2532 lines
52 KiB
JSON
2532 lines
52 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T23:08:36Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "e",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene10\\render_a.npz",
|
|
"camera_matrix": [
|
|
[
|
|
2000.0,
|
|
0.0,
|
|
720.0
|
|
],
|
|
[
|
|
0.0,
|
|
2000.0,
|
|
540.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene10\\render_e.png",
|
|
"image_sha256": "c9a6b4f133df533762c30fb086886348da750e0d0ab3eabfcc087e046e4f0084",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 39,
|
|
"num_rejected_candidates": 15
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "5c81b7b3-0dc8-4d19-ac23-8b29bc5f6ef4",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1281.0,
|
|
1050.0
|
|
],
|
|
[
|
|
1316.0,
|
|
1034.0
|
|
],
|
|
[
|
|
1362.0,
|
|
1056.0
|
|
],
|
|
[
|
|
1328.0,
|
|
1073.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1321.75,
|
|
1053.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1543.5,
|
|
"perimeter_px": 179.81301879882812,
|
|
"sharpness": {
|
|
"laplacian_var": 397.73984294213085
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 61.650232558139535,
|
|
"std_gray": 55.73866335829352
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8787818551063538,
|
|
"distance_to_border_px": 7.0
|
|
},
|
|
"edge_ratio": 1.3765207973048657,
|
|
"edge_lengths_px": [
|
|
38.4837646484375,
|
|
50.990196228027344,
|
|
38.01315689086914,
|
|
52.32590103149414
|
|
]
|
|
},
|
|
"confidence": 0.1017056918239888
|
|
},
|
|
{
|
|
"observation_id": "d56b1d1e-3ce6-482e-ac14-e706da2bb44e",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
985.0,
|
|
1031.0
|
|
],
|
|
[
|
|
1024.0,
|
|
1015.0
|
|
],
|
|
[
|
|
1064.0,
|
|
1036.0
|
|
],
|
|
[
|
|
1026.0,
|
|
1054.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1024.75,
|
|
1034.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1535.5,
|
|
"perimeter_px": 176.39013290405273,
|
|
"sharpness": {
|
|
"laplacian_var": 368.6116206501694
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 68.99816007359706,
|
|
"std_gray": 58.672417868277726
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6449313759803772,
|
|
"distance_to_border_px": 26.0
|
|
},
|
|
"edge_ratio": 1.1180339457641462,
|
|
"edge_lengths_px": [
|
|
42.154476165771484,
|
|
45.17742919921875,
|
|
42.04759216308594,
|
|
47.01063537597656
|
|
]
|
|
},
|
|
"confidence": 0.4651021572020284
|
|
},
|
|
{
|
|
"observation_id": "d6b2b3a6-279e-4dad-b6e7-fe4f84327b45",
|
|
"type": "aruco",
|
|
"marker_id": 45,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
749.0,
|
|
644.0
|
|
],
|
|
[
|
|
775.0,
|
|
674.0
|
|
],
|
|
[
|
|
737.0,
|
|
698.0
|
|
],
|
|
[
|
|
714.0,
|
|
666.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
743.75,
|
|
670.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1695.0,
|
|
"perimeter_px": 165.39144897460938,
|
|
"sharpness": {
|
|
"laplacian_var": 724.9100887618429
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 111.0,
|
|
"dynamic_range": 102.0,
|
|
"mean_gray": 53.680385288966725,
|
|
"std_gray": 46.92355392536251
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1473817229270935,
|
|
"distance_to_border_px": 382.0
|
|
},
|
|
"edge_ratio": 1.14048600459102,
|
|
"edge_lengths_px": [
|
|
39.69886779785156,
|
|
44.94440841674805,
|
|
39.408119201660156,
|
|
41.34005355834961
|
|
]
|
|
},
|
|
"confidence": 0.8768191770653088
|
|
},
|
|
{
|
|
"observation_id": "7d421e6d-8240-44f8-851c-e1ee3365021c",
|
|
"type": "aruco",
|
|
"marker_id": 57,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
776.0,
|
|
987.0
|
|
],
|
|
[
|
|
816.0,
|
|
972.0
|
|
],
|
|
[
|
|
850.0,
|
|
991.0
|
|
],
|
|
[
|
|
810.0,
|
|
1007.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
813.0,
|
|
989.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1307.0,
|
|
"perimeter_px": 164.1961898803711,
|
|
"sharpness": {
|
|
"laplacian_var": 816.5810631120673
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 93.57847533632287,
|
|
"std_gray": 58.25532854173082
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5097500681877136,
|
|
"distance_to_border_px": 73.0
|
|
},
|
|
"edge_ratio": 1.1061045640403033,
|
|
"edge_lengths_px": [
|
|
42.72002029418945,
|
|
38.94868469238281,
|
|
43.08131790161133,
|
|
39.4461669921875
|
|
]
|
|
},
|
|
"confidence": 0.7877495145220144
|
|
},
|
|
{
|
|
"observation_id": "200620ce-c962-463a-afca-80d9a7b9629c",
|
|
"type": "aruco",
|
|
"marker_id": 219,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
779.0,
|
|
467.0
|
|
],
|
|
[
|
|
811.0,
|
|
490.0
|
|
],
|
|
[
|
|
791.0,
|
|
526.0
|
|
],
|
|
[
|
|
758.0,
|
|
504.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
784.75,
|
|
496.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1647.5,
|
|
"perimeter_px": 162.7957992553711,
|
|
"sharpness": {
|
|
"laplacian_var": 596.9829048602896
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 91.0,
|
|
"dynamic_range": 87.0,
|
|
"mean_gray": 35.951526032315975,
|
|
"std_gray": 37.57469380271534
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.08651786297559738,
|
|
"distance_to_border_px": 467.0
|
|
},
|
|
"edge_ratio": 1.0795768726740222,
|
|
"edge_lengths_px": [
|
|
39.408119201660156,
|
|
41.18252182006836,
|
|
39.66106414794922,
|
|
42.54409408569336
|
|
]
|
|
},
|
|
"confidence": 0.9262888315892531
|
|
},
|
|
{
|
|
"observation_id": "2134e6c7-ca0a-4ea0-a451-614f6cf9dbc0",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
950.0,
|
|
950.0
|
|
],
|
|
[
|
|
986.0,
|
|
936.0
|
|
],
|
|
[
|
|
1023.0,
|
|
954.0
|
|
],
|
|
[
|
|
985.0,
|
|
968.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
986.0,
|
|
952.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1170.0,
|
|
"perimeter_px": 159.62674713134766,
|
|
"sharpness": {
|
|
"laplacian_var": 821.2883045146916
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 109.79075738125802,
|
|
"std_gray": 59.09102759558218
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5448977947235107,
|
|
"distance_to_border_px": 112.0
|
|
},
|
|
"edge_ratio": 1.0652316490650557,
|
|
"edge_lengths_px": [
|
|
38.62641525268555,
|
|
41.146080017089844,
|
|
40.49691390991211,
|
|
39.357337951660156
|
|
]
|
|
},
|
|
"confidence": 0.7322350971120686
|
|
},
|
|
{
|
|
"observation_id": "3929e39b-1fd1-4545-b11f-aed1ee75022a",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1069.0,
|
|
933.0
|
|
],
|
|
[
|
|
1104.0,
|
|
920.0
|
|
],
|
|
[
|
|
1142.0,
|
|
937.0
|
|
],
|
|
[
|
|
1107.0,
|
|
951.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1105.5,
|
|
935.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1125.5,
|
|
"perimeter_px": 158.7093734741211,
|
|
"sharpness": {
|
|
"laplacian_var": 1257.8787329532595
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 109.60372340425532,
|
|
"std_gray": 56.048965930523124
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6134629249572754,
|
|
"distance_to_border_px": 129.0
|
|
},
|
|
"edge_ratio": 1.1261850715745376,
|
|
"edge_lengths_px": [
|
|
37.336307525634766,
|
|
41.62931823730469,
|
|
37.6961555480957,
|
|
42.04759216308594
|
|
]
|
|
},
|
|
"confidence": 0.6662611255220068
|
|
},
|
|
{
|
|
"observation_id": "5edc8d35-cd07-4dbe-ace9-019f00cbab29",
|
|
"type": "aruco",
|
|
"marker_id": 218,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
870.0,
|
|
314.0
|
|
],
|
|
[
|
|
900.0,
|
|
338.0
|
|
],
|
|
[
|
|
881.0,
|
|
372.0
|
|
],
|
|
[
|
|
849.0,
|
|
351.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
875.0,
|
|
343.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1550.5,
|
|
"perimeter_px": 158.1868438720703,
|
|
"sharpness": {
|
|
"laplacian_var": 546.6366358134567
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 89.0,
|
|
"dynamic_range": 85.0,
|
|
"mean_gray": 30.568867924528302,
|
|
"std_gray": 36.094398936226405
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27786457538604736,
|
|
"distance_to_border_px": 314.0
|
|
},
|
|
"edge_ratio": 1.1115281634939247,
|
|
"edge_lengths_px": [
|
|
38.41874694824219,
|
|
38.94868469238281,
|
|
38.27531814575195,
|
|
42.54409408569336
|
|
]
|
|
},
|
|
"confidence": 0.899662314319277
|
|
},
|
|
{
|
|
"observation_id": "b5e5aac6-bcd0-4722-8664-b5e078afa662",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1115.0,
|
|
907.0
|
|
],
|
|
[
|
|
1148.0,
|
|
895.0
|
|
],
|
|
[
|
|
1186.0,
|
|
911.0
|
|
],
|
|
[
|
|
1153.0,
|
|
924.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1150.5,
|
|
909.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1019.5,
|
|
"perimeter_px": 153.4427719116211,
|
|
"sharpness": {
|
|
"laplacian_var": 903.99722803028
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 71.48342541436465,
|
|
"std_gray": 57.5333292920439
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6301830410957336,
|
|
"distance_to_border_px": 156.0
|
|
},
|
|
"edge_ratio": 1.1855441707402896,
|
|
"edge_lengths_px": [
|
|
35.11410140991211,
|
|
41.231056213378906,
|
|
35.46829605102539,
|
|
41.62931823730469
|
|
]
|
|
},
|
|
"confidence": 0.5732951023176659
|
|
},
|
|
{
|
|
"observation_id": "42e7de30-f664-416b-b6d1-a5add6378600",
|
|
"type": "aruco",
|
|
"marker_id": 244,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
979.0,
|
|
169.0
|
|
],
|
|
[
|
|
999.0,
|
|
197.0
|
|
],
|
|
[
|
|
980.0,
|
|
230.0
|
|
],
|
|
[
|
|
959.0,
|
|
206.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
979.25,
|
|
200.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1224.5,
|
|
"perimeter_px": 146.4380874633789,
|
|
"sharpness": {
|
|
"laplacian_var": 527.7404321147399
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 76.0,
|
|
"dynamic_range": 72.0,
|
|
"mean_gray": 34.36810551558753,
|
|
"std_gray": 31.669682898257072
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.47462889552116394,
|
|
"distance_to_border_px": 169.0
|
|
},
|
|
"edge_ratio": 1.3188744058382607,
|
|
"edge_lengths_px": [
|
|
34.4093017578125,
|
|
38.07886505126953,
|
|
31.890438079833984,
|
|
42.05948257446289
|
|
]
|
|
},
|
|
"confidence": 0.5570659319399208
|
|
},
|
|
{
|
|
"observation_id": "8fe3b115-2c46-4701-a355-73fedaeff5f0",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1278.0,
|
|
797.0
|
|
],
|
|
[
|
|
1317.0,
|
|
812.0
|
|
],
|
|
[
|
|
1287.0,
|
|
823.0
|
|
],
|
|
[
|
|
1249.0,
|
|
808.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1282.75,
|
|
810.0
|
|
],
|
|
"quality": {
|
|
"area_px": 866.0,
|
|
"perimeter_px": 145.6077766418457,
|
|
"sharpness": {
|
|
"laplacian_var": 1446.887296
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 73.328,
|
|
"std_gray": 57.44999578764127
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6935216784477234,
|
|
"distance_to_border_px": 123.0
|
|
},
|
|
"edge_ratio": 1.3472077588485407,
|
|
"edge_lengths_px": [
|
|
41.78516387939453,
|
|
31.95309066772461,
|
|
40.853397369384766,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.4285406831584614
|
|
},
|
|
{
|
|
"observation_id": "4060d1a9-f338-4438-9cbd-712219f2b754",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
726.0,
|
|
882.0
|
|
],
|
|
[
|
|
763.0,
|
|
870.0
|
|
],
|
|
[
|
|
793.0,
|
|
885.0
|
|
],
|
|
[
|
|
755.0,
|
|
897.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
759.25,
|
|
883.5
|
|
],
|
|
"quality": {
|
|
"area_px": 916.5,
|
|
"perimeter_px": 144.93769073486328,
|
|
"sharpness": {
|
|
"laplacian_var": 1272.91101760663
|
|
},
|
|
"contrast": {
|
|
"p05": 25.050000000000004,
|
|
"p95": 171.0,
|
|
"dynamic_range": 145.95,
|
|
"mean_gray": 124.67824773413898,
|
|
"std_gray": 53.84988739784309
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3841501772403717,
|
|
"distance_to_border_px": 183.0
|
|
},
|
|
"edge_ratio": 1.2205249008898444,
|
|
"edge_lengths_px": [
|
|
38.897300720214844,
|
|
33.541019439697266,
|
|
39.84971618652344,
|
|
32.649654388427734
|
|
]
|
|
},
|
|
"confidence": 0.5006042888224075
|
|
},
|
|
{
|
|
"observation_id": "ec75dee1-74b5-4007-a88f-3671cffbc736",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
823.0,
|
|
870.0
|
|
],
|
|
[
|
|
858.0,
|
|
858.0
|
|
],
|
|
[
|
|
890.0,
|
|
874.0
|
|
],
|
|
[
|
|
853.0,
|
|
885.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
856.0,
|
|
871.75
|
|
],
|
|
"quality": {
|
|
"area_px": 914.5,
|
|
"perimeter_px": 144.9186248779297,
|
|
"sharpness": {
|
|
"laplacian_var": 1037.7981112433074
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 48.791158536585364,
|
|
"std_gray": 48.57443980445199
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.39838263392448425,
|
|
"distance_to_border_px": 195.0
|
|
},
|
|
"edge_ratio": 1.1508450821641938,
|
|
"edge_lengths_px": [
|
|
37.0,
|
|
35.7770881652832,
|
|
38.60051727294922,
|
|
33.541019439697266
|
|
]
|
|
},
|
|
"confidence": 0.5297556344596553
|
|
},
|
|
{
|
|
"observation_id": "82f7ed62-4ee9-48a0-a50a-105e30ec0345",
|
|
"type": "aruco",
|
|
"marker_id": 206,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1369.0,
|
|
761.0
|
|
],
|
|
[
|
|
1407.0,
|
|
774.0
|
|
],
|
|
[
|
|
1382.0,
|
|
785.0
|
|
],
|
|
[
|
|
1342.0,
|
|
771.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1375.0,
|
|
772.75
|
|
],
|
|
"quality": {
|
|
"area_px": 760.5,
|
|
"perimeter_px": 138.64677238464355,
|
|
"sharpness": {
|
|
"laplacian_var": 1743.5144207595129
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 81.72625698324022,
|
|
"std_gray": 51.953151073577786
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7723601460456848,
|
|
"distance_to_border_px": 33.0
|
|
},
|
|
"edge_ratio": 1.5516143363791228,
|
|
"edge_lengths_px": [
|
|
40.16217041015625,
|
|
27.312999725341797,
|
|
42.379241943359375,
|
|
28.792360305786133
|
|
]
|
|
},
|
|
"confidence": 0.21565926026494167
|
|
},
|
|
{
|
|
"observation_id": "929a61ce-f64f-4e2e-8a98-aedc7e24c871",
|
|
"type": "aruco",
|
|
"marker_id": 40,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
677.0,
|
|
616.0
|
|
],
|
|
[
|
|
705.0,
|
|
619.0
|
|
],
|
|
[
|
|
703.0,
|
|
660.0
|
|
],
|
|
[
|
|
674.0,
|
|
656.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
689.75,
|
|
637.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1163.0,
|
|
"perimeter_px": 138.5959129333496,
|
|
"sharpness": {
|
|
"laplacian_var": 1845.4241643072135
|
|
},
|
|
"contrast": {
|
|
"p05": 36.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 79.86111111111111,
|
|
"std_gray": 59.98584347116618
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.11369292438030243,
|
|
"distance_to_border_px": 420.0
|
|
},
|
|
"edge_ratio": 1.457683930814807,
|
|
"edge_lengths_px": [
|
|
28.160255432128906,
|
|
41.04875183105469,
|
|
29.27456283569336,
|
|
40.112342834472656
|
|
]
|
|
},
|
|
"confidence": 0.5318939976925878
|
|
},
|
|
{
|
|
"observation_id": "65a9dc81-b7ee-4b0e-8b81-29dc63da5b19",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
583.0,
|
|
774.0
|
|
],
|
|
[
|
|
618.0,
|
|
765.0
|
|
],
|
|
[
|
|
641.0,
|
|
777.0
|
|
],
|
|
[
|
|
607.0,
|
|
787.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
612.25,
|
|
775.75
|
|
],
|
|
"quality": {
|
|
"area_px": 654.5,
|
|
"perimeter_px": 124.81564331054688,
|
|
"sharpness": {
|
|
"laplacian_var": 2939.4077544054576
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 82.66666666666667,
|
|
"std_gray": 63.17249092165696
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2880074679851532,
|
|
"distance_to_border_px": 293.0
|
|
},
|
|
"edge_ratio": 1.3930415146244006,
|
|
"edge_lengths_px": [
|
|
36.13862228393555,
|
|
25.942243576049805,
|
|
35.44009017944336,
|
|
27.294687271118164
|
|
]
|
|
},
|
|
"confidence": 0.313223496035565
|
|
},
|
|
{
|
|
"observation_id": "006bfdd5-3dc1-4606-bd44-8b942a335681",
|
|
"type": "aruco",
|
|
"marker_id": 246,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
903.0,
|
|
145.0
|
|
],
|
|
[
|
|
928.0,
|
|
148.0
|
|
],
|
|
[
|
|
910.0,
|
|
178.0
|
|
],
|
|
[
|
|
885.0,
|
|
175.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
906.5,
|
|
161.5
|
|
],
|
|
"quality": {
|
|
"area_px": 804.0,
|
|
"perimeter_px": 120.33013534545898,
|
|
"sharpness": {
|
|
"laplacian_var": 3592.552273354436
|
|
},
|
|
"contrast": {
|
|
"p05": 74.0,
|
|
"p95": 190.0,
|
|
"dynamic_range": 116.0,
|
|
"mean_gray": 116.2018018018018,
|
|
"std_gray": 49.51726240446648
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.46883687376976013,
|
|
"distance_to_border_px": 145.0
|
|
},
|
|
"edge_ratio": 1.3894600012801832,
|
|
"edge_lengths_px": [
|
|
25.179357528686523,
|
|
34.98571014404297,
|
|
25.179357528686523,
|
|
34.98571014404297
|
|
]
|
|
},
|
|
"confidence": 0.3857613745672094
|
|
},
|
|
{
|
|
"observation_id": "83adc8d5-7d3b-4e1a-8bab-ef92d089e8ab",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
515.0,
|
|
792.0
|
|
],
|
|
[
|
|
551.0,
|
|
782.0
|
|
],
|
|
[
|
|
575.0,
|
|
795.0
|
|
],
|
|
[
|
|
538.0,
|
|
805.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
544.75,
|
|
793.5
|
|
],
|
|
"quality": {
|
|
"area_px": 709.5,
|
|
"perimeter_px": 129.40499687194824,
|
|
"sharpness": {
|
|
"laplacian_var": 1980.3373886784939
|
|
},
|
|
"contrast": {
|
|
"p05": 21.5,
|
|
"p95": 174.0,
|
|
"dynamic_range": 152.5,
|
|
"mean_gray": 57.92871690427699,
|
|
"std_gray": 55.4910041165671
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3424220383167267,
|
|
"distance_to_border_px": 275.0
|
|
},
|
|
"edge_ratio": 1.4507187150354408,
|
|
"edge_lengths_px": [
|
|
37.36308288574219,
|
|
27.294687271118164,
|
|
38.327537536621094,
|
|
26.419689178466797
|
|
]
|
|
},
|
|
"confidence": 0.32604528713786163
|
|
},
|
|
{
|
|
"observation_id": "430ef3f6-34a7-4ad5-9891-99bdd54de5c2",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
433.0,
|
|
784.0
|
|
],
|
|
[
|
|
472.0,
|
|
775.0
|
|
],
|
|
[
|
|
493.0,
|
|
787.0
|
|
],
|
|
[
|
|
455.0,
|
|
797.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
463.25,
|
|
785.75
|
|
],
|
|
"quality": {
|
|
"area_px": 685.5,
|
|
"perimeter_px": 129.05939865112305,
|
|
"sharpness": {
|
|
"laplacian_var": 3095.3624713195486
|
|
},
|
|
"contrast": {
|
|
"p05": 22.5,
|
|
"p95": 176.0,
|
|
"dynamic_range": 153.5,
|
|
"mean_gray": 104.78131634819533,
|
|
"std_gray": 65.75364941207508
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.39489588141441345,
|
|
"distance_to_border_px": 283.0
|
|
},
|
|
"edge_ratio": 1.6548298278465101,
|
|
"edge_lengths_px": [
|
|
40.024993896484375,
|
|
24.1867733001709,
|
|
39.293766021728516,
|
|
25.553865432739258
|
|
]
|
|
},
|
|
"confidence": 0.27616132626441153
|
|
},
|
|
{
|
|
"observation_id": "74242ed0-fa40-40ee-b3a3-1d00c519c893",
|
|
"type": "aruco",
|
|
"marker_id": 247,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
860.0,
|
|
141.0
|
|
],
|
|
[
|
|
887.0,
|
|
143.0
|
|
],
|
|
[
|
|
868.0,
|
|
175.0
|
|
],
|
|
[
|
|
841.0,
|
|
172.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
864.0,
|
|
157.75
|
|
],
|
|
"quality": {
|
|
"area_px": 898.0,
|
|
"perimeter_px": 127.81503295898438,
|
|
"sharpness": {
|
|
"laplacian_var": 3412.809825076306
|
|
},
|
|
"contrast": {
|
|
"p05": 74.0,
|
|
"p95": 191.0,
|
|
"dynamic_range": 117.0,
|
|
"mean_gray": 130.28436018957345,
|
|
"std_gray": 51.60404626673505
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4538600742816925,
|
|
"distance_to_border_px": 141.0
|
|
},
|
|
"edge_ratio": 1.374589094314237,
|
|
"edge_lengths_px": [
|
|
27.073972702026367,
|
|
37.2155876159668,
|
|
27.166154861450195,
|
|
36.359317779541016
|
|
]
|
|
},
|
|
"confidence": 0.43552409163069417
|
|
},
|
|
{
|
|
"observation_id": "800ed3e6-41db-4aa5-a8f5-ff4b12845f6d",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
747.0,
|
|
746.0
|
|
],
|
|
[
|
|
780.0,
|
|
738.0
|
|
],
|
|
[
|
|
805.0,
|
|
749.0
|
|
],
|
|
[
|
|
774.0,
|
|
758.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
776.5,
|
|
747.75
|
|
],
|
|
"quality": {
|
|
"area_px": 589.0,
|
|
"perimeter_px": 123.09545135498047,
|
|
"sharpness": {
|
|
"laplacian_var": 2247.0418222026615
|
|
},
|
|
"contrast": {
|
|
"p05": 29.400000000000002,
|
|
"p95": 161.0,
|
|
"dynamic_range": 131.6,
|
|
"mean_gray": 87.2027972027972,
|
|
"std_gray": 54.923964323212516
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2392176240682602,
|
|
"distance_to_border_px": 322.0
|
|
},
|
|
"edge_ratio": 1.2432121279245536,
|
|
"edge_lengths_px": [
|
|
33.95585250854492,
|
|
27.312999725341797,
|
|
32.280025482177734,
|
|
29.546573638916016
|
|
]
|
|
},
|
|
"confidence": 0.31584848462039483
|
|
},
|
|
{
|
|
"observation_id": "9c3882e5-7b4d-46dc-85cb-751dfd2870d8",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
802.0,
|
|
759.0
|
|
],
|
|
[
|
|
833.0,
|
|
750.0
|
|
],
|
|
[
|
|
859.0,
|
|
762.0
|
|
],
|
|
[
|
|
829.0,
|
|
771.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
830.75,
|
|
760.5
|
|
],
|
|
"quality": {
|
|
"area_px": 604.5,
|
|
"perimeter_px": 121.78316116333008,
|
|
"sharpness": {
|
|
"laplacian_var": 1812.295465992079
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 51.610047846889955,
|
|
"std_gray": 44.90141880834608
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2741672396659851,
|
|
"distance_to_border_px": 309.0
|
|
},
|
|
"edge_ratio": 1.1272673526528836,
|
|
"edge_lengths_px": [
|
|
32.280025482177734,
|
|
28.635643005371094,
|
|
31.320919036865234,
|
|
29.546573638916016
|
|
]
|
|
},
|
|
"confidence": 0.3575017044994602
|
|
},
|
|
{
|
|
"observation_id": "3a830313-bf4c-4ea3-83c2-d364d16f3bb2",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
344.0,
|
|
738.0
|
|
],
|
|
[
|
|
382.0,
|
|
730.0
|
|
],
|
|
[
|
|
401.0,
|
|
740.0
|
|
],
|
|
[
|
|
364.0,
|
|
749.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
372.75,
|
|
739.25
|
|
],
|
|
"quality": {
|
|
"area_px": 559.5,
|
|
"perimeter_px": 121.20817756652832,
|
|
"sharpness": {
|
|
"laplacian_var": 3146.2186159340536
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 72.60189573459715,
|
|
"std_gray": 63.07400149548652
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4448375105857849,
|
|
"distance_to_border_px": 331.0
|
|
},
|
|
"edge_ratio": 1.808632025343297,
|
|
"edge_lengths_px": [
|
|
38.832977294921875,
|
|
21.470911026000977,
|
|
38.07886505126953,
|
|
22.825424194335938
|
|
]
|
|
},
|
|
"confidence": 0.20623321647154885
|
|
},
|
|
{
|
|
"observation_id": "1d4d17df-cb6b-4a20-b095-b34dc94c2f80",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
876.0,
|
|
652.0
|
|
],
|
|
[
|
|
905.0,
|
|
663.0
|
|
],
|
|
[
|
|
872.0,
|
|
669.0
|
|
],
|
|
[
|
|
848.0,
|
|
659.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
875.25,
|
|
660.75
|
|
],
|
|
"quality": {
|
|
"area_px": 492.5,
|
|
"perimeter_px": 119.41888427734375,
|
|
"sharpness": {
|
|
"laplacian_var": 2647.878869333333
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 147.0,
|
|
"dynamic_range": 126.0,
|
|
"mean_gray": 62.63733333333333,
|
|
"std_gray": 48.58495452526659
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.21853363513946533,
|
|
"distance_to_border_px": 411.0
|
|
},
|
|
"edge_ratio": 1.2900392092191255,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
33.541019439697266,
|
|
26.0,
|
|
28.861740112304688
|
|
]
|
|
},
|
|
"confidence": 0.25451422792961226
|
|
},
|
|
{
|
|
"observation_id": "65a17646-63cb-4cdb-a380-1fd38d4ccdf5",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
557.0,
|
|
734.0
|
|
],
|
|
[
|
|
590.0,
|
|
726.0
|
|
],
|
|
[
|
|
612.0,
|
|
737.0
|
|
],
|
|
[
|
|
579.0,
|
|
746.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
584.5,
|
|
735.75
|
|
],
|
|
"quality": {
|
|
"area_px": 566.5,
|
|
"perimeter_px": 117.81779098510742,
|
|
"sharpness": {
|
|
"laplacian_var": 3977.119426916628
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 88.32592592592593,
|
|
"std_gray": 64.49769787790932
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.26452451944351196,
|
|
"distance_to_border_px": 334.0
|
|
},
|
|
"edge_ratio": 1.3906415897293534,
|
|
"edge_lengths_px": [
|
|
33.95585250854492,
|
|
24.59674835205078,
|
|
34.20526123046875,
|
|
25.05992889404297
|
|
]
|
|
},
|
|
"confidence": 0.2715772845109344
|
|
},
|
|
{
|
|
"observation_id": "60cb7fe2-9063-4605-9ab7-1b5c74d94da1",
|
|
"type": "aruco",
|
|
"marker_id": 242,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
808.0,
|
|
202.0
|
|
],
|
|
[
|
|
822.0,
|
|
234.0
|
|
],
|
|
[
|
|
798.0,
|
|
230.0
|
|
],
|
|
[
|
|
784.0,
|
|
199.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
803.0,
|
|
216.25
|
|
],
|
|
"quality": {
|
|
"area_px": 707.0,
|
|
"perimeter_px": 117.46102333068848,
|
|
"sharpness": {
|
|
"laplacian_var": 2537.7403851931977
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 132.0,
|
|
"mean_gray": 74.75968992248062,
|
|
"std_gray": 55.730981070376316
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.37135565280914307,
|
|
"distance_to_border_px": 199.0
|
|
},
|
|
"edge_ratio": 1.4441156280323812,
|
|
"edge_lengths_px": [
|
|
34.928497314453125,
|
|
24.331050872802734,
|
|
34.01470184326172,
|
|
24.1867733001709
|
|
]
|
|
},
|
|
"confidence": 0.32638199059969225
|
|
},
|
|
{
|
|
"observation_id": "cceb6aa7-14cd-4f15-b91d-383a4431c08b",
|
|
"type": "aruco",
|
|
"marker_id": 120,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
905.0,
|
|
343.0
|
|
],
|
|
[
|
|
912.0,
|
|
361.0
|
|
],
|
|
[
|
|
892.0,
|
|
394.0
|
|
],
|
|
[
|
|
885.0,
|
|
376.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
898.5,
|
|
368.5
|
|
],
|
|
"quality": {
|
|
"area_px": 591.0,
|
|
"perimeter_px": 115.80154037475586,
|
|
"sharpness": {
|
|
"laplacian_var": 807.7852867000299
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 84.0,
|
|
"dynamic_range": 69.0,
|
|
"mean_gray": 31.836104513064132,
|
|
"std_gray": 25.145641859776532
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27504095435142517,
|
|
"distance_to_border_px": 343.0
|
|
},
|
|
"edge_ratio": 1.9979882838520622,
|
|
"edge_lengths_px": [
|
|
19.313207626342773,
|
|
38.587562561035156,
|
|
19.313207626342773,
|
|
38.587562561035156
|
|
]
|
|
},
|
|
"confidence": 0.17008357994213433
|
|
},
|
|
{
|
|
"observation_id": "c8e79455-ac27-414a-a741-39ecb39f0c87",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
453.0,
|
|
695.0
|
|
],
|
|
[
|
|
487.0,
|
|
688.0
|
|
],
|
|
[
|
|
506.0,
|
|
697.0
|
|
],
|
|
[
|
|
472.0,
|
|
705.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
479.5,
|
|
696.25
|
|
],
|
|
"quality": {
|
|
"area_px": 465.5,
|
|
"perimeter_px": 112.13631248474121,
|
|
"sharpness": {
|
|
"laplacian_var": 4889.816556026825
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 88.94460641399417,
|
|
"std_gray": 66.34585474432228
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.31866681575775146,
|
|
"distance_to_border_px": 375.0
|
|
},
|
|
"edge_ratio": 1.6613791904649062,
|
|
"edge_lengths_px": [
|
|
34.71310806274414,
|
|
21.02379608154297,
|
|
34.928497314453125,
|
|
21.470911026000977
|
|
]
|
|
},
|
|
"confidence": 0.1867925968462939
|
|
},
|
|
{
|
|
"observation_id": "d03a1c24-dcfb-47da-b0fb-87c2bc43c42b",
|
|
"type": "aruco",
|
|
"marker_id": 114,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
847.0,
|
|
442.0
|
|
],
|
|
[
|
|
855.0,
|
|
459.0
|
|
],
|
|
[
|
|
835.0,
|
|
492.0
|
|
],
|
|
[
|
|
827.0,
|
|
475.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
841.0,
|
|
467.0
|
|
],
|
|
"quality": {
|
|
"area_px": 604.0,
|
|
"perimeter_px": 114.75171279907227,
|
|
"sharpness": {
|
|
"laplacian_var": 806.1251784672928
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 88.0,
|
|
"dynamic_range": 73.0,
|
|
"mean_gray": 36.17937219730942,
|
|
"std_gray": 27.253158381338668
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15701694786548615,
|
|
"distance_to_border_px": 442.0
|
|
},
|
|
"edge_ratio": 2.0538087647938266,
|
|
"edge_lengths_px": [
|
|
18.788293838500977,
|
|
38.587562561035156,
|
|
18.788293838500977,
|
|
38.587562561035156
|
|
]
|
|
},
|
|
"confidence": 0.1789033816740082
|
|
},
|
|
{
|
|
"observation_id": "d2ae5906-5b4a-4513-8bf8-4b576504c7a1",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
722.0,
|
|
710.0
|
|
],
|
|
[
|
|
753.0,
|
|
702.0
|
|
],
|
|
[
|
|
776.0,
|
|
712.0
|
|
],
|
|
[
|
|
747.0,
|
|
720.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
749.5,
|
|
711.0
|
|
],
|
|
"quality": {
|
|
"area_px": 492.0,
|
|
"perimeter_px": 114.10453414916992,
|
|
"sharpness": {
|
|
"laplacian_var": 3509.8075807316336
|
|
},
|
|
"contrast": {
|
|
"p05": 36.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 131.0,
|
|
"mean_gray": 103.27913279132791,
|
|
"std_gray": 51.75888045042137
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19280660152435303,
|
|
"distance_to_border_px": 360.0
|
|
},
|
|
"edge_ratio": 1.2765464280531955,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
25.079872131347656,
|
|
30.08321762084961,
|
|
26.925823211669922
|
|
]
|
|
},
|
|
"confidence": 0.25694325940045776
|
|
},
|
|
{
|
|
"observation_id": "68f92fe6-971b-4ac5-9a08-9549de1e886a",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1323.0,
|
|
658.0
|
|
],
|
|
[
|
|
1346.0,
|
|
651.0
|
|
],
|
|
[
|
|
1376.0,
|
|
660.0
|
|
],
|
|
[
|
|
1353.0,
|
|
667.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1349.5,
|
|
659.0
|
|
],
|
|
"quality": {
|
|
"area_px": 417.0,
|
|
"perimeter_px": 110.72509765625,
|
|
"sharpness": {
|
|
"laplacian_var": 3862.6993844991784
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 145.0,
|
|
"dynamic_range": 130.0,
|
|
"mean_gray": 82.01597444089457,
|
|
"std_gray": 51.87570916803208
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7118323445320129,
|
|
"distance_to_border_px": 64.0
|
|
},
|
|
"edge_ratio": 1.3027785266143572,
|
|
"edge_lengths_px": [
|
|
24.041629791259766,
|
|
31.320919036865234,
|
|
24.041629791259766,
|
|
31.320919036865234
|
|
]
|
|
},
|
|
"confidence": 0.21339006924105708
|
|
},
|
|
{
|
|
"observation_id": "9ea5aa05-24e5-4277-bc9c-d57b49cbae3e",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1250.0,
|
|
647.0
|
|
],
|
|
[
|
|
1272.0,
|
|
640.0
|
|
],
|
|
[
|
|
1302.0,
|
|
648.0
|
|
],
|
|
[
|
|
1278.0,
|
|
655.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1275.5,
|
|
647.5
|
|
],
|
|
"quality": {
|
|
"area_px": 387.0,
|
|
"perimeter_px": 108.25558090209961,
|
|
"sharpness": {
|
|
"laplacian_var": 3253.6754407718377
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 52.31958762886598,
|
|
"std_gray": 46.39681224795009
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6286734342575073,
|
|
"distance_to_border_px": 138.0
|
|
},
|
|
"edge_ratio": 1.3448533425951874,
|
|
"edge_lengths_px": [
|
|
23.0867919921875,
|
|
31.048349380493164,
|
|
25.0,
|
|
29.120439529418945
|
|
]
|
|
},
|
|
"confidence": 0.19184247964326936
|
|
},
|
|
{
|
|
"observation_id": "f311d699-2bac-4e9e-b841-39377c2bdc25",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
499.0,
|
|
637.0
|
|
],
|
|
[
|
|
528.0,
|
|
630.0
|
|
],
|
|
[
|
|
548.0,
|
|
639.0
|
|
],
|
|
[
|
|
519.0,
|
|
649.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
523.5,
|
|
638.75
|
|
],
|
|
"quality": {
|
|
"area_px": 474.5,
|
|
"perimeter_px": 105.76411247253418,
|
|
"sharpness": {
|
|
"laplacian_var": 6461.1458910433985
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 101.48830409356725,
|
|
"std_gray": 64.50620925768632
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2443530410528183,
|
|
"distance_to_border_px": 431.0
|
|
},
|
|
"edge_ratio": 1.398692563765085,
|
|
"edge_lengths_px": [
|
|
29.832868576049805,
|
|
21.931713104248047,
|
|
30.675724029541016,
|
|
23.323806762695312
|
|
]
|
|
},
|
|
"confidence": 0.22616359129114708
|
|
},
|
|
{
|
|
"observation_id": "c7840479-ea92-4732-ad9d-db36754cf447",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
570.0,
|
|
655.0
|
|
],
|
|
[
|
|
600.0,
|
|
648.0
|
|
],
|
|
[
|
|
620.0,
|
|
657.0
|
|
],
|
|
[
|
|
590.0,
|
|
664.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
595.0,
|
|
656.0
|
|
],
|
|
"quality": {
|
|
"area_px": 410.0,
|
|
"perimeter_px": 105.47511291503906,
|
|
"sharpness": {
|
|
"laplacian_var": 4498.524439666756
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 85.09836065573771,
|
|
"std_gray": 59.123295710516736
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18947947025299072,
|
|
"distance_to_border_px": 416.0
|
|
},
|
|
"edge_ratio": 1.4046254939977565,
|
|
"edge_lengths_px": [
|
|
30.805843353271484,
|
|
21.931713104248047,
|
|
30.805843353271484,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.19459516753849398
|
|
},
|
|
{
|
|
"observation_id": "1e3af67e-8134-4a15-b4e8-cca156fd4884",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
307.0,
|
|
629.0
|
|
],
|
|
[
|
|
339.0,
|
|
623.0
|
|
],
|
|
[
|
|
355.0,
|
|
631.0
|
|
],
|
|
[
|
|
323.0,
|
|
637.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
331.0,
|
|
630.0
|
|
],
|
|
"quality": {
|
|
"area_px": 352.0,
|
|
"perimeter_px": 100.89236831665039,
|
|
"sharpness": {
|
|
"laplacian_var": 7407.9780977965665
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 83.72413793103448,
|
|
"std_gray": 63.87662131557694
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4436395466327667,
|
|
"distance_to_border_px": 307.0
|
|
},
|
|
"edge_ratio": 1.820027383182981,
|
|
"edge_lengths_px": [
|
|
32.557640075683594,
|
|
17.8885440826416,
|
|
32.557640075683594,
|
|
17.8885440826416
|
|
]
|
|
},
|
|
"confidence": 0.12893578900789202
|
|
},
|
|
{
|
|
"observation_id": "f0b8e4a9-67ed-4309-8652-574b99455deb",
|
|
"type": "aruco",
|
|
"marker_id": 86,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1244.0,
|
|
594.0
|
|
],
|
|
[
|
|
1267.0,
|
|
589.0
|
|
],
|
|
[
|
|
1291.0,
|
|
595.0
|
|
],
|
|
[
|
|
1270.0,
|
|
601.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1268.0,
|
|
594.75
|
|
],
|
|
"quality": {
|
|
"area_px": 280.5,
|
|
"perimeter_px": 97.0419921875,
|
|
"sharpness": {
|
|
"laplacian_var": 5149.151224489796
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 144.0,
|
|
"dynamic_range": 129.0,
|
|
"mean_gray": 75.72857142857143,
|
|
"std_gray": 51.174376427281345
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6119202375411987,
|
|
"distance_to_border_px": 149.0
|
|
},
|
|
"edge_ratio": 1.2328487279687752,
|
|
"edge_lengths_px": [
|
|
23.53720474243164,
|
|
24.73863410949707,
|
|
21.840330123901367,
|
|
26.925823211669922
|
|
]
|
|
},
|
|
"confidence": 0.15168122070263937
|
|
},
|
|
{
|
|
"observation_id": "f1645547-e06a-4dba-ac6a-8eabcadb8fc2",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1267.0,
|
|
617.0
|
|
],
|
|
[
|
|
1290.0,
|
|
611.0
|
|
],
|
|
[
|
|
1315.0,
|
|
619.0
|
|
],
|
|
[
|
|
1295.0,
|
|
625.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1291.75,
|
|
618.0
|
|
],
|
|
"quality": {
|
|
"area_px": 331.0,
|
|
"perimeter_px": 100.01959037780762,
|
|
"sharpness": {
|
|
"laplacian_var": 3820.0773761547525
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 141.0,
|
|
"dynamic_range": 126.0,
|
|
"mean_gray": 73.5984251968504,
|
|
"std_gray": 48.0964843678165
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6411621570587158,
|
|
"distance_to_border_px": 125.0
|
|
},
|
|
"edge_ratio": 1.394616100271707,
|
|
"edge_lengths_px": [
|
|
23.76972770690918,
|
|
26.248809814453125,
|
|
20.880613327026367,
|
|
29.120439529418945
|
|
]
|
|
},
|
|
"confidence": 0.1582275341749426
|
|
},
|
|
{
|
|
"observation_id": "7fb5619f-149f-43f8-ba9f-a23f120aa32f",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
419.0,
|
|
626.0
|
|
],
|
|
[
|
|
449.0,
|
|
620.0
|
|
],
|
|
[
|
|
466.0,
|
|
628.0
|
|
],
|
|
[
|
|
436.0,
|
|
634.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
442.5,
|
|
627.0
|
|
],
|
|
"quality": {
|
|
"area_px": 342.0,
|
|
"perimeter_px": 98.76482009887695,
|
|
"sharpness": {
|
|
"laplacian_var": 5835.90723179553
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 85.82608695652173,
|
|
"std_gray": 63.600480640106156
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.32313138246536255,
|
|
"distance_to_border_px": 419.0
|
|
},
|
|
"edge_ratio": 1.6283605352309334,
|
|
"edge_lengths_px": [
|
|
30.5941162109375,
|
|
18.788293838500977,
|
|
30.5941162109375,
|
|
18.788293838500977
|
|
]
|
|
},
|
|
"confidence": 0.14001813177550704
|
|
},
|
|
{
|
|
"observation_id": "2d5e699d-d4aa-4a64-aa74-d2bbf26b3113",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1097.0,
|
|
551.0
|
|
],
|
|
[
|
|
1119.0,
|
|
547.0
|
|
],
|
|
[
|
|
1140.0,
|
|
553.0
|
|
],
|
|
[
|
|
1122.0,
|
|
559.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1119.5,
|
|
552.5
|
|
],
|
|
"quality": {
|
|
"area_px": 255.0,
|
|
"perimeter_px": 89.4234848022461,
|
|
"sharpness": {
|
|
"laplacian_var": 3060.573422173926
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 149.0,
|
|
"dynamic_range": 132.0,
|
|
"mean_gray": 77.16042780748663,
|
|
"std_gray": 49.71454274399784
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4441061019897461,
|
|
"distance_to_border_px": 300.0
|
|
},
|
|
"edge_ratio": 1.3834338007964684,
|
|
"edge_lengths_px": [
|
|
22.360679626464844,
|
|
21.840330123901367,
|
|
18.973665237426758,
|
|
26.248809814453125
|
|
]
|
|
},
|
|
"confidence": 0.12288264165739471
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
891.0,
|
|
398.0
|
|
],
|
|
[
|
|
918.0,
|
|
457.0
|
|
],
|
|
[
|
|
898.0,
|
|
448.0
|
|
],
|
|
[
|
|
883.0,
|
|
414.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
897.5,
|
|
429.25
|
|
],
|
|
"area_px": 724.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
939.0,
|
|
634.0
|
|
],
|
|
[
|
|
966.0,
|
|
627.0
|
|
],
|
|
[
|
|
996.0,
|
|
637.0
|
|
],
|
|
[
|
|
967.0,
|
|
645.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
967.0,
|
|
635.75
|
|
],
|
|
"area_px": 511.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1373.0,
|
|
622.0
|
|
],
|
|
[
|
|
1352.0,
|
|
630.0
|
|
],
|
|
[
|
|
1321.0,
|
|
619.0
|
|
],
|
|
[
|
|
1349.0,
|
|
611.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1348.75,
|
|
620.5
|
|
],
|
|
"area_px": 489.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
843.0,
|
|
130.0
|
|
],
|
|
[
|
|
818.0,
|
|
150.0
|
|
],
|
|
[
|
|
795.0,
|
|
148.0
|
|
],
|
|
[
|
|
818.0,
|
|
128.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
818.5,
|
|
139.0
|
|
],
|
|
"area_px": 528.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
770.0,
|
|
399.0
|
|
],
|
|
[
|
|
749.0,
|
|
433.0
|
|
],
|
|
[
|
|
734.0,
|
|
434.0
|
|
],
|
|
[
|
|
754.0,
|
|
400.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
751.75,
|
|
416.5
|
|
],
|
|
"area_px": 506.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
835.0,
|
|
599.0
|
|
],
|
|
[
|
|
863.0,
|
|
593.0
|
|
],
|
|
[
|
|
885.0,
|
|
602.0
|
|
],
|
|
[
|
|
860.0,
|
|
608.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
860.75,
|
|
600.5
|
|
],
|
|
"area_px": 379.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
448.0,
|
|
596.0
|
|
],
|
|
[
|
|
420.0,
|
|
602.0
|
|
],
|
|
[
|
|
402.0,
|
|
594.0
|
|
],
|
|
[
|
|
434.0,
|
|
590.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
426.0,
|
|
595.5
|
|
],
|
|
"area_px": 290.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1131.0,
|
|
544.0
|
|
],
|
|
[
|
|
1154.0,
|
|
540.0
|
|
],
|
|
[
|
|
1175.0,
|
|
547.0
|
|
],
|
|
[
|
|
1156.0,
|
|
552.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1154.0,
|
|
545.75
|
|
],
|
|
"area_px": 261.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
666.0,
|
|
534.0
|
|
],
|
|
[
|
|
640.0,
|
|
538.0
|
|
],
|
|
[
|
|
622.0,
|
|
532.0
|
|
],
|
|
[
|
|
650.0,
|
|
528.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
644.5,
|
|
533.0
|
|
],
|
|
"area_px": 230.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1005.0,
|
|
524.0
|
|
],
|
|
[
|
|
1028.0,
|
|
521.0
|
|
],
|
|
[
|
|
1048.0,
|
|
527.0
|
|
],
|
|
[
|
|
1027.0,
|
|
533.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1027.0,
|
|
526.25
|
|
],
|
|
"area_px": 259.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
975.0,
|
|
500.0
|
|
],
|
|
[
|
|
995.0,
|
|
496.0
|
|
],
|
|
[
|
|
1015.0,
|
|
503.0
|
|
],
|
|
[
|
|
996.0,
|
|
507.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
995.25,
|
|
501.5
|
|
],
|
|
"area_px": 218.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
707.0,
|
|
664.0
|
|
],
|
|
[
|
|
713.0,
|
|
678.0
|
|
],
|
|
[
|
|
712.0,
|
|
700.0
|
|
],
|
|
[
|
|
705.0,
|
|
699.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
709.25,
|
|
685.25
|
|
],
|
|
"area_px": 196.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
660.0,
|
|
498.0
|
|
],
|
|
[
|
|
692.0,
|
|
505.0
|
|
],
|
|
[
|
|
686.0,
|
|
511.0
|
|
],
|
|
[
|
|
662.0,
|
|
503.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
675.0,
|
|
504.25
|
|
],
|
|
"area_px": 169.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1398.0,
|
|
773.0
|
|
],
|
|
[
|
|
1379.0,
|
|
782.0
|
|
],
|
|
[
|
|
1372.0,
|
|
778.0
|
|
],
|
|
[
|
|
1390.0,
|
|
770.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1384.75,
|
|
775.75
|
|
],
|
|
"area_px": 128.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
423.0,
|
|
594.0
|
|
],
|
|
[
|
|
436.0,
|
|
592.0
|
|
],
|
|
[
|
|
445.0,
|
|
596.0
|
|
],
|
|
[
|
|
431.0,
|
|
599.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
433.75,
|
|
595.25
|
|
],
|
|
"area_px": 82.0
|
|
}
|
|
]
|
|
} |