2980 lines
62 KiB
JSON
2980 lines
62 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T20:35:44Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "b",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_a.npz",
|
|
"camera_matrix": [
|
|
[
|
|
1777.77783203125,
|
|
0.0,
|
|
640.0
|
|
],
|
|
[
|
|
0.0,
|
|
1777.77783203125,
|
|
360.0
|
|
],
|
|
[
|
|
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\\Scene6\\render_b.png",
|
|
"image_sha256": "8661c395c5811e0c7a6af077d0166abf5633888d48c662d38ad7402ae3469016",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 51,
|
|
"num_rejected_candidates": 7
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "8de83040-e47e-404c-a8ab-fb4636a2e577",
|
|
"type": "aruco",
|
|
"marker_id": 42,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
563.0,
|
|
60.0
|
|
],
|
|
[
|
|
543.0,
|
|
94.0
|
|
],
|
|
[
|
|
510.0,
|
|
73.0
|
|
],
|
|
[
|
|
530.0,
|
|
39.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
536.5,
|
|
66.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1542.0,
|
|
"perimeter_px": 157.12276458740234,
|
|
"sharpness": {
|
|
"laplacian_var": 2466.403082370664
|
|
},
|
|
"contrast": {
|
|
"p05": 72.0,
|
|
"p95": 196.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 110.80544747081711,
|
|
"std_gray": 52.76252769060363
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.42382344603538513,
|
|
"distance_to_border_px": 39.0
|
|
},
|
|
"edge_ratio": 1.0084609451366364,
|
|
"edge_lengths_px": [
|
|
39.4461669921875,
|
|
39.11521530151367,
|
|
39.4461669921875,
|
|
39.11521530151367
|
|
]
|
|
},
|
|
"confidence": 0.7734558326344684
|
|
},
|
|
{
|
|
"observation_id": "2f8051e9-a040-4728-a653-d0a027ab6357",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
601.0,
|
|
30.0
|
|
],
|
|
[
|
|
614.0,
|
|
65.0
|
|
],
|
|
[
|
|
588.0,
|
|
83.0
|
|
],
|
|
[
|
|
574.0,
|
|
48.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
594.25,
|
|
56.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1170.5,
|
|
"perimeter_px": 139.1052017211914,
|
|
"sharpness": {
|
|
"laplacian_var": 1931.5036587465565
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 154.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 58.3459595959596,
|
|
"std_gray": 62.54306806084119
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.41798698902130127,
|
|
"distance_to_border_px": 30.0
|
|
},
|
|
"edge_ratio": 1.1920571271337117,
|
|
"edge_lengths_px": [
|
|
37.336307525634766,
|
|
31.62277603149414,
|
|
37.6961555480957,
|
|
32.4499626159668
|
|
]
|
|
},
|
|
"confidence": 0.39276641139320373
|
|
},
|
|
{
|
|
"observation_id": "1ffb97a8-747f-4e1f-bd59-072678ed5ae9",
|
|
"type": "aruco",
|
|
"marker_id": 219,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
582.0,
|
|
245.0
|
|
],
|
|
[
|
|
550.0,
|
|
233.0
|
|
],
|
|
[
|
|
549.0,
|
|
204.0
|
|
],
|
|
[
|
|
581.0,
|
|
214.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
565.5,
|
|
224.0
|
|
],
|
|
"quality": {
|
|
"area_px": 949.0,
|
|
"perimeter_px": 127.73548316955566,
|
|
"sharpness": {
|
|
"laplacian_var": 3346.9676651307627
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 194.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 102.58505564387917,
|
|
"std_gray": 71.31963809678261
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2111780345439911,
|
|
"distance_to_border_px": 204.0
|
|
},
|
|
"edge_ratio": 1.1777832013629572,
|
|
"edge_lengths_px": [
|
|
34.1760139465332,
|
|
29.017236709594727,
|
|
33.52610778808594,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.5371673377023298
|
|
},
|
|
{
|
|
"observation_id": "31134c88-29c8-4f81-a205-2b56e5b33ed2",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
456.0,
|
|
453.0
|
|
],
|
|
[
|
|
489.0,
|
|
453.0
|
|
],
|
|
[
|
|
491.0,
|
|
480.0
|
|
],
|
|
[
|
|
458.0,
|
|
481.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
473.5,
|
|
466.75
|
|
],
|
|
"quality": {
|
|
"area_px": 908.5,
|
|
"perimeter_px": 121.16045761108398,
|
|
"sharpness": {
|
|
"laplacian_var": 2450.9134008741744
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 188.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 81.91666666666667,
|
|
"std_gray": 71.48974706948333
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2693471312522888,
|
|
"distance_to_border_px": 239.0
|
|
},
|
|
"edge_ratio": 1.2194423229351472,
|
|
"edge_lengths_px": [
|
|
33.0,
|
|
27.073972702026367,
|
|
33.0151481628418,
|
|
28.07133674621582
|
|
]
|
|
},
|
|
"confidence": 0.4966751237638301
|
|
},
|
|
{
|
|
"observation_id": "7bb24841-d699-4d9d-8b89-b05b72887441",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1234.0,
|
|
693.0
|
|
],
|
|
[
|
|
1227.0,
|
|
665.0
|
|
],
|
|
[
|
|
1258.0,
|
|
665.0
|
|
],
|
|
[
|
|
1265.0,
|
|
692.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1246.0,
|
|
678.75
|
|
],
|
|
"quality": {
|
|
"area_px": 856.0,
|
|
"perimeter_px": 118.77051544189453,
|
|
"sharpness": {
|
|
"laplacian_var": 2510.1681821557786
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 46.49348534201955,
|
|
"std_gray": 60.62077714822159
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.9324730634689331,
|
|
"distance_to_border_px": 15.0
|
|
},
|
|
"edge_ratio": 1.1119819756612892,
|
|
"edge_lengths_px": [
|
|
28.861740112304688,
|
|
31.0,
|
|
27.892650604248047,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.1539593300495616
|
|
},
|
|
{
|
|
"observation_id": "0443f5d6-40cd-469c-a10d-5310c8a154df",
|
|
"type": "aruco",
|
|
"marker_id": 41,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
627.0,
|
|
99.0
|
|
],
|
|
[
|
|
613.0,
|
|
116.0
|
|
],
|
|
[
|
|
576.0,
|
|
110.0
|
|
],
|
|
[
|
|
591.0,
|
|
93.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
601.75,
|
|
104.5
|
|
],
|
|
"quality": {
|
|
"area_px": 707.5,
|
|
"perimeter_px": 118.67418670654297,
|
|
"sharpness": {
|
|
"laplacian_var": 2231.8412105967786
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 57.12951167728238,
|
|
"std_gray": 56.28082264347319
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.35182681679725647,
|
|
"distance_to_border_px": 93.0
|
|
},
|
|
"edge_ratio": 1.7020304003595974,
|
|
"edge_lengths_px": [
|
|
22.022714614868164,
|
|
37.48332977294922,
|
|
22.671567916870117,
|
|
36.49657440185547
|
|
]
|
|
},
|
|
"confidence": 0.2771200012449925
|
|
},
|
|
{
|
|
"observation_id": "d6bc45e2-3e65-405e-87a8-494af9486a7d",
|
|
"type": "aruco",
|
|
"marker_id": 218,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
586.0,
|
|
370.0
|
|
],
|
|
[
|
|
556.0,
|
|
358.0
|
|
],
|
|
[
|
|
555.0,
|
|
332.0
|
|
],
|
|
[
|
|
585.0,
|
|
343.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
570.5,
|
|
350.75
|
|
],
|
|
"quality": {
|
|
"area_px": 783.5,
|
|
"perimeter_px": 117.30181694030762,
|
|
"sharpness": {
|
|
"laplacian_var": 3429.0474588997668
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 191.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 87.4404973357016,
|
|
"std_gray": 69.12717392777685
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.09548226743936539,
|
|
"distance_to_border_px": 332.0
|
|
},
|
|
"edge_ratio": 1.2418121759765575,
|
|
"edge_lengths_px": [
|
|
32.31098937988281,
|
|
26.019224166870117,
|
|
31.95309066772461,
|
|
27.018512725830078
|
|
]
|
|
},
|
|
"confidence": 0.42062184880944004
|
|
},
|
|
{
|
|
"observation_id": "d9780318-7f48-4a60-9226-fd31945a1cb6",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1065.0,
|
|
679.0
|
|
],
|
|
[
|
|
1061.0,
|
|
652.0
|
|
],
|
|
[
|
|
1091.0,
|
|
652.0
|
|
],
|
|
[
|
|
1096.0,
|
|
679.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1078.25,
|
|
665.5
|
|
],
|
|
"quality": {
|
|
"area_px": 823.5,
|
|
"perimeter_px": 115.75374794006348,
|
|
"sharpness": {
|
|
"laplacian_var": 3069.249462371833
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 93.32708688245314,
|
|
"std_gray": 69.64119773041207
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7275234460830688,
|
|
"distance_to_border_px": 41.0
|
|
},
|
|
"edge_ratio": 1.1357521590951734,
|
|
"edge_lengths_px": [
|
|
27.294687271118164,
|
|
30.0,
|
|
27.459060668945312,
|
|
31.0
|
|
]
|
|
},
|
|
"confidence": 0.39637168760361213
|
|
},
|
|
{
|
|
"observation_id": "eb932cba-4bf6-4547-bdf6-6cd38505165d",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
203.0,
|
|
649.0
|
|
],
|
|
[
|
|
207.0,
|
|
622.0
|
|
],
|
|
[
|
|
238.0,
|
|
622.0
|
|
],
|
|
[
|
|
234.0,
|
|
648.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
220.5,
|
|
635.25
|
|
],
|
|
"quality": {
|
|
"area_px": 819.5,
|
|
"perimeter_px": 115.6167049407959,
|
|
"sharpness": {
|
|
"laplacian_var": 3130.769797335335
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 166.0,
|
|
"mean_gray": 73.61643835616438,
|
|
"std_gray": 71.47247868398368
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6832876801490784,
|
|
"distance_to_border_px": 71.0
|
|
},
|
|
"edge_ratio": 1.1790561449851884,
|
|
"edge_lengths_px": [
|
|
27.294687271118164,
|
|
31.0,
|
|
26.305892944335938,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.4633649853376546
|
|
},
|
|
{
|
|
"observation_id": "1bba854a-63b6-41ee-abc6-4bd34d026908",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
290.0,
|
|
682.0
|
|
],
|
|
[
|
|
294.0,
|
|
655.0
|
|
],
|
|
[
|
|
324.0,
|
|
654.0
|
|
],
|
|
[
|
|
321.0,
|
|
681.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
307.25,
|
|
668.0
|
|
],
|
|
"quality": {
|
|
"area_px": 820.0,
|
|
"perimeter_px": 115.4936294555664,
|
|
"sharpness": {
|
|
"laplacian_var": 3352.738644093639
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 75.83390410958904,
|
|
"std_gray": 71.02477486787198
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6174793243408203,
|
|
"distance_to_border_px": 38.0
|
|
},
|
|
"edge_ratio": 1.1417193520219107,
|
|
"edge_lengths_px": [
|
|
27.294687271118164,
|
|
30.01666259765625,
|
|
27.166154861450195,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.3638956157928849
|
|
},
|
|
{
|
|
"observation_id": "95ffb758-c383-43dd-a2f0-04bf2040d006",
|
|
"type": "aruco",
|
|
"marker_id": 248,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
564.0,
|
|
461.0
|
|
],
|
|
[
|
|
564.0,
|
|
484.0
|
|
],
|
|
[
|
|
531.0,
|
|
485.0
|
|
],
|
|
[
|
|
529.0,
|
|
462.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
547.0,
|
|
473.0
|
|
],
|
|
"quality": {
|
|
"area_px": 783.0,
|
|
"perimeter_px": 114.1162223815918,
|
|
"sharpness": {
|
|
"laplacian_var": 4147.4723273340405
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 96.56848030018762,
|
|
"std_gray": 72.09628165357854
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19930331408977509,
|
|
"distance_to_border_px": 235.0
|
|
},
|
|
"edge_ratio": 1.5223600968070652,
|
|
"edge_lengths_px": [
|
|
23.0,
|
|
33.0151481628418,
|
|
23.0867919921875,
|
|
35.0142822265625
|
|
]
|
|
},
|
|
"confidence": 0.3428886510457159
|
|
},
|
|
{
|
|
"observation_id": "cc90bf8a-f751-4653-a98e-34926d39f9f5",
|
|
"type": "aruco",
|
|
"marker_id": 245,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
616.0,
|
|
460.0
|
|
],
|
|
[
|
|
616.0,
|
|
484.0
|
|
],
|
|
[
|
|
583.0,
|
|
484.0
|
|
],
|
|
[
|
|
582.0,
|
|
461.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
599.25,
|
|
472.25
|
|
],
|
|
"quality": {
|
|
"area_px": 787.5,
|
|
"perimeter_px": 114.03643035888672,
|
|
"sharpness": {
|
|
"laplacian_var": 2596.065215054323
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 161.0,
|
|
"mean_gray": 87.28864059590316,
|
|
"std_gray": 71.01947513617353
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16262763738632202,
|
|
"distance_to_border_px": 236.0
|
|
},
|
|
"edge_ratio": 1.4775042551724868,
|
|
"edge_lengths_px": [
|
|
24.0,
|
|
33.0,
|
|
23.021728515625,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.35532892589788884
|
|
},
|
|
{
|
|
"observation_id": "fcabb226-bbc9-4a36-a0ec-48254fb83038",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1052.0,
|
|
636.0
|
|
],
|
|
[
|
|
1047.0,
|
|
610.0
|
|
],
|
|
[
|
|
1077.0,
|
|
609.0
|
|
],
|
|
[
|
|
1082.0,
|
|
636.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1064.5,
|
|
622.75
|
|
],
|
|
"quality": {
|
|
"area_px": 797.5,
|
|
"perimeter_px": 113.95212745666504,
|
|
"sharpness": {
|
|
"laplacian_var": 2834.465755620945
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 56.65070921985816,
|
|
"std_gray": 64.93149949875315
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6798796653747559,
|
|
"distance_to_border_px": 84.0
|
|
},
|
|
"edge_ratio": 1.1337137166428901,
|
|
"edge_lengths_px": [
|
|
26.476404190063477,
|
|
30.01666259765625,
|
|
27.459060668945312,
|
|
30.0
|
|
]
|
|
},
|
|
"confidence": 0.46896024883690896
|
|
},
|
|
{
|
|
"observation_id": "1fb5b212-2e11-4690-bcc1-7b753195278b",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
702.0,
|
|
641.0
|
|
],
|
|
[
|
|
701.0,
|
|
615.0
|
|
],
|
|
[
|
|
731.0,
|
|
615.0
|
|
],
|
|
[
|
|
733.0,
|
|
641.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
716.75,
|
|
628.0
|
|
],
|
|
"quality": {
|
|
"area_px": 793.0,
|
|
"perimeter_px": 113.09603309631348,
|
|
"sharpness": {
|
|
"laplacian_var": 2630.2645835517806
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 162.0,
|
|
"mean_gray": 82.71657754010695,
|
|
"std_gray": 72.88459287450844
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3796437680721283,
|
|
"distance_to_border_px": 79.0
|
|
},
|
|
"edge_ratio": 1.1914267620428063,
|
|
"edge_lengths_px": [
|
|
26.019224166870117,
|
|
30.0,
|
|
26.07680892944336,
|
|
31.0
|
|
]
|
|
},
|
|
"confidence": 0.44372569385651617
|
|
},
|
|
{
|
|
"observation_id": "3574f0f5-4145-4c9b-9d8a-0d37d49e39d5",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
366.0,
|
|
646.0
|
|
],
|
|
[
|
|
368.0,
|
|
620.0
|
|
],
|
|
[
|
|
398.0,
|
|
620.0
|
|
],
|
|
[
|
|
396.0,
|
|
646.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
382.0,
|
|
633.0
|
|
],
|
|
"quality": {
|
|
"area_px": 780.0,
|
|
"perimeter_px": 112.15361785888672,
|
|
"sharpness": {
|
|
"laplacian_var": 3196.1188793388433
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 113.35636363636364,
|
|
"std_gray": 72.17050710551901
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5115378499031067,
|
|
"distance_to_border_px": 74.0
|
|
},
|
|
"edge_ratio": 1.150447513772552,
|
|
"edge_lengths_px": [
|
|
26.07680892944336,
|
|
30.0,
|
|
26.07680892944336,
|
|
30.0
|
|
]
|
|
},
|
|
"confidence": 0.45199802144368495
|
|
},
|
|
{
|
|
"observation_id": "9db777dc-abd3-49e9-b435-5fe9a0caa28e",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
446.0,
|
|
628.0
|
|
],
|
|
[
|
|
448.0,
|
|
602.0
|
|
],
|
|
[
|
|
478.0,
|
|
602.0
|
|
],
|
|
[
|
|
476.0,
|
|
628.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
462.0,
|
|
615.0
|
|
],
|
|
"quality": {
|
|
"area_px": 780.0,
|
|
"perimeter_px": 112.15361785888672,
|
|
"sharpness": {
|
|
"laplacian_var": 3623.918099173554
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 74.9090909090909,
|
|
"std_gray": 69.85355401312422
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4235049784183502,
|
|
"distance_to_border_px": 92.0
|
|
},
|
|
"edge_ratio": 1.150447513772552,
|
|
"edge_lengths_px": [
|
|
26.07680892944336,
|
|
30.0,
|
|
26.07680892944336,
|
|
30.0
|
|
]
|
|
},
|
|
"confidence": 0.45199802144368495
|
|
},
|
|
{
|
|
"observation_id": "9776006c-79db-4113-a35f-5b13a27f17d5",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
746.0,
|
|
628.0
|
|
],
|
|
[
|
|
745.0,
|
|
602.0
|
|
],
|
|
[
|
|
774.0,
|
|
602.0
|
|
],
|
|
[
|
|
776.0,
|
|
628.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
760.25,
|
|
615.0
|
|
],
|
|
"quality": {
|
|
"area_px": 767.0,
|
|
"perimeter_px": 111.09603309631348,
|
|
"sharpness": {
|
|
"laplacian_var": 2049.7434746541558
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 161.0,
|
|
"mean_gray": 39.569573283859,
|
|
"std_gray": 53.719227131817576
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.38394394516944885,
|
|
"distance_to_border_px": 92.0
|
|
},
|
|
"edge_ratio": 1.1529936406865868,
|
|
"edge_lengths_px": [
|
|
26.019224166870117,
|
|
29.0,
|
|
26.07680892944336,
|
|
30.0
|
|
]
|
|
},
|
|
"confidence": 0.44348322079976393
|
|
},
|
|
{
|
|
"observation_id": "2ba8d5ea-5401-41fc-b08c-342c8b953857",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
629.0,
|
|
612.0
|
|
],
|
|
[
|
|
629.0,
|
|
586.0
|
|
],
|
|
[
|
|
658.0,
|
|
586.0
|
|
],
|
|
[
|
|
659.0,
|
|
611.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
643.75,
|
|
598.75
|
|
],
|
|
"quality": {
|
|
"area_px": 752.5,
|
|
"perimeter_px": 110.03665542602539,
|
|
"sharpness": {
|
|
"laplacian_var": 4481.1411015602325
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 162.0,
|
|
"mean_gray": 95.71189591078067,
|
|
"std_gray": 71.05741884550443
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3251786530017853,
|
|
"distance_to_border_px": 108.0
|
|
},
|
|
"edge_ratio": 1.1997070823945877,
|
|
"edge_lengths_px": [
|
|
26.0,
|
|
29.0,
|
|
25.01999282836914,
|
|
30.01666259765625
|
|
]
|
|
},
|
|
"confidence": 0.41815762699787656
|
|
},
|
|
{
|
|
"observation_id": "023d69de-f1b6-4d9f-8a55-7f6c12449d8b",
|
|
"type": "aruco",
|
|
"marker_id": 205,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1163.0,
|
|
490.0
|
|
],
|
|
[
|
|
1193.0,
|
|
490.0
|
|
],
|
|
[
|
|
1199.0,
|
|
514.0
|
|
],
|
|
[
|
|
1169.0,
|
|
514.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1181.0,
|
|
502.0
|
|
],
|
|
"quality": {
|
|
"area_px": 720.0,
|
|
"perimeter_px": 109.47726821899414,
|
|
"sharpness": {
|
|
"laplacian_var": 3335.9104
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 71.438,
|
|
"std_gray": 65.89110832274716
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7617100477218628,
|
|
"distance_to_border_px": 81.0
|
|
},
|
|
"edge_ratio": 1.2126781077409245,
|
|
"edge_lengths_px": [
|
|
30.0,
|
|
24.73863410949707,
|
|
30.0,
|
|
24.73863410949707
|
|
]
|
|
},
|
|
"confidence": 0.3958181457519531
|
|
},
|
|
{
|
|
"observation_id": "2b837b27-c54d-4f3f-b7db-946ac5876ada",
|
|
"type": "aruco",
|
|
"marker_id": 215,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
551.0,
|
|
496.0
|
|
],
|
|
[
|
|
581.0,
|
|
496.0
|
|
],
|
|
[
|
|
581.0,
|
|
520.0
|
|
],
|
|
[
|
|
551.0,
|
|
521.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
566.0,
|
|
508.25
|
|
],
|
|
"quality": {
|
|
"area_px": 735.0,
|
|
"perimeter_px": 109.01666259765625,
|
|
"sharpness": {
|
|
"laplacian_var": 2533.391607674156
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 69.16959064327486,
|
|
"std_gray": 68.76986858907289
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22564637660980225,
|
|
"distance_to_border_px": 199.0
|
|
},
|
|
"edge_ratio": 1.2506942749023438,
|
|
"edge_lengths_px": [
|
|
30.0,
|
|
24.0,
|
|
30.01666259765625,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.39178239625208167
|
|
},
|
|
{
|
|
"observation_id": "6ff293b7-a9d1-4971-8694-6b638503540c",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1041.0,
|
|
491.0
|
|
],
|
|
[
|
|
1070.0,
|
|
491.0
|
|
],
|
|
[
|
|
1075.0,
|
|
515.0
|
|
],
|
|
[
|
|
1046.0,
|
|
516.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1058.0,
|
|
503.25
|
|
],
|
|
"quality": {
|
|
"area_px": 713.0,
|
|
"perimeter_px": 108.02763557434082,
|
|
"sharpness": {
|
|
"laplacian_var": 3238.8254192004456
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 65.9251012145749,
|
|
"std_gray": 66.00862151922503
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6017478704452515,
|
|
"distance_to_border_px": 204.0
|
|
},
|
|
"edge_ratio": 1.1836378025559324,
|
|
"edge_lengths_px": [
|
|
29.0,
|
|
24.515300750732422,
|
|
29.017236709594727,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.4015868133874269
|
|
},
|
|
{
|
|
"observation_id": "b8622361-42e9-455e-b658-af309e8b601d",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
674.0,
|
|
495.0
|
|
],
|
|
[
|
|
703.0,
|
|
495.0
|
|
],
|
|
[
|
|
704.0,
|
|
519.0
|
|
],
|
|
[
|
|
674.0,
|
|
519.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
688.75,
|
|
507.0
|
|
],
|
|
"quality": {
|
|
"area_px": 708.0,
|
|
"perimeter_px": 107.02082443237305,
|
|
"sharpness": {
|
|
"laplacian_var": 2761.430476
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 63.286,
|
|
"std_gray": 65.28473178316658
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.21091137826442719,
|
|
"distance_to_border_px": 201.0
|
|
},
|
|
"edge_ratio": 1.25,
|
|
"edge_lengths_px": [
|
|
29.0,
|
|
24.020824432373047,
|
|
30.0,
|
|
24.0
|
|
]
|
|
},
|
|
"confidence": 0.3776
|
|
},
|
|
{
|
|
"observation_id": "63eee46e-454e-4387-b1f0-42f119ea041d",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
278.0,
|
|
431.0
|
|
],
|
|
[
|
|
307.0,
|
|
430.0
|
|
],
|
|
[
|
|
304.0,
|
|
453.0
|
|
],
|
|
[
|
|
275.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
291.0,
|
|
441.75
|
|
],
|
|
"quality": {
|
|
"area_px": 651.0,
|
|
"perimeter_px": 103.4156665802002,
|
|
"sharpness": {
|
|
"laplacian_var": 3409.0595009401327
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 79.35214446952595,
|
|
"std_gray": 69.58644469628385
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.48814597725868225,
|
|
"distance_to_border_px": 267.0
|
|
},
|
|
"edge_ratio": 1.306870589274211,
|
|
"edge_lengths_px": [
|
|
29.017236709594727,
|
|
23.194826126098633,
|
|
29.0,
|
|
22.203603744506836
|
|
]
|
|
},
|
|
"confidence": 0.3320910299473707
|
|
},
|
|
{
|
|
"observation_id": "75911c27-a2b0-4add-9741-56d72879aebf",
|
|
"type": "aruco",
|
|
"marker_id": 214,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
672.0,
|
|
416.0
|
|
],
|
|
[
|
|
700.0,
|
|
416.0
|
|
],
|
|
[
|
|
701.0,
|
|
439.0
|
|
],
|
|
[
|
|
672.0,
|
|
439.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
686.25,
|
|
427.5
|
|
],
|
|
"quality": {
|
|
"area_px": 655.5,
|
|
"perimeter_px": 103.021728515625,
|
|
"sharpness": {
|
|
"laplacian_var": 1976.926007110096
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 142.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 69.26824034334764,
|
|
"std_gray": 58.49216722363211
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.11143215000629425,
|
|
"distance_to_border_px": 281.0
|
|
},
|
|
"edge_ratio": 1.2608695652173914,
|
|
"edge_lengths_px": [
|
|
28.0,
|
|
23.021728515625,
|
|
29.0,
|
|
23.0
|
|
]
|
|
},
|
|
"confidence": 0.3465862068965517
|
|
},
|
|
{
|
|
"observation_id": "5be757f5-3b18-49e1-aa0d-af42ca4470bc",
|
|
"type": "aruco",
|
|
"marker_id": 206,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1027.0,
|
|
413.0
|
|
],
|
|
[
|
|
1055.0,
|
|
413.0
|
|
],
|
|
[
|
|
1059.0,
|
|
436.0
|
|
],
|
|
[
|
|
1031.0,
|
|
436.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1043.0,
|
|
424.5
|
|
],
|
|
"quality": {
|
|
"area_px": 644.0,
|
|
"perimeter_px": 102.69047164916992,
|
|
"sharpness": {
|
|
"laplacian_var": 2990.8749948347104
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 66.72045454545454,
|
|
"std_gray": 63.971027105122346
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5558050274848938,
|
|
"distance_to_border_px": 221.0
|
|
},
|
|
"edge_ratio": 1.1993881839699854,
|
|
"edge_lengths_px": [
|
|
28.0,
|
|
23.34523582458496,
|
|
28.0,
|
|
23.34523582458496
|
|
]
|
|
},
|
|
"confidence": 0.3579602826436361
|
|
},
|
|
{
|
|
"observation_id": "7147361e-b147-4912-aadc-ddb413e77ffd",
|
|
"type": "aruco",
|
|
"marker_id": 207,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1145.0,
|
|
412.0
|
|
],
|
|
[
|
|
1173.0,
|
|
412.0
|
|
],
|
|
[
|
|
1179.0,
|
|
434.0
|
|
],
|
|
[
|
|
1151.0,
|
|
435.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1162.0,
|
|
423.25
|
|
],
|
|
"quality": {
|
|
"area_px": 633.0,
|
|
"perimeter_px": 102.5910873413086,
|
|
"sharpness": {
|
|
"laplacian_var": 2925.2247162317094
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 162.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 66.4988344988345,
|
|
"std_gray": 64.94870217891597
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7160782814025879,
|
|
"distance_to_border_px": 101.0
|
|
},
|
|
"edge_ratio": 1.2286640258971397,
|
|
"edge_lengths_px": [
|
|
28.0,
|
|
22.803508758544922,
|
|
28.017850875854492,
|
|
23.76972770690918
|
|
]
|
|
},
|
|
"confidence": 0.343462485354258
|
|
},
|
|
{
|
|
"observation_id": "d8042b63-b3e8-478c-a75d-f64061df3a16",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
459.0,
|
|
390.0
|
|
],
|
|
[
|
|
492.0,
|
|
390.0
|
|
],
|
|
[
|
|
490.0,
|
|
407.0
|
|
],
|
|
[
|
|
456.0,
|
|
407.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
474.25,
|
|
398.5
|
|
],
|
|
"quality": {
|
|
"area_px": 569.5,
|
|
"perimeter_px": 101.37991905212402,
|
|
"sharpness": {
|
|
"laplacian_var": 2448.3584121381964
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 56.101694915254235,
|
|
"std_gray": 60.58395669040837
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.23173370957374573,
|
|
"distance_to_border_px": 313.0
|
|
},
|
|
"edge_ratio": 1.9863012034834777,
|
|
"edge_lengths_px": [
|
|
33.0,
|
|
17.11724281311035,
|
|
34.0,
|
|
17.262676239013672
|
|
]
|
|
},
|
|
"confidence": 0.19114254474639894
|
|
},
|
|
{
|
|
"observation_id": "b70ac44e-c557-48fd-8c48-a008b03392c6",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
468.0,
|
|
329.0
|
|
],
|
|
[
|
|
499.0,
|
|
328.0
|
|
],
|
|
[
|
|
497.0,
|
|
343.0
|
|
],
|
|
[
|
|
466.0,
|
|
344.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
482.5,
|
|
336.0
|
|
],
|
|
"quality": {
|
|
"area_px": 463.0,
|
|
"perimeter_px": 92.2977409362793,
|
|
"sharpness": {
|
|
"laplacian_var": 3942.40234060432
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 155.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 71.26331360946746,
|
|
"std_gray": 58.66184220625726
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2169652283191681,
|
|
"distance_to_border_px": 328.0
|
|
},
|
|
"edge_ratio": 2.0496032413749727,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
15.132745742797852,
|
|
31.016124725341797,
|
|
15.132745742797852
|
|
]
|
|
},
|
|
"confidence": 0.15059825259624304
|
|
},
|
|
{
|
|
"observation_id": "0af8f582-1462-4cbb-8b59-53df22930a7d",
|
|
"type": "aruco",
|
|
"marker_id": 94,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1242.0,
|
|
289.0
|
|
],
|
|
[
|
|
1236.0,
|
|
270.0
|
|
],
|
|
[
|
|
1261.0,
|
|
270.0
|
|
],
|
|
[
|
|
1268.0,
|
|
289.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1251.75,
|
|
279.5
|
|
],
|
|
"quality": {
|
|
"area_px": 484.5,
|
|
"perimeter_px": 91.17331504821777,
|
|
"sharpness": {
|
|
"laplacian_var": 2230.3116065099243
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 58.65217391304348,
|
|
"std_gray": 57.83384836765779
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8402856588363647,
|
|
"distance_to_border_px": 12.0
|
|
},
|
|
"edge_ratio": 1.3049026436375375,
|
|
"edge_lengths_px": [
|
|
19.92485809326172,
|
|
25.0,
|
|
20.248456954956055,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.05940673074575571
|
|
},
|
|
{
|
|
"observation_id": "7b7c0621-5ad4-4f06-8ade-3ff438950bd0",
|
|
"type": "aruco",
|
|
"marker_id": 76,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1035.0,
|
|
297.0
|
|
],
|
|
[
|
|
1031.0,
|
|
278.0
|
|
],
|
|
[
|
|
1057.0,
|
|
278.0
|
|
],
|
|
[
|
|
1061.0,
|
|
297.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1046.0,
|
|
287.5
|
|
],
|
|
"quality": {
|
|
"area_px": 494.0,
|
|
"perimeter_px": 90.83297729492188,
|
|
"sharpness": {
|
|
"laplacian_var": 2415.5328154536865
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 72.50271739130434,
|
|
"std_gray": 59.701066857470245
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5616520643234253,
|
|
"distance_to_border_px": 219.0
|
|
},
|
|
"edge_ratio": 1.339068071064434,
|
|
"edge_lengths_px": [
|
|
19.416488647460938,
|
|
26.0,
|
|
19.416488647460938,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.2459421895345052
|
|
},
|
|
{
|
|
"observation_id": "8eac1aae-28d8-44e7-a7ec-fa8f10552418",
|
|
"type": "aruco",
|
|
"marker_id": 100,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1163.0,
|
|
291.0
|
|
],
|
|
[
|
|
1158.0,
|
|
272.0
|
|
],
|
|
[
|
|
1183.0,
|
|
272.0
|
|
],
|
|
[
|
|
1189.0,
|
|
291.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.25,
|
|
281.5
|
|
],
|
|
"quality": {
|
|
"area_px": 484.5,
|
|
"perimeter_px": 90.57174110412598,
|
|
"sharpness": {
|
|
"laplacian_var": 2177.797484672463
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 79.05540166204986,
|
|
"std_gray": 60.76495044122052
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7340260744094849,
|
|
"distance_to_border_px": 91.0
|
|
},
|
|
"edge_ratio": 1.3233651356107032,
|
|
"edge_lengths_px": [
|
|
19.646883010864258,
|
|
25.0,
|
|
19.92485809326172,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.24407473894265982
|
|
},
|
|
{
|
|
"observation_id": "5900b1cf-efdf-4e33-bc45-7d524391a98f",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
257.0,
|
|
281.0
|
|
],
|
|
[
|
|
261.0,
|
|
262.0
|
|
],
|
|
[
|
|
286.0,
|
|
262.0
|
|
],
|
|
[
|
|
283.0,
|
|
281.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
271.75,
|
|
271.5
|
|
],
|
|
"quality": {
|
|
"area_px": 484.5,
|
|
"perimeter_px": 89.6518726348877,
|
|
"sharpness": {
|
|
"laplacian_var": 3777.5801039697544
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 164.0,
|
|
"mean_gray": 100.8695652173913,
|
|
"std_gray": 65.80685959211381
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5157754421234131,
|
|
"distance_to_border_px": 257.0
|
|
},
|
|
"edge_ratio": 1.3516756419832816,
|
|
"edge_lengths_px": [
|
|
19.416488647460938,
|
|
25.0,
|
|
19.235383987426758,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.23896265492072474
|
|
},
|
|
{
|
|
"observation_id": "8e5b8112-bca2-437a-80f7-d8285e85f15d",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
913.0,
|
|
295.0
|
|
],
|
|
[
|
|
910.0,
|
|
275.0
|
|
],
|
|
[
|
|
935.0,
|
|
276.0
|
|
],
|
|
[
|
|
938.0,
|
|
295.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
924.0,
|
|
285.25
|
|
],
|
|
"quality": {
|
|
"area_px": 486.0,
|
|
"perimeter_px": 89.4791259765625,
|
|
"sharpness": {
|
|
"laplacian_var": 2493.4484644674008
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 149.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 59.891061452513966,
|
|
"std_gray": 56.81418186407767
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3999340832233429,
|
|
"distance_to_border_px": 275.0
|
|
},
|
|
"edge_ratio": 1.300727494950114,
|
|
"edge_lengths_px": [
|
|
20.2237491607666,
|
|
25.01999282836914,
|
|
19.235383987426758,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.24909137483284013
|
|
},
|
|
{
|
|
"observation_id": "5f74951d-dac2-471e-b305-e697c3ffdd7f",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
870.0,
|
|
283.0
|
|
],
|
|
[
|
|
868.0,
|
|
264.0
|
|
],
|
|
[
|
|
893.0,
|
|
264.0
|
|
],
|
|
[
|
|
896.0,
|
|
283.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
881.75,
|
|
273.5
|
|
],
|
|
"quality": {
|
|
"area_px": 484.5,
|
|
"perimeter_px": 89.34035682678223,
|
|
"sharpness": {
|
|
"laplacian_var": 2144.4981698579695
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 76.21798365122616,
|
|
"std_gray": 59.37973124836284
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.34966418147087097,
|
|
"distance_to_border_px": 264.0
|
|
},
|
|
"edge_ratio": 1.360902222610914,
|
|
"edge_lengths_px": [
|
|
19.10497283935547,
|
|
25.0,
|
|
19.235383987426758,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"observation_id": "d16f4cdd-f509-4e38-9eb2-8d2573a3a22f",
|
|
"type": "aruco",
|
|
"marker_id": 77,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
305.0,
|
|
283.0
|
|
],
|
|
[
|
|
308.0,
|
|
264.0
|
|
],
|
|
[
|
|
333.0,
|
|
264.0
|
|
],
|
|
[
|
|
331.0,
|
|
283.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
319.25,
|
|
273.5
|
|
],
|
|
"quality": {
|
|
"area_px": 484.5,
|
|
"perimeter_px": 89.34035682678223,
|
|
"sharpness": {
|
|
"laplacian_var": 2551.5438528758846
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 65.51226158038148,
|
|
"std_gray": 64.03004435340395
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4524144232273102,
|
|
"distance_to_border_px": 264.0
|
|
},
|
|
"edge_ratio": 1.360902222610914,
|
|
"edge_lengths_px": [
|
|
19.235383987426758,
|
|
25.0,
|
|
19.10497283935547,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.23734254719660833
|
|
},
|
|
{
|
|
"observation_id": "d207d371-d1f9-4da6-90bf-8a7ec3a73f44",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
830.0,
|
|
297.0
|
|
],
|
|
[
|
|
829.0,
|
|
278.0
|
|
],
|
|
[
|
|
854.0,
|
|
278.0
|
|
],
|
|
[
|
|
856.0,
|
|
297.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
842.25,
|
|
287.5
|
|
],
|
|
"quality": {
|
|
"area_px": 484.5,
|
|
"perimeter_px": 89.13127136230469,
|
|
"sharpness": {
|
|
"laplacian_var": 2097.3294923861636
|
|
},
|
|
"contrast": {
|
|
"p05": 6.300000000000001,
|
|
"p95": 151.7,
|
|
"dynamic_range": 145.39999999999998,
|
|
"mean_gray": 45.87738419618529,
|
|
"std_gray": 54.09849434785828
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2925931513309479,
|
|
"distance_to_border_px": 278.0
|
|
},
|
|
"edge_ratio": 1.3665295942160907,
|
|
"edge_lengths_px": [
|
|
19.02629852294922,
|
|
25.0,
|
|
19.10497283935547,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.236365170112023
|
|
},
|
|
{
|
|
"observation_id": "f53d333f-8b86-4251-9109-8c99f73e0ddb",
|
|
"type": "aruco",
|
|
"marker_id": 50,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
907.0,
|
|
261.0
|
|
],
|
|
[
|
|
905.0,
|
|
242.0
|
|
],
|
|
[
|
|
930.0,
|
|
242.0
|
|
],
|
|
[
|
|
933.0,
|
|
260.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
918.75,
|
|
251.25
|
|
],
|
|
"quality": {
|
|
"area_px": 473.0,
|
|
"perimeter_px": 88.37248420715332,
|
|
"sharpness": {
|
|
"laplacian_var": 2566.1119192775145
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 52.1764705882353,
|
|
"std_gray": 54.89102732269137
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.40747860074043274,
|
|
"distance_to_border_px": 242.0
|
|
},
|
|
"edge_ratio": 1.425844731638557,
|
|
"edge_lengths_px": [
|
|
19.10497283935547,
|
|
25.0,
|
|
18.248287200927734,
|
|
26.019224166870117
|
|
]
|
|
},
|
|
"confidence": 0.2211554500544793
|
|
},
|
|
{
|
|
"observation_id": "e1e1b0d3-8c08-4002-be96-7ef402cccdbe",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
766.0,
|
|
277.0
|
|
],
|
|
[
|
|
764.0,
|
|
258.0
|
|
],
|
|
[
|
|
790.0,
|
|
258.0
|
|
],
|
|
[
|
|
791.0,
|
|
276.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
777.75,
|
|
267.25
|
|
],
|
|
"quality": {
|
|
"area_px": 472.5,
|
|
"perimeter_px": 88.1527214050293,
|
|
"sharpness": {
|
|
"laplacian_var": 2052.436472628267
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 52.55742296918768,
|
|
"std_gray": 56.76029683185373
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22615359723567963,
|
|
"distance_to_border_px": 258.0
|
|
},
|
|
"edge_ratio": 1.4422205613868182,
|
|
"edge_lengths_px": [
|
|
19.10497283935547,
|
|
26.0,
|
|
18.027755737304688,
|
|
25.01999282836914
|
|
]
|
|
},
|
|
"confidence": 0.21841319450965294
|
|
},
|
|
{
|
|
"observation_id": "d5f0ab41-40f1-44f9-8e1f-faf8fc17d2e2",
|
|
"type": "aruco",
|
|
"marker_id": 104,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1174.0,
|
|
237.0
|
|
],
|
|
[
|
|
1169.0,
|
|
219.0
|
|
],
|
|
[
|
|
1194.0,
|
|
219.0
|
|
],
|
|
[
|
|
1199.0,
|
|
237.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1184.0,
|
|
228.0
|
|
],
|
|
"quality": {
|
|
"area_px": 450.0,
|
|
"perimeter_px": 87.36308288574219,
|
|
"sharpness": {
|
|
"laplacian_var": 1899.2504163123583
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 84.74107142857143,
|
|
"std_gray": 60.63926496911797
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7623366713523865,
|
|
"distance_to_border_px": 81.0
|
|
},
|
|
"edge_ratio": 1.3382193367956818,
|
|
"edge_lengths_px": [
|
|
18.681541442871094,
|
|
25.0,
|
|
18.681541442871094,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.22417849731445313
|
|
},
|
|
{
|
|
"observation_id": "581d6b9e-6771-4b74-a575-729960709742",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
814.0,
|
|
262.0
|
|
],
|
|
[
|
|
812.0,
|
|
243.0
|
|
],
|
|
[
|
|
837.0,
|
|
243.0
|
|
],
|
|
[
|
|
839.0,
|
|
261.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
825.5,
|
|
252.25
|
|
],
|
|
"quality": {
|
|
"area_px": 463.5,
|
|
"perimeter_px": 87.23573684692383,
|
|
"sharpness": {
|
|
"laplacian_var": 2319.91142929861
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 154.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 86.22349570200574,
|
|
"std_gray": 59.56058212991201
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2921459376811981,
|
|
"distance_to_border_px": 243.0
|
|
},
|
|
"edge_ratio": 1.3814979263337708,
|
|
"edge_lengths_px": [
|
|
19.10497283935547,
|
|
25.0,
|
|
18.11077117919922,
|
|
25.01999282836914
|
|
]
|
|
},
|
|
"confidence": 0.22367025973033955
|
|
},
|
|
{
|
|
"observation_id": "bddf74fb-a851-44f6-8112-e44937f6c805",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
726.0,
|
|
226.0
|
|
],
|
|
[
|
|
725.0,
|
|
208.0
|
|
],
|
|
[
|
|
750.0,
|
|
208.0
|
|
],
|
|
[
|
|
751.0,
|
|
226.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
738.0,
|
|
217.0
|
|
],
|
|
"quality": {
|
|
"area_px": 450.0,
|
|
"perimeter_px": 86.05551147460938,
|
|
"sharpness": {
|
|
"laplacian_var": 2310.1611305980728
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 74.375,
|
|
"std_gray": 56.50033580810447
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.23608532547950745,
|
|
"distance_to_border_px": 208.0
|
|
},
|
|
"edge_ratio": 1.3867505397950175,
|
|
"edge_lengths_px": [
|
|
18.027755737304688,
|
|
25.0,
|
|
18.027755737304688,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.21633306884765624
|
|
},
|
|
{
|
|
"observation_id": "8b4ec879-2e43-4974-8811-3648cbf0d7f1",
|
|
"type": "aruco",
|
|
"marker_id": 67,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
848.0,
|
|
218.0
|
|
],
|
|
[
|
|
846.0,
|
|
201.0
|
|
],
|
|
[
|
|
870.0,
|
|
200.0
|
|
],
|
|
[
|
|
873.0,
|
|
218.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
859.25,
|
|
209.25
|
|
],
|
|
"quality": {
|
|
"area_px": 430.0,
|
|
"perimeter_px": 84.38635444641113,
|
|
"sharpness": {
|
|
"laplacian_var": 2435.1556490207445
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 56.44827586206897,
|
|
"std_gray": 54.31023436322547
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36235129833221436,
|
|
"distance_to_border_px": 200.0
|
|
},
|
|
"edge_ratio": 1.4605155907966747,
|
|
"edge_lengths_px": [
|
|
17.11724281311035,
|
|
24.020824432373047,
|
|
18.248287200927734,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.19627771759033205
|
|
},
|
|
{
|
|
"observation_id": "327d7571-4882-4527-9b50-b8052b7a5fef",
|
|
"type": "aruco",
|
|
"marker_id": 60,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
753.0,
|
|
206.0
|
|
],
|
|
[
|
|
752.0,
|
|
189.0
|
|
],
|
|
[
|
|
776.0,
|
|
189.0
|
|
],
|
|
[
|
|
778.0,
|
|
206.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
764.75,
|
|
197.5
|
|
],
|
|
"quality": {
|
|
"area_px": 416.5,
|
|
"perimeter_px": 83.1466293334961,
|
|
"sharpness": {
|
|
"laplacian_var": 1940.412327120931
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 95.29220779220779,
|
|
"std_gray": 59.30500354755072
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27898985147476196,
|
|
"distance_to_border_px": 189.0
|
|
},
|
|
"edge_ratio": 1.4680505354712985,
|
|
"edge_lengths_px": [
|
|
17.029386520385742,
|
|
24.0,
|
|
17.11724281311035,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.18913971961975098
|
|
},
|
|
{
|
|
"observation_id": "5db32777-73d4-42ab-b026-ec01e146c085",
|
|
"type": "aruco",
|
|
"marker_id": 86,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
679.0,
|
|
201.0
|
|
],
|
|
[
|
|
677.0,
|
|
184.0
|
|
],
|
|
[
|
|
702.0,
|
|
183.0
|
|
],
|
|
[
|
|
703.0,
|
|
200.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
690.25,
|
|
192.0
|
|
],
|
|
"quality": {
|
|
"area_px": 418.0,
|
|
"perimeter_px": 83.18744659423828,
|
|
"sharpness": {
|
|
"laplacian_var": 1836.615481109799
|
|
},
|
|
"contrast": {
|
|
"p05": 7.350000000000001,
|
|
"p95": 150.0,
|
|
"dynamic_range": 142.65,
|
|
"mean_gray": 74.3538961038961,
|
|
"std_gray": 59.53146132439365
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2388036847114563,
|
|
"distance_to_border_px": 183.0
|
|
},
|
|
"edge_ratio": 1.4692245547670144,
|
|
"edge_lengths_px": [
|
|
17.11724281311035,
|
|
25.01999282836914,
|
|
17.029386520385742,
|
|
24.020824432373047
|
|
]
|
|
},
|
|
"confidence": 0.18966921411877496
|
|
},
|
|
{
|
|
"observation_id": "f8f7f529-1bd8-4bed-a1cb-ab7126df88a7",
|
|
"type": "aruco",
|
|
"marker_id": 88,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1096.0,
|
|
179.0
|
|
],
|
|
[
|
|
1091.0,
|
|
161.0
|
|
],
|
|
[
|
|
1114.0,
|
|
161.0
|
|
],
|
|
[
|
|
1119.0,
|
|
178.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1105.0,
|
|
169.75
|
|
],
|
|
"quality": {
|
|
"area_px": 405.0,
|
|
"perimeter_px": 82.42331504821777,
|
|
"sharpness": {
|
|
"laplacian_var": 2306.4865220249835
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 72.43910256410257,
|
|
"std_gray": 59.27967294811633
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6842061877250671,
|
|
"distance_to_border_px": 161.0
|
|
},
|
|
"edge_ratio": 1.2991913056123376,
|
|
"edge_lengths_px": [
|
|
18.681541442871094,
|
|
23.0,
|
|
17.72004508972168,
|
|
23.021728515625
|
|
]
|
|
},
|
|
"confidence": 0.20782158780899712
|
|
},
|
|
{
|
|
"observation_id": "031ac3e8-e589-4dd8-83f0-e2062931b90f",
|
|
"type": "aruco",
|
|
"marker_id": 70,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
927.0,
|
|
192.0
|
|
],
|
|
[
|
|
925.0,
|
|
175.0
|
|
],
|
|
[
|
|
949.0,
|
|
175.0
|
|
],
|
|
[
|
|
951.0,
|
|
192.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
938.0,
|
|
183.5
|
|
],
|
|
"quality": {
|
|
"area_px": 408.0,
|
|
"perimeter_px": 82.2344856262207,
|
|
"sharpness": {
|
|
"laplacian_var": 2343.745988888889
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 154.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 78.24333333333334,
|
|
"std_gray": 59.16342441820697
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4716681241989136,
|
|
"distance_to_border_px": 175.0
|
|
},
|
|
"edge_ratio": 1.4020949671648077,
|
|
"edge_lengths_px": [
|
|
17.11724281311035,
|
|
24.0,
|
|
17.11724281311035,
|
|
24.0
|
|
]
|
|
},
|
|
"confidence": 0.193995418548584
|
|
},
|
|
{
|
|
"observation_id": "560d4e79-550e-408d-9196-1940ddb9495d",
|
|
"type": "aruco",
|
|
"marker_id": 98,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
898.0,
|
|
181.0
|
|
],
|
|
[
|
|
896.0,
|
|
164.0
|
|
],
|
|
[
|
|
919.0,
|
|
164.0
|
|
],
|
|
[
|
|
922.0,
|
|
181.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
908.75,
|
|
172.5
|
|
],
|
|
"quality": {
|
|
"area_px": 399.5,
|
|
"perimeter_px": 81.37991905212402,
|
|
"sharpness": {
|
|
"laplacian_var": 2378.458997935823
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 154.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 72.06164383561644,
|
|
"std_gray": 59.69617396733982
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4462646245956421,
|
|
"distance_to_border_px": 164.0
|
|
},
|
|
"edge_ratio": 1.4020949671648077,
|
|
"edge_lengths_px": [
|
|
17.11724281311035,
|
|
23.0,
|
|
17.262676239013672,
|
|
24.0
|
|
]
|
|
},
|
|
"confidence": 0.1899538473288218
|
|
},
|
|
{
|
|
"observation_id": "3a1c8a62-4678-47a8-9516-62ce6c5b126c",
|
|
"type": "aruco",
|
|
"marker_id": 83,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
348.0,
|
|
168.0
|
|
],
|
|
[
|
|
350.0,
|
|
152.0
|
|
],
|
|
[
|
|
374.0,
|
|
151.0
|
|
],
|
|
[
|
|
372.0,
|
|
168.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
361.0,
|
|
159.75
|
|
],
|
|
"quality": {
|
|
"area_px": 395.0,
|
|
"perimeter_px": 81.26258277893066,
|
|
"sharpness": {
|
|
"laplacian_var": 3463.3613821673594
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 98.52595155709342,
|
|
"std_gray": 60.19719772309934
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4676894545555115,
|
|
"distance_to_border_px": 151.0
|
|
},
|
|
"edge_ratio": 1.489708288137177,
|
|
"edge_lengths_px": [
|
|
16.124515533447266,
|
|
24.020824432373047,
|
|
17.11724281311035,
|
|
24.0
|
|
]
|
|
},
|
|
"confidence": 0.17676838843571283
|
|
},
|
|
{
|
|
"observation_id": "be39f027-d73b-4fd8-8259-4450fc3747c8",
|
|
"type": "aruco",
|
|
"marker_id": 61,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
279.0,
|
|
171.0
|
|
],
|
|
[
|
|
281.0,
|
|
155.0
|
|
],
|
|
[
|
|
305.0,
|
|
154.0
|
|
],
|
|
[
|
|
304.0,
|
|
170.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
292.25,
|
|
162.5
|
|
],
|
|
"quality": {
|
|
"area_px": 390.5,
|
|
"perimeter_px": 81.19655227661133,
|
|
"sharpness": {
|
|
"laplacian_var": 3422.829771626974
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 168.75,
|
|
"dynamic_range": 159.75,
|
|
"mean_gray": 98.05944055944056,
|
|
"std_gray": 62.98240373395261
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5446262955665588,
|
|
"distance_to_border_px": 154.0
|
|
},
|
|
"edge_ratio": 1.560704278037201,
|
|
"edge_lengths_px": [
|
|
16.124515533447266,
|
|
24.020824432373047,
|
|
16.031219482421875,
|
|
25.01999282836914
|
|
]
|
|
},
|
|
"confidence": 0.1668050360320266
|
|
},
|
|
{
|
|
"observation_id": "d08dfd4d-6854-4fe2-bf58-984fb43dc403",
|
|
"type": "aruco",
|
|
"marker_id": 90,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
968.0,
|
|
179.0
|
|
],
|
|
[
|
|
965.0,
|
|
163.0
|
|
],
|
|
[
|
|
988.0,
|
|
162.0
|
|
],
|
|
[
|
|
992.0,
|
|
179.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
978.25,
|
|
170.75
|
|
],
|
|
"quality": {
|
|
"area_px": 389.5,
|
|
"perimeter_px": 80.76479721069336,
|
|
"sharpness": {
|
|
"laplacian_var": 1990.588963285743
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 77.13745704467354,
|
|
"std_gray": 60.160338504105574
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.527838945388794,
|
|
"distance_to_border_px": 162.0
|
|
},
|
|
"edge_ratio": 1.4743083309606915,
|
|
"edge_lengths_px": [
|
|
16.278820037841797,
|
|
23.021728515625,
|
|
17.464248657226562,
|
|
24.0
|
|
]
|
|
},
|
|
"confidence": 0.17612778902053833
|
|
},
|
|
{
|
|
"observation_id": "3ad5e067-35ff-4410-872c-1aba52a9d68a",
|
|
"type": "aruco",
|
|
"marker_id": 91,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1049.0,
|
|
170.0
|
|
],
|
|
[
|
|
1046.0,
|
|
154.0
|
|
],
|
|
[
|
|
1069.0,
|
|
153.0
|
|
],
|
|
[
|
|
1073.0,
|
|
170.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1059.25,
|
|
161.75
|
|
],
|
|
"quality": {
|
|
"area_px": 389.5,
|
|
"perimeter_px": 80.76479721069336,
|
|
"sharpness": {
|
|
"laplacian_var": 1711.2585113543769
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 151.5,
|
|
"dynamic_range": 144.5,
|
|
"mean_gray": 67.84536082474227,
|
|
"std_gray": 60.10552122082625
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6315658688545227,
|
|
"distance_to_border_px": 153.0
|
|
},
|
|
"edge_ratio": 1.4743083309606915,
|
|
"edge_lengths_px": [
|
|
16.278820037841797,
|
|
23.021728515625,
|
|
17.464248657226562,
|
|
24.0
|
|
]
|
|
},
|
|
"confidence": 0.17612778902053833
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
971.0,
|
|
502.0
|
|
],
|
|
[
|
|
795.0,
|
|
516.0
|
|
],
|
|
[
|
|
760.0,
|
|
487.0
|
|
],
|
|
[
|
|
943.0,
|
|
475.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
867.25,
|
|
495.0
|
|
],
|
|
"area_px": 5435.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
433.0,
|
|
310.0
|
|
],
|
|
[
|
|
426.0,
|
|
353.0
|
|
],
|
|
[
|
|
423.0,
|
|
344.0
|
|
],
|
|
[
|
|
426.0,
|
|
310.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
427.0,
|
|
329.25
|
|
],
|
|
"area_px": 215.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
434.0,
|
|
420.0
|
|
],
|
|
[
|
|
434.0,
|
|
452.0
|
|
],
|
|
[
|
|
429.0,
|
|
450.0
|
|
],
|
|
[
|
|
429.0,
|
|
440.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
431.5,
|
|
440.5
|
|
],
|
|
"area_px": 105.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
544.0,
|
|
317.0
|
|
],
|
|
[
|
|
550.0,
|
|
328.0
|
|
],
|
|
[
|
|
549.0,
|
|
344.0
|
|
],
|
|
[
|
|
543.0,
|
|
324.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
546.5,
|
|
328.25
|
|
],
|
|
"area_px": 84.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
49.0,
|
|
268.0
|
|
],
|
|
[
|
|
55.0,
|
|
266.0
|
|
],
|
|
[
|
|
70.0,
|
|
266.0
|
|
],
|
|
[
|
|
64.0,
|
|
268.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
59.5,
|
|
267.0
|
|
],
|
|
"area_px": 30.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
908.0,
|
|
245.0
|
|
],
|
|
[
|
|
923.0,
|
|
244.0
|
|
],
|
|
[
|
|
924.0,
|
|
248.0
|
|
],
|
|
[
|
|
909.0,
|
|
250.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
916.0,
|
|
246.75
|
|
],
|
|
"area_px": 69.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
643.0,
|
|
337.0
|
|
],
|
|
[
|
|
643.0,
|
|
353.0
|
|
],
|
|
[
|
|
641.0,
|
|
355.0
|
|
],
|
|
[
|
|
640.0,
|
|
340.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
641.75,
|
|
346.25
|
|
],
|
|
"area_px": 40.0
|
|
}
|
|
]
|
|
} |