3092 lines
67 KiB
JSON
3092 lines
67 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-25T17:59:27Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "cam2",
|
|
"intrinsics_file": "/app/data/calibration/20260610_092149/cam2_calibration.npz",
|
|
"camera_matrix": [
|
|
[
|
|
1388.99072265625,
|
|
0.0,
|
|
933.082763671875
|
|
],
|
|
[
|
|
0.0,
|
|
1394.8729248046875,
|
|
562.4996948242188
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.019531700760126114,
|
|
-0.11213663965463638,
|
|
0.0026758278254419565,
|
|
0.0007694826927036047,
|
|
0.05339815095067024
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "/app/data/homing/20260625_175916/cam2.jpg",
|
|
"image_sha256": "e406d47f9af9841c10b0f2d1f63f4a78bf13deffb2e3b373f35b17212849378f",
|
|
"width_px": 1920,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 54,
|
|
"num_rejected_candidates": 5
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "a83c3a74-378b-4281-8f43-71f3e5afd57f",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
914.0,
|
|
1039.0
|
|
],
|
|
[
|
|
940.0,
|
|
1010.0
|
|
],
|
|
[
|
|
972.0,
|
|
1036.0
|
|
],
|
|
[
|
|
946.0,
|
|
1065.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
943.0,
|
|
1037.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1604.0,
|
|
"perimeter_px": 160.35948181152344,
|
|
"sharpness": {
|
|
"laplacian_var": 2215.2598124158358
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 95.29017447199266,
|
|
"std_gray": 62.72001352277011
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.45193949341773987,
|
|
"distance_to_border_px": 15.0
|
|
},
|
|
"edge_ratio": 1.0585994505083367,
|
|
"edge_lengths_px": [
|
|
38.94868469238281,
|
|
41.231056213378906,
|
|
38.94868469238281,
|
|
41.231056213378906
|
|
]
|
|
},
|
|
"confidence": 0.28339330788046485
|
|
},
|
|
{
|
|
"observation_id": "49763024-56bb-4890-9a19-c001fc6dd1d5",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1233.0,
|
|
1041.0
|
|
],
|
|
[
|
|
1253.0,
|
|
1013.0
|
|
],
|
|
[
|
|
1288.0,
|
|
1039.0
|
|
],
|
|
[
|
|
1268.0,
|
|
1068.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1260.5,
|
|
1040.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1527.5,
|
|
"perimeter_px": 157.4416618347168,
|
|
"sharpness": {
|
|
"laplacian_var": 1265.453084073945
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 147.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 45.643968871595334,
|
|
"std_gray": 53.31998782593434
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5298151969909668,
|
|
"distance_to_border_px": 12.0
|
|
},
|
|
"edge_ratio": 1.2846546947115982,
|
|
"edge_lengths_px": [
|
|
34.4093017578125,
|
|
43.600460052490234,
|
|
35.22782897949219,
|
|
44.204071044921875
|
|
]
|
|
},
|
|
"confidence": 0.186820630468236
|
|
},
|
|
{
|
|
"observation_id": "6ef27b0e-f7f5-44ec-a544-82e92398e8a8",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
991.0,
|
|
1007.0
|
|
],
|
|
[
|
|
1015.0,
|
|
979.0
|
|
],
|
|
[
|
|
1047.0,
|
|
1004.0
|
|
],
|
|
[
|
|
1022.0,
|
|
1032.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1018.75,
|
|
1005.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1494.5,
|
|
"perimeter_px": 154.84732055664062,
|
|
"sharpness": {
|
|
"laplacian_var": 953.0447839999999
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 145.04999999999995,
|
|
"dynamic_range": 137.04999999999995,
|
|
"mean_gray": 30.108,
|
|
"std_gray": 41.54674880180156
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4259759187698364,
|
|
"distance_to_border_px": 48.0
|
|
},
|
|
"edge_ratio": 1.1011357456969009,
|
|
"edge_lengths_px": [
|
|
36.878177642822266,
|
|
40.607879638671875,
|
|
37.53664779663086,
|
|
39.824615478515625
|
|
]
|
|
},
|
|
"confidence": 0.868630415221559
|
|
},
|
|
{
|
|
"observation_id": "c77955db-0be9-4455-867e-ed6db9e5e6af",
|
|
"type": "aruco",
|
|
"marker_id": 147,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1026.0,
|
|
500.0
|
|
],
|
|
[
|
|
986.0,
|
|
489.0
|
|
],
|
|
[
|
|
994.0,
|
|
455.0
|
|
],
|
|
[
|
|
1035.0,
|
|
467.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1010.25,
|
|
477.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1454.5,
|
|
"perimeter_px": 153.33871459960938,
|
|
"sharpness": {
|
|
"laplacian_var": 3234.2340945304372
|
|
},
|
|
"contrast": {
|
|
"p05": 18.550000000000004,
|
|
"p95": 237.0,
|
|
"dynamic_range": 218.45,
|
|
"mean_gray": 80.6320564516129,
|
|
"std_gray": 79.81258731147395
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.07263199985027313,
|
|
"distance_to_border_px": 455.0
|
|
},
|
|
"edge_ratio": 1.248931268390258,
|
|
"edge_lengths_px": [
|
|
41.48493576049805,
|
|
34.928497314453125,
|
|
42.72002029418945,
|
|
34.20526123046875
|
|
]
|
|
},
|
|
"confidence": 0.7763971414667724
|
|
},
|
|
{
|
|
"observation_id": "dac4298c-72aa-44a6-a09d-529f079f8c99",
|
|
"type": "aruco",
|
|
"marker_id": 148,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1009.0,
|
|
440.0
|
|
],
|
|
[
|
|
977.0,
|
|
419.0
|
|
],
|
|
[
|
|
986.0,
|
|
383.0
|
|
],
|
|
[
|
|
1018.0,
|
|
404.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
997.5,
|
|
411.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1341.0,
|
|
"perimeter_px": 150.76654052734375,
|
|
"sharpness": {
|
|
"laplacian_var": 5150.403416971768
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 240.0,
|
|
"dynamic_range": 222.0,
|
|
"mean_gray": 92.87986651835372,
|
|
"std_gray": 83.39489548845643
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.12153030931949615,
|
|
"distance_to_border_px": 383.0
|
|
},
|
|
"edge_ratio": 1.0314586486508992,
|
|
"edge_lengths_px": [
|
|
38.27531814575195,
|
|
37.10795211791992,
|
|
38.27531814575195,
|
|
37.10795211791992
|
|
]
|
|
},
|
|
"confidence": 0.8667337281715668
|
|
},
|
|
{
|
|
"observation_id": "5f0a1f12-2c27-4bfb-a9ef-7ab030162bfa",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
623.0,
|
|
883.0
|
|
],
|
|
[
|
|
654.0,
|
|
861.0
|
|
],
|
|
[
|
|
678.0,
|
|
884.0
|
|
],
|
|
[
|
|
648.0,
|
|
908.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
650.75,
|
|
884.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1295.5,
|
|
"perimeter_px": 145.02878189086914,
|
|
"sharpness": {
|
|
"laplacian_var": 2135.809518386192
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 80.59841628959276,
|
|
"std_gray": 66.53399122585454
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4199637770652771,
|
|
"distance_to_border_px": 172.0
|
|
},
|
|
"edge_ratio": 1.1557451340188913,
|
|
"edge_lengths_px": [
|
|
38.01315689086914,
|
|
33.241539001464844,
|
|
38.41874694824219,
|
|
35.35533905029297
|
|
]
|
|
},
|
|
"confidence": 0.7472812484733762
|
|
},
|
|
{
|
|
"observation_id": "016fa3ec-c95a-4173-a003-3bd8e1567310",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
700.0,
|
|
891.0
|
|
],
|
|
[
|
|
729.0,
|
|
868.0
|
|
],
|
|
[
|
|
754.0,
|
|
892.0
|
|
],
|
|
[
|
|
727.0,
|
|
915.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
727.5,
|
|
891.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1270.0,
|
|
"perimeter_px": 143.26203536987305,
|
|
"sharpness": {
|
|
"laplacian_var": 1503.3612969280516
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 39.71196283391405,
|
|
"std_gray": 51.52977519313533
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.382618248462677,
|
|
"distance_to_border_px": 165.0
|
|
},
|
|
"edge_ratio": 1.0680431762486382,
|
|
"edge_lengths_px": [
|
|
37.013511657714844,
|
|
34.65544509887695,
|
|
35.46829605102539,
|
|
36.12478256225586
|
|
]
|
|
},
|
|
"confidence": 0.7927270034536174
|
|
},
|
|
{
|
|
"observation_id": "13955a91-2525-46eb-b3e6-58b46440d508",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1304.0,
|
|
886.0
|
|
],
|
|
[
|
|
1338.0,
|
|
908.0
|
|
],
|
|
[
|
|
1322.0,
|
|
933.0
|
|
],
|
|
[
|
|
1287.0,
|
|
911.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1312.75,
|
|
909.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1225.5,
|
|
"perimeter_px": 141.75104522705078,
|
|
"sharpness": {
|
|
"laplacian_var": 1396.9586006209686
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 145.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 54.80923450789793,
|
|
"std_gray": 55.193760651412134
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4637918174266815,
|
|
"distance_to_border_px": 147.0
|
|
},
|
|
"edge_ratio": 1.3927817794037038,
|
|
"edge_lengths_px": [
|
|
40.49691390991211,
|
|
29.681644439697266,
|
|
41.34005355834961,
|
|
30.232433319091797
|
|
]
|
|
},
|
|
"confidence": 0.5865958415608975
|
|
},
|
|
{
|
|
"observation_id": "672235e5-92b3-4d11-b379-0dbbcef60fc3",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1515.0,
|
|
893.0
|
|
],
|
|
[
|
|
1550.0,
|
|
915.0
|
|
],
|
|
[
|
|
1535.0,
|
|
939.0
|
|
],
|
|
[
|
|
1500.0,
|
|
915.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1525.0,
|
|
915.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1150.0,
|
|
"perimeter_px": 138.7072410583496,
|
|
"sharpness": {
|
|
"laplacian_var": 1319.8758986317605
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 141.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 51.8248730964467,
|
|
"std_gray": 51.53919991154273
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6159124970436096,
|
|
"distance_to_border_px": 141.0
|
|
},
|
|
"edge_ratio": 1.5937996790170945,
|
|
"edge_lengths_px": [
|
|
41.34005355834961,
|
|
28.301942825317383,
|
|
42.43819046020508,
|
|
26.62705421447754
|
|
]
|
|
},
|
|
"confidence": 0.48103075735306616
|
|
},
|
|
{
|
|
"observation_id": "6dafbd27-5c30-4b2d-87f4-b361fe71dbcb",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
753.0,
|
|
850.0
|
|
],
|
|
[
|
|
780.0,
|
|
829.0
|
|
],
|
|
[
|
|
806.0,
|
|
850.0
|
|
],
|
|
[
|
|
779.0,
|
|
873.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
779.5,
|
|
850.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1166.0,
|
|
"perimeter_px": 137.8082160949707,
|
|
"sharpness": {
|
|
"laplacian_var": 2107.9842668895926
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 59.6401028277635,
|
|
"std_gray": 61.29568469686339
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3260713517665863,
|
|
"distance_to_border_px": 207.0
|
|
},
|
|
"edge_ratio": 1.0612402852147163,
|
|
"edge_lengths_px": [
|
|
34.20526123046875,
|
|
33.42155075073242,
|
|
35.46829605102539,
|
|
34.71310806274414
|
|
]
|
|
},
|
|
"confidence": 0.7324762772043267
|
|
},
|
|
{
|
|
"observation_id": "ee0e75f4-6f7c-4eda-a520-554c50fa061f",
|
|
"type": "aruco",
|
|
"marker_id": 144,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
968.0,
|
|
585.0
|
|
],
|
|
[
|
|
939.0,
|
|
564.0
|
|
],
|
|
[
|
|
946.0,
|
|
533.0
|
|
],
|
|
[
|
|
976.0,
|
|
555.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
957.25,
|
|
559.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1061.0,
|
|
"perimeter_px": 135.8360252380371,
|
|
"sharpness": {
|
|
"laplacian_var": 5288.562423574649
|
|
},
|
|
"contrast": {
|
|
"p05": 18.6,
|
|
"p95": 239.0,
|
|
"dynamic_range": 220.4,
|
|
"mean_gray": 111.4556616643929,
|
|
"std_gray": 87.711963565579
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.017654340714216232,
|
|
"distance_to_border_px": 495.0
|
|
},
|
|
"edge_ratio": 1.198200644945408,
|
|
"edge_lengths_px": [
|
|
35.80502700805664,
|
|
31.78049659729004,
|
|
37.202152252197266,
|
|
31.048349380493164
|
|
]
|
|
},
|
|
"confidence": 0.5903296216015312
|
|
},
|
|
{
|
|
"observation_id": "0120235d-1085-46ed-9f30-6f5ad12522a7",
|
|
"type": "aruco",
|
|
"marker_id": 93,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1867.0,
|
|
971.0
|
|
],
|
|
[
|
|
1876.0,
|
|
947.0
|
|
],
|
|
[
|
|
1912.0,
|
|
969.0
|
|
],
|
|
[
|
|
1905.0,
|
|
992.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1890.0,
|
|
969.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1041.5,
|
|
"perimeter_px": 135.2802734375,
|
|
"sharpness": {
|
|
"laplacian_var": 746.3198492362626
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 118.0,
|
|
"dynamic_range": 110.0,
|
|
"mean_gray": 44.49295774647887,
|
|
"std_gray": 41.72994103249703
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.930127739906311,
|
|
"distance_to_border_px": 8.0
|
|
},
|
|
"edge_ratio": 1.8058920383747763,
|
|
"edge_lengths_px": [
|
|
25.63201141357422,
|
|
42.19004440307617,
|
|
24.041629791259766,
|
|
43.416587829589844
|
|
]
|
|
},
|
|
"confidence": 0.0615171510658591
|
|
},
|
|
{
|
|
"observation_id": "17ed48d1-b7c9-4055-b7fc-808c9bc5c5ce",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
523.0,
|
|
804.0
|
|
],
|
|
[
|
|
553.0,
|
|
783.0
|
|
],
|
|
[
|
|
577.0,
|
|
803.0
|
|
],
|
|
[
|
|
544.0,
|
|
823.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
549.25,
|
|
803.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1075.5,
|
|
"perimeter_px": 134.7678337097168,
|
|
"sharpness": {
|
|
"laplacian_var": 1370.2102854668694
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 53.33196721311475,
|
|
"std_gray": 58.2690707538106
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4429319202899933,
|
|
"distance_to_border_px": 257.0
|
|
},
|
|
"edge_ratio": 1.3625741860872198,
|
|
"edge_lengths_px": [
|
|
36.619667053222656,
|
|
31.240999221801758,
|
|
38.587562561035156,
|
|
28.319604873657227
|
|
]
|
|
},
|
|
"confidence": 0.526209880769093
|
|
},
|
|
{
|
|
"observation_id": "5ee18f75-c683-4358-9a94-173613f737ff",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
715.0,
|
|
777.0
|
|
],
|
|
[
|
|
741.0,
|
|
755.0
|
|
],
|
|
[
|
|
766.0,
|
|
776.0
|
|
],
|
|
[
|
|
740.0,
|
|
796.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
740.5,
|
|
776.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1045.0,
|
|
"perimeter_px": 130.9115047454834,
|
|
"sharpness": {
|
|
"laplacian_var": 2363.04210614142
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 67.07703281027104,
|
|
"std_gray": 64.26019061074966
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.29261186718940735,
|
|
"distance_to_border_px": 284.0
|
|
},
|
|
"edge_ratio": 1.0846523080242414,
|
|
"edge_lengths_px": [
|
|
34.058773040771484,
|
|
32.649654388427734,
|
|
32.80244064331055,
|
|
31.400636672973633
|
|
]
|
|
},
|
|
"confidence": 0.6422949193144543
|
|
},
|
|
{
|
|
"observation_id": "59e8cf10-cfb6-43a5-8bdf-27df34cc5b16",
|
|
"type": "aruco",
|
|
"marker_id": 0,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1148.0,
|
|
783.0
|
|
],
|
|
[
|
|
1177.0,
|
|
803.0
|
|
],
|
|
[
|
|
1158.0,
|
|
824.0
|
|
],
|
|
[
|
|
1127.0,
|
|
805.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1152.5,
|
|
803.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1035.0,
|
|
"perimeter_px": 130.32056427001953,
|
|
"sharpness": {
|
|
"laplacian_var": 1735.2833863410967
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 145.85000000000002,
|
|
"dynamic_range": 140.85000000000002,
|
|
"mean_gray": 58.63742690058479,
|
|
"std_gray": 55.58566543243226
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2964515686035156,
|
|
"distance_to_border_px": 256.0
|
|
},
|
|
"edge_ratio": 1.2838921285007863,
|
|
"edge_lengths_px": [
|
|
35.22782897949219,
|
|
28.319604873657227,
|
|
36.359317779541016,
|
|
30.4138126373291
|
|
]
|
|
},
|
|
"confidence": 0.5374283280369667
|
|
},
|
|
{
|
|
"observation_id": "54d2fc89-f4f7-43ff-9ab3-834281f5a6f5",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
936.0,
|
|
802.0
|
|
],
|
|
[
|
|
959.0,
|
|
781.0
|
|
],
|
|
[
|
|
986.0,
|
|
801.0
|
|
],
|
|
[
|
|
965.0,
|
|
822.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
961.5,
|
|
801.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1028.0,
|
|
"perimeter_px": 129.6717300415039,
|
|
"sharpness": {
|
|
"laplacian_var": 985.4981639249527
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 144.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 29.809104258443465,
|
|
"std_gray": 41.09534030689129
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.23741744458675385,
|
|
"distance_to_border_px": 258.0
|
|
},
|
|
"edge_ratio": 1.1861827182954703,
|
|
"edge_lengths_px": [
|
|
31.14482307434082,
|
|
33.60059356689453,
|
|
29.698484420776367,
|
|
35.22782897949219
|
|
]
|
|
},
|
|
"confidence": 0.5777637144454008
|
|
},
|
|
{
|
|
"observation_id": "78a1dadd-b77f-41a4-a33d-301809bbbe26",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
886.0,
|
|
783.0
|
|
],
|
|
[
|
|
909.0,
|
|
763.0
|
|
],
|
|
[
|
|
937.0,
|
|
782.0
|
|
],
|
|
[
|
|
914.0,
|
|
802.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
911.5,
|
|
782.5
|
|
],
|
|
"quality": {
|
|
"area_px": 997.0,
|
|
"perimeter_px": 128.63470077514648,
|
|
"sharpness": {
|
|
"laplacian_var": 1892.9543407056651
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 68.19676945668135,
|
|
"std_gray": 62.201883820323886
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22452370822429657,
|
|
"distance_to_border_px": 278.0
|
|
},
|
|
"edge_ratio": 1.1101837874342844,
|
|
"edge_lengths_px": [
|
|
30.479501724243164,
|
|
33.83784866333008,
|
|
30.479501724243164,
|
|
33.83784866333008
|
|
]
|
|
},
|
|
"confidence": 0.5986996695409863
|
|
},
|
|
{
|
|
"observation_id": "ac769645-daad-478d-b63d-e9aff700c9a0",
|
|
"type": "aruco",
|
|
"marker_id": 94,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1791.0,
|
|
890.0
|
|
],
|
|
[
|
|
1801.0,
|
|
869.0
|
|
],
|
|
[
|
|
1835.0,
|
|
889.0
|
|
],
|
|
[
|
|
1828.0,
|
|
910.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1813.75,
|
|
889.5
|
|
],
|
|
"quality": {
|
|
"area_px": 915.5,
|
|
"perimeter_px": 126.9010009765625,
|
|
"sharpness": {
|
|
"laplacian_var": 1106.6585568395592
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 128.0,
|
|
"dynamic_range": 121.0,
|
|
"mean_gray": 47.48196721311476,
|
|
"std_gray": 45.606914590061386
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8375458717346191,
|
|
"distance_to_border_px": 85.0
|
|
},
|
|
"edge_ratio": 1.9000536809353408,
|
|
"edge_lengths_px": [
|
|
23.25940704345703,
|
|
39.4461669921875,
|
|
22.135944366455078,
|
|
42.05948257446289
|
|
]
|
|
},
|
|
"confidence": 0.321218994735393
|
|
},
|
|
{
|
|
"observation_id": "1a123cfb-ecb5-4f08-9aaa-0265e21ad93c",
|
|
"type": "aruco",
|
|
"marker_id": 157,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1066.0,
|
|
484.0
|
|
],
|
|
[
|
|
1042.0,
|
|
497.0
|
|
],
|
|
[
|
|
1052.0,
|
|
463.0
|
|
],
|
|
[
|
|
1076.0,
|
|
450.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1059.0,
|
|
473.5
|
|
],
|
|
"quality": {
|
|
"area_px": 686.0,
|
|
"perimeter_px": 125.46955490112305,
|
|
"sharpness": {
|
|
"laplacian_var": 2323.8292875610455
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 155.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 57.82627118644068,
|
|
"std_gray": 53.441710568326975
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.10827624797821045,
|
|
"distance_to_border_px": 450.0
|
|
},
|
|
"edge_ratio": 1.2984244819300144,
|
|
"edge_lengths_px": [
|
|
27.294687271118164,
|
|
35.44009017944336,
|
|
27.294687271118164,
|
|
35.44009017944336
|
|
]
|
|
},
|
|
"confidence": 0.3522217423484963
|
|
},
|
|
{
|
|
"observation_id": "9236f4f9-9226-48aa-ac5e-04d91bed85e3",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
606.0,
|
|
708.0
|
|
],
|
|
[
|
|
634.0,
|
|
691.0
|
|
],
|
|
[
|
|
656.0,
|
|
708.0
|
|
],
|
|
[
|
|
629.0,
|
|
728.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
631.25,
|
|
708.75
|
|
],
|
|
"quality": {
|
|
"area_px": 925.0,
|
|
"perimeter_px": 124.63965225219727,
|
|
"sharpness": {
|
|
"laplacian_var": 1763.9668711865481
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 63.00624024960999,
|
|
"std_gray": 61.53719845859582
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33549389243125916,
|
|
"distance_to_border_px": 352.0
|
|
},
|
|
"edge_ratio": 1.2085293565799977,
|
|
"edge_lengths_px": [
|
|
32.75667953491211,
|
|
27.80287742614746,
|
|
33.60059356689453,
|
|
30.479501724243164
|
|
]
|
|
},
|
|
"confidence": 0.5102620497459525
|
|
},
|
|
{
|
|
"observation_id": "0d299030-53bb-4668-849a-7f7df916ede4",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
853.0,
|
|
550.0
|
|
],
|
|
[
|
|
881.0,
|
|
566.0
|
|
],
|
|
[
|
|
859.0,
|
|
585.0
|
|
],
|
|
[
|
|
830.0,
|
|
567.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
855.75,
|
|
567.0
|
|
],
|
|
"quality": {
|
|
"area_px": 895.5,
|
|
"perimeter_px": 124.05070877075195,
|
|
"sharpness": {
|
|
"laplacian_var": 1460.055641748169
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 51.89900662251656,
|
|
"std_gray": 54.31431152191192
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.09777048975229263,
|
|
"distance_to_border_px": 495.0
|
|
},
|
|
"edge_ratio": 1.1934007615737057,
|
|
"edge_lengths_px": [
|
|
32.24903106689453,
|
|
29.068883895874023,
|
|
34.13209533691406,
|
|
28.600698471069336
|
|
]
|
|
},
|
|
"confidence": 0.500251063366804
|
|
},
|
|
{
|
|
"observation_id": "d192322b-e3f2-49c7-9c2f-da546d007891",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
933.0,
|
|
716.0
|
|
],
|
|
[
|
|
905.0,
|
|
699.0
|
|
],
|
|
[
|
|
909.0,
|
|
671.0
|
|
],
|
|
[
|
|
938.0,
|
|
689.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
921.25,
|
|
693.75
|
|
],
|
|
"quality": {
|
|
"area_px": 862.5,
|
|
"perimeter_px": 122.63210678100586,
|
|
"sharpness": {
|
|
"laplacian_var": 3063.3507181844293
|
|
},
|
|
"contrast": {
|
|
"p05": 19.450000000000003,
|
|
"p95": 208.0,
|
|
"dynamic_range": 188.55,
|
|
"mean_gray": 81.16271186440677,
|
|
"std_gray": 71.99006969727611
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1439533680677414,
|
|
"distance_to_border_px": 364.0
|
|
},
|
|
"edge_ratio": 1.24301758710616,
|
|
"edge_lengths_px": [
|
|
32.75667953491211,
|
|
28.284271240234375,
|
|
34.13209533691406,
|
|
27.459060668945312
|
|
]
|
|
},
|
|
"confidence": 0.462583961775347
|
|
},
|
|
{
|
|
"observation_id": "1765df6c-8eeb-43e1-be1b-09a5c920048e",
|
|
"type": "aruco",
|
|
"marker_id": 214,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1250.0,
|
|
729.0
|
|
],
|
|
[
|
|
1280.0,
|
|
747.0
|
|
],
|
|
[
|
|
1264.0,
|
|
765.0
|
|
],
|
|
[
|
|
1233.0,
|
|
746.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1256.75,
|
|
746.75
|
|
],
|
|
"quality": {
|
|
"area_px": 839.0,
|
|
"perimeter_px": 119.46984672546387,
|
|
"sharpness": {
|
|
"laplacian_var": 1590.0423666910153
|
|
},
|
|
"contrast": {
|
|
"p05": 7.550000000000001,
|
|
"p95": 148.0,
|
|
"dynamic_range": 140.45,
|
|
"mean_gray": 74.86824324324324,
|
|
"std_gray": 57.19761445739244
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.32835817337036133,
|
|
"distance_to_border_px": 315.0
|
|
},
|
|
"edge_ratio": 1.5123482931577,
|
|
"edge_lengths_px": [
|
|
34.98571014404297,
|
|
24.083189010620117,
|
|
36.359317779541016,
|
|
24.041629791259766
|
|
]
|
|
},
|
|
"confidence": 0.3698442586697249
|
|
},
|
|
{
|
|
"observation_id": "0a3b87eb-ead3-480d-8339-18334b19d907",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
852.0,
|
|
715.0
|
|
],
|
|
[
|
|
873.0,
|
|
696.0
|
|
],
|
|
[
|
|
900.0,
|
|
714.0
|
|
],
|
|
[
|
|
877.0,
|
|
733.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
875.5,
|
|
714.5
|
|
],
|
|
"quality": {
|
|
"area_px": 890.0,
|
|
"perimeter_px": 121.40827941894531,
|
|
"sharpness": {
|
|
"laplacian_var": 2249.1852760293614
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 143.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 64.6645264847512,
|
|
"std_gray": 54.51053009196851
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.17602437734603882,
|
|
"distance_to_border_px": 347.0
|
|
},
|
|
"edge_ratio": 1.1458480003777034,
|
|
"edge_lengths_px": [
|
|
28.319604873657227,
|
|
32.4499626159668,
|
|
29.832868576049805,
|
|
30.805843353271484
|
|
]
|
|
},
|
|
"confidence": 0.5178115536596077
|
|
},
|
|
{
|
|
"observation_id": "a1ff6aaf-6aba-4841-baf7-11a994098c0a",
|
|
"type": "aruco",
|
|
"marker_id": 100,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1689.0,
|
|
833.0
|
|
],
|
|
[
|
|
1698.0,
|
|
813.0
|
|
],
|
|
[
|
|
1732.0,
|
|
832.0
|
|
],
|
|
[
|
|
1722.0,
|
|
852.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1710.25,
|
|
832.5
|
|
],
|
|
"quality": {
|
|
"area_px": 850.5,
|
|
"perimeter_px": 121.31994247436523,
|
|
"sharpness": {
|
|
"laplacian_var": 1208.7910427319212
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 131.44999999999993,
|
|
"dynamic_range": 124.44999999999993,
|
|
"mean_gray": 63.04391891891892,
|
|
"std_gray": 50.184437835431524
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.731081485748291,
|
|
"distance_to_border_px": 188.0
|
|
},
|
|
"edge_ratio": 1.775907085198861,
|
|
"edge_lengths_px": [
|
|
21.931713104248047,
|
|
38.94868469238281,
|
|
22.360679626464844,
|
|
38.07886505126953
|
|
]
|
|
},
|
|
"confidence": 0.31927346015206026
|
|
},
|
|
{
|
|
"observation_id": "75f57534-1e8d-4b67-9b32-103e47dcdb49",
|
|
"type": "aruco",
|
|
"marker_id": 118,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
889.0,
|
|
687.0
|
|
],
|
|
[
|
|
863.0,
|
|
668.0
|
|
],
|
|
[
|
|
867.0,
|
|
641.0
|
|
],
|
|
[
|
|
895.0,
|
|
660.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
878.5,
|
|
664.0
|
|
],
|
|
"quality": {
|
|
"area_px": 824.0,
|
|
"perimeter_px": 120.99365425109863,
|
|
"sharpness": {
|
|
"laplacian_var": 2150.5108183882844
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 202.0,
|
|
"dynamic_range": 184.0,
|
|
"mean_gray": 55.96283185840708,
|
|
"std_gray": 55.95529535894026
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13471786677837372,
|
|
"distance_to_border_px": 393.0
|
|
},
|
|
"edge_ratio": 1.2397228928552535,
|
|
"edge_lengths_px": [
|
|
32.202484130859375,
|
|
27.294687271118164,
|
|
33.83784866333008,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.44310977598239115
|
|
},
|
|
{
|
|
"observation_id": "35ac3361-1082-4b74-989b-11edc0bb3617",
|
|
"type": "aruco",
|
|
"marker_id": 104,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1749.0,
|
|
796.0
|
|
],
|
|
[
|
|
1757.0,
|
|
777.0
|
|
],
|
|
[
|
|
1791.0,
|
|
795.0
|
|
],
|
|
[
|
|
1782.0,
|
|
814.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1769.75,
|
|
795.5
|
|
],
|
|
"quality": {
|
|
"area_px": 789.5,
|
|
"perimeter_px": 117.69998550415039,
|
|
"sharpness": {
|
|
"laplacian_var": 1146.9789748551334
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 135.0,
|
|
"dynamic_range": 127.0,
|
|
"mean_gray": 72.43016759776536,
|
|
"std_gray": 51.98169050390882
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7708927989006042,
|
|
"distance_to_border_px": 129.0
|
|
},
|
|
"edge_ratio": 1.86610635321878,
|
|
"edge_lengths_px": [
|
|
20.615528106689453,
|
|
38.470767974853516,
|
|
21.02379608154297,
|
|
37.58989334106445
|
|
]
|
|
},
|
|
"confidence": 0.2820489477598529
|
|
},
|
|
{
|
|
"observation_id": "b9b3b1a3-d507-4733-ac47-cb620db82794",
|
|
"type": "aruco",
|
|
"marker_id": 76,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1528.0,
|
|
746.0
|
|
],
|
|
[
|
|
1541.0,
|
|
728.0
|
|
],
|
|
[
|
|
1571.0,
|
|
745.0
|
|
],
|
|
[
|
|
1560.0,
|
|
763.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1550.0,
|
|
745.5
|
|
],
|
|
"quality": {
|
|
"area_px": 762.0,
|
|
"perimeter_px": 114.0158462524414,
|
|
"sharpness": {
|
|
"laplacian_var": 1180.489754535353
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 132.0,
|
|
"dynamic_range": 126.0,
|
|
"mean_gray": 59.59187620889749,
|
|
"std_gray": 48.9105464982987
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5672178864479065,
|
|
"distance_to_border_px": 317.0
|
|
},
|
|
"edge_ratio": 1.7177199327984685,
|
|
"edge_lengths_px": [
|
|
22.203603744506836,
|
|
34.48188018798828,
|
|
21.095022201538086,
|
|
36.2353401184082
|
|
]
|
|
},
|
|
"confidence": 0.2957408773689774
|
|
},
|
|
{
|
|
"observation_id": "48f68d8e-6b66-4e51-8134-4bf458d55b57",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
442.0,
|
|
588.0
|
|
],
|
|
[
|
|
469.0,
|
|
572.0
|
|
],
|
|
[
|
|
489.0,
|
|
587.0
|
|
],
|
|
[
|
|
462.0,
|
|
603.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
465.5,
|
|
587.5
|
|
],
|
|
"quality": {
|
|
"area_px": 725.0,
|
|
"perimeter_px": 112.7694206237793,
|
|
"sharpness": {
|
|
"laplacian_var": 1176.1399285787163
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 56.266666666666666,
|
|
"std_gray": 54.161837546972556
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.45101863145828247,
|
|
"distance_to_border_px": 442.0
|
|
},
|
|
"edge_ratio": 1.2553884124755859,
|
|
"edge_lengths_px": [
|
|
31.38471031188965,
|
|
25.0,
|
|
31.38471031188965,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.3850070054256877
|
|
},
|
|
{
|
|
"observation_id": "d0325dd1-9cf7-4614-abc6-7bb32454d2b2",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
626.0,
|
|
589.0
|
|
],
|
|
[
|
|
651.0,
|
|
574.0
|
|
],
|
|
[
|
|
672.0,
|
|
589.0
|
|
],
|
|
[
|
|
647.0,
|
|
606.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
649.0,
|
|
589.5
|
|
],
|
|
"quality": {
|
|
"area_px": 736.0,
|
|
"perimeter_px": 112.21268272399902,
|
|
"sharpness": {
|
|
"laplacian_var": 1948.4989382512422
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 87.187624750499,
|
|
"std_gray": 61.41759101084766
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2859082520008087,
|
|
"distance_to_border_px": 474.0
|
|
},
|
|
"edge_ratio": 1.1714829721289006,
|
|
"edge_lengths_px": [
|
|
29.154760360717773,
|
|
25.806976318359375,
|
|
30.232433319091797,
|
|
27.018512725830078
|
|
]
|
|
},
|
|
"confidence": 0.4188423377379467
|
|
},
|
|
{
|
|
"observation_id": "fd807187-bb64-4004-88dd-6733d7a76644",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
698.0,
|
|
621.0
|
|
],
|
|
[
|
|
722.0,
|
|
605.0
|
|
],
|
|
[
|
|
744.0,
|
|
621.0
|
|
],
|
|
[
|
|
719.0,
|
|
637.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
720.75,
|
|
621.0
|
|
],
|
|
"quality": {
|
|
"area_px": 736.0,
|
|
"perimeter_px": 112.12975311279297,
|
|
"sharpness": {
|
|
"laplacian_var": 2135.7574272612464
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 57.59281437125748,
|
|
"std_gray": 58.18332467059634
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22932396829128265,
|
|
"distance_to_border_px": 443.0
|
|
},
|
|
"edge_ratio": 1.124272482949948,
|
|
"edge_lengths_px": [
|
|
28.844409942626953,
|
|
27.20294189453125,
|
|
29.681644439697266,
|
|
26.4007568359375
|
|
]
|
|
},
|
|
"confidence": 0.43643037974141263
|
|
},
|
|
{
|
|
"observation_id": "8fd98787-d335-4ec7-abb9-8edd65b00f9c",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
807.0,
|
|
608.0
|
|
],
|
|
[
|
|
833.0,
|
|
627.0
|
|
],
|
|
[
|
|
832.0,
|
|
650.0
|
|
],
|
|
[
|
|
806.0,
|
|
631.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
819.5,
|
|
629.0
|
|
],
|
|
"quality": {
|
|
"area_px": 617.0,
|
|
"perimeter_px": 110.44842529296875,
|
|
"sharpness": {
|
|
"laplacian_var": 3320.940416020727
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 205.34999999999997,
|
|
"dynamic_range": 186.34999999999997,
|
|
"mean_gray": 88.59216589861751,
|
|
"std_gray": 71.64944121977587
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15099747478961945,
|
|
"distance_to_border_px": 430.0
|
|
},
|
|
"edge_ratio": 1.398786546761827,
|
|
"edge_lengths_px": [
|
|
32.202484130859375,
|
|
23.021728515625,
|
|
32.202484130859375,
|
|
23.021728515625
|
|
]
|
|
},
|
|
"confidence": 0.2940644048125604
|
|
},
|
|
{
|
|
"observation_id": "bf4d8068-dcdd-4968-99dd-68b63250b657",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
547.0,
|
|
574.0
|
|
],
|
|
[
|
|
572.0,
|
|
558.0
|
|
],
|
|
[
|
|
592.0,
|
|
574.0
|
|
],
|
|
[
|
|
566.0,
|
|
589.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
569.25,
|
|
573.75
|
|
],
|
|
"quality": {
|
|
"area_px": 697.5,
|
|
"perimeter_px": 109.51824188232422,
|
|
"sharpness": {
|
|
"laplacian_var": 1562.2307688840203
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 57.94692144373673,
|
|
"std_gray": 56.06240216385991
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3560793101787567,
|
|
"distance_to_border_px": 491.0
|
|
},
|
|
"edge_ratio": 1.2399768698663667,
|
|
"edge_lengths_px": [
|
|
29.681644439697266,
|
|
25.612497329711914,
|
|
30.01666259765625,
|
|
24.20743751525879
|
|
]
|
|
},
|
|
"confidence": 0.37500699513057323
|
|
},
|
|
{
|
|
"observation_id": "a67f4dae-f361-4008-9c24-f70cfd17edd2",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1394.0,
|
|
663.0
|
|
],
|
|
[
|
|
1407.0,
|
|
648.0
|
|
],
|
|
[
|
|
1437.0,
|
|
663.0
|
|
],
|
|
[
|
|
1424.0,
|
|
679.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1415.5,
|
|
663.25
|
|
],
|
|
"quality": {
|
|
"area_px": 666.5,
|
|
"perimeter_px": 108.0059814453125,
|
|
"sharpness": {
|
|
"laplacian_var": 1019.7448563378026
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 130.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 48.774049217002236,
|
|
"std_gray": 45.00360857942213
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.42841577529907227,
|
|
"distance_to_border_px": 401.0
|
|
},
|
|
"edge_ratio": 1.7128951975723612,
|
|
"edge_lengths_px": [
|
|
19.84943389892578,
|
|
33.541019439697266,
|
|
20.615528106689453,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.25940485673792224
|
|
},
|
|
{
|
|
"observation_id": "74b0436c-7495-4d71-afcb-57ada3d6d734",
|
|
"type": "aruco",
|
|
"marker_id": 50,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1417.0,
|
|
636.0
|
|
],
|
|
[
|
|
1431.0,
|
|
619.0
|
|
],
|
|
[
|
|
1458.0,
|
|
635.0
|
|
],
|
|
[
|
|
1446.0,
|
|
651.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1438.0,
|
|
635.25
|
|
],
|
|
"quality": {
|
|
"area_px": 663.5,
|
|
"perimeter_px": 106.05707931518555,
|
|
"sharpness": {
|
|
"laplacian_var": 1193.502439506173
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 136.0,
|
|
"dynamic_range": 131.0,
|
|
"mean_gray": 43.1,
|
|
"std_gray": 44.33575181373255
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4425041079521179,
|
|
"distance_to_border_px": 429.0
|
|
},
|
|
"edge_ratio": 1.6324827194213867,
|
|
"edge_lengths_px": [
|
|
22.022714614868164,
|
|
31.38471031188965,
|
|
20.0,
|
|
32.649654388427734
|
|
]
|
|
},
|
|
"confidence": 0.270957436835909
|
|
},
|
|
{
|
|
"observation_id": "88ec366d-7993-4a97-bb5d-b139829be292",
|
|
"type": "aruco",
|
|
"marker_id": 88,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1701.0,
|
|
694.0
|
|
],
|
|
[
|
|
1709.0,
|
|
678.0
|
|
],
|
|
[
|
|
1740.0,
|
|
694.0
|
|
],
|
|
[
|
|
1732.0,
|
|
710.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1720.5,
|
|
694.0
|
|
],
|
|
"quality": {
|
|
"area_px": 624.0,
|
|
"perimeter_px": 105.54814529418945,
|
|
"sharpness": {
|
|
"laplacian_var": 1393.1621774482282
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 141.0,
|
|
"dynamic_range": 133.0,
|
|
"mean_gray": 64.49886104783599,
|
|
"std_gray": 51.8493030473238
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7044652104377747,
|
|
"distance_to_border_px": 180.0
|
|
},
|
|
"edge_ratio": 1.9501603038955408,
|
|
"edge_lengths_px": [
|
|
17.8885440826416,
|
|
34.885528564453125,
|
|
17.8885440826416,
|
|
34.885528564453125
|
|
]
|
|
},
|
|
"confidence": 0.21331579725472802
|
|
},
|
|
{
|
|
"observation_id": "78f778ea-96dd-4674-a289-973c5b113dca",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1360.0,
|
|
628.0
|
|
],
|
|
[
|
|
1373.0,
|
|
614.0
|
|
],
|
|
[
|
|
1401.0,
|
|
628.0
|
|
],
|
|
[
|
|
1389.0,
|
|
644.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1380.75,
|
|
628.5
|
|
],
|
|
"quality": {
|
|
"area_px": 615.0,
|
|
"perimeter_px": 103.53091621398926,
|
|
"sharpness": {
|
|
"laplacian_var": 1509.4404662968038
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 133.0,
|
|
"dynamic_range": 126.0,
|
|
"mean_gray": 66.55687203791469,
|
|
"std_gray": 49.01861855074494
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3903539478778839,
|
|
"distance_to_border_px": 436.0
|
|
},
|
|
"edge_ratio": 1.733631920425761,
|
|
"edge_lengths_px": [
|
|
19.10497283935547,
|
|
31.30495262145996,
|
|
20.0,
|
|
33.12099075317383
|
|
]
|
|
},
|
|
"confidence": 0.23649772201893263
|
|
},
|
|
{
|
|
"observation_id": "a174c6c4-f99b-49aa-a37b-9a4f76d7b12c",
|
|
"type": "aruco",
|
|
"marker_id": 91,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1653.0,
|
|
658.0
|
|
],
|
|
[
|
|
1663.0,
|
|
642.0
|
|
],
|
|
[
|
|
1692.0,
|
|
657.0
|
|
],
|
|
[
|
|
1683.0,
|
|
673.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1672.75,
|
|
657.5
|
|
],
|
|
"quality": {
|
|
"area_px": 614.5,
|
|
"perimeter_px": 103.41619491577148,
|
|
"sharpness": {
|
|
"laplacian_var": 1110.2442775655747
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 135.0,
|
|
"dynamic_range": 128.0,
|
|
"mean_gray": 56.541567695961994,
|
|
"std_gray": 50.87314862232315
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6558336019515991,
|
|
"distance_to_border_px": 228.0
|
|
},
|
|
"edge_ratio": 1.8270958065167682,
|
|
"edge_lengths_px": [
|
|
18.867961883544922,
|
|
32.649654388427734,
|
|
18.357559204101562,
|
|
33.541019439697266
|
|
]
|
|
},
|
|
"confidence": 0.22421739747061642
|
|
},
|
|
{
|
|
"observation_id": "78f5d34c-aea5-473f-b9a6-3a2844d0e7c9",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
520.0,
|
|
511.0
|
|
],
|
|
[
|
|
545.0,
|
|
497.0
|
|
],
|
|
[
|
|
563.0,
|
|
511.0
|
|
],
|
|
[
|
|
539.0,
|
|
525.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
541.75,
|
|
511.0
|
|
],
|
|
"quality": {
|
|
"area_px": 602.0,
|
|
"perimeter_px": 102.84234046936035,
|
|
"sharpness": {
|
|
"laplacian_var": 1582.0495272102096
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 150.75,
|
|
"dynamic_range": 145.75,
|
|
"mean_gray": 55.22769953051643,
|
|
"std_gray": 54.78534538009923
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.38063716888427734,
|
|
"distance_to_border_px": 497.0
|
|
},
|
|
"edge_ratio": 1.2565214176512676,
|
|
"edge_lengths_px": [
|
|
28.65309715270996,
|
|
22.803508758544922,
|
|
27.784887313842773,
|
|
23.600847244262695
|
|
]
|
|
},
|
|
"confidence": 0.3194003123985894
|
|
},
|
|
{
|
|
"observation_id": "78c9b73d-9ed9-4111-b212-ff6be86f594f",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1308.0,
|
|
615.0
|
|
],
|
|
[
|
|
1321.0,
|
|
600.0
|
|
],
|
|
[
|
|
1349.0,
|
|
615.0
|
|
],
|
|
[
|
|
1336.0,
|
|
629.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1328.5,
|
|
614.75
|
|
],
|
|
"quality": {
|
|
"area_px": 594.5,
|
|
"perimeter_px": 102.02412033081055,
|
|
"sharpness": {
|
|
"laplacian_var": 930.7487883728935
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 120.0,
|
|
"dynamic_range": 115.0,
|
|
"mean_gray": 34.7624703087886,
|
|
"std_gray": 38.02606453994926
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.34137168526649475,
|
|
"distance_to_border_px": 451.0
|
|
},
|
|
"edge_ratio": 1.6626436079320257,
|
|
"edge_lengths_px": [
|
|
19.84943389892578,
|
|
31.764760971069336,
|
|
19.10497283935547,
|
|
31.30495262145996
|
|
]
|
|
},
|
|
"confidence": 0.2383753989384938
|
|
},
|
|
{
|
|
"observation_id": "9443ff12-c7a5-4f86-94e4-863fa6e26bb3",
|
|
"type": "aruco",
|
|
"marker_id": 90,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1552.0,
|
|
614.0
|
|
],
|
|
[
|
|
1562.0,
|
|
599.0
|
|
],
|
|
[
|
|
1591.0,
|
|
614.0
|
|
],
|
|
[
|
|
1580.0,
|
|
629.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1571.25,
|
|
614.0
|
|
],
|
|
"quality": {
|
|
"area_px": 585.0,
|
|
"perimeter_px": 101.04324722290039,
|
|
"sharpness": {
|
|
"laplacian_var": 1165.5467071359944
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 139.0,
|
|
"dynamic_range": 133.0,
|
|
"mean_gray": 59.56308411214953,
|
|
"std_gray": 51.77528947127236
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5590004324913025,
|
|
"distance_to_border_px": 329.0
|
|
},
|
|
"edge_ratio": 1.811077033890917,
|
|
"edge_lengths_px": [
|
|
18.027755737304688,
|
|
32.649654388427734,
|
|
18.601076126098633,
|
|
31.764760971069336
|
|
]
|
|
},
|
|
"confidence": 0.21534147510121324
|
|
},
|
|
{
|
|
"observation_id": "9243bfd9-adbf-42a9-bfe7-cccbce9af069",
|
|
"type": "aruco",
|
|
"marker_id": 200,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
886.0,
|
|
400.0
|
|
],
|
|
[
|
|
911.0,
|
|
412.0
|
|
],
|
|
[
|
|
895.0,
|
|
425.0
|
|
],
|
|
[
|
|
868.0,
|
|
413.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
890.0,
|
|
412.5
|
|
],
|
|
"quality": {
|
|
"area_px": 542.0,
|
|
"perimeter_px": 100.09655380249023,
|
|
"sharpness": {
|
|
"laplacian_var": 3015.234932247642
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 54.54330708661417,
|
|
"std_gray": 54.39971957028497
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13205447793006897,
|
|
"distance_to_border_px": 400.0
|
|
},
|
|
"edge_ratio": 1.433219342526984,
|
|
"edge_lengths_px": [
|
|
27.73084831237793,
|
|
20.615528106689453,
|
|
29.546573638916016,
|
|
22.203603744506836
|
|
]
|
|
},
|
|
"confidence": 0.25211307342269584
|
|
},
|
|
{
|
|
"observation_id": "49c9843b-1c49-49b8-9335-8b4d5390401a",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1320.0,
|
|
579.0
|
|
],
|
|
[
|
|
1333.0,
|
|
566.0
|
|
],
|
|
[
|
|
1360.0,
|
|
580.0
|
|
],
|
|
[
|
|
1348.0,
|
|
594.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1340.25,
|
|
579.75
|
|
],
|
|
"quality": {
|
|
"area_px": 552.5,
|
|
"perimeter_px": 99.00243949890137,
|
|
"sharpness": {
|
|
"laplacian_var": 1492.0777494156537
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 136.0,
|
|
"dynamic_range": 130.0,
|
|
"mean_gray": 69.47677261613691,
|
|
"std_gray": 50.0039614406213
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.34710678458213806,
|
|
"distance_to_border_px": 486.0
|
|
},
|
|
"edge_ratio": 1.7277751506963748,
|
|
"edge_lengths_px": [
|
|
18.384777069091797,
|
|
30.4138126373291,
|
|
18.439088821411133,
|
|
31.764760971069336
|
|
]
|
|
},
|
|
"confidence": 0.2131836038878541
|
|
},
|
|
{
|
|
"observation_id": "04f37d4b-6062-49f9-b3fd-5de080422446",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1262.0,
|
|
563.0
|
|
],
|
|
[
|
|
1276.0,
|
|
549.0
|
|
],
|
|
[
|
|
1302.0,
|
|
563.0
|
|
],
|
|
[
|
|
1288.0,
|
|
576.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1282.0,
|
|
562.75
|
|
],
|
|
"quality": {
|
|
"area_px": 540.0,
|
|
"perimeter_px": 97.50249290466309,
|
|
"sharpness": {
|
|
"laplacian_var": 1364.7048743464327
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 129.79999999999995,
|
|
"dynamic_range": 124.79999999999995,
|
|
"mean_gray": 40.054545454545455,
|
|
"std_gray": 43.601079890875766
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2930696904659271,
|
|
"distance_to_border_px": 504.0
|
|
},
|
|
"edge_ratio": 1.545652337121879,
|
|
"edge_lengths_px": [
|
|
19.79899024963379,
|
|
29.529645919799805,
|
|
19.10497283935547,
|
|
29.068883895874023
|
|
]
|
|
},
|
|
"confidence": 0.2329113678114362
|
|
},
|
|
{
|
|
"observation_id": "096b8a20-39d1-447c-a856-93c84a9b3a04",
|
|
"type": "aruco",
|
|
"marker_id": 98,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1474.0,
|
|
574.0
|
|
],
|
|
[
|
|
1485.0,
|
|
560.0
|
|
],
|
|
[
|
|
1513.0,
|
|
574.0
|
|
],
|
|
[
|
|
1501.0,
|
|
587.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1493.25,
|
|
573.75
|
|
],
|
|
"quality": {
|
|
"area_px": 526.5,
|
|
"perimeter_px": 96.76790046691895,
|
|
"sharpness": {
|
|
"laplacian_var": 1121.8701717403435
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 135.0,
|
|
"dynamic_range": 128.0,
|
|
"mean_gray": 56.249343832021,
|
|
"std_gray": 48.32108575938426
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4851016402244568,
|
|
"distance_to_border_px": 407.0
|
|
},
|
|
"edge_ratio": 1.76946046197325,
|
|
"edge_lengths_px": [
|
|
17.804492950439453,
|
|
31.30495262145996,
|
|
17.69180679321289,
|
|
29.96664810180664
|
|
]
|
|
},
|
|
"confidence": 0.19836555127576866
|
|
},
|
|
{
|
|
"observation_id": "b59816d1-0182-4095-acf2-e2471ca92990",
|
|
"type": "aruco",
|
|
"marker_id": 67,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1392.0,
|
|
570.0
|
|
],
|
|
[
|
|
1404.0,
|
|
556.0
|
|
],
|
|
[
|
|
1430.0,
|
|
570.0
|
|
],
|
|
[
|
|
1418.0,
|
|
584.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1411.0,
|
|
570.0
|
|
],
|
|
"quality": {
|
|
"area_px": 532.0,
|
|
"perimeter_px": 95.93746948242188,
|
|
"sharpness": {
|
|
"laplacian_var": 1377.648824903029
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 125.5,
|
|
"dynamic_range": 120.5,
|
|
"mean_gray": 41.767263427109974,
|
|
"std_gray": 40.47549291586538
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4103637933731079,
|
|
"distance_to_border_px": 490.0
|
|
},
|
|
"edge_ratio": 1.6014699102436407,
|
|
"edge_lengths_px": [
|
|
18.439088821411133,
|
|
29.529645919799805,
|
|
18.439088821411133,
|
|
29.529645919799805
|
|
]
|
|
},
|
|
"confidence": 0.22146320976627604
|
|
},
|
|
{
|
|
"observation_id": "5b9a06d9-cc3a-403e-85ff-82569af29fdf",
|
|
"type": "aruco",
|
|
"marker_id": 70,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1497.0,
|
|
598.0
|
|
],
|
|
[
|
|
1507.0,
|
|
585.0
|
|
],
|
|
[
|
|
1535.0,
|
|
598.0
|
|
],
|
|
[
|
|
1525.0,
|
|
612.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1516.0,
|
|
598.25
|
|
],
|
|
"quality": {
|
|
"area_px": 513.0,
|
|
"perimeter_px": 95.78152275085449,
|
|
"sharpness": {
|
|
"laplacian_var": 1241.123748019466
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 129.0,
|
|
"mean_gray": 62.43617021276596,
|
|
"std_gray": 49.02052512167806
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5075501799583435,
|
|
"distance_to_border_px": 385.0
|
|
},
|
|
"edge_ratio": 1.90869654864197,
|
|
"edge_lengths_px": [
|
|
16.401220321655273,
|
|
30.870698928833008,
|
|
17.20465087890625,
|
|
31.30495262145996
|
|
]
|
|
},
|
|
"confidence": 0.17917987028547397
|
|
},
|
|
{
|
|
"observation_id": "4b28eef2-8c27-4c13-be45-49bb231ebdcf",
|
|
"type": "aruco",
|
|
"marker_id": 60,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1307.0,
|
|
509.0
|
|
],
|
|
[
|
|
1322.0,
|
|
497.0
|
|
],
|
|
[
|
|
1345.0,
|
|
510.0
|
|
],
|
|
[
|
|
1332.0,
|
|
522.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1326.5,
|
|
509.5
|
|
],
|
|
"quality": {
|
|
"area_px": 470.0,
|
|
"perimeter_px": 91.49887466430664,
|
|
"sharpness": {
|
|
"laplacian_var": 1702.37180236678
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 130.0,
|
|
"mean_gray": 76.49702380952381,
|
|
"std_gray": 51.534084797386235
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3338923156261444,
|
|
"distance_to_border_px": 497.0
|
|
},
|
|
"edge_ratio": 1.5927149526251774,
|
|
"edge_lengths_px": [
|
|
19.209373474121094,
|
|
26.419689178466797,
|
|
17.69180679321289,
|
|
28.17800521850586
|
|
]
|
|
},
|
|
"confidence": 0.19672907121069258
|
|
},
|
|
{
|
|
"observation_id": "755f1e34-3964-4023-9ff7-43ed16192c57",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1265.0,
|
|
507.0
|
|
],
|
|
[
|
|
1280.0,
|
|
495.0
|
|
],
|
|
[
|
|
1303.0,
|
|
509.0
|
|
],
|
|
[
|
|
1290.0,
|
|
521.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1284.5,
|
|
508.0
|
|
],
|
|
"quality": {
|
|
"area_px": 484.0,
|
|
"perimeter_px": 92.48010063171387,
|
|
"sharpness": {
|
|
"laplacian_var": 1626.3350255036157
|
|
},
|
|
"contrast": {
|
|
"p05": 5.550000000000001,
|
|
"p95": 134.0,
|
|
"dynamic_range": 128.45,
|
|
"mean_gray": 56.10795454545455,
|
|
"std_gray": 46.792029531046175
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2960397005081177,
|
|
"distance_to_border_px": 495.0
|
|
},
|
|
"edge_ratio": 1.6195687352691501,
|
|
"edge_lengths_px": [
|
|
19.209373474121094,
|
|
26.925823211669922,
|
|
17.69180679321289,
|
|
28.65309715270996
|
|
]
|
|
},
|
|
"confidence": 0.1992299923059727
|
|
},
|
|
{
|
|
"observation_id": "7f1d3e38-8046-4bd5-adf0-8fdc9d35c449",
|
|
"type": "aruco",
|
|
"marker_id": 86,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1240.0,
|
|
466.0
|
|
],
|
|
[
|
|
1255.0,
|
|
455.0
|
|
],
|
|
[
|
|
1278.0,
|
|
467.0
|
|
],
|
|
[
|
|
1263.0,
|
|
478.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1259.0,
|
|
466.5
|
|
],
|
|
"quality": {
|
|
"area_px": 433.0,
|
|
"perimeter_px": 89.08663940429688,
|
|
"sharpness": {
|
|
"laplacian_var": 1974.719967742269
|
|
},
|
|
"contrast": {
|
|
"p05": 4.5,
|
|
"p95": 136.0,
|
|
"dynamic_range": 131.5,
|
|
"mean_gray": 58.31189710610933,
|
|
"std_gray": 51.5708467826551
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27954092621803284,
|
|
"distance_to_border_px": 455.0
|
|
},
|
|
"edge_ratio": 1.3946635882883676,
|
|
"edge_lengths_px": [
|
|
18.601076126098633,
|
|
25.942243576049805,
|
|
18.601076126098633,
|
|
25.942243576049805
|
|
]
|
|
},
|
|
"confidence": 0.20697942435059868
|
|
},
|
|
{
|
|
"observation_id": "dc9b52c8-e11d-40d1-9a03-6e51cb4a27aa",
|
|
"type": "aruco",
|
|
"marker_id": 77,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
876.0,
|
|
345.0
|
|
],
|
|
[
|
|
894.0,
|
|
336.0
|
|
],
|
|
[
|
|
913.0,
|
|
347.0
|
|
],
|
|
[
|
|
894.0,
|
|
355.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
894.25,
|
|
345.75
|
|
],
|
|
"quality": {
|
|
"area_px": 351.5,
|
|
"perimeter_px": 83.28589820861816,
|
|
"sharpness": {
|
|
"laplacian_var": 1526.1401941694694
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 134.5,
|
|
"dynamic_range": 130.5,
|
|
"mean_gray": 42.59040590405904,
|
|
"std_gray": 43.51466373090616
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18618659675121307,
|
|
"distance_to_border_px": 336.0
|
|
},
|
|
"edge_ratio": 1.0909278395070388,
|
|
"edge_lengths_px": [
|
|
20.124610900878906,
|
|
21.954498291015625,
|
|
20.615528106689453,
|
|
20.59126091003418
|
|
]
|
|
},
|
|
"confidence": 0.21480186392458583
|
|
},
|
|
{
|
|
"observation_id": "3d576a4a-977b-4e91-a5e0-4b57fb308417",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1112.0,
|
|
393.0
|
|
],
|
|
[
|
|
1127.0,
|
|
383.0
|
|
],
|
|
[
|
|
1147.0,
|
|
395.0
|
|
],
|
|
[
|
|
1133.0,
|
|
404.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1129.75,
|
|
393.75
|
|
],
|
|
"quality": {
|
|
"area_px": 361.5,
|
|
"perimeter_px": 81.70141792297363,
|
|
"sharpness": {
|
|
"laplacian_var": 1491.5946096093714
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 128.5,
|
|
"dynamic_range": 124.5,
|
|
"mean_gray": 56.28286852589641,
|
|
"std_gray": 46.6688305655202
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2034246176481247,
|
|
"distance_to_border_px": 383.0
|
|
},
|
|
"edge_ratio": 1.4243879507548283,
|
|
"edge_lengths_px": [
|
|
18.027755737304688,
|
|
23.323806762695312,
|
|
16.6433162689209,
|
|
23.706539154052734
|
|
]
|
|
},
|
|
"confidence": 0.16919547786983627
|
|
},
|
|
{
|
|
"observation_id": "aef189a0-17a5-4462-8f39-66ac7cf6ce59",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
845.0,
|
|
324.0
|
|
],
|
|
[
|
|
863.0,
|
|
316.0
|
|
],
|
|
[
|
|
880.0,
|
|
326.0
|
|
],
|
|
[
|
|
862.0,
|
|
335.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
862.5,
|
|
325.25
|
|
],
|
|
"quality": {
|
|
"area_px": 333.5,
|
|
"perimeter_px": 79.79386711120605,
|
|
"sharpness": {
|
|
"laplacian_var": 2291.8228093095277
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 142.2,
|
|
"dynamic_range": 136.2,
|
|
"mean_gray": 68.64658634538152,
|
|
"std_gray": 49.109127706465465
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2141234278678894,
|
|
"distance_to_border_px": 316.0
|
|
},
|
|
"edge_ratio": 1.027959647829689,
|
|
"edge_lengths_px": [
|
|
19.697715759277344,
|
|
19.72308349609375,
|
|
20.124610900878906,
|
|
20.248456954956055
|
|
]
|
|
},
|
|
"confidence": 0.21628605150283992
|
|
},
|
|
{
|
|
"observation_id": "320a95ac-fb0e-4212-8773-c4eb34e78437",
|
|
"type": "aruco",
|
|
"marker_id": 73,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1137.0,
|
|
378.0
|
|
],
|
|
[
|
|
1150.0,
|
|
369.0
|
|
],
|
|
[
|
|
1171.0,
|
|
380.0
|
|
],
|
|
[
|
|
1156.0,
|
|
389.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1153.5,
|
|
379.0
|
|
],
|
|
"quality": {
|
|
"area_px": 334.0,
|
|
"perimeter_px": 78.96528053283691,
|
|
"sharpness": {
|
|
"laplacian_var": 2107.8226270208847
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 129.0,
|
|
"dynamic_range": 122.0,
|
|
"mean_gray": 61.0746887966805,
|
|
"std_gray": 41.541992732328836
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22853489220142365,
|
|
"distance_to_border_px": 369.0
|
|
},
|
|
"edge_ratio": 1.4993332103698063,
|
|
"edge_lengths_px": [
|
|
15.81138801574707,
|
|
23.706539154052734,
|
|
17.492855072021484,
|
|
21.954498291015625
|
|
]
|
|
},
|
|
"confidence": 0.1485104612681437
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1426.0,
|
|
840.0
|
|
],
|
|
[
|
|
1466.0,
|
|
864.0
|
|
],
|
|
[
|
|
1449.0,
|
|
892.0
|
|
],
|
|
[
|
|
1408.0,
|
|
866.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1437.25,
|
|
865.5
|
|
],
|
|
"area_px": 1531.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1103.0,
|
|
261.0
|
|
],
|
|
[
|
|
1101.0,
|
|
268.0
|
|
],
|
|
[
|
|
1078.0,
|
|
288.0
|
|
],
|
|
[
|
|
1065.0,
|
|
290.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1086.75,
|
|
276.75
|
|
],
|
|
"area_px": 211.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
937.0,
|
|
618.0
|
|
],
|
|
[
|
|
940.0,
|
|
623.0
|
|
],
|
|
[
|
|
929.0,
|
|
656.0
|
|
],
|
|
[
|
|
927.0,
|
|
650.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
933.25,
|
|
636.75
|
|
],
|
|
"area_px": 139.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1051.0,
|
|
205.0
|
|
],
|
|
[
|
|
1065.0,
|
|
234.0
|
|
],
|
|
[
|
|
1059.0,
|
|
239.0
|
|
],
|
|
[
|
|
1045.0,
|
|
210.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1055.0,
|
|
222.0
|
|
],
|
|
"area_px": 244.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1007.0,
|
|
462.0
|
|
],
|
|
[
|
|
1015.0,
|
|
465.0
|
|
],
|
|
[
|
|
1009.0,
|
|
490.0
|
|
],
|
|
[
|
|
999.0,
|
|
488.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1007.5,
|
|
476.25
|
|
],
|
|
"area_px": 247.0
|
|
}
|
|
]
|
|
} |