2070 lines
45 KiB
JSON
2070 lines
45 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T11:36:49Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_a.npz",
|
|
"camera_matrix": [
|
|
[
|
|
6775.66162109375,
|
|
0.0,
|
|
2447.249267578125
|
|
],
|
|
[
|
|
0.0,
|
|
6791.1728515625,
|
|
1629.7935791015625
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.019999999552965164,
|
|
-0.009999999776482582,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_f.png",
|
|
"image_sha256": "b7790c1d46df7e02b5c340bf4cd949acc7780f8a9b429a8c3c5d05fa7a6099c3",
|
|
"width_px": 4896,
|
|
"height_px": 3264
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 36,
|
|
"num_rejected_candidates": 3
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "ce65cb94-34d6-4588-a547-706878adffd2",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3407.0,
|
|
1550.0
|
|
],
|
|
[
|
|
3293.0,
|
|
1643.0
|
|
],
|
|
[
|
|
3215.0,
|
|
1526.0
|
|
],
|
|
[
|
|
3329.0,
|
|
1434.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3311.0,
|
|
1538.25
|
|
],
|
|
"quality": {
|
|
"area_px": 20496.0,
|
|
"perimeter_px": 574.0167694091797,
|
|
"sharpness": {
|
|
"laplacian_var": 436.23337225639574
|
|
},
|
|
"contrast": {
|
|
"p05": 66.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 119.0,
|
|
"mean_gray": 111.71659280402613,
|
|
"std_gray": 50.64159652972857
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.29505062103271484,
|
|
"distance_to_border_px": 1434.0
|
|
},
|
|
"edge_ratio": 1.0524863808328055,
|
|
"edge_lengths_px": [
|
|
147.1223907470703,
|
|
140.6165008544922,
|
|
146.49232482910156,
|
|
139.78555297851562
|
|
]
|
|
},
|
|
"confidence": 0.9501310593764887
|
|
},
|
|
{
|
|
"observation_id": "f1b8875a-6f5e-4aca-a2c9-f3612fcc8d9b",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2705.0,
|
|
1434.0
|
|
],
|
|
[
|
|
2745.0,
|
|
1545.0
|
|
],
|
|
[
|
|
2629.0,
|
|
1584.0
|
|
],
|
|
[
|
|
2590.0,
|
|
1472.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2667.25,
|
|
1508.75
|
|
],
|
|
"quality": {
|
|
"area_px": 14399.0,
|
|
"perimeter_px": 480.0794448852539,
|
|
"sharpness": {
|
|
"laplacian_var": 135.31841930459905
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 75.0783729102332,
|
|
"std_gray": 62.69742692438645
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.08548828214406967,
|
|
"distance_to_border_px": 1434.0
|
|
},
|
|
"edge_ratio": 1.0372350682160747,
|
|
"edge_lengths_px": [
|
|
117.98728942871094,
|
|
122.38055419921875,
|
|
118.59595489501953,
|
|
121.11564636230469
|
|
]
|
|
},
|
|
"confidence": 0.9641016107562631
|
|
},
|
|
{
|
|
"observation_id": "ca94e3c0-a05d-4fa2-b053-b96238b72764",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4666.0,
|
|
2963.0
|
|
],
|
|
[
|
|
4774.0,
|
|
2923.0
|
|
],
|
|
[
|
|
4823.0,
|
|
3036.0
|
|
],
|
|
[
|
|
4715.0,
|
|
3077.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4744.5,
|
|
2999.75
|
|
],
|
|
"quality": {
|
|
"area_px": 14242.5,
|
|
"perimeter_px": 477.9412078857422,
|
|
"sharpness": {
|
|
"laplacian_var": 38.96213911617381
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 144.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 55.61506276150627,
|
|
"std_gray": 58.509195124229954
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.9085078835487366,
|
|
"distance_to_border_px": 73.0
|
|
},
|
|
"edge_ratio": 1.0774094830581507,
|
|
"edge_lengths_px": [
|
|
115.16944122314453,
|
|
123.16655731201172,
|
|
115.52056121826172,
|
|
124.08464813232422
|
|
]
|
|
},
|
|
"confidence": 0.30135663156888853
|
|
},
|
|
{
|
|
"observation_id": "1d7a2ca1-8da7-418a-bba1-4cda79e8d9e0",
|
|
"type": "aruco",
|
|
"marker_id": 41,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3081.0,
|
|
1563.0
|
|
],
|
|
[
|
|
2978.0,
|
|
1447.0
|
|
],
|
|
[
|
|
3043.0,
|
|
1394.0
|
|
],
|
|
[
|
|
3143.0,
|
|
1508.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3061.25,
|
|
1478.0
|
|
],
|
|
"quality": {
|
|
"area_px": 12783.5,
|
|
"perimeter_px": 473.5216751098633,
|
|
"sharpness": {
|
|
"laplacian_var": 63.820456706004904
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 125.0,
|
|
"dynamic_range": 111.0,
|
|
"mean_gray": 46.0561004784689,
|
|
"std_gray": 39.87745386080368
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.21490918099880219,
|
|
"distance_to_border_px": 1394.0
|
|
},
|
|
"edge_ratio": 1.871742814001029,
|
|
"edge_lengths_px": [
|
|
155.1289825439453,
|
|
83.86894226074219,
|
|
151.64431762695312,
|
|
82.87943267822266
|
|
]
|
|
},
|
|
"confidence": 0.2841400726843742
|
|
},
|
|
{
|
|
"observation_id": "39bd1257-a8ad-4798-b188-fb45743424e3",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4628.0,
|
|
2761.0
|
|
],
|
|
[
|
|
4736.0,
|
|
2723.0
|
|
],
|
|
[
|
|
4783.0,
|
|
2834.0
|
|
],
|
|
[
|
|
4675.0,
|
|
2873.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4705.5,
|
|
2797.75
|
|
],
|
|
"quality": {
|
|
"area_px": 13851.5,
|
|
"perimeter_px": 471.3185119628906,
|
|
"sharpness": {
|
|
"laplacian_var": 38.122828208357916
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 145.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 76.21847246891652,
|
|
"std_gray": 61.15696803060829
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8635662794113159,
|
|
"distance_to_border_px": 113.0
|
|
},
|
|
"edge_ratio": 1.0608939245881905,
|
|
"edge_lengths_px": [
|
|
114.49017333984375,
|
|
120.54045104980469,
|
|
114.82595825195312,
|
|
121.46192932128906
|
|
]
|
|
},
|
|
"confidence": 0.29945523082618064
|
|
},
|
|
{
|
|
"observation_id": "f3b4825e-b329-47cf-bd29-64266e0640a9",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3225.0,
|
|
2289.0
|
|
],
|
|
[
|
|
3261.0,
|
|
2401.0
|
|
],
|
|
[
|
|
3148.0,
|
|
2434.0
|
|
],
|
|
[
|
|
3113.0,
|
|
2320.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3186.75,
|
|
2361.0
|
|
],
|
|
"quality": {
|
|
"area_px": 13848.5,
|
|
"perimeter_px": 470.8263854980469,
|
|
"sharpness": {
|
|
"laplacian_var": 34.668728797932964
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 127.0,
|
|
"mean_gray": 53.74230430958663,
|
|
"std_gray": 53.48186012565554
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3527644872665405,
|
|
"distance_to_border_px": 830.0
|
|
},
|
|
"edge_ratio": 1.0261663431155836,
|
|
"edge_lengths_px": [
|
|
117.6435317993164,
|
|
117.72000885009766,
|
|
119.2518310546875,
|
|
116.21101379394531
|
|
]
|
|
},
|
|
"confidence": 0.28153922144722565
|
|
},
|
|
{
|
|
"observation_id": "7e657165-dad7-41a7-bda9-98c4d5cccc6d",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2799.0,
|
|
2697.0
|
|
],
|
|
[
|
|
2907.0,
|
|
2654.0
|
|
],
|
|
[
|
|
2951.0,
|
|
2764.0
|
|
],
|
|
[
|
|
2843.0,
|
|
2807.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2875.0,
|
|
2730.5
|
|
],
|
|
"quality": {
|
|
"area_px": 13772.0,
|
|
"perimeter_px": 469.4381103515625,
|
|
"sharpness": {
|
|
"laplacian_var": 65.94093599942725
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 45.429195119220864,
|
|
"std_gray": 48.51614872499095
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.40058451890945435,
|
|
"distance_to_border_px": 457.0
|
|
},
|
|
"edge_ratio": 1.0191680239865781,
|
|
"edge_lengths_px": [
|
|
116.24542999267578,
|
|
118.47362518310547,
|
|
116.24542999267578,
|
|
118.47362518310547
|
|
]
|
|
},
|
|
"confidence": 0.5391729205217528
|
|
},
|
|
{
|
|
"observation_id": "883438de-2386-4a6b-b728-4dd453f1aebf",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4487.0,
|
|
2629.0
|
|
],
|
|
[
|
|
4595.0,
|
|
2593.0
|
|
],
|
|
[
|
|
4640.0,
|
|
2704.0
|
|
],
|
|
[
|
|
4532.0,
|
|
2741.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4563.5,
|
|
2666.75
|
|
],
|
|
"quality": {
|
|
"area_px": 13684.5,
|
|
"perimeter_px": 468.4810562133789,
|
|
"sharpness": {
|
|
"laplacian_var": 30.106528872798602
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 146.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 44.03212087297146,
|
|
"std_gray": 53.98488439120614
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8004421591758728,
|
|
"distance_to_border_px": 256.0
|
|
},
|
|
"edge_ratio": 1.0602599685366711,
|
|
"edge_lengths_px": [
|
|
113.84199523925781,
|
|
119.77478790283203,
|
|
114.16216278076172,
|
|
120.70211029052734
|
|
]
|
|
},
|
|
"confidence": 0.23662851380960875
|
|
},
|
|
{
|
|
"observation_id": "cf58fb08-c0d8-4b71-924e-be9302e76a8d",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2003.0,
|
|
2646.0
|
|
],
|
|
[
|
|
2114.0,
|
|
2609.0
|
|
],
|
|
[
|
|
2150.0,
|
|
2719.0
|
|
],
|
|
[
|
|
2039.0,
|
|
2758.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2076.5,
|
|
2683.0
|
|
],
|
|
"quality": {
|
|
"area_px": 13689.0,
|
|
"perimeter_px": 468.0409240722656,
|
|
"sharpness": {
|
|
"laplacian_var": 106.4251080187559
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 170.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 60.75297255250583,
|
|
"std_gray": 51.53103412881148
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.37888386845588684,
|
|
"distance_to_border_px": 506.0
|
|
},
|
|
"edge_ratio": 1.0165104898903234,
|
|
"edge_lengths_px": [
|
|
117.0042724609375,
|
|
115.7410888671875,
|
|
117.65203094482422,
|
|
117.6435317993164
|
|
]
|
|
},
|
|
"confidence": 0.8724709769123867
|
|
},
|
|
{
|
|
"observation_id": "c10ab65d-5728-4832-9b54-2152fc787e35",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2189.0,
|
|
2603.0
|
|
],
|
|
[
|
|
2299.0,
|
|
2567.0
|
|
],
|
|
[
|
|
2335.0,
|
|
2678.0
|
|
],
|
|
[
|
|
2223.0,
|
|
2714.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2261.5,
|
|
2640.5
|
|
],
|
|
"quality": {
|
|
"area_px": 13581.0,
|
|
"perimeter_px": 466.16700744628906,
|
|
"sharpness": {
|
|
"laplacian_var": 102.1863196476862
|
|
},
|
|
"contrast": {
|
|
"p05": 29.0,
|
|
"p95": 170.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 79.29948384201077,
|
|
"std_gray": 61.18516580833874
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3485908806324005,
|
|
"distance_to_border_px": 550.0
|
|
},
|
|
"edge_ratio": 1.0164370574940067,
|
|
"edge_lengths_px": [
|
|
115.7410888671875,
|
|
116.69190216064453,
|
|
117.6435317993164,
|
|
116.09048461914062
|
|
]
|
|
},
|
|
"confidence": 0.837781992945234
|
|
},
|
|
{
|
|
"observation_id": "010b3475-9e65-471d-9684-867031f5aaa0",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2704.0,
|
|
2571.0
|
|
],
|
|
[
|
|
2814.0,
|
|
2536.0
|
|
],
|
|
[
|
|
2851.0,
|
|
2647.0
|
|
],
|
|
[
|
|
2741.0,
|
|
2683.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2777.5,
|
|
2609.25
|
|
],
|
|
"quality": {
|
|
"area_px": 13578.5,
|
|
"perimeter_px": 466.1327133178711,
|
|
"sharpness": {
|
|
"laplacian_var": 73.54177779533097
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 86.66232599910192,
|
|
"std_gray": 65.78406959076385
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3505297303199768,
|
|
"distance_to_border_px": 581.0
|
|
},
|
|
"edge_ratio": 1.0218256104478993,
|
|
"edge_lengths_px": [
|
|
115.43396759033203,
|
|
117.0042724609375,
|
|
115.7410888671875,
|
|
117.95338439941406
|
|
]
|
|
},
|
|
"confidence": 0.599758062460182
|
|
},
|
|
{
|
|
"observation_id": "0effd1e0-7cd6-4b19-a600-4a586564981e",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1815.0,
|
|
2540.0
|
|
],
|
|
[
|
|
1926.0,
|
|
2505.0
|
|
],
|
|
[
|
|
1959.0,
|
|
2615.0
|
|
],
|
|
[
|
|
1847.0,
|
|
2651.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1886.75,
|
|
2577.75
|
|
],
|
|
"quality": {
|
|
"area_px": 13474.5,
|
|
"perimeter_px": 464.3947448730469,
|
|
"sharpness": {
|
|
"laplacian_var": 127.65890980966562
|
|
},
|
|
"contrast": {
|
|
"p05": 35.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 102.84741730856366,
|
|
"std_gray": 62.71057455648647
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.37379300594329834,
|
|
"distance_to_border_px": 613.0
|
|
},
|
|
"edge_ratio": 1.0243824550331335,
|
|
"edge_lengths_px": [
|
|
116.38728332519531,
|
|
114.84336853027344,
|
|
117.6435317993164,
|
|
115.52056121826172
|
|
]
|
|
},
|
|
"confidence": 0.9761978986331381
|
|
},
|
|
{
|
|
"observation_id": "fb8a2d52-12dd-4ab9-b99d-e6a43725817a",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4684.0,
|
|
2499.0
|
|
],
|
|
[
|
|
4791.0,
|
|
2464.0
|
|
],
|
|
[
|
|
4836.0,
|
|
2574.0
|
|
],
|
|
[
|
|
4729.0,
|
|
2610.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4760.0,
|
|
2536.75
|
|
],
|
|
"quality": {
|
|
"area_px": 13421.0,
|
|
"perimeter_px": 464.0960464477539,
|
|
"sharpness": {
|
|
"laplacian_var": 38.07076263873013
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 148.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 85.27428047242289,
|
|
"std_gray": 61.74963033751026
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8438525199890137,
|
|
"distance_to_border_px": 60.0
|
|
},
|
|
"edge_ratio": 1.0639189500470219,
|
|
"edge_lengths_px": [
|
|
112.57886505126953,
|
|
118.84864044189453,
|
|
112.89375305175781,
|
|
119.77478790283203
|
|
]
|
|
},
|
|
"confidence": 0.29819598129042574
|
|
},
|
|
{
|
|
"observation_id": "dcebbb59-3c19-4b2c-8e44-a16db9b63de9",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4502.0,
|
|
2327.0
|
|
],
|
|
[
|
|
4606.0,
|
|
2285.0
|
|
],
|
|
[
|
|
4656.0,
|
|
2391.0
|
|
],
|
|
[
|
|
4553.0,
|
|
2433.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4579.25,
|
|
2359.0
|
|
],
|
|
"quality": {
|
|
"area_px": 13092.0,
|
|
"perimeter_px": 458.2260437011719,
|
|
"sharpness": {
|
|
"laplacian_var": 31.165817387491238
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 147.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 51.90850666043468,
|
|
"std_gray": 57.7334469363514
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7653753757476807,
|
|
"distance_to_border_px": 240.0
|
|
},
|
|
"edge_ratio": 1.0575075099482765,
|
|
"edge_lengths_px": [
|
|
112.16059875488281,
|
|
117.20068359375,
|
|
111.2339859008789,
|
|
117.63077545166016
|
|
]
|
|
},
|
|
"confidence": 0.24559177353592807
|
|
},
|
|
{
|
|
"observation_id": "34281883-7d22-4f32-950c-46140a32c895",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2227.0,
|
|
2293.0
|
|
],
|
|
[
|
|
2337.0,
|
|
2262.0
|
|
],
|
|
[
|
|
2369.0,
|
|
2370.0
|
|
],
|
|
[
|
|
2258.0,
|
|
2403.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2297.75,
|
|
2332.0
|
|
],
|
|
"quality": {
|
|
"area_px": 13052.5,
|
|
"perimeter_px": 457.0120315551758,
|
|
"sharpness": {
|
|
"laplacian_var": 101.02981283772799
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 88.99092836946276,
|
|
"std_gray": 62.73675825741964
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24334190785884857,
|
|
"distance_to_border_px": 861.0
|
|
},
|
|
"edge_ratio": 1.0280584288195598,
|
|
"edge_lengths_px": [
|
|
114.28472900390625,
|
|
112.64102172851562,
|
|
115.80155181884766,
|
|
114.28472900390625
|
|
]
|
|
},
|
|
"confidence": 0.8189370208731936
|
|
},
|
|
{
|
|
"observation_id": "f2a44e5d-724f-4240-99d5-d97ad0289554",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2722.0,
|
|
2263.0
|
|
],
|
|
[
|
|
2831.0,
|
|
2231.0
|
|
],
|
|
[
|
|
2865.0,
|
|
2340.0
|
|
],
|
|
[
|
|
2756.0,
|
|
2373.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2793.5,
|
|
2301.75
|
|
],
|
|
"quality": {
|
|
"area_px": 13040.5,
|
|
"perimeter_px": 456.8004684448242,
|
|
"sharpness": {
|
|
"laplacian_var": 80.88980691760447
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 97.1622036097676,
|
|
"std_gray": 62.42996308969741
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.25614601373672485,
|
|
"distance_to_border_px": 891.0
|
|
},
|
|
"edge_ratio": 1.0135081715660155,
|
|
"edge_lengths_px": [
|
|
113.60017395019531,
|
|
114.17967987060547,
|
|
113.88591003417969,
|
|
115.13470458984375
|
|
]
|
|
},
|
|
"confidence": 0.6650974735327666
|
|
},
|
|
{
|
|
"observation_id": "79893746-6012-4461-b677-eee7cac72042",
|
|
"type": "aruco",
|
|
"marker_id": 214,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3560.0,
|
|
2153.0
|
|
],
|
|
[
|
|
3601.0,
|
|
2263.0
|
|
],
|
|
[
|
|
3495.0,
|
|
2296.0
|
|
],
|
|
[
|
|
3457.0,
|
|
2185.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3528.25,
|
|
2224.25
|
|
],
|
|
"quality": {
|
|
"area_px": 12831.0,
|
|
"perimeter_px": 453.5912322998047,
|
|
"sharpness": {
|
|
"laplacian_var": 43.90931360338476
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 132.0,
|
|
"dynamic_range": 123.0,
|
|
"mean_gray": 71.65762752359336,
|
|
"std_gray": 54.32801744890602
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.41872715950012207,
|
|
"distance_to_border_px": 968.0
|
|
},
|
|
"edge_ratio": 1.088414956774275,
|
|
"edge_lengths_px": [
|
|
117.39250183105469,
|
|
111.01801300048828,
|
|
117.32433319091797,
|
|
107.85638427734375
|
|
]
|
|
},
|
|
"confidence": 0.3361869886273153
|
|
},
|
|
{
|
|
"observation_id": "5edeeee6-f329-41fc-b6a7-6b68114715d5",
|
|
"type": "aruco",
|
|
"marker_id": 42,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3182.0,
|
|
1290.0
|
|
],
|
|
[
|
|
3085.0,
|
|
1284.0
|
|
],
|
|
[
|
|
3181.0,
|
|
1199.0
|
|
],
|
|
[
|
|
3278.0,
|
|
1204.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3181.5,
|
|
1244.25
|
|
],
|
|
"quality": {
|
|
"area_px": 8821.5,
|
|
"perimeter_px": 451.4241714477539,
|
|
"sharpness": {
|
|
"laplacian_var": 151.55425346060935
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 85.15616774872785,
|
|
"std_gray": 63.52959666717625
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.28200048208236694,
|
|
"distance_to_border_px": 1199.0
|
|
},
|
|
"edge_ratio": 1.3269757653526109,
|
|
"edge_lengths_px": [
|
|
97.18538665771484,
|
|
128.2224578857422,
|
|
97.1287841796875,
|
|
128.88754272460938
|
|
]
|
|
},
|
|
"confidence": 0.7535932653105197
|
|
},
|
|
{
|
|
"observation_id": "2451e631-f916-4b2a-a82a-774019b401ea",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1659.0,
|
|
2115.0
|
|
],
|
|
[
|
|
1768.0,
|
|
2083.0
|
|
],
|
|
[
|
|
1799.0,
|
|
2189.0
|
|
],
|
|
[
|
|
1689.0,
|
|
2223.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1728.75,
|
|
2152.5
|
|
],
|
|
"quality": {
|
|
"area_px": 12723.0,
|
|
"perimeter_px": 451.26415252685547,
|
|
"sharpness": {
|
|
"laplacian_var": 144.5193174178895
|
|
},
|
|
"contrast": {
|
|
"p05": 39.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 136.0,
|
|
"mean_gray": 82.0902327813775,
|
|
"std_gray": 57.38330793768706
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3017641305923462,
|
|
"distance_to_border_px": 1041.0
|
|
},
|
|
"edge_ratio": 1.0425088571488772,
|
|
"edge_lengths_px": [
|
|
113.60017395019531,
|
|
110.44002532958984,
|
|
115.13470458984375,
|
|
112.08924865722656
|
|
]
|
|
},
|
|
"confidence": 0.9592244642744492
|
|
},
|
|
{
|
|
"observation_id": "8c77be55-e94d-4d37-80ae-5408ef82f053",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2012.0,
|
|
1895.0
|
|
],
|
|
[
|
|
2117.0,
|
|
1855.0
|
|
],
|
|
[
|
|
2157.0,
|
|
1957.0
|
|
],
|
|
[
|
|
2052.0,
|
|
1998.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2084.5,
|
|
1926.25
|
|
],
|
|
"quality": {
|
|
"area_px": 12382.5,
|
|
"perimeter_px": 445.13903045654297,
|
|
"sharpness": {
|
|
"laplacian_var": 131.64756536290395
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 93.01328532406258,
|
|
"std_gray": 62.409043403927335
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15895630419254303,
|
|
"distance_to_border_px": 1266.0
|
|
},
|
|
"edge_ratio": 1.028824818108366,
|
|
"edge_lengths_px": [
|
|
112.36102294921875,
|
|
109.5627670288086,
|
|
112.72089385986328,
|
|
110.49434661865234
|
|
]
|
|
},
|
|
"confidence": 0.9719827733536169
|
|
},
|
|
{
|
|
"observation_id": "17c169ab-ccee-494b-beac-36fd79e503a7",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2276.0,
|
|
1425.0
|
|
],
|
|
[
|
|
2380.0,
|
|
1389.0
|
|
],
|
|
[
|
|
2416.0,
|
|
1489.0
|
|
],
|
|
[
|
|
2313.0,
|
|
1524.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2346.25,
|
|
1456.75
|
|
],
|
|
"quality": {
|
|
"area_px": 11594.0,
|
|
"perimeter_px": 430.80957794189453,
|
|
"sharpness": {
|
|
"laplacian_var": 115.68434950538455
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 123.45289234418237,
|
|
"std_gray": 61.5738700188784
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.06887749582529068,
|
|
"distance_to_border_px": 1389.0
|
|
},
|
|
"edge_ratio": 1.0413131933362623,
|
|
"edge_lengths_px": [
|
|
110.05453491210938,
|
|
106.28263854980469,
|
|
108.78418731689453,
|
|
105.68821716308594
|
|
]
|
|
},
|
|
"confidence": 0.9257889480776959
|
|
},
|
|
{
|
|
"observation_id": "addf9744-1cbd-402e-bdc7-cc8ebfd9cdd2",
|
|
"type": "aruco",
|
|
"marker_id": 211,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3402.0,
|
|
1736.0
|
|
],
|
|
[
|
|
3442.0,
|
|
1841.0
|
|
],
|
|
[
|
|
3342.0,
|
|
1869.0
|
|
],
|
|
[
|
|
3308.0,
|
|
1760.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3373.5,
|
|
1801.5
|
|
],
|
|
"quality": {
|
|
"area_px": 11341.0,
|
|
"perimeter_px": 427.40220642089844,
|
|
"sharpness": {
|
|
"laplacian_var": 114.82489758470881
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 130.0,
|
|
"dynamic_range": 120.0,
|
|
"mean_gray": 61.59816116819903,
|
|
"std_gray": 52.699683010161806
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.31980010867118835,
|
|
"distance_to_border_px": 1395.0
|
|
},
|
|
"edge_ratio": 1.176922464128098,
|
|
"edge_lengths_px": [
|
|
112.36102294921875,
|
|
103.84603881835938,
|
|
114.17967987060547,
|
|
97.01546478271484
|
|
]
|
|
},
|
|
"confidence": 0.8130307439140634
|
|
},
|
|
{
|
|
"observation_id": "dd8e22f7-4f29-4c1e-9ab2-7fa6f7a97ab4",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4542.0,
|
|
1224.0
|
|
],
|
|
[
|
|
4643.0,
|
|
1192.0
|
|
],
|
|
[
|
|
4685.0,
|
|
1290.0
|
|
],
|
|
[
|
|
4584.0,
|
|
1323.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4613.5,
|
|
1257.25
|
|
],
|
|
"quality": {
|
|
"area_px": 11313.5,
|
|
"perimeter_px": 426.36402130126953,
|
|
"sharpness": {
|
|
"laplacian_var": 21.80376150177114
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 148.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 74.09820700896495,
|
|
"std_gray": 60.018257654474674
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7469713687896729,
|
|
"distance_to_border_px": 211.0
|
|
},
|
|
"edge_ratio": 1.0150317973959353,
|
|
"edge_lengths_px": [
|
|
105.9480972290039,
|
|
106.6208267211914,
|
|
106.25440979003906,
|
|
107.54068756103516
|
|
]
|
|
},
|
|
"confidence": 0.1790072123660617
|
|
},
|
|
{
|
|
"observation_id": "41c9e894-94f4-4c75-930d-e2e7afa21bf3",
|
|
"type": "aruco",
|
|
"marker_id": 73,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4694.0,
|
|
1188.0
|
|
],
|
|
[
|
|
4795.0,
|
|
1155.0
|
|
],
|
|
[
|
|
4838.0,
|
|
1253.0
|
|
],
|
|
[
|
|
4738.0,
|
|
1286.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4766.25,
|
|
1220.5
|
|
],
|
|
"quality": {
|
|
"area_px": 11284.5,
|
|
"perimeter_px": 426.00181579589844,
|
|
"sharpness": {
|
|
"laplacian_var": 28.05412537761996
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 86.35641270273953,
|
|
"std_gray": 57.52101260588633
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8002666234970093,
|
|
"distance_to_border_px": 58.0
|
|
},
|
|
"edge_ratio": 1.0201328054269794,
|
|
"edge_lengths_px": [
|
|
106.25440979003906,
|
|
107.01869201660156,
|
|
105.3043212890625,
|
|
107.42439270019531
|
|
]
|
|
},
|
|
"confidence": 0.22917053240826024
|
|
},
|
|
{
|
|
"observation_id": "d61157dc-d1d9-4033-8d25-ac9ac87a2199",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2085.0,
|
|
1221.0
|
|
],
|
|
[
|
|
2188.0,
|
|
1188.0
|
|
],
|
|
[
|
|
2222.0,
|
|
1286.0
|
|
],
|
|
[
|
|
2119.0,
|
|
1320.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2153.5,
|
|
1253.75
|
|
],
|
|
"quality": {
|
|
"area_px": 11284.5,
|
|
"perimeter_px": 425.02999114990234,
|
|
"sharpness": {
|
|
"laplacian_var": 117.87643471983931
|
|
},
|
|
"contrast": {
|
|
"p05": 33.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 89.11453684922245,
|
|
"std_gray": 60.692559231619704
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16293571889400482,
|
|
"distance_to_border_px": 1188.0
|
|
},
|
|
"edge_ratio": 1.045658353090146,
|
|
"edge_lengths_px": [
|
|
108.15729522705078,
|
|
103.73042297363281,
|
|
108.46658325195312,
|
|
104.67568969726562
|
|
]
|
|
},
|
|
"confidence": 0.9394116345577008
|
|
},
|
|
{
|
|
"observation_id": "1f8c0be3-1b3d-4003-a457-ca9b9f9ed471",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2998.0,
|
|
777.0
|
|
],
|
|
[
|
|
3037.0,
|
|
873.0
|
|
],
|
|
[
|
|
2934.0,
|
|
908.0
|
|
],
|
|
[
|
|
2895.0,
|
|
812.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2966.0,
|
|
842.5
|
|
],
|
|
"quality": {
|
|
"area_px": 11253.0,
|
|
"perimeter_px": 424.807373046875,
|
|
"sharpness": {
|
|
"laplacian_var": 74.81656146362195
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 82.8767217630854,
|
|
"std_gray": 64.46393557489432
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.320945680141449,
|
|
"distance_to_border_px": 777.0
|
|
},
|
|
"edge_ratio": 1.0498428206071222,
|
|
"edge_lengths_px": [
|
|
103.61949920654297,
|
|
108.78418731689453,
|
|
103.61949920654297,
|
|
108.78418731689453
|
|
]
|
|
},
|
|
"confidence": 0.5938711331755648
|
|
},
|
|
{
|
|
"observation_id": "77c04d04-429d-41bc-9bc3-6d2fc3d0f788",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1766.0,
|
|
1132.0
|
|
],
|
|
[
|
|
1870.0,
|
|
1104.0
|
|
],
|
|
[
|
|
1899.0,
|
|
1201.0
|
|
],
|
|
[
|
|
1793.0,
|
|
1231.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1832.0,
|
|
1167.0
|
|
],
|
|
"quality": {
|
|
"area_px": 11102.0,
|
|
"perimeter_px": 421.7248840332031,
|
|
"sharpness": {
|
|
"laplacian_var": 139.21151570718345
|
|
},
|
|
"contrast": {
|
|
"p05": 38.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 93.93718213058419,
|
|
"std_gray": 58.863588932592684
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.26232823729515076,
|
|
"distance_to_border_px": 1104.0
|
|
},
|
|
"edge_ratio": 1.0881175919057902,
|
|
"edge_lengths_px": [
|
|
107.70329284667969,
|
|
101.2422866821289,
|
|
110.16351318359375,
|
|
102.61579132080078
|
|
]
|
|
},
|
|
"confidence": 0.9190183188276039
|
|
},
|
|
{
|
|
"observation_id": "ab821778-0922-442d-a882-da31a341f69a",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2111.0,
|
|
914.0
|
|
],
|
|
[
|
|
2213.0,
|
|
883.0
|
|
],
|
|
[
|
|
2245.0,
|
|
979.0
|
|
],
|
|
[
|
|
2142.0,
|
|
1010.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2177.75,
|
|
946.5
|
|
],
|
|
"quality": {
|
|
"area_px": 10816.5,
|
|
"perimeter_px": 416.24468994140625,
|
|
"sharpness": {
|
|
"laplacian_var": 109.38085769080338
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 89.3294217446628,
|
|
"std_gray": 61.364362325136334
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.25044721364974976,
|
|
"distance_to_border_px": 883.0
|
|
},
|
|
"edge_ratio": 1.0662444631160528,
|
|
"edge_lengths_px": [
|
|
106.60675048828125,
|
|
101.19288635253906,
|
|
107.56393432617188,
|
|
100.88111877441406
|
|
]
|
|
},
|
|
"confidence": 0.8548763242901367
|
|
},
|
|
{
|
|
"observation_id": "2caf0b58-0c48-4b17-ac50-72fa0d4cba5c",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3978.0,
|
|
829.0
|
|
],
|
|
[
|
|
4076.0,
|
|
796.0
|
|
],
|
|
[
|
|
4118.0,
|
|
891.0
|
|
],
|
|
[
|
|
4020.0,
|
|
924.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4048.0,
|
|
860.0
|
|
],
|
|
"quality": {
|
|
"area_px": 10696.0,
|
|
"perimeter_px": 414.55413818359375,
|
|
"sharpness": {
|
|
"laplacian_var": 19.386891488966725
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 130.0,
|
|
"mean_gray": 57.03757472245944,
|
|
"std_gray": 52.26595055374255
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6038172841072083,
|
|
"distance_to_border_px": 778.0
|
|
},
|
|
"edge_ratio": 1.0044789057380916,
|
|
"edge_lengths_px": [
|
|
103.4069595336914,
|
|
103.87010955810547,
|
|
103.4069595336914,
|
|
103.87010955810547
|
|
]
|
|
},
|
|
"confidence": 0.16083705506589033
|
|
},
|
|
{
|
|
"observation_id": "e4e435cd-f4e3-4643-9cb3-b1fa31696c33",
|
|
"type": "aruco",
|
|
"marker_id": 101,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4376.0,
|
|
801.0
|
|
],
|
|
[
|
|
4473.0,
|
|
766.0
|
|
],
|
|
[
|
|
4518.0,
|
|
859.0
|
|
],
|
|
[
|
|
4422.0,
|
|
895.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4447.25,
|
|
830.25
|
|
],
|
|
"quality": {
|
|
"area_px": 10638.0,
|
|
"perimeter_px": 413.6161880493164,
|
|
"sharpness": {
|
|
"laplacian_var": 25.623552239666207
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 80.12238163558106,
|
|
"std_gray": 58.47033191517236
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7321295738220215,
|
|
"distance_to_border_px": 378.0
|
|
},
|
|
"edge_ratio": 1.0207139070596574,
|
|
"edge_lengths_px": [
|
|
103.12128448486328,
|
|
103.31505584716797,
|
|
102.52804565429688,
|
|
104.65180206298828
|
|
]
|
|
},
|
|
"confidence": 0.20919632868756272
|
|
},
|
|
{
|
|
"observation_id": "3562ada4-1ef4-4b74-a7ec-b5d0c6571ed4",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4750.0,
|
|
2080.0
|
|
],
|
|
[
|
|
4844.0,
|
|
2053.0
|
|
],
|
|
[
|
|
4884.0,
|
|
2155.0
|
|
],
|
|
[
|
|
4786.0,
|
|
2177.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4816.0,
|
|
2116.25
|
|
],
|
|
"quality": {
|
|
"area_px": 10483.0,
|
|
"perimeter_px": 411.26759338378906,
|
|
"sharpness": {
|
|
"laplacian_var": 158.02323249218966
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 148.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 86.41834942932397,
|
|
"std_gray": 58.77353069451193
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8215160369873047,
|
|
"distance_to_border_px": 12.0
|
|
},
|
|
"edge_ratio": 1.1202643055994683,
|
|
"edge_lengths_px": [
|
|
97.80081939697266,
|
|
109.5627670288086,
|
|
100.43903350830078,
|
|
103.46497344970703
|
|
]
|
|
},
|
|
"confidence": 0.21423515754308783
|
|
},
|
|
{
|
|
"observation_id": "9170db3b-1b2f-4837-9c89-a23da34307eb",
|
|
"type": "aruco",
|
|
"marker_id": 81,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3854.0,
|
|
1054.0
|
|
],
|
|
[
|
|
3949.0,
|
|
1011.0
|
|
],
|
|
[
|
|
3988.0,
|
|
1107.0
|
|
],
|
|
[
|
|
3890.0,
|
|
1140.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3920.25,
|
|
1078.0
|
|
],
|
|
"quality": {
|
|
"area_px": 10206.5,
|
|
"perimeter_px": 404.53582763671875,
|
|
"sharpness": {
|
|
"laplacian_var": 42.30692854321651
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 69.0,
|
|
"dynamic_range": 66.0,
|
|
"mean_gray": 27.505471443561685,
|
|
"std_gray": 27.949425249943427
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5346582531929016,
|
|
"distance_to_border_px": 908.0
|
|
},
|
|
"edge_ratio": 1.118496950890183,
|
|
"edge_lengths_px": [
|
|
104.27847290039062,
|
|
103.61949920654297,
|
|
103.4069595336914,
|
|
93.23089599609375
|
|
]
|
|
},
|
|
"confidence": 0.2600455311953469
|
|
},
|
|
{
|
|
"observation_id": "7753b4a1-5366-4374-992b-d5d2329d1ca5",
|
|
"type": "aruco",
|
|
"marker_id": 83,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4432.0,
|
|
473.0
|
|
],
|
|
[
|
|
4530.0,
|
|
447.0
|
|
],
|
|
[
|
|
4566.0,
|
|
541.0
|
|
],
|
|
[
|
|
4468.0,
|
|
567.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4499.0,
|
|
507.0
|
|
],
|
|
"quality": {
|
|
"area_px": 10148.0,
|
|
"perimeter_px": 404.0963439941406,
|
|
"sharpness": {
|
|
"laplacian_var": 30.16043853879373
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 95.70331325301204,
|
|
"std_gray": 58.51872772921888
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7950971126556396,
|
|
"distance_to_border_px": 330.0
|
|
},
|
|
"edge_ratio": 1.0072771101724616,
|
|
"edge_lengths_px": [
|
|
101.39033508300781,
|
|
100.6578369140625,
|
|
101.39033508300781,
|
|
100.6578369140625
|
|
]
|
|
},
|
|
"confidence": 0.249521194599814
|
|
},
|
|
{
|
|
"observation_id": "611b6449-de35-42fd-9bec-3ffe89dbcf60",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
3703.0,
|
|
382.0
|
|
],
|
|
[
|
|
3802.0,
|
|
357.0
|
|
],
|
|
[
|
|
3834.0,
|
|
450.0
|
|
],
|
|
[
|
|
3735.0,
|
|
475.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3768.5,
|
|
416.0
|
|
],
|
|
"quality": {
|
|
"area_px": 10007.0,
|
|
"perimeter_px": 400.91839599609375,
|
|
"sharpness": {
|
|
"laplacian_var": 36.04519719884332
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 108.86489361702128,
|
|
"std_gray": 57.48834015575735
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6101354360580444,
|
|
"distance_to_border_px": 357.0
|
|
},
|
|
"edge_ratio": 1.0381934349206074,
|
|
"edge_lengths_px": [
|
|
102.1077880859375,
|
|
98.35140991210938,
|
|
102.1077880859375,
|
|
98.35140991210938
|
|
]
|
|
},
|
|
"confidence": 0.2893262789189808
|
|
},
|
|
{
|
|
"observation_id": "75a99221-5b76-40b5-99b0-d0c627049f62",
|
|
"type": "aruco",
|
|
"marker_id": 61,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
4284.0,
|
|
228.0
|
|
],
|
|
[
|
|
4379.0,
|
|
196.0
|
|
],
|
|
[
|
|
4421.0,
|
|
284.0
|
|
],
|
|
[
|
|
4327.0,
|
|
317.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
4352.75,
|
|
256.25
|
|
],
|
|
"quality": {
|
|
"area_px": 9744.5,
|
|
"perimeter_px": 396.2212677001953,
|
|
"sharpness": {
|
|
"laplacian_var": 32.61903778686479
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 98.02488580878878,
|
|
"std_gray": 58.84088823977622
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7986152768135071,
|
|
"distance_to_border_px": 196.0
|
|
},
|
|
"edge_ratio": 1.0280561402915773,
|
|
"edge_lengths_px": [
|
|
100.24469757080078,
|
|
97.50897216796875,
|
|
99.6242904663086,
|
|
98.84330749511719
|
|
]
|
|
},
|
|
"confidence": 0.26440707295755733
|
|
},
|
|
{
|
|
"observation_id": "409610f3-5f86-439a-9fa2-cf863616e1f9",
|
|
"type": "aruco",
|
|
"marker_id": 113,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
2823.0,
|
|
1922.0
|
|
],
|
|
[
|
|
2735.0,
|
|
1816.0
|
|
],
|
|
[
|
|
2745.0,
|
|
1779.0
|
|
],
|
|
[
|
|
2835.0,
|
|
1888.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2784.5,
|
|
1851.25
|
|
],
|
|
"quality": {
|
|
"area_px": 4342.0,
|
|
"perimeter_px": 353.50513458251953,
|
|
"sharpness": {
|
|
"laplacian_var": 436.03085828993045
|
|
},
|
|
"contrast": {
|
|
"p05": 38.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 118.0,
|
|
"mean_gray": 69.28090277777778,
|
|
"std_gray": 45.6233742086772
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13650831580162048,
|
|
"distance_to_border_px": 1342.0
|
|
},
|
|
"edge_ratio": 3.9204594796130574,
|
|
"edge_lengths_px": [
|
|
137.76791381835938,
|
|
38.327537536621094,
|
|
141.3541717529297,
|
|
36.055511474609375
|
|
]
|
|
},
|
|
"confidence": 0.25507214274248746
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
2578.0,
|
|
1801.0
|
|
],
|
|
[
|
|
2615.0,
|
|
1902.0
|
|
],
|
|
[
|
|
2610.0,
|
|
1958.0
|
|
],
|
|
[
|
|
2572.0,
|
|
1836.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2593.75,
|
|
1874.25
|
|
],
|
|
"area_px": 2319.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
3160.0,
|
|
1772.0
|
|
],
|
|
[
|
|
3058.0,
|
|
1852.0
|
|
],
|
|
[
|
|
3108.0,
|
|
1794.0
|
|
],
|
|
[
|
|
3139.0,
|
|
1773.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
3116.25,
|
|
1797.75
|
|
],
|
|
"area_px": 1163.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
2583.0,
|
|
1823.0
|
|
],
|
|
[
|
|
2609.0,
|
|
1900.0
|
|
],
|
|
[
|
|
2607.0,
|
|
1916.0
|
|
],
|
|
[
|
|
2591.0,
|
|
1884.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
2597.5,
|
|
1880.75
|
|
],
|
|
"area_px": 645.0
|
|
}
|
|
]
|
|
} |