2415 lines
51 KiB
JSON
2415 lines
51 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T21:50:54Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "g",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene4\\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\\Scene4\\render_g.png",
|
|
"image_sha256": "a0223a346e3431876d5501242f46115fa5053016d7c1cf62a07434cdc3f914cc",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 41,
|
|
"num_rejected_candidates": 6
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "fdc93476-2e55-42ae-9c26-f5156d937f80",
|
|
"type": "aruco",
|
|
"marker_id": 231,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
452.0,
|
|
592.0
|
|
],
|
|
[
|
|
426.0,
|
|
567.0
|
|
],
|
|
[
|
|
449.0,
|
|
537.0
|
|
],
|
|
[
|
|
477.0,
|
|
562.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
451.0,
|
|
564.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1410.0,
|
|
"perimeter_px": 150.45938873291016,
|
|
"sharpness": {
|
|
"laplacian_var": 2498.5101592839374
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 145.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 67.30588235294118,
|
|
"std_gray": 62.27556939071718
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30012601613998413,
|
|
"distance_to_border_px": 426.0
|
|
},
|
|
"edge_ratio": 1.0826703679845031,
|
|
"edge_lengths_px": [
|
|
36.06937789916992,
|
|
37.80211639404297,
|
|
37.53664779663086,
|
|
39.051246643066406
|
|
]
|
|
},
|
|
"confidence": 0.8682236327848355
|
|
},
|
|
{
|
|
"observation_id": "234c6e06-04cc-47c4-9b29-38644b3757f2",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
543.0,
|
|
708.0
|
|
],
|
|
[
|
|
516.0,
|
|
681.0
|
|
],
|
|
[
|
|
532.0,
|
|
652.0
|
|
],
|
|
[
|
|
561.0,
|
|
680.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
538.0,
|
|
680.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1265.5,
|
|
"perimeter_px": 144.9026756286621,
|
|
"sharpness": {
|
|
"laplacian_var": 631.702483568434
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 94.0,
|
|
"dynamic_range": 89.0,
|
|
"mean_gray": 29.101635514018692,
|
|
"std_gray": 36.01395364491627
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.25529953837394714,
|
|
"distance_to_border_px": 372.0
|
|
},
|
|
"edge_ratio": 1.2170918203105592,
|
|
"edge_lengths_px": [
|
|
38.18376541137695,
|
|
33.12099075317383,
|
|
40.31128692626953,
|
|
33.2866325378418
|
|
]
|
|
},
|
|
"confidence": 0.6931824309289931
|
|
},
|
|
{
|
|
"observation_id": "b4688e77-ebee-4bb0-9b37-ae68b66dda37",
|
|
"type": "aruco",
|
|
"marker_id": 246,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
482.0,
|
|
557.0
|
|
],
|
|
[
|
|
456.0,
|
|
531.0
|
|
],
|
|
[
|
|
485.0,
|
|
514.0
|
|
],
|
|
[
|
|
511.0,
|
|
539.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
483.5,
|
|
535.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1194.5,
|
|
"perimeter_px": 140.58649826049805,
|
|
"sharpness": {
|
|
"laplacian_var": 3414.4133109375002
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 161.0,
|
|
"mean_gray": 74.80125,
|
|
"std_gray": 67.97714136706176
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2628307640552521,
|
|
"distance_to_border_px": 456.0
|
|
},
|
|
"edge_ratio": 1.0938283227573378,
|
|
"edge_lengths_px": [
|
|
36.769554138183594,
|
|
33.61547088623047,
|
|
36.06937789916992,
|
|
34.13209533691406
|
|
]
|
|
},
|
|
"confidence": 0.7280240571261906
|
|
},
|
|
{
|
|
"observation_id": "e83e4c0a-622c-4ed2-b72e-d43ba3ae149c",
|
|
"type": "aruco",
|
|
"marker_id": 247,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
523.0,
|
|
596.0
|
|
],
|
|
[
|
|
497.0,
|
|
571.0
|
|
],
|
|
[
|
|
526.0,
|
|
553.0
|
|
],
|
|
[
|
|
552.0,
|
|
579.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
524.5,
|
|
574.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1194.5,
|
|
"perimeter_px": 140.58649826049805,
|
|
"sharpness": {
|
|
"laplacian_var": 4065.3227484375
|
|
},
|
|
"contrast": {
|
|
"p05": 27.0,
|
|
"p95": 186.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 109.3475,
|
|
"std_gray": 71.3878963392955
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2206270843744278,
|
|
"distance_to_border_px": 484.0
|
|
},
|
|
"edge_ratio": 1.0938283227573378,
|
|
"edge_lengths_px": [
|
|
36.06937789916992,
|
|
34.13209533691406,
|
|
36.769554138183594,
|
|
33.61547088623047
|
|
]
|
|
},
|
|
"confidence": 0.7280240571261906
|
|
},
|
|
{
|
|
"observation_id": "623d2d28-1029-47fd-a1b1-87b370af6bc5",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
484.0,
|
|
808.0
|
|
],
|
|
[
|
|
458.0,
|
|
781.0
|
|
],
|
|
[
|
|
473.0,
|
|
755.0
|
|
],
|
|
[
|
|
500.0,
|
|
782.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
478.75,
|
|
781.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1107.5,
|
|
"perimeter_px": 136.21243286132812,
|
|
"sharpness": {
|
|
"laplacian_var": 1163.9642013232515
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 94.0,
|
|
"dynamic_range": 88.0,
|
|
"mean_gray": 38.91983695652174,
|
|
"std_gray": 37.53650886536338
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3792842626571655,
|
|
"distance_to_border_px": 272.0
|
|
},
|
|
"edge_ratio": 1.2720856386731816,
|
|
"edge_lengths_px": [
|
|
37.48332977294922,
|
|
30.01666259765625,
|
|
38.18376541137695,
|
|
30.528675079345703
|
|
]
|
|
},
|
|
"confidence": 0.5804116569568651
|
|
},
|
|
{
|
|
"observation_id": "e461b64b-65f2-45dd-81fd-13abee216598",
|
|
"type": "aruco",
|
|
"marker_id": 86,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
98.0,
|
|
955.0
|
|
],
|
|
[
|
|
71.0,
|
|
979.0
|
|
],
|
|
[
|
|
50.0,
|
|
955.0
|
|
],
|
|
[
|
|
77.0,
|
|
932.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
74.0,
|
|
955.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1128.0,
|
|
"perimeter_px": 134.62833976745605,
|
|
"sharpness": {
|
|
"laplacian_var": 2543.0423445861857
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 68.69604086845466,
|
|
"std_gray": 65.37901735458559
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8532787561416626,
|
|
"distance_to_border_px": 50.0
|
|
},
|
|
"edge_ratio": 1.1598968623462131,
|
|
"edge_lengths_px": [
|
|
36.12478256225586,
|
|
31.890438079833984,
|
|
35.46829605102539,
|
|
31.14482307434082
|
|
]
|
|
},
|
|
"confidence": 0.6483335065489111
|
|
},
|
|
{
|
|
"observation_id": "9364da24-73fa-432c-98c4-8905dc855567",
|
|
"type": "aruco",
|
|
"marker_id": 218,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
624.0,
|
|
502.0
|
|
],
|
|
[
|
|
606.0,
|
|
470.0
|
|
],
|
|
[
|
|
632.0,
|
|
454.0
|
|
],
|
|
[
|
|
650.0,
|
|
486.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
628.0,
|
|
478.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1120.0,
|
|
"perimeter_px": 134.48758697509766,
|
|
"sharpness": {
|
|
"laplacian_var": 3639.310254809225
|
|
},
|
|
"contrast": {
|
|
"p05": 77.0,
|
|
"p95": 195.0,
|
|
"dynamic_range": 118.0,
|
|
"mean_gray": 117.8221649484536,
|
|
"std_gray": 51.364744050715096
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1232682541012764,
|
|
"distance_to_border_px": 454.0
|
|
},
|
|
"edge_ratio": 1.2026436886887006,
|
|
"edge_lengths_px": [
|
|
36.715118408203125,
|
|
30.528675079345703,
|
|
36.715118408203125,
|
|
30.528675079345703
|
|
]
|
|
},
|
|
"confidence": 0.6208544340184354
|
|
},
|
|
{
|
|
"observation_id": "2cf8a93f-0015-4254-9626-7eca15682b5e",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
97.0,
|
|
880.0
|
|
],
|
|
[
|
|
70.0,
|
|
903.0
|
|
],
|
|
[
|
|
50.0,
|
|
880.0
|
|
],
|
|
[
|
|
77.0,
|
|
857.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
73.5,
|
|
880.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1081.0,
|
|
"perimeter_px": 131.8955955505371,
|
|
"sharpness": {
|
|
"laplacian_var": 3321.7074806335986
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 69.47177419354838,
|
|
"std_gray": 62.00155442963464
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8116149306297302,
|
|
"distance_to_border_px": 50.0
|
|
},
|
|
"edge_ratio": 1.1636770302847235,
|
|
"edge_lengths_px": [
|
|
35.46829605102539,
|
|
30.479501724243164,
|
|
35.46829605102539,
|
|
30.479501724243164
|
|
]
|
|
},
|
|
"confidence": 0.6193012733871159
|
|
},
|
|
{
|
|
"observation_id": "47eff3a7-cffb-4270-a48c-3f4b93691851",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
945.0,
|
|
863.0
|
|
],
|
|
[
|
|
923.0,
|
|
886.0
|
|
],
|
|
[
|
|
899.0,
|
|
863.0
|
|
],
|
|
[
|
|
920.0,
|
|
841.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
921.75,
|
|
863.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1035.0,
|
|
"perimeter_px": 128.78466415405273,
|
|
"sharpness": {
|
|
"laplacian_var": 3699.5964998515356
|
|
},
|
|
"contrast": {
|
|
"p05": 41.25,
|
|
"p95": 183.0,
|
|
"dynamic_range": 141.75,
|
|
"mean_gray": 92.35977337110482,
|
|
"std_gray": 61.99114230754691
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.42338091135025024,
|
|
"distance_to_border_px": 194.0
|
|
},
|
|
"edge_ratio": 1.0949515405412542,
|
|
"edge_lengths_px": [
|
|
31.827661514282227,
|
|
33.241539001464844,
|
|
30.4138126373291,
|
|
33.30165100097656
|
|
]
|
|
},
|
|
"confidence": 0.6301648743824048
|
|
},
|
|
{
|
|
"observation_id": "76235372-a310-4f24-9a56-8450fd6e694e",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
138.0,
|
|
789.0
|
|
],
|
|
[
|
|
112.0,
|
|
811.0
|
|
],
|
|
[
|
|
92.0,
|
|
789.0
|
|
],
|
|
[
|
|
118.0,
|
|
767.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
115.0,
|
|
789.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1012.0,
|
|
"perimeter_px": 127.58182144165039,
|
|
"sharpness": {
|
|
"laplacian_var": 2320.318800599192
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 51.1353711790393,
|
|
"std_gray": 58.24810672161473
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7269299030303955,
|
|
"distance_to_border_px": 92.0
|
|
},
|
|
"edge_ratio": 1.1455204939273629,
|
|
"edge_lengths_px": [
|
|
34.058773040771484,
|
|
29.73213768005371,
|
|
34.058773040771484,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.5889608001281618
|
|
},
|
|
{
|
|
"observation_id": "5ccbb539-7a7f-4867-b9a7-1d9bde2debf8",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
82.0,
|
|
764.0
|
|
],
|
|
[
|
|
56.0,
|
|
786.0
|
|
],
|
|
[
|
|
36.0,
|
|
764.0
|
|
],
|
|
[
|
|
62.0,
|
|
742.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
59.0,
|
|
764.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1012.0,
|
|
"perimeter_px": 127.58182144165039,
|
|
"sharpness": {
|
|
"laplacian_var": 3247.415991304514
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 82.5065502183406,
|
|
"std_gray": 63.77114879411482
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7754703760147095,
|
|
"distance_to_border_px": 36.0
|
|
},
|
|
"edge_ratio": 1.1455204939273629,
|
|
"edge_lengths_px": [
|
|
34.058773040771484,
|
|
29.73213768005371,
|
|
34.058773040771484,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.42405177609227646
|
|
},
|
|
{
|
|
"observation_id": "18390a85-8932-4e17-9926-bd75fb1b13af",
|
|
"type": "aruco",
|
|
"marker_id": 219,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
734.0,
|
|
431.0
|
|
],
|
|
[
|
|
716.0,
|
|
400.0
|
|
],
|
|
[
|
|
740.0,
|
|
386.0
|
|
],
|
|
[
|
|
757.0,
|
|
417.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
736.75,
|
|
408.5
|
|
],
|
|
"quality": {
|
|
"area_px": 973.5,
|
|
"perimeter_px": 125.9129467010498,
|
|
"sharpness": {
|
|
"laplacian_var": 4097.1435320307855
|
|
},
|
|
"contrast": {
|
|
"p05": 75.0,
|
|
"p95": 196.0,
|
|
"dynamic_range": 121.0,
|
|
"mean_gray": 124.58689024390245,
|
|
"std_gray": 53.61551592259922
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1472916454076767,
|
|
"distance_to_border_px": 386.0
|
|
},
|
|
"edge_ratio": 1.3313203775960223,
|
|
"edge_lengths_px": [
|
|
35.84689712524414,
|
|
27.784887313842773,
|
|
35.35533905029297,
|
|
26.925823211669922
|
|
]
|
|
},
|
|
"confidence": 0.48748596575371694
|
|
},
|
|
{
|
|
"observation_id": "ae58a1d6-163c-438a-a240-fb42257bfdbd",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
599.0,
|
|
641.0
|
|
],
|
|
[
|
|
572.0,
|
|
615.0
|
|
],
|
|
[
|
|
596.0,
|
|
606.0
|
|
],
|
|
[
|
|
622.0,
|
|
632.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
597.25,
|
|
623.5
|
|
],
|
|
"quality": {
|
|
"area_px": 849.5,
|
|
"perimeter_px": 124.58307266235352,
|
|
"sharpness": {
|
|
"laplacian_var": 3316.920088574422
|
|
},
|
|
"contrast": {
|
|
"p05": 29.3,
|
|
"p95": 190.0,
|
|
"dynamic_range": 160.7,
|
|
"mean_gray": 88.82112436115844,
|
|
"std_gray": 70.83563307556601
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16495345532894135,
|
|
"distance_to_border_px": 439.0
|
|
},
|
|
"edge_ratio": 1.5176557063510439,
|
|
"edge_lengths_px": [
|
|
37.48332977294922,
|
|
25.63201141357422,
|
|
36.769554138183594,
|
|
24.698177337646484
|
|
]
|
|
},
|
|
"confidence": 0.37316324839906523
|
|
},
|
|
{
|
|
"observation_id": "eb34f92c-97a8-4756-b967-4f015e6d296e",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
901.0,
|
|
769.0
|
|
],
|
|
[
|
|
880.0,
|
|
791.0
|
|
],
|
|
[
|
|
856.0,
|
|
769.0
|
|
],
|
|
[
|
|
878.0,
|
|
748.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
878.75,
|
|
769.25
|
|
],
|
|
"quality": {
|
|
"area_px": 967.5,
|
|
"perimeter_px": 124.53008842468262,
|
|
"sharpness": {
|
|
"laplacian_var": 3769.3799777303466
|
|
},
|
|
"contrast": {
|
|
"p05": 38.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 91.50385208012327,
|
|
"std_gray": 63.20809958106573
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30983293056488037,
|
|
"distance_to_border_px": 289.0
|
|
},
|
|
"edge_ratio": 1.070488611997406,
|
|
"edge_lengths_px": [
|
|
30.4138126373291,
|
|
32.557640075683594,
|
|
30.4138126373291,
|
|
31.14482307434082
|
|
]
|
|
},
|
|
"confidence": 0.6025285956069217
|
|
},
|
|
{
|
|
"observation_id": "326e59b0-c7b6-4b61-8fe0-0031b3df8a44",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
819.0,
|
|
746.0
|
|
],
|
|
[
|
|
797.0,
|
|
768.0
|
|
],
|
|
[
|
|
774.0,
|
|
747.0
|
|
],
|
|
[
|
|
796.0,
|
|
725.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
796.5,
|
|
746.5
|
|
],
|
|
"quality": {
|
|
"area_px": 968.0,
|
|
"perimeter_px": 124.51504135131836,
|
|
"sharpness": {
|
|
"laplacian_var": 3808.1948285972735
|
|
},
|
|
"contrast": {
|
|
"p05": 33.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 120.79352850539291,
|
|
"std_gray": 66.04558276526816
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24468295276165009,
|
|
"distance_to_border_px": 312.0
|
|
},
|
|
"edge_ratio": 1.0010325518357206,
|
|
"edge_lengths_px": [
|
|
31.11269760131836,
|
|
31.14482307434082,
|
|
31.11269760131836,
|
|
31.14482307434082
|
|
]
|
|
},
|
|
"confidence": 0.6446676805363658
|
|
},
|
|
{
|
|
"observation_id": "7122d6e0-6d99-4118-bd68-45120d26e668",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
118.0,
|
|
714.0
|
|
],
|
|
[
|
|
92.0,
|
|
735.0
|
|
],
|
|
[
|
|
73.0,
|
|
714.0
|
|
],
|
|
[
|
|
98.0,
|
|
693.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
95.25,
|
|
714.0
|
|
],
|
|
"quality": {
|
|
"area_px": 945.0,
|
|
"perimeter_px": 123.39081001281738,
|
|
"sharpness": {
|
|
"laplacian_var": 2412.4692657426694
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 45.927215189873415,
|
|
"std_gray": 55.260124965766906
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7205866575241089,
|
|
"distance_to_border_px": 73.0
|
|
},
|
|
"edge_ratio": 1.1801559696837791,
|
|
"edge_lengths_px": [
|
|
33.42155075073242,
|
|
28.319604873657227,
|
|
32.649654388427734,
|
|
29.0
|
|
]
|
|
},
|
|
"confidence": 0.5338277449622252
|
|
},
|
|
{
|
|
"observation_id": "417c1b87-f6e8-42e5-b154-80a26bd50aed",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1000.0,
|
|
751.0
|
|
],
|
|
[
|
|
979.0,
|
|
772.0
|
|
],
|
|
[
|
|
955.0,
|
|
751.0
|
|
],
|
|
[
|
|
976.0,
|
|
730.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
977.5,
|
|
751.0
|
|
],
|
|
"quality": {
|
|
"area_px": 945.0,
|
|
"perimeter_px": 123.1778450012207,
|
|
"sharpness": {
|
|
"laplacian_var": 3441.4371221691727
|
|
},
|
|
"contrast": {
|
|
"p05": 44.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 97.18541996830427,
|
|
"std_gray": 61.11047523640435
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36989694833755493,
|
|
"distance_to_border_px": 308.0
|
|
},
|
|
"edge_ratio": 1.0738069198414777,
|
|
"edge_lengths_px": [
|
|
29.698484420776367,
|
|
31.890438079833984,
|
|
29.698484420776367,
|
|
31.890438079833984
|
|
]
|
|
},
|
|
"confidence": 0.5866976533295247
|
|
},
|
|
{
|
|
"observation_id": "63b1f5c7-3860-4eb4-a394-9ab815483e3b",
|
|
"type": "aruco",
|
|
"marker_id": 120,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
599.0,
|
|
464.0
|
|
],
|
|
[
|
|
574.0,
|
|
448.0
|
|
],
|
|
[
|
|
601.0,
|
|
433.0
|
|
],
|
|
[
|
|
627.0,
|
|
448.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
600.25,
|
|
448.25
|
|
],
|
|
"quality": {
|
|
"area_px": 821.5,
|
|
"perimeter_px": 122.834228515625,
|
|
"sharpness": {
|
|
"laplacian_var": 3841.3418179266
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 164.0,
|
|
"mean_gray": 59.06581352833638,
|
|
"std_gray": 65.65364817487979
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16761994361877441,
|
|
"distance_to_border_px": 433.0
|
|
},
|
|
"edge_ratio": 1.0864974524040707,
|
|
"edge_lengths_px": [
|
|
29.681644439697266,
|
|
30.886890411376953,
|
|
30.01666259765625,
|
|
32.24903106689453
|
|
]
|
|
},
|
|
"confidence": 0.5040662225713055
|
|
},
|
|
{
|
|
"observation_id": "6505949e-6f76-4e4a-be7d-5ba411ba4b8d",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
69.0,
|
|
695.0
|
|
],
|
|
[
|
|
43.0,
|
|
716.0
|
|
],
|
|
[
|
|
25.0,
|
|
695.0
|
|
],
|
|
[
|
|
50.0,
|
|
674.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
46.75,
|
|
695.0
|
|
],
|
|
"quality": {
|
|
"area_px": 924.0,
|
|
"perimeter_px": 122.0494441986084,
|
|
"sharpness": {
|
|
"laplacian_var": 3542.0614247765225
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 81.40746753246754,
|
|
"std_gray": 63.146021324949864
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7676246762275696,
|
|
"distance_to_border_px": 25.0
|
|
},
|
|
"edge_ratio": 1.2083586820025254,
|
|
"edge_lengths_px": [
|
|
33.42155075073242,
|
|
27.658634185791016,
|
|
32.649654388427734,
|
|
28.319604873657227
|
|
]
|
|
},
|
|
"confidence": 0.25489120456317976
|
|
},
|
|
{
|
|
"observation_id": "486ab340-098d-4253-810b-1941f93a7280",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
55.0,
|
|
651.0
|
|
],
|
|
[
|
|
29.0,
|
|
671.0
|
|
],
|
|
[
|
|
11.0,
|
|
651.0
|
|
],
|
|
[
|
|
36.0,
|
|
630.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
32.75,
|
|
650.75
|
|
],
|
|
"quality": {
|
|
"area_px": 902.0,
|
|
"perimeter_px": 120.67894744873047,
|
|
"sharpness": {
|
|
"laplacian_var": 3115.624025574065
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 61.28213689482471,
|
|
"std_gray": 61.20751149884378
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.77346271276474,
|
|
"distance_to_border_px": 11.0
|
|
},
|
|
"edge_ratio": 1.2190931305954351,
|
|
"edge_lengths_px": [
|
|
32.80244064331055,
|
|
26.90724754333496,
|
|
32.649654388427734,
|
|
28.319604873657227
|
|
]
|
|
},
|
|
"confidence": 0.10851782362904303
|
|
},
|
|
{
|
|
"observation_id": "f2182b28-e391-4d2f-b17e-2a7fb40d872c",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
746.0,
|
|
705.0
|
|
],
|
|
[
|
|
724.0,
|
|
726.0
|
|
],
|
|
[
|
|
702.0,
|
|
706.0
|
|
],
|
|
[
|
|
723.0,
|
|
685.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
723.75,
|
|
705.5
|
|
],
|
|
"quality": {
|
|
"area_px": 902.5,
|
|
"perimeter_px": 120.32393646240234,
|
|
"sharpness": {
|
|
"laplacian_var": 4049.8174716229005
|
|
},
|
|
"contrast": {
|
|
"p05": 29.0,
|
|
"p95": 180.25,
|
|
"dynamic_range": 151.25,
|
|
"mean_gray": 87.98825503355705,
|
|
"std_gray": 66.02326869904859
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18393608927726746,
|
|
"distance_to_border_px": 354.0
|
|
},
|
|
"edge_ratio": 1.0262982208923905,
|
|
"edge_lengths_px": [
|
|
30.4138126373291,
|
|
29.73213768005371,
|
|
29.698484420776367,
|
|
30.479501724243164
|
|
]
|
|
},
|
|
"confidence": 0.5862493517171874
|
|
},
|
|
{
|
|
"observation_id": "2df79fb3-e79e-45f8-96de-07d539b4bf6a",
|
|
"type": "aruco",
|
|
"marker_id": 114,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
674.0,
|
|
418.0
|
|
],
|
|
[
|
|
648.0,
|
|
403.0
|
|
],
|
|
[
|
|
672.0,
|
|
388.0
|
|
],
|
|
[
|
|
699.0,
|
|
403.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
673.25,
|
|
403.0
|
|
],
|
|
"quality": {
|
|
"area_px": 765.0,
|
|
"perimeter_px": 118.36025619506836,
|
|
"sharpness": {
|
|
"laplacian_var": 3524.074380804668
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 164.0,
|
|
"mean_gray": 65.0978886756238,
|
|
"std_gray": 68.57784860958026
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16084101796150208,
|
|
"distance_to_border_px": 388.0
|
|
},
|
|
"edge_ratio": 1.0913346338805836,
|
|
"edge_lengths_px": [
|
|
30.01666259765625,
|
|
28.301942825317383,
|
|
30.886890411376953,
|
|
29.154760360717773
|
|
]
|
|
},
|
|
"confidence": 0.4673177082143307
|
|
},
|
|
{
|
|
"observation_id": "f263ffa2-4d7d-489f-ab8d-cd50d17a96ce",
|
|
"type": "aruco",
|
|
"marker_id": 40,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
788.0,
|
|
321.0
|
|
],
|
|
[
|
|
765.0,
|
|
330.0
|
|
],
|
|
[
|
|
767.0,
|
|
298.0
|
|
],
|
|
[
|
|
790.0,
|
|
287.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
777.5,
|
|
309.0
|
|
],
|
|
"quality": {
|
|
"area_px": 739.0,
|
|
"perimeter_px": 116.31448745727539,
|
|
"sharpness": {
|
|
"laplacian_var": 782.4538179544043
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 103.0,
|
|
"dynamic_range": 92.0,
|
|
"mean_gray": 37.900608519269774,
|
|
"std_gray": 35.66016435947705
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2644987106323242,
|
|
"distance_to_border_px": 287.0
|
|
},
|
|
"edge_ratio": 1.3789994530834064,
|
|
"edge_lengths_px": [
|
|
24.698177337646484,
|
|
32.06243896484375,
|
|
25.495098114013672,
|
|
34.058773040771484
|
|
]
|
|
},
|
|
"confidence": 0.35726385936200117
|
|
},
|
|
{
|
|
"observation_id": "e74f6055-5c2b-4ce0-8e71-fd515493a6bf",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
821.0,
|
|
602.0
|
|
],
|
|
[
|
|
800.0,
|
|
622.0
|
|
],
|
|
[
|
|
778.0,
|
|
602.0
|
|
],
|
|
[
|
|
798.0,
|
|
583.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
799.25,
|
|
602.25
|
|
],
|
|
"quality": {
|
|
"area_px": 838.5,
|
|
"perimeter_px": 116.15123558044434,
|
|
"sharpness": {
|
|
"laplacian_var": 3406.121763149495
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 93.47495682210707,
|
|
"std_gray": 66.93838048657635
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.11197236180305481,
|
|
"distance_to_border_px": 458.0
|
|
},
|
|
"edge_ratio": 1.0814406066626385,
|
|
"edge_lengths_px": [
|
|
29.0,
|
|
29.73213768005371,
|
|
27.58622932434082,
|
|
29.832868576049805
|
|
]
|
|
},
|
|
"confidence": 0.5169030981045668
|
|
},
|
|
{
|
|
"observation_id": "2b04e2ef-c8f2-4620-8c17-aa6219e8135d",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
878.0,
|
|
509.0
|
|
],
|
|
[
|
|
858.0,
|
|
528.0
|
|
],
|
|
[
|
|
835.0,
|
|
509.0
|
|
],
|
|
[
|
|
856.0,
|
|
490.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
856.75,
|
|
509.0
|
|
],
|
|
"quality": {
|
|
"area_px": 817.0,
|
|
"perimeter_px": 114.80758666992188,
|
|
"sharpness": {
|
|
"laplacian_var": 3171.5351501806363
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 78.0855614973262,
|
|
"std_gray": 63.14855152575224
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15579965710639954,
|
|
"distance_to_border_px": 490.0
|
|
},
|
|
"edge_ratio": 1.0814406066626385,
|
|
"edge_lengths_px": [
|
|
27.58622932434082,
|
|
29.832868576049805,
|
|
28.319604873657227,
|
|
29.068883895874023
|
|
]
|
|
},
|
|
"confidence": 0.5036491725121419
|
|
},
|
|
{
|
|
"observation_id": "785693fd-b1cf-46d3-a751-cbfa7b8aa3a7",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
722.0,
|
|
531.0
|
|
],
|
|
[
|
|
701.0,
|
|
550.0
|
|
],
|
|
[
|
|
679.0,
|
|
531.0
|
|
],
|
|
[
|
|
700.0,
|
|
512.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
700.5,
|
|
531.0
|
|
],
|
|
"quality": {
|
|
"area_px": 817.0,
|
|
"perimeter_px": 114.7769775390625,
|
|
"sharpness": {
|
|
"laplacian_var": 3570.4110035333897
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 87.88967971530249,
|
|
"std_gray": 67.4185835619969
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.023863036185503006,
|
|
"distance_to_border_px": 512.0
|
|
},
|
|
"edge_ratio": 1.0264579617392111,
|
|
"edge_lengths_px": [
|
|
28.319604873657227,
|
|
29.068883895874023,
|
|
28.319604873657227,
|
|
29.068883895874023
|
|
]
|
|
},
|
|
"confidence": 0.5306273485801539
|
|
},
|
|
{
|
|
"observation_id": "1dbb679e-0c2a-4c59-8ef8-fb7ed63835ef",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
224.0,
|
|
380.0
|
|
],
|
|
[
|
|
206.0,
|
|
362.0
|
|
],
|
|
[
|
|
230.0,
|
|
344.0
|
|
],
|
|
[
|
|
248.0,
|
|
362.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
227.0,
|
|
362.0
|
|
],
|
|
"quality": {
|
|
"area_px": 756.0,
|
|
"perimeter_px": 110.91168975830078,
|
|
"sharpness": {
|
|
"laplacian_var": 3186.0285747941443
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 68.29824561403508,
|
|
"std_gray": 63.94084389019249
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5823886394500732,
|
|
"distance_to_border_px": 206.0
|
|
},
|
|
"edge_ratio": 1.1785112669574562,
|
|
"edge_lengths_px": [
|
|
25.45584487915039,
|
|
30.0,
|
|
25.45584487915039,
|
|
30.0
|
|
]
|
|
},
|
|
"confidence": 0.42765819396972654
|
|
},
|
|
{
|
|
"observation_id": "9e7953b6-daee-4bf8-94dd-ce7aab1736c2",
|
|
"type": "aruco",
|
|
"marker_id": 205,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
146.0,
|
|
304.0
|
|
],
|
|
[
|
|
129.0,
|
|
287.0
|
|
],
|
|
[
|
|
153.0,
|
|
270.0
|
|
],
|
|
[
|
|
170.0,
|
|
287.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
149.5,
|
|
287.0
|
|
],
|
|
"quality": {
|
|
"area_px": 697.0,
|
|
"perimeter_px": 106.90502548217773,
|
|
"sharpness": {
|
|
"laplacian_var": 3530.9064865810756
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 77.86909871244636,
|
|
"std_gray": 63.718079023669965
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6934252381324768,
|
|
"distance_to_border_px": 129.0
|
|
},
|
|
"edge_ratio": 1.2233314964579192,
|
|
"edge_lengths_px": [
|
|
24.041629791259766,
|
|
29.4108829498291,
|
|
24.041629791259766,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.37983708259950827
|
|
},
|
|
{
|
|
"observation_id": "4b2594c0-46bb-4614-9d94-12e8d23a0cfe",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
348.0,
|
|
312.0
|
|
],
|
|
[
|
|
325.0,
|
|
329.0
|
|
],
|
|
[
|
|
307.0,
|
|
312.0
|
|
],
|
|
[
|
|
329.0,
|
|
295.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
327.25,
|
|
312.0
|
|
],
|
|
"quality": {
|
|
"area_px": 697.0,
|
|
"perimeter_px": 106.65751075744629,
|
|
"sharpness": {
|
|
"laplacian_var": 2897.671897329171
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 63.5247311827957,
|
|
"std_gray": 64.0024859327581
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5045919418334961,
|
|
"distance_to_border_px": 295.0
|
|
},
|
|
"edge_ratio": 1.1551713339456755,
|
|
"edge_lengths_px": [
|
|
28.600698471069336,
|
|
24.75883674621582,
|
|
27.80287742614746,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.4022491322386975
|
|
},
|
|
{
|
|
"observation_id": "b1619347-e272-4772-bc5a-50221d9c7428",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
518.0,
|
|
341.0
|
|
],
|
|
[
|
|
496.0,
|
|
358.0
|
|
],
|
|
[
|
|
478.0,
|
|
340.0
|
|
],
|
|
[
|
|
499.0,
|
|
324.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
497.75,
|
|
340.75
|
|
],
|
|
"quality": {
|
|
"area_px": 681.5,
|
|
"perimeter_px": 105.15457725524902,
|
|
"sharpness": {
|
|
"laplacian_var": 2017.1676540640533
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 42.70537634408602,
|
|
"std_gray": 52.02697060198351
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33165431022644043,
|
|
"distance_to_border_px": 324.0
|
|
},
|
|
"edge_ratio": 1.09220014335173,
|
|
"edge_lengths_px": [
|
|
27.80287742614746,
|
|
25.45584487915039,
|
|
26.4007568359375,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.4159799246492322
|
|
},
|
|
{
|
|
"observation_id": "d6137b92-85b5-4968-84b0-cb456c3dc050",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
576.0,
|
|
321.0
|
|
],
|
|
[
|
|
555.0,
|
|
339.0
|
|
],
|
|
[
|
|
536.0,
|
|
321.0
|
|
],
|
|
[
|
|
558.0,
|
|
305.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
556.25,
|
|
321.5
|
|
],
|
|
"quality": {
|
|
"area_px": 680.0,
|
|
"perimeter_px": 105.11726951599121,
|
|
"sharpness": {
|
|
"laplacian_var": 3256.870463637415
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 121.9483870967742,
|
|
"std_gray": 60.40175104793409
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30338892340660095,
|
|
"distance_to_border_px": 305.0
|
|
},
|
|
"edge_ratio": 1.1484622810373748,
|
|
"edge_lengths_px": [
|
|
27.658634185791016,
|
|
26.172504425048828,
|
|
27.20294189453125,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.3947307115074338
|
|
},
|
|
{
|
|
"observation_id": "369f897a-3a95-4d13-a024-8b9a1c605731",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
379.0,
|
|
281.0
|
|
],
|
|
[
|
|
357.0,
|
|
298.0
|
|
],
|
|
[
|
|
339.0,
|
|
281.0
|
|
],
|
|
[
|
|
360.0,
|
|
264.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
358.75,
|
|
281.0
|
|
],
|
|
"quality": {
|
|
"area_px": 680.0,
|
|
"perimeter_px": 105.07532501220703,
|
|
"sharpness": {
|
|
"laplacian_var": 3493.675125448029
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 100.97849462365592,
|
|
"std_gray": 64.45970292329658
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.49389177560806274,
|
|
"distance_to_border_px": 264.0
|
|
},
|
|
"edge_ratio": 1.1229476453653218,
|
|
"edge_lengths_px": [
|
|
27.80287742614746,
|
|
24.75883674621582,
|
|
27.018512725830078,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.40369943799637525
|
|
},
|
|
{
|
|
"observation_id": "b03bf0d5-3d4c-4f77-a259-eb5eabcffb00",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
447.0,
|
|
258.0
|
|
],
|
|
[
|
|
426.0,
|
|
275.0
|
|
],
|
|
[
|
|
408.0,
|
|
258.0
|
|
],
|
|
[
|
|
429.0,
|
|
241.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
427.5,
|
|
258.0
|
|
],
|
|
"quality": {
|
|
"area_px": 663.0,
|
|
"perimeter_px": 103.5546989440918,
|
|
"sharpness": {
|
|
"laplacian_var": 2947.2028026361427
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 99.65806451612903,
|
|
"std_gray": 67.43003753406414
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.45144522190093994,
|
|
"distance_to_border_px": 241.0
|
|
},
|
|
"edge_ratio": 1.0912674534258815,
|
|
"edge_lengths_px": [
|
|
27.018512725830078,
|
|
24.75883674621582,
|
|
27.018512725830078,
|
|
24.75883674621582
|
|
]
|
|
},
|
|
"confidence": 0.40503361354029466
|
|
},
|
|
{
|
|
"observation_id": "25682cdf-ba88-408d-adbd-11269bcc4cbf",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
293.0,
|
|
182.0
|
|
],
|
|
[
|
|
271.0,
|
|
198.0
|
|
],
|
|
[
|
|
254.0,
|
|
182.0
|
|
],
|
|
[
|
|
275.0,
|
|
166.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
273.25,
|
|
182.0
|
|
],
|
|
"quality": {
|
|
"area_px": 624.0,
|
|
"perimeter_px": 101.03212356567383,
|
|
"sharpness": {
|
|
"laplacian_var": 2652.9720676946376
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 53.33256351039261,
|
|
"std_gray": 59.94304669633532
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6361045837402344,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.1652459670543882,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
23.34523582458496,
|
|
26.4007568359375,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.3570061701664598
|
|
},
|
|
{
|
|
"observation_id": "bc3f0a1f-39d3-45d0-bcf4-1de1e4373355",
|
|
"type": "aruco",
|
|
"marker_id": 57,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
540.0,
|
|
214.0
|
|
],
|
|
[
|
|
519.0,
|
|
230.0
|
|
],
|
|
[
|
|
501.0,
|
|
214.0
|
|
],
|
|
[
|
|
522.0,
|
|
198.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
520.5,
|
|
214.0
|
|
],
|
|
"quality": {
|
|
"area_px": 624.0,
|
|
"perimeter_px": 100.96789169311523,
|
|
"sharpness": {
|
|
"laplacian_var": 4177.868642960387
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 84.25173210161662,
|
|
"std_gray": 65.9715027217413
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.42466580867767334,
|
|
"distance_to_border_px": 198.0
|
|
},
|
|
"edge_ratio": 1.096231766660777,
|
|
"edge_lengths_px": [
|
|
26.4007568359375,
|
|
24.083189010620117,
|
|
26.4007568359375,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.3794817963241243
|
|
},
|
|
{
|
|
"observation_id": "6c5cfbb0-8d16-476f-865d-d1aa5e8db00e",
|
|
"type": "aruco",
|
|
"marker_id": 71,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
356.0,
|
|
168.0
|
|
],
|
|
[
|
|
334.0,
|
|
184.0
|
|
],
|
|
[
|
|
318.0,
|
|
168.0
|
|
],
|
|
[
|
|
338.0,
|
|
152.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
336.5,
|
|
168.0
|
|
],
|
|
"quality": {
|
|
"area_px": 608.0,
|
|
"perimeter_px": 99.52604484558105,
|
|
"sharpness": {
|
|
"laplacian_var": 3385.2582976857047
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 100.4653937947494,
|
|
"std_gray": 64.83579862481436
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5936456322669983,
|
|
"distance_to_border_px": 152.0
|
|
},
|
|
"edge_ratio": 1.2022115631903918,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
22.627416610717773,
|
|
25.612497329711914,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.33715640885841447
|
|
},
|
|
{
|
|
"observation_id": "a06cf8fa-11f6-4801-89a8-a2c32cda27c7",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
185.0
|
|
],
|
|
[
|
|
414.0,
|
|
201.0
|
|
],
|
|
[
|
|
397.0,
|
|
184.0
|
|
],
|
|
[
|
|
417.0,
|
|
169.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
415.75,
|
|
184.75
|
|
],
|
|
"quality": {
|
|
"area_px": 609.5,
|
|
"perimeter_px": 99.52557563781738,
|
|
"sharpness": {
|
|
"laplacian_var": 3080.1924101006957
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 66.36450839328538,
|
|
"std_gray": 64.1274322368041
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5196991562843323,
|
|
"distance_to_border_px": 169.0
|
|
},
|
|
"edge_ratio": 1.0981267520197564,
|
|
"edge_lengths_px": [
|
|
26.4007568359375,
|
|
24.041629791259766,
|
|
25.0,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.37002407289138056
|
|
},
|
|
{
|
|
"observation_id": "2d23a0a0-e118-429c-bd8b-16e697ee8a40",
|
|
"type": "aruco",
|
|
"marker_id": 65,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
328.0,
|
|
123.0
|
|
],
|
|
[
|
|
306.0,
|
|
138.0
|
|
],
|
|
[
|
|
289.0,
|
|
123.0
|
|
],
|
|
[
|
|
310.0,
|
|
108.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
308.25,
|
|
123.0
|
|
],
|
|
"quality": {
|
|
"area_px": 585.0,
|
|
"perimeter_px": 98.53634834289551,
|
|
"sharpness": {
|
|
"laplacian_var": 3075.094663837275
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 83.99760191846522,
|
|
"std_gray": 65.34951221888964
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.651140570640564,
|
|
"distance_to_border_px": 108.0
|
|
},
|
|
"edge_ratio": 1.1744690227032824,
|
|
"edge_lengths_px": [
|
|
26.62705421447754,
|
|
22.671567916870117,
|
|
25.806976318359375,
|
|
23.430749893188477
|
|
]
|
|
},
|
|
"confidence": 0.3320649522984733
|
|
},
|
|
{
|
|
"observation_id": "bed01825-785c-46ee-88af-917532ff1c58",
|
|
"type": "aruco",
|
|
"marker_id": 87,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
180.0,
|
|
65.0
|
|
],
|
|
[
|
|
159.0,
|
|
80.0
|
|
],
|
|
[
|
|
142.0,
|
|
65.0
|
|
],
|
|
[
|
|
163.0,
|
|
50.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
161.0,
|
|
65.0
|
|
],
|
|
"quality": {
|
|
"area_px": 570.0,
|
|
"perimeter_px": 96.95708847045898,
|
|
"sharpness": {
|
|
"laplacian_var": 2692.1986753749634
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 93.97524752475248,
|
|
"std_gray": 61.683392995792516
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8150634169578552,
|
|
"distance_to_border_px": 50.0
|
|
},
|
|
"edge_ratio": 1.1382969370705134,
|
|
"edge_lengths_px": [
|
|
25.806976318359375,
|
|
22.671567916870117,
|
|
25.806976318359375,
|
|
22.671567916870117
|
|
]
|
|
},
|
|
"confidence": 0.33383204999036237
|
|
},
|
|
{
|
|
"observation_id": "1a2ba6f4-27b9-4ef1-9b39-5d53147aa952",
|
|
"type": "aruco",
|
|
"marker_id": 78,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
354.0,
|
|
79.0
|
|
],
|
|
[
|
|
333.0,
|
|
94.0
|
|
],
|
|
[
|
|
316.0,
|
|
79.0
|
|
],
|
|
[
|
|
336.0,
|
|
64.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
334.75,
|
|
79.0
|
|
],
|
|
"quality": {
|
|
"area_px": 570.0,
|
|
"perimeter_px": 96.90929412841797,
|
|
"sharpness": {
|
|
"laplacian_var": 2921.016113462538
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 79.21144278606965,
|
|
"std_gray": 62.81337412179936
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.667535126209259,
|
|
"distance_to_border_px": 64.0
|
|
},
|
|
"edge_ratio": 1.1382969370705134,
|
|
"edge_lengths_px": [
|
|
25.806976318359375,
|
|
22.671567916870117,
|
|
25.0,
|
|
23.430749893188477
|
|
]
|
|
},
|
|
"confidence": 0.33383204999036237
|
|
},
|
|
{
|
|
"observation_id": "a819ff55-5216-4a4c-b7f4-aa0640f4f955",
|
|
"type": "aruco",
|
|
"marker_id": 80,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
316.0,
|
|
59.0
|
|
],
|
|
[
|
|
296.0,
|
|
73.0
|
|
],
|
|
[
|
|
280.0,
|
|
58.0
|
|
],
|
|
[
|
|
300.0,
|
|
44.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
298.0,
|
|
58.5
|
|
],
|
|
"quality": {
|
|
"area_px": 524.0,
|
|
"perimeter_px": 92.68964767456055,
|
|
"sharpness": {
|
|
"laplacian_var": 1911.9195991153663
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 70.05291005291005,
|
|
"std_gray": 64.74105813109412
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7113942503929138,
|
|
"distance_to_border_px": 44.0
|
|
},
|
|
"edge_ratio": 1.113141988361299,
|
|
"edge_lengths_px": [
|
|
24.413110733032227,
|
|
21.931713104248047,
|
|
24.413110733032227,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.2761672244399736
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
801.0,
|
|
296.0
|
|
],
|
|
[
|
|
813.0,
|
|
335.0
|
|
],
|
|
[
|
|
811.0,
|
|
346.0
|
|
],
|
|
[
|
|
798.0,
|
|
313.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
805.75,
|
|
322.5
|
|
],
|
|
"area_px": 265.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
520.0,
|
|
700.0
|
|
],
|
|
[
|
|
496.0,
|
|
735.0
|
|
],
|
|
[
|
|
495.0,
|
|
731.0
|
|
],
|
|
[
|
|
505.0,
|
|
712.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
504.0,
|
|
719.5
|
|
],
|
|
"area_px": 148.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
217.0,
|
|
924.0
|
|
],
|
|
[
|
|
228.0,
|
|
932.0
|
|
],
|
|
[
|
|
240.0,
|
|
948.0
|
|
],
|
|
[
|
|
232.0,
|
|
943.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
229.25,
|
|
936.75
|
|
],
|
|
"area_px": 78.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
845.0,
|
|
970.0
|
|
],
|
|
[
|
|
848.0,
|
|
970.0
|
|
],
|
|
[
|
|
868.0,
|
|
990.0
|
|
],
|
|
[
|
|
849.0,
|
|
977.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
852.5,
|
|
976.75
|
|
],
|
|
"area_px": 70.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
593.0,
|
|
438.0
|
|
],
|
|
[
|
|
601.0,
|
|
434.0
|
|
],
|
|
[
|
|
617.0,
|
|
444.0
|
|
],
|
|
[
|
|
608.0,
|
|
446.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
604.75,
|
|
440.5
|
|
],
|
|
"area_px": 123.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
441.0,
|
|
793.0
|
|
],
|
|
[
|
|
442.0,
|
|
796.0
|
|
],
|
|
[
|
|
432.0,
|
|
811.0
|
|
],
|
|
[
|
|
426.0,
|
|
811.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
435.25,
|
|
802.75
|
|
],
|
|
"area_px": 76.5
|
|
}
|
|
]
|
|
} |