2087 lines
44 KiB
JSON
2087 lines
44 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T23:05:28Z",
|
|
"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\\Scene12\\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\\Scene12\\render_f.png",
|
|
"image_sha256": "74a674b20c668154c404f0bf4268723c16989106b81b2fad518edb69601cdd5c",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 34,
|
|
"num_rejected_candidates": 8
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "0dc57421-1081-4117-94d5-b7ff94aba76a",
|
|
"type": "aruco",
|
|
"marker_id": 245,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
847.0,
|
|
625.0
|
|
],
|
|
[
|
|
813.0,
|
|
636.0
|
|
],
|
|
[
|
|
801.0,
|
|
603.0
|
|
],
|
|
[
|
|
835.0,
|
|
591.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
824.0,
|
|
613.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1277.0,
|
|
"perimeter_px": 142.96026229858398,
|
|
"sharpness": {
|
|
"laplacian_var": 2321.1897089779145
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 87.97109826589596,
|
|
"std_gray": 66.9501434504988
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.14166149497032166,
|
|
"distance_to_border_px": 444.0
|
|
},
|
|
"edge_ratio": 1.0268100286465403,
|
|
"edge_lengths_px": [
|
|
35.735137939453125,
|
|
35.11410140991211,
|
|
36.055511474609375,
|
|
36.055511474609375
|
|
]
|
|
},
|
|
"confidence": 0.829105004414004
|
|
},
|
|
{
|
|
"observation_id": "9e3f79b9-24b2-4eb2-99f6-09720ba87dd8",
|
|
"type": "aruco",
|
|
"marker_id": 248,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
829.0,
|
|
573.0
|
|
],
|
|
[
|
|
794.0,
|
|
584.0
|
|
],
|
|
[
|
|
783.0,
|
|
551.0
|
|
],
|
|
[
|
|
817.0,
|
|
540.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
805.75,
|
|
562.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1265.0,
|
|
"perimeter_px": 142.3221664428711,
|
|
"sharpness": {
|
|
"laplacian_var": 3077.8083620840252
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 95.69626168224299,
|
|
"std_gray": 67.12971322179123
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.09836353361606598,
|
|
"distance_to_border_px": 496.0
|
|
},
|
|
"edge_ratio": 1.0547022473505798,
|
|
"edge_lengths_px": [
|
|
36.68787384033203,
|
|
34.78505325317383,
|
|
35.735137939453125,
|
|
35.11410140991211
|
|
]
|
|
},
|
|
"confidence": 0.7995937578134428
|
|
},
|
|
{
|
|
"observation_id": "339c422c-3a40-4edc-b2c4-af1f1516ac11",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
793.0,
|
|
469.0
|
|
],
|
|
[
|
|
805.0,
|
|
501.0
|
|
],
|
|
[
|
|
771.0,
|
|
512.0
|
|
],
|
|
[
|
|
759.0,
|
|
479.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
782.0,
|
|
490.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1231.0,
|
|
"perimeter_px": 140.4653434753418,
|
|
"sharpness": {
|
|
"laplacian_var": 2080.6960927230753
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 73.18621523579202,
|
|
"std_gray": 63.177025453622775
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.08832503110170364,
|
|
"distance_to_border_px": 469.0
|
|
},
|
|
"edge_ratio": 1.0456204165693255,
|
|
"edge_lengths_px": [
|
|
34.1760139465332,
|
|
35.735137939453125,
|
|
35.11410140991211,
|
|
35.44009017944336
|
|
]
|
|
},
|
|
"confidence": 0.7848609817310849
|
|
},
|
|
{
|
|
"observation_id": "52d20e8d-4898-439e-b6e4-ae7fa340db19",
|
|
"type": "aruco",
|
|
"marker_id": 113,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1074.0,
|
|
574.0
|
|
],
|
|
[
|
|
1066.0,
|
|
541.0
|
|
],
|
|
[
|
|
1100.0,
|
|
530.0
|
|
],
|
|
[
|
|
1108.0,
|
|
563.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1087.0,
|
|
552.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1210.0,
|
|
"perimeter_px": 139.3819808959961,
|
|
"sharpness": {
|
|
"laplacian_var": 1268.9930437433318
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 147.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 41.01111111111111,
|
|
"std_gray": 55.369922084150865
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.40799570083618164,
|
|
"distance_to_border_px": 332.0
|
|
},
|
|
"edge_ratio": 1.052399963466105,
|
|
"edge_lengths_px": [
|
|
33.95585250854492,
|
|
35.735137939453125,
|
|
33.95585250854492,
|
|
35.735137939453125
|
|
]
|
|
},
|
|
"confidence": 0.7665019903743537
|
|
},
|
|
{
|
|
"observation_id": "6fb85100-03f3-4ea3-9025-664f665fa541",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1368.0,
|
|
930.0
|
|
],
|
|
[
|
|
1399.0,
|
|
920.0
|
|
],
|
|
[
|
|
1413.0,
|
|
953.0
|
|
],
|
|
[
|
|
1381.0,
|
|
964.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1390.25,
|
|
941.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1197.0,
|
|
"perimeter_px": 138.6582908630371,
|
|
"sharpness": {
|
|
"laplacian_var": 2438.987287573368
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 62.843711843711844,
|
|
"std_gray": 64.19578564933624
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8682592511177063,
|
|
"distance_to_border_px": 27.0
|
|
},
|
|
"edge_ratio": 1.1175070545503094,
|
|
"edge_lengths_px": [
|
|
32.572994232177734,
|
|
35.84689712524414,
|
|
33.83784866333008,
|
|
36.400550842285156
|
|
]
|
|
},
|
|
"confidence": 0.38560830398820567
|
|
},
|
|
{
|
|
"observation_id": "8bd2ab4d-9d7e-4fad-8f25-d0ae4d956fa8",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
918.0,
|
|
429.0
|
|
],
|
|
[
|
|
929.0,
|
|
461.0
|
|
],
|
|
[
|
|
896.0,
|
|
471.0
|
|
],
|
|
[
|
|
884.0,
|
|
439.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
906.75,
|
|
450.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1187.0,
|
|
"perimeter_px": 137.93583297729492,
|
|
"sharpness": {
|
|
"laplacian_var": 3339.2191739880222
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 86.90139064475348,
|
|
"std_gray": 68.06010124239845
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2303394228219986,
|
|
"distance_to_border_px": 429.0
|
|
},
|
|
"edge_ratio": 1.0473505727877324,
|
|
"edge_lengths_px": [
|
|
33.83784866333008,
|
|
34.48188018798828,
|
|
34.1760139465332,
|
|
35.44009017944336
|
|
]
|
|
},
|
|
"confidence": 0.7555572641040735
|
|
},
|
|
{
|
|
"observation_id": "bf6b92ab-3733-4b9d-96d1-cb91b178d0ea",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
823.0,
|
|
857.0
|
|
],
|
|
[
|
|
855.0,
|
|
846.0
|
|
],
|
|
[
|
|
866.0,
|
|
879.0
|
|
],
|
|
[
|
|
834.0,
|
|
890.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
844.5,
|
|
868.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1177.0,
|
|
"perimeter_px": 137.2458038330078,
|
|
"sharpness": {
|
|
"laplacian_var": 1724.0845074317992
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 48.566326530612244,
|
|
"std_gray": 49.99161346783946
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.38981515169143677,
|
|
"distance_to_border_px": 190.0
|
|
},
|
|
"edge_ratio": 1.027992458955295,
|
|
"edge_lengths_px": [
|
|
33.83784866333008,
|
|
34.78505325317383,
|
|
33.83784866333008,
|
|
34.78505325317383
|
|
]
|
|
},
|
|
"confidence": 0.7633000221267091
|
|
},
|
|
{
|
|
"observation_id": "4b8ea229-67fe-4e99-b1f9-fdd838037173",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1366.0,
|
|
873.0
|
|
],
|
|
[
|
|
1398.0,
|
|
863.0
|
|
],
|
|
[
|
|
1411.0,
|
|
895.0
|
|
],
|
|
[
|
|
1380.0,
|
|
906.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1388.75,
|
|
884.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1165.5,
|
|
"perimeter_px": 136.8066062927246,
|
|
"sharpness": {
|
|
"laplacian_var": 2525.1611171691666
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 161.44999999999993,
|
|
"dynamic_range": 151.44999999999993,
|
|
"mean_gray": 84.99368686868686,
|
|
"std_gray": 67.54408370074063
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8357259035110474,
|
|
"distance_to_border_px": 29.0
|
|
},
|
|
"edge_ratio": 1.0897777593256286,
|
|
"edge_lengths_px": [
|
|
33.52610778808594,
|
|
34.539833068847656,
|
|
32.893768310546875,
|
|
35.84689712524414
|
|
]
|
|
},
|
|
"confidence": 0.41353385692040123
|
|
},
|
|
{
|
|
"observation_id": "20371889-bad6-46f4-b279-d50b009869cf",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
946.0,
|
|
730.0
|
|
],
|
|
[
|
|
957.0,
|
|
762.0
|
|
],
|
|
[
|
|
925.0,
|
|
773.0
|
|
],
|
|
[
|
|
914.0,
|
|
740.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
935.5,
|
|
751.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1155.5,
|
|
"perimeter_px": 135.98685836791992,
|
|
"sharpness": {
|
|
"laplacian_var": 2169.563159132587
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 69.65535248041776,
|
|
"std_gray": 61.69753786759043
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33530309796333313,
|
|
"distance_to_border_px": 307.0
|
|
},
|
|
"edge_ratio": 1.037551196609088,
|
|
"edge_lengths_px": [
|
|
33.83784866333008,
|
|
33.83784866333008,
|
|
34.78505325317383,
|
|
33.52610778808594
|
|
]
|
|
},
|
|
"confidence": 0.7424533226417426
|
|
},
|
|
{
|
|
"observation_id": "e88f9c2d-6850-49f7-bd32-63c7b11dfb26",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1373.0,
|
|
793.0
|
|
],
|
|
[
|
|
1404.0,
|
|
783.0
|
|
],
|
|
[
|
|
1418.0,
|
|
815.0
|
|
],
|
|
[
|
|
1386.0,
|
|
825.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1395.25,
|
|
804.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1143.0,
|
|
"perimeter_px": 135.56743240356445,
|
|
"sharpness": {
|
|
"laplacian_var": 2423.306711473418
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 161.39999999999998,
|
|
"dynamic_range": 151.39999999999998,
|
|
"mean_gray": 90.89650711513583,
|
|
"std_gray": 66.9136815377319
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.805581271648407,
|
|
"distance_to_border_px": 22.0
|
|
},
|
|
"edge_ratio": 1.072314601030705,
|
|
"edge_lengths_px": [
|
|
32.572994232177734,
|
|
34.928497314453125,
|
|
33.52610778808594,
|
|
34.539833068847656
|
|
]
|
|
},
|
|
"confidence": 0.3126694345835915
|
|
},
|
|
{
|
|
"observation_id": "096d3663-5cff-47ee-af7b-4a32c01c43da",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
587.0,
|
|
843.0
|
|
],
|
|
[
|
|
619.0,
|
|
832.0
|
|
],
|
|
[
|
|
629.0,
|
|
865.0
|
|
],
|
|
[
|
|
597.0,
|
|
875.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
608.0,
|
|
853.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1145.0,
|
|
"perimeter_px": 135.37194442749023,
|
|
"sharpness": {
|
|
"laplacian_var": 1850.6432992641119
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 65.65257595772788,
|
|
"std_gray": 53.24152523995712
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3701568841934204,
|
|
"distance_to_border_px": 205.0
|
|
},
|
|
"edge_ratio": 1.0285083018268524,
|
|
"edge_lengths_px": [
|
|
33.83784866333008,
|
|
34.48188018798828,
|
|
33.52610778808594,
|
|
33.52610778808594
|
|
]
|
|
},
|
|
"confidence": 0.7421751793130777
|
|
},
|
|
{
|
|
"observation_id": "90f2d073-1c78-4d1d-a513-2c26bb67835c",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
647.0,
|
|
826.0
|
|
],
|
|
[
|
|
679.0,
|
|
815.0
|
|
],
|
|
[
|
|
689.0,
|
|
848.0
|
|
],
|
|
[
|
|
657.0,
|
|
858.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
668.0,
|
|
836.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1145.0,
|
|
"perimeter_px": 135.37194442749023,
|
|
"sharpness": {
|
|
"laplacian_var": 2337.5432537182683
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 84.53896961690884,
|
|
"std_gray": 62.80358869918004
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33474618196487427,
|
|
"distance_to_border_px": 222.0
|
|
},
|
|
"edge_ratio": 1.0285083018268524,
|
|
"edge_lengths_px": [
|
|
33.83784866333008,
|
|
34.48188018798828,
|
|
33.52610778808594,
|
|
33.52610778808594
|
|
]
|
|
},
|
|
"confidence": 0.7421751793130777
|
|
},
|
|
{
|
|
"observation_id": "620ea1c1-3c6f-447c-9556-ca64e472a7e2",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
792.0,
|
|
815.0
|
|
],
|
|
[
|
|
824.0,
|
|
805.0
|
|
],
|
|
[
|
|
835.0,
|
|
837.0
|
|
],
|
|
[
|
|
802.0,
|
|
847.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
813.25,
|
|
826.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1145.0,
|
|
"perimeter_px": 135.37194442749023,
|
|
"sharpness": {
|
|
"laplacian_var": 2004.6989105643672
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 92.80449141347424,
|
|
"std_gray": 67.84196673228611
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3342423737049103,
|
|
"distance_to_border_px": 233.0
|
|
},
|
|
"edge_ratio": 1.0285083018268524,
|
|
"edge_lengths_px": [
|
|
33.52610778808594,
|
|
33.83784866333008,
|
|
34.48188018798828,
|
|
33.52610778808594
|
|
]
|
|
},
|
|
"confidence": 0.7421751793130777
|
|
},
|
|
{
|
|
"observation_id": "4cbb2b9f-3994-49ae-812b-70d6bbe3f4d2",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1324.0,
|
|
830.0
|
|
],
|
|
[
|
|
1355.0,
|
|
819.0
|
|
],
|
|
[
|
|
1368.0,
|
|
851.0
|
|
],
|
|
[
|
|
1337.0,
|
|
862.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1346.0,
|
|
840.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1135.0,
|
|
"perimeter_px": 134.86720275878906,
|
|
"sharpness": {
|
|
"laplacian_var": 2058.2256218939388
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 50.366840731070496,
|
|
"std_gray": 59.47641344986894
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7715434432029724,
|
|
"distance_to_border_px": 72.0
|
|
},
|
|
"edge_ratio": 1.050041842052283,
|
|
"edge_lengths_px": [
|
|
32.893768310546875,
|
|
34.539833068847656,
|
|
32.893768310546875,
|
|
34.539833068847656
|
|
]
|
|
},
|
|
"confidence": 0.7206062047849244
|
|
},
|
|
{
|
|
"observation_id": "eb092aa7-9ca1-4572-9f67-3f9269f5a0c6",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
532.0,
|
|
805.0
|
|
],
|
|
[
|
|
564.0,
|
|
795.0
|
|
],
|
|
[
|
|
574.0,
|
|
827.0
|
|
],
|
|
[
|
|
542.0,
|
|
837.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
553.0,
|
|
816.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1124.0,
|
|
"perimeter_px": 134.10443115234375,
|
|
"sharpness": {
|
|
"laplacian_var": 2152.2718699780867
|
|
},
|
|
"contrast": {
|
|
"p05": 39.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 110.27837837837838,
|
|
"std_gray": 63.7835937354017
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3584345281124115,
|
|
"distance_to_border_px": 243.0
|
|
},
|
|
"edge_ratio": 1.0,
|
|
"edge_lengths_px": [
|
|
33.52610778808594,
|
|
33.52610778808594,
|
|
33.52610778808594,
|
|
33.52610778808594
|
|
]
|
|
},
|
|
"confidence": 0.7493333333333333
|
|
},
|
|
{
|
|
"observation_id": "296f1a2b-fe6d-475c-a7f2-f11058546910",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
653.0,
|
|
735.0
|
|
],
|
|
[
|
|
685.0,
|
|
725.0
|
|
],
|
|
[
|
|
695.0,
|
|
756.0
|
|
],
|
|
[
|
|
663.0,
|
|
767.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
674.0,
|
|
745.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1113.0,
|
|
"perimeter_px": 133.4630584716797,
|
|
"sharpness": {
|
|
"laplacian_var": 2484.3532667990366
|
|
},
|
|
"contrast": {
|
|
"p05": 33.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 93.16005471956224,
|
|
"std_gray": 64.79643250720274
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.23425497114658356,
|
|
"distance_to_border_px": 313.0
|
|
},
|
|
"edge_ratio": 1.0388313835116465,
|
|
"edge_lengths_px": [
|
|
33.52610778808594,
|
|
32.572994232177734,
|
|
33.83784866333008,
|
|
33.52610778808594
|
|
]
|
|
},
|
|
"confidence": 0.714264135428559
|
|
},
|
|
{
|
|
"observation_id": "77400cd5-aebb-415b-8b6b-66e6fe333a9b",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1326.0,
|
|
741.0
|
|
],
|
|
[
|
|
1356.0,
|
|
731.0
|
|
],
|
|
[
|
|
1369.0,
|
|
763.0
|
|
],
|
|
[
|
|
1338.0,
|
|
773.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1347.25,
|
|
752.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1101.0,
|
|
"perimeter_px": 132.91161727905273,
|
|
"sharpness": {
|
|
"laplacian_var": 2045.9373545423084
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 57.08254397834912,
|
|
"std_gray": 62.27574071840611
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7356751561164856,
|
|
"distance_to_border_px": 71.0
|
|
},
|
|
"edge_ratio": 1.0922454446898755,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
34.539833068847656,
|
|
32.572994232177734,
|
|
34.1760139465332
|
|
]
|
|
},
|
|
"confidence": 0.6720101269988878
|
|
},
|
|
{
|
|
"observation_id": "54388aa6-731d-4b64-bbe1-80764512f6bc",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
802.0,
|
|
727.0
|
|
],
|
|
[
|
|
833.0,
|
|
717.0
|
|
],
|
|
[
|
|
844.0,
|
|
748.0
|
|
],
|
|
[
|
|
813.0,
|
|
759.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
823.0,
|
|
737.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1092.0,
|
|
"perimeter_px": 132.19837951660156,
|
|
"sharpness": {
|
|
"laplacian_var": 2943.820770123012
|
|
},
|
|
"contrast": {
|
|
"p05": 26.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 103.37292817679558,
|
|
"std_gray": 65.15412358095668
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24774056673049927,
|
|
"distance_to_border_px": 321.0
|
|
},
|
|
"edge_ratio": 1.0388313835116465,
|
|
"edge_lengths_px": [
|
|
32.572994232177734,
|
|
32.893768310546875,
|
|
32.893768310546875,
|
|
33.83784866333008
|
|
]
|
|
},
|
|
"confidence": 0.7007874536280202
|
|
},
|
|
{
|
|
"observation_id": "96d6ee26-4763-4c50-9d1b-a0f6d1f49dc9",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1389.0,
|
|
670.0
|
|
],
|
|
[
|
|
1419.0,
|
|
660.0
|
|
],
|
|
[
|
|
1433.0,
|
|
691.0
|
|
],
|
|
[
|
|
1402.0,
|
|
701.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1410.75,
|
|
680.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1080.5,
|
|
"perimeter_px": 131.82594299316406,
|
|
"sharpness": {
|
|
"laplacian_var": 2754.698423508107
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 78.71883656509695,
|
|
"std_gray": 65.12051393327995
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7832157611846924,
|
|
"distance_to_border_px": 7.0
|
|
},
|
|
"edge_ratio": 1.0756393369571786,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
34.01470184326172,
|
|
32.572994232177734,
|
|
33.61547088623047
|
|
]
|
|
},
|
|
"confidence": 0.09375509355389204
|
|
},
|
|
{
|
|
"observation_id": "cf6f58ab-11fe-47f1-b9f2-9cb70e390477",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
489.0,
|
|
682.0
|
|
],
|
|
[
|
|
521.0,
|
|
673.0
|
|
],
|
|
[
|
|
530.0,
|
|
703.0
|
|
],
|
|
[
|
|
498.0,
|
|
713.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
509.5,
|
|
692.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1061.5,
|
|
"perimeter_px": 130.36859130859375,
|
|
"sharpness": {
|
|
"laplacian_var": 2110.7690522537805
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 86.85572842998586,
|
|
"std_gray": 58.62226894504948
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2889803349971771,
|
|
"distance_to_border_px": 367.0
|
|
},
|
|
"edge_ratio": 1.07040625942761,
|
|
"edge_lengths_px": [
|
|
33.241539001464844,
|
|
31.320919036865234,
|
|
33.52610778808594,
|
|
32.280025482177734
|
|
]
|
|
},
|
|
"confidence": 0.6611197014534322
|
|
},
|
|
{
|
|
"observation_id": "04483ced-6b24-4cb8-ba30-022db514a878",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
597.0,
|
|
614.0
|
|
],
|
|
[
|
|
628.0,
|
|
604.0
|
|
],
|
|
[
|
|
638.0,
|
|
634.0
|
|
],
|
|
[
|
|
606.0,
|
|
644.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
617.25,
|
|
624.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1040.0,
|
|
"perimeter_px": 129.04279708862305,
|
|
"sharpness": {
|
|
"laplacian_var": 2108.500652704001
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 96.432664756447,
|
|
"std_gray": 63.85445636578651
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.14746232330799103,
|
|
"distance_to_border_px": 436.0
|
|
},
|
|
"edge_ratio": 1.07040625942761,
|
|
"edge_lengths_px": [
|
|
32.572994232177734,
|
|
31.62277603149414,
|
|
33.52610778808594,
|
|
31.320919036865234
|
|
]
|
|
},
|
|
"confidence": 0.6477291469727456
|
|
},
|
|
{
|
|
"observation_id": "0ccd32bb-d188-49ec-986c-174992677995",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
675.0,
|
|
478.0
|
|
],
|
|
[
|
|
705.0,
|
|
468.0
|
|
],
|
|
[
|
|
715.0,
|
|
498.0
|
|
],
|
|
[
|
|
685.0,
|
|
507.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
695.0,
|
|
487.75
|
|
],
|
|
"quality": {
|
|
"area_px": 980.0,
|
|
"perimeter_px": 125.24219512939453,
|
|
"sharpness": {
|
|
"laplacian_var": 2242.552872108038
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 119.56458635703919,
|
|
"std_gray": 65.73493609030871
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.06435877829790115,
|
|
"distance_to_border_px": 468.0
|
|
},
|
|
"edge_ratio": 1.030873012191696,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
31.62277603149414,
|
|
31.320919036865234,
|
|
30.675724029541016
|
|
]
|
|
},
|
|
"confidence": 0.6337670359070791
|
|
},
|
|
{
|
|
"observation_id": "c9cb99b8-7ed4-4e3a-b07d-5038e7c2e14a",
|
|
"type": "aruco",
|
|
"marker_id": 73,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1383.0,
|
|
408.0
|
|
],
|
|
[
|
|
1412.0,
|
|
398.0
|
|
],
|
|
[
|
|
1425.0,
|
|
427.0
|
|
],
|
|
[
|
|
1396.0,
|
|
437.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1404.0,
|
|
417.5
|
|
],
|
|
"quality": {
|
|
"area_px": 971.0,
|
|
"perimeter_px": 124.91244125366211,
|
|
"sharpness": {
|
|
"laplacian_var": 2689.967922532486
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 84.08504398826979,
|
|
"std_gray": 64.27391743572754
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7720921039581299,
|
|
"distance_to_border_px": 15.0
|
|
},
|
|
"edge_ratio": 1.0360145555712106,
|
|
"edge_lengths_px": [
|
|
30.675724029541016,
|
|
31.78049659729004,
|
|
30.675724029541016,
|
|
31.78049659729004
|
|
]
|
|
},
|
|
"confidence": 0.18744910383322472
|
|
},
|
|
{
|
|
"observation_id": "00e1d13d-ad67-4598-9721-08e2520ed912",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1337.0,
|
|
419.0
|
|
],
|
|
[
|
|
1367.0,
|
|
410.0
|
|
],
|
|
[
|
|
1379.0,
|
|
439.0
|
|
],
|
|
[
|
|
1350.0,
|
|
448.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1358.25,
|
|
429.0
|
|
],
|
|
"quality": {
|
|
"area_px": 968.0,
|
|
"perimeter_px": 124.85057830810547,
|
|
"sharpness": {
|
|
"laplacian_var": 1810.9877618787932
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 74.35958395245171,
|
|
"std_gray": 65.04828450857812
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7198113799095154,
|
|
"distance_to_border_px": 61.0
|
|
},
|
|
"edge_ratio": 1.04663493411127,
|
|
"edge_lengths_px": [
|
|
31.320919036865234,
|
|
31.38471031188965,
|
|
30.364452362060547,
|
|
31.78049659729004
|
|
]
|
|
},
|
|
"confidence": 0.6165792028347551
|
|
},
|
|
{
|
|
"observation_id": "a2ce1a6e-0883-4371-8251-5b192a40829f",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
882.0,
|
|
285.0
|
|
],
|
|
[
|
|
893.0,
|
|
314.0
|
|
],
|
|
[
|
|
862.0,
|
|
323.0
|
|
],
|
|
[
|
|
852.0,
|
|
295.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
872.25,
|
|
304.25
|
|
],
|
|
"quality": {
|
|
"area_px": 969.0,
|
|
"perimeter_px": 124.65106391906738,
|
|
"sharpness": {
|
|
"laplacian_var": 2790.213538987347
|
|
},
|
|
"contrast": {
|
|
"p05": 26.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 81.94502228826151,
|
|
"std_gray": 66.65262196341801
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3118208944797516,
|
|
"distance_to_border_px": 285.0
|
|
},
|
|
"edge_ratio": 1.0856947397977816,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
32.280025482177734,
|
|
29.73213768005371,
|
|
31.62277603149414
|
|
]
|
|
},
|
|
"confidence": 0.5950107118694543
|
|
},
|
|
{
|
|
"observation_id": "cf6cd052-3759-4b76-83bc-36272a8873fb",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
613.0,
|
|
423.0
|
|
],
|
|
[
|
|
643.0,
|
|
413.0
|
|
],
|
|
[
|
|
653.0,
|
|
442.0
|
|
],
|
|
[
|
|
623.0,
|
|
452.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
633.0,
|
|
432.5
|
|
],
|
|
"quality": {
|
|
"area_px": 970.0,
|
|
"perimeter_px": 124.59700012207031,
|
|
"sharpness": {
|
|
"laplacian_var": 2279.2220820229145
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 88.52394775036285,
|
|
"std_gray": 62.20208947043368
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15366007387638092,
|
|
"distance_to_border_px": 413.0
|
|
},
|
|
"edge_ratio": 1.030873012191696,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
30.675724029541016,
|
|
31.62277603149414,
|
|
30.675724029541016
|
|
]
|
|
},
|
|
"confidence": 0.6273000253365986
|
|
},
|
|
{
|
|
"observation_id": "f2eee542-d890-431c-bbd2-92df268179cf",
|
|
"type": "aruco",
|
|
"marker_id": 232,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
795.0,
|
|
606.0
|
|
],
|
|
[
|
|
806.0,
|
|
639.0
|
|
],
|
|
[
|
|
782.0,
|
|
652.0
|
|
],
|
|
[
|
|
771.0,
|
|
619.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
788.5,
|
|
629.0
|
|
],
|
|
"quality": {
|
|
"area_px": 935.0,
|
|
"perimeter_px": 124.15948104858398,
|
|
"sharpness": {
|
|
"laplacian_var": 4610.243076738177
|
|
},
|
|
"contrast": {
|
|
"p05": 35.2,
|
|
"p95": 189.0,
|
|
"dynamic_range": 153.8,
|
|
"mean_gray": 113.94108527131783,
|
|
"std_gray": 67.25681154795684
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.12478747218847275,
|
|
"distance_to_border_px": 428.0
|
|
},
|
|
"edge_ratio": 1.2744257850494438,
|
|
"edge_lengths_px": [
|
|
34.78505325317383,
|
|
27.294687271118164,
|
|
34.78505325317383,
|
|
27.294687271118164
|
|
]
|
|
},
|
|
"confidence": 0.48910916637578067
|
|
},
|
|
{
|
|
"observation_id": "439bcd0b-435f-442c-a5c6-cd03745aa357",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
516.0,
|
|
397.0
|
|
],
|
|
[
|
|
546.0,
|
|
387.0
|
|
],
|
|
[
|
|
555.0,
|
|
416.0
|
|
],
|
|
[
|
|
525.0,
|
|
425.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
535.5,
|
|
406.25
|
|
],
|
|
"quality": {
|
|
"area_px": 940.5,
|
|
"perimeter_px": 122.71903038024902,
|
|
"sharpness": {
|
|
"laplacian_var": 2231.4416829127745
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 184.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 94.10549777117384,
|
|
"std_gray": 60.195588955135584
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.25320005416870117,
|
|
"distance_to_border_px": 387.0
|
|
},
|
|
"edge_ratio": 1.0752066194489374,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
30.364452362060547,
|
|
31.320919036865234,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.5831437313149622
|
|
},
|
|
{
|
|
"observation_id": "e9b88d39-c665-4ecc-a241-b6085109bd05",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
622.0,
|
|
326.0
|
|
],
|
|
[
|
|
652.0,
|
|
316.0
|
|
],
|
|
[
|
|
662.0,
|
|
344.0
|
|
],
|
|
[
|
|
632.0,
|
|
354.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
642.0,
|
|
335.0
|
|
],
|
|
"quality": {
|
|
"area_px": 940.0,
|
|
"perimeter_px": 122.7098274230957,
|
|
"sharpness": {
|
|
"laplacian_var": 2087.278922920598
|
|
},
|
|
"contrast": {
|
|
"p05": 35.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 87.65060240963855,
|
|
"std_gray": 63.137554695205885
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24370849132537842,
|
|
"distance_to_border_px": 316.0
|
|
},
|
|
"edge_ratio": 1.0635890487184443,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
29.73213768005371,
|
|
31.62277603149414,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.5891999992118755
|
|
},
|
|
{
|
|
"observation_id": "2126f9ad-4985-4e9c-8764-90fd846da480",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1166.0,
|
|
306.0
|
|
],
|
|
[
|
|
1195.0,
|
|
297.0
|
|
],
|
|
[
|
|
1207.0,
|
|
325.0
|
|
],
|
|
[
|
|
1177.0,
|
|
334.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1186.25,
|
|
315.5
|
|
],
|
|
"quality": {
|
|
"area_px": 929.5,
|
|
"perimeter_px": 122.23168182373047,
|
|
"sharpness": {
|
|
"laplacian_var": 1369.5184970850482
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 138.0,
|
|
"dynamic_range": 131.0,
|
|
"mean_gray": 52.285493827160494,
|
|
"std_gray": 53.05776876771192
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5749818086624146,
|
|
"distance_to_border_px": 233.0
|
|
},
|
|
"edge_ratio": 1.0411425875920206,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
30.463092803955078,
|
|
31.320919036865234,
|
|
30.08321762084961
|
|
]
|
|
},
|
|
"confidence": 0.5951794442486946
|
|
},
|
|
{
|
|
"observation_id": "4b6164ea-11e1-4159-88ae-69bd80b2d1fe",
|
|
"type": "aruco",
|
|
"marker_id": 101,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1287.0,
|
|
298.0
|
|
],
|
|
[
|
|
1316.0,
|
|
289.0
|
|
],
|
|
[
|
|
1328.0,
|
|
317.0
|
|
],
|
|
[
|
|
1299.0,
|
|
326.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1307.5,
|
|
307.5
|
|
],
|
|
"quality": {
|
|
"area_px": 920.0,
|
|
"perimeter_px": 121.65509033203125,
|
|
"sharpness": {
|
|
"laplacian_var": 2269.646165639289
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 77.77308294209702,
|
|
"std_gray": 63.35122180069622
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7020362615585327,
|
|
"distance_to_border_px": 112.0
|
|
},
|
|
"edge_ratio": 1.0032485500057224,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
30.463092803955078,
|
|
30.364452362060547,
|
|
30.463092803955078
|
|
]
|
|
},
|
|
"confidence": 0.6113473409254715
|
|
},
|
|
{
|
|
"observation_id": "3002a1c2-5429-4855-80e7-770029a6e16d",
|
|
"type": "aruco",
|
|
"marker_id": 81,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1136.0,
|
|
366.0
|
|
],
|
|
[
|
|
1165.0,
|
|
357.0
|
|
],
|
|
[
|
|
1176.0,
|
|
385.0
|
|
],
|
|
[
|
|
1147.0,
|
|
394.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1156.0,
|
|
375.5
|
|
],
|
|
"quality": {
|
|
"area_px": 911.0,
|
|
"perimeter_px": 120.89533996582031,
|
|
"sharpness": {
|
|
"laplacian_var": 421.15313976527966
|
|
},
|
|
"contrast": {
|
|
"p05": 3.0,
|
|
"p95": 77.0,
|
|
"dynamic_range": 74.0,
|
|
"mean_gray": 27.950617283950617,
|
|
"std_gray": 30.566675243170128
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5177780985832214,
|
|
"distance_to_border_px": 264.0
|
|
},
|
|
"edge_ratio": 1.0093485592118319,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
30.08321762084961,
|
|
30.364452362060547,
|
|
30.08321762084961
|
|
]
|
|
},
|
|
"confidence": 0.5565801112075812
|
|
},
|
|
{
|
|
"observation_id": "3cd850e4-899e-4648-b47d-eeacf41e71de",
|
|
"type": "aruco",
|
|
"marker_id": 83,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1299.0,
|
|
198.0
|
|
],
|
|
[
|
|
1328.0,
|
|
189.0
|
|
],
|
|
[
|
|
1340.0,
|
|
216.0
|
|
],
|
|
[
|
|
1312.0,
|
|
225.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1319.75,
|
|
207.0
|
|
],
|
|
"quality": {
|
|
"area_px": 882.0,
|
|
"perimeter_px": 119.2885570526123,
|
|
"sharpness": {
|
|
"laplacian_var": 2795.5024331725695
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 92.71004942339374,
|
|
"std_gray": 66.45825842720474
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7622165679931641,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.032422332027845,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
29.546573638916016,
|
|
29.4108829498291,
|
|
29.96664810180664
|
|
]
|
|
},
|
|
"confidence": 0.5695343676313864
|
|
},
|
|
{
|
|
"observation_id": "e83066ec-6342-4aee-b303-54b56c1a3f8f",
|
|
"type": "aruco",
|
|
"marker_id": 61,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1263.0,
|
|
124.0
|
|
],
|
|
[
|
|
1291.0,
|
|
115.0
|
|
],
|
|
[
|
|
1302.0,
|
|
142.0
|
|
],
|
|
[
|
|
1274.0,
|
|
150.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1282.5,
|
|
132.75
|
|
],
|
|
"quality": {
|
|
"area_px": 835.5,
|
|
"perimeter_px": 115.91727066040039,
|
|
"sharpness": {
|
|
"laplacian_var": 2546.8644673996932
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 91.90468227424749,
|
|
"std_gray": 67.47832015137075
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7716094851493835,
|
|
"distance_to_border_px": 115.0
|
|
},
|
|
"edge_ratio": 1.0417869462984704,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
29.154760360717773,
|
|
29.120439529418945,
|
|
28.23118782043457
|
|
]
|
|
},
|
|
"confidence": 0.5346582638408491
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
989.0,
|
|
350.0
|
|
],
|
|
[
|
|
933.0,
|
|
365.0
|
|
],
|
|
[
|
|
937.0,
|
|
357.0
|
|
],
|
|
[
|
|
986.0,
|
|
343.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
961.25,
|
|
353.75
|
|
],
|
|
"area_px": 386.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1047.0,
|
|
696.0
|
|
],
|
|
[
|
|
1059.0,
|
|
728.0
|
|
],
|
|
[
|
|
1032.0,
|
|
737.0
|
|
],
|
|
[
|
|
1020.0,
|
|
705.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1039.5,
|
|
716.5
|
|
],
|
|
"area_px": 972.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
858.0,
|
|
664.0
|
|
],
|
|
[
|
|
855.0,
|
|
671.0
|
|
],
|
|
[
|
|
822.0,
|
|
682.0
|
|
],
|
|
[
|
|
824.0,
|
|
675.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
839.75,
|
|
673.0
|
|
],
|
|
"area_px": 207.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
944.0,
|
|
259.0
|
|
],
|
|
[
|
|
936.0,
|
|
286.0
|
|
],
|
|
[
|
|
932.0,
|
|
287.0
|
|
],
|
|
[
|
|
922.0,
|
|
265.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
933.5,
|
|
274.25
|
|
],
|
|
"area_px": 322.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1242.0,
|
|
409.0
|
|
],
|
|
[
|
|
1249.0,
|
|
420.0
|
|
],
|
|
[
|
|
1255.0,
|
|
440.0
|
|
],
|
|
[
|
|
1252.0,
|
|
438.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1249.5,
|
|
426.75
|
|
],
|
|
"area_px": 70.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1107.0,
|
|
93.0
|
|
],
|
|
[
|
|
1110.0,
|
|
95.0
|
|
],
|
|
[
|
|
1120.0,
|
|
115.0
|
|
],
|
|
[
|
|
1115.0,
|
|
111.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1113.0,
|
|
103.5
|
|
],
|
|
"area_px": 49.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
734.0,
|
|
231.0
|
|
],
|
|
[
|
|
740.0,
|
|
240.0
|
|
],
|
|
[
|
|
745.0,
|
|
254.0
|
|
],
|
|
[
|
|
742.0,
|
|
252.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
740.25,
|
|
244.25
|
|
],
|
|
"area_px": 43.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
627.0,
|
|
327.0
|
|
],
|
|
[
|
|
635.0,
|
|
327.0
|
|
],
|
|
[
|
|
639.0,
|
|
343.0
|
|
],
|
|
[
|
|
631.0,
|
|
343.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
633.0,
|
|
335.0
|
|
],
|
|
"area_px": 128.0
|
|
}
|
|
]
|
|
} |