gray": 61.18076923076923,
|
|
"std_gray": 46.01732549336315
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4874289035797119,
|
|
"distance_to_border_px": 235.0
|
|
},
|
|
"edge_ratio": 2.566912749431886,
|
|
"edge_lengths_px": [
|
|
13.416407585144043,
|
|
31.016124725341797,
|
|
12.083045959472656,
|
|
30.066593170166016
|
|
]
|
|
},
|
|
"confidence": 0.09323781394061914
|
|
},
|
|
{
|
|
"observation_id": "76304739-8ad4-4afd-a639-4a90d6d7333d",
|
|
"type": "aruco",
|
|
"marker_id": 204,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
524.0,
|
|
296.0
|
|
],
|
|
[
|
|
556.0,
|
|
296.0
|
|
],
|
|
[
|
|
554.0,
|
|
305.0
|
|
],
|
|
[
|
|
520.0,
|
|
306.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
538.5,
|
|
300.75
|
|
],
|
|
"quality": {
|
|
"area_px": 312.0,
|
|
"perimeter_px": 86.00457572937012,
|
|
"sharpness": {
|
|
"laplacian_var": 2229.9914840083225
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 141.0,
|
|
"dynamic_range": 107.0,
|
|
"mean_gray": 72.6867469879518,
|
|
"std_gray": 38.080951940082755
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.257490336894989,
|
|
"distance_to_border_px": 296.0
|
|
},
|
|
"edge_ratio": 3.6894124403549124,
|
|
"edge_lengths_px": [
|
|
32.0,
|
|
9.219544410705566,
|
|
34.01470184326172,
|
|
10.770329475402832
|
|
]
|
|
},
|
|
"confidence": 0.05637754069588135
|
|
},
|
|
{
|
|
"observation_id": "c17d8632-0cba-40e6-9b2a-00d36c2da03c",
|
|
"type": "aruco",
|
|
"marker_id": 50,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1005.0,
|
|
420.0
|
|
],
|
|
[
|
|
1000.0,
|
|
408.0
|
|
],
|
|
[
|
|
1029.0,
|
|
408.0
|
|
],
|
|
[
|
|
1034.0,
|
|
418.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1017.0,
|
|
413.5
|
|
],
|
|
"quality": {
|
|
"area_px": 324.0,
|
|
"perimeter_px": 82.24922370910645,
|
|
"sharpness": {
|
|
"laplacian_var": 3214.651233650416
|
|
},
|
|
"contrast": {
|
|
"p05": 8.55,
|
|
"p95": 143.0,
|
|
"dynamic_range": 134.45,
|
|
"mean_gray": 58.78448275862069,
|
|
"std_gray": 46.0148600500112
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.47852516174316406,
|
|
"distance_to_border_px": 246.0
|
|
},
|
|
"edge_ratio": 2.60000003411969,
|
|
"edge_lengths_px": [
|
|
13.0,
|
|
29.0,
|
|
11.180339813232422,
|
|
29.068883895874023
|
|
]
|
|
},
|
|
"confidence": 0.08307692198670814
|
|
},
|
|
{
|
|
"observation_id": "89b9f8cf-8b52-43dd-bfd5-0d40a7a3a7ef",
|
|
"type": "aruco",
|
|
"marker_id": 91,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1155.0,
|
|
361.0
|
|
],
|
|
[
|
|
1149.0,
|
|
352.0
|
|
],
|
|
[
|
|
1175.0,
|
|
350.0
|
|
],
|
|
[
|
|
1183.0,
|
|
360.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1165.5,
|
|
355.75
|
|
],
|
|
"quality": {
|
|
"area_px": 267.0,
|
|
"perimeter_px": 77.71756267547607,
|
|
"sharpness": {
|
|
"laplacian_var": 1919.084707429323
|
|
},
|
|
"contrast": {
|
|
"p05": 14.700000000000001,
|
|
"p95": 139.0,
|
|
"dynamic_range": 124.3,
|
|
"mean_gray": 66.03589743589744,
|
|
"std_gray": 45.16821827505848
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6749864816665649,
|
|
"distance_to_border_px": 97.0
|
|
},
|
|
"edge_ratio": 2.590251139032298,
|
|
"edge_lengths_px": [
|
|
10.816654205322266,
|
|
26.07680892944336,
|
|
12.806248664855957,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.06871920537654881
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
670.0,
|
|
389.0
|
|
],
|
|
[
|
|
685.0,
|
|
404.0
|
|
],
|
|
[
|
|
691.0,
|
|
425.0
|
|
],
|
|
[
|
|
679.0,
|
|
458.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
681.25,
|
|
419.0
|
|
],
|
|
"area_px": 675.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1261.0,
|
|
524.0
|
|
],
|
|
[
|
|
1216.0,
|
|
525.0
|
|
],
|
|
[
|
|
1202.0,
|
|
506.0
|
|
],
|
|
[
|
|
1245.0,
|
|
505.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1231.0,
|
|
515.0
|
|
],
|
|
"area_px": 851.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
772.0,
|
|
473.0
|
|
],
|
|
[
|
|
778.0,
|
|
475.0
|
|
],
|
|
[
|
|
775.0,
|
|
525.0
|
|
],
|
|
[
|
|
770.0,
|
|
521.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
773.75,
|
|
498.5
|
|
],
|
|
"area_px": 277.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
753.0,
|
|
608.0
|
|
],
|
|
[
|
|
795.0,
|
|
605.0
|
|
],
|
|
[
|
|
794.0,
|
|
619.0
|
|
],
|
|
[
|
|
753.0,
|
|
620.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
773.75,
|
|
613.0
|
|
],
|
|
"area_px": 538.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
789.0,
|
|
473.0
|
|
],
|
|
[
|
|
792.0,
|
|
519.0
|
|
],
|
|
[
|
|
787.0,
|
|
523.0
|
|
],
|
|
[
|
|
785.0,
|
|
477.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
788.25,
|
|
498.0
|
|
],
|
|
"area_px": 217.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1193.0,
|
|
438.0
|
|
],
|
|
[
|
|
1161.0,
|
|
439.0
|
|
],
|
|
[
|
|
1154.0,
|
|
428.0
|
|
],
|
|
[
|
|
1184.0,
|
|
426.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.0,
|
|
432.75
|
|
],
|
|
"area_px": 368.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
450.0,
|
|
115.0
|
|
],
|
|
[
|
|
471.0,
|
|
115.0
|
|
],
|
|
[
|
|
471.0,
|
|
140.0
|
|
],
|
|
[
|
|
456.0,
|
|
141.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
462.0,
|
|
127.75
|
|
],
|
|
"area_px": 460.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
915.0,
|
|
433.0
|
|
],
|
|
[
|
|
945.0,
|
|
432.0
|
|
],
|
|
[
|
|
949.0,
|
|
443.0
|
|
],
|
|
[
|
|
919.0,
|
|
444.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
932.0,
|
|
438.0
|
|
],
|
|
"area_px": 334.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
960.0,
|
|
423.0
|
|
],
|
|
[
|
|
990.0,
|
|
422.0
|
|
],
|
|
[
|
|
994.0,
|
|
433.0
|
|
],
|
|
[
|
|
964.0,
|
|
434.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
977.0,
|
|
428.0
|
|
],
|
|
"area_px": 334.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1200.0,
|
|
354.0
|
|
],
|
|
[
|
|
1229.0,
|
|
354.0
|
|
],
|
|
[
|
|
1238.0,
|
|
363.0
|
|
],
|
|
[
|
|
1210.0,
|
|
363.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1219.25,
|
|
358.5
|
|
],
|
|
"area_px": 256.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
281.0,
|
|
448.0
|
|
],
|
|
[
|
|
289.0,
|
|
438.0
|
|
],
|
|
[
|
|
317.0,
|
|
438.0
|
|
],
|
|
[
|
|
309.0,
|
|
449.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
299.0,
|
|
443.25
|
|
],
|
|
"area_px": 298.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
333.0,
|
|
449.0
|
|
],
|
|
[
|
|
340.0,
|
|
438.0
|
|
],
|
|
[
|
|
367.0,
|
|
438.0
|
|
],
|
|
[
|
|
361.0,
|
|
448.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
350.25,
|
|
443.25
|
|
],
|
|
"area_px": 285.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
926.0,
|
|
421.0
|
|
],
|
|
[
|
|
897.0,
|
|
422.0
|
|
],
|
|
[
|
|
894.0,
|
|
411.0
|
|
],
|
|
[
|
|
921.0,
|
|
410.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
909.5,
|
|
416.0
|
|
],
|
|
"area_px": 312.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
811.0,
|
|
243.0
|
|
],
|
|
[
|
|
812.0,
|
|
275.0
|
|
],
|
|
[
|
|
805.0,
|
|
277.0
|
|
],
|
|
[
|
|
804.0,
|
|
245.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
808.0,
|
|
260.0
|
|
],
|
|
"area_px": 226.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
758.0,
|
|
480.0
|
|
],
|
|
[
|
|
764.0,
|
|
483.0
|
|
],
|
|
[
|
|
762.0,
|
|
515.0
|
|
],
|
|
[
|
|
756.0,
|
|
513.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
760.0,
|
|
497.75
|
|
],
|
|
"area_px": 200.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1059.0,
|
|
359.0
|
|
],
|
|
[
|
|
1086.0,
|
|
359.0
|
|
],
|
|
[
|
|
1092.0,
|
|
368.0
|
|
],
|
|
[
|
|
1063.0,
|
|
369.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1075.0,
|
|
363.75
|
|
],
|
|
"area_px": 268.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
929.0,
|
|
385.0
|
|
],
|
|
[
|
|
957.0,
|
|
385.0
|
|
],
|
|
[
|
|
961.0,
|
|
394.0
|
|
],
|
|
[
|
|
933.0,
|
|
395.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
945.0,
|
|
389.75
|
|
],
|
|
"area_px": 268.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1015.0,
|
|
369.0
|
|
],
|
|
[
|
|
1042.0,
|
|
367.0
|
|
],
|
|
[
|
|
1047.0,
|
|
376.0
|
|
],
|
|
[
|
|
1020.0,
|
|
378.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1031.0,
|
|
372.5
|
|
],
|
|
"area_px": 253.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
981.0,
|
|
363.0
|
|
],
|
|
[
|
|
1008.0,
|
|
363.0
|
|
],
|
|
[
|
|
1012.0,
|
|
372.0
|
|
],
|
|
[
|
|
987.0,
|
|
373.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
997.0,
|
|
367.75
|
|
],
|
|
"area_px": 249.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
326.0,
|
|
384.0
|
|
],
|
|
[
|
|
334.0,
|
|
374.0
|
|
],
|
|
[
|
|
358.0,
|
|
375.0
|
|
],
|
|
[
|
|
349.0,
|
|
384.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
341.75,
|
|
379.25
|
|
],
|
|
"area_px": 227.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
429.0,
|
|
372.0
|
|
],
|
|
[
|
|
425.0,
|
|
380.0
|
|
],
|
|
[
|
|
399.0,
|
|
381.0
|
|
],
|
|
[
|
|
404.0,
|
|
372.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
414.25,
|
|
376.25
|
|
],
|
|
"area_px": 214.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
255.0,
|
|
613.0
|
|
],
|
|
[
|
|
248.0,
|
|
615.0
|
|
],
|
|
[
|
|
225.0,
|
|
611.0
|
|
],
|
|
[
|
|
247.0,
|
|
610.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
243.75,
|
|
612.25
|
|
],
|
|
"area_px": 74.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
120.0,
|
|
722.0
|
|
],
|
|
[
|
|
123.0,
|
|
717.0
|
|
],
|
|
[
|
|
144.0,
|
|
718.0
|
|
],
|
|
[
|
|
142.0,
|
|
723.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
132.25,
|
|
720.0
|
|
],
|
|
"area_px": 110.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
718.0,
|
|
284.0
|
|
],
|
|
[
|
|
721.0,
|
|
287.0
|
|
],
|
|
[
|
|
723.0,
|
|
298.0
|
|
],
|
|
[
|
|
720.0,
|
|
305.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
720.5,
|
|
293.5
|
|
],
|
|
"area_px": 52.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
431.0,
|
|
637.0
|
|
],
|
|
[
|
|
440.0,
|
|
635.0
|
|
],
|
|
[
|
|
452.0,
|
|
636.0
|
|
],
|
|
[
|
|
451.0,
|
|
638.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
443.5,
|
|
636.5
|
|
],
|
|
"area_px": 37.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
914.0,
|
|
513.0
|
|
],
|
|
[
|
|
915.0,
|
|
511.0
|
|
],
|
|
[
|
|
933.0,
|
|
512.0
|
|
],
|
|
[
|
|
922.0,
|
|
516.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
921.0,
|
|
513.0
|
|
],
|
|
"area_px": 51.0
|
|
}
|
|
]
|
|
} |