Files
appRobotRender/data/evaluations/Scene8/render_g_aruco_detection.json
2026-06-02 07:09:26 +02:00

2037 lines
43 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T05:06:53Z",
"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\\Scene8\\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\\Scene8\\render_g.png",
"image_sha256": "57b85bb1078eb0ae084482f8b5ba3b0f2aa886d0f6e5f6cc75ecffb77fdecd3d",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 34,
"num_rejected_candidates": 6
},
"detections": [
{
"observation_id": "45802a68-6bd8-4527-9383-6a6f29b7cbb7",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
"image_points_px": [
[
586.0,
226.0
],
[
574.0,
261.0
],
[
546.0,
247.0
],
[
558.0,
214.0
]
],
"center_px": [
566.0,
237.0
],
"quality": {
"area_px": 1108.0,
"perimeter_px": 133.88214683532715,
"sharpness": {
"laplacian_var": 1414.0144799008929
},
"contrast": {
"p05": 7.0,
"p95": 131.0,
"dynamic_range": 124.0,
"mean_gray": 48.32941176470588,
"std_gray": 51.19248551161189
},
"geometry": {
"distance_to_center_norm": 0.19548407196998596,
"distance_to_border_px": 214.0
},
"edge_ratio": 1.2145844887816586,
"edge_lengths_px": [
37.0,
31.30495262145996,
35.11410140991211,
30.463092803955078
]
},
"confidence": 0.6081640869690491
},
{
"observation_id": "375130db-fcdb-416b-9b17-8c59b783b5ad",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
"image_points_px": [
[
541.0,
585.0
],
[
520.0,
563.0
],
[
542.0,
543.0
],
[
563.0,
564.0
]
],
"center_px": [
541.5,
563.75
],
"quality": {
"area_px": 903.5,
"perimeter_px": 120.25824737548828,
"sharpness": {
"laplacian_var": 5103.143214269628
},
"contrast": {
"p05": 27.0,
"p95": 180.0,
"dynamic_range": 153.0,
"mean_gray": 92.83892617449665,
"std_gray": 67.03690930812036
},
"geometry": {
"distance_to_center_norm": 0.30819758772850037,
"distance_to_border_px": 135.0
},
"edge_ratio": 1.0240863542535628,
"edge_lengths_px": [
30.4138126373291,
29.73213768005371,
29.698484420776367,
30.4138126373291
]
},
"confidence": 0.5881665455569544
},
{
"observation_id": "61e69845-59fb-4b5c-b9c8-6e0efff14e0d",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
"image_points_px": [
[
624.0,
508.0
],
[
603.0,
487.0
],
[
625.0,
468.0
],
[
646.0,
488.0
]
],
"center_px": [
624.5,
487.75
],
"quality": {
"area_px": 860.5,
"perimeter_px": 117.4995059967041,
"sharpness": {
"laplacian_var": 3645.4879206302335
},
"contrast": {
"p05": 32.0,
"p95": 182.0,
"dynamic_range": 150.0,
"mean_gray": 78.27115716753022,
"std_gray": 63.61048930355877
},
"geometry": {
"distance_to_center_norm": 0.17525053024291992,
"distance_to_border_px": 212.0
},
"edge_ratio": 1.0252461268984039,
"edge_lengths_px": [
29.698484420776367,
29.068883895874023,
29.0,
29.73213768005371
]
},
"confidence": 0.5595404377699383
},
{
"observation_id": "495b8e33-f126-4b44-9467-5b1985b829e3",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
"image_points_px": [
[
86.0,
662.0
],
[
62.0,
682.0
],
[
45.0,
662.0
],
[
68.0,
642.0
]
],
"center_px": [
65.25,
662.0
],
"quality": {
"area_px": 820.0,
"perimeter_px": 114.87655830383301,
"sharpness": {
"laplacian_var": 4622.010696713017
},
"contrast": {
"p05": 10.0,
"p95": 160.0,
"dynamic_range": 150.0,
"mean_gray": 80.29326047358835,
"std_gray": 64.80880926122214
},
"geometry": {
"distance_to_center_norm": 0.8841893672943115,
"distance_to_border_px": 38.0
},
"edge_ratio": 1.1901872672565836,
"edge_lengths_px": [
31.240999221801758,
26.248809814453125,
30.479501724243164,
26.90724754333496
]
},
"confidence": 0.3490767193505014
},
{
"observation_id": "aef9845c-1349-4298-bfa1-5f2f7f7e6976",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
840.0,
647.0
],
[
820.0,
667.0
],
[
799.0,
647.0
],
[
819.0,
627.0
]
],
"center_px": [
819.5,
647.0
],
"quality": {
"area_px": 820.0,
"perimeter_px": 114.56854248046875,
"sharpness": {
"laplacian_var": 3878.055503745476
},
"contrast": {
"p05": 41.0,
"p95": 184.0,
"dynamic_range": 143.0,
"mean_gray": 94.43302752293577,
"std_gray": 61.879874831666626
},
"geometry": {
"distance_to_center_norm": 0.4609958529472351,
"distance_to_border_px": 53.0
},
"edge_ratio": 1.0253048329824916,
"edge_lengths_px": [
28.284271240234375,
29.0,
28.284271240234375,
29.0
]
},
"confidence": 0.5331747682067169
},
{
"observation_id": "c55649be-0ee1-40f8-bad8-8c16f51e26d6",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
"image_points_px": [
[
123.0,
581.0
],
[
99.0,
600.0
],
[
82.0,
581.0
],
[
105.0,
562.0
]
],
"center_px": [
102.25,
581.0
],
"quality": {
"area_px": 779.0,
"perimeter_px": 112.11092758178711,
"sharpness": {
"laplacian_var": 3159.2503815930804
},
"contrast": {
"p05": 10.0,
"p95": 160.0,
"dynamic_range": 150.0,
"mean_gray": 56.17669172932331,
"std_gray": 61.66842867969203
},
"geometry": {
"distance_to_center_norm": 0.7917603254318237,
"distance_to_border_px": 82.0
},
"edge_ratio": 1.2006408576968535,
"edge_lengths_px": [
30.610456466674805,
25.495098114013672,
29.832868576049805,
26.172504425048828
]
},
"confidence": 0.43254677700170213
},
{
"observation_id": "e829b91a-e653-4f86-b5e0-6418fb75489c",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
"image_points_px": [
[
72.0,
559.0
],
[
49.0,
578.0
],
[
32.0,
559.0
],
[
55.0,
540.0
]
],
"center_px": [
52.0,
559.0
],
"quality": {
"area_px": 760.0,
"perimeter_px": 110.65593338012695,
"sharpness": {
"laplacian_var": 4106.049055910453
},
"contrast": {
"p05": 10.0,
"p95": 160.0,
"dynamic_range": 150.0,
"mean_gray": 90.30639097744361,
"std_gray": 65.45711243385217
},
"geometry": {
"distance_to_center_norm": 0.8453760743141174,
"distance_to_border_px": 32.0
},
"edge_ratio": 1.170141351982161,
"edge_lengths_px": [
29.832868576049805,
25.495098114013672,
29.832868576049805,
25.495098114013672
]
},
"confidence": 0.27711751756945874
},
{
"observation_id": "9d2d19bf-a239-4e6c-97bb-5a5780c011c8",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
"image_points_px": [
[
801.0,
564.0
],
[
782.0,
583.0
],
[
761.0,
564.0
],
[
780.0,
545.0
]
],
"center_px": [
781.0,
564.0
],
"quality": {
"area_px": 760.0,
"perimeter_px": 110.37932586669922,
"sharpness": {
"laplacian_var": 4240.313421146316
},
"contrast": {
"p05": 38.0,
"p95": 184.0,
"dynamic_range": 146.0,
"mean_gray": 91.30943396226415,
"std_gray": 62.58861269673776
},
"geometry": {
"distance_to_center_norm": 0.33771631121635437,
"distance_to_border_px": 137.0
},
"edge_ratio": 1.053946545658541,
"edge_lengths_px": [
26.870058059692383,
28.319604873657227,
26.870058059692383,
28.319604873657227
]
},
"confidence": 0.48073279309443956
},
{
"observation_id": "9db98572-52da-4ad4-b2d2-0b4ad3a26070",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
"image_points_px": [
[
889.0,
547.0
],
[
871.0,
566.0
],
[
849.0,
548.0
],
[
867.0,
529.0
]
],
"center_px": [
869.0,
547.5
],
"quality": {
"area_px": 742.0,
"perimeter_px": 109.1956901550293,
"sharpness": {
"laplacian_var": 4113.315773399943
},
"contrast": {
"p05": 44.0,
"p95": 185.29999999999995,
"dynamic_range": 141.29999999999995,
"mean_gray": 96.88543689320389,
"std_gray": 60.64802545672378
},
"geometry": {
"distance_to_center_norm": 0.40306055545806885,
"distance_to_border_px": 154.0
},
"edge_ratio": 1.0860764484296306,
"edge_lengths_px": [
26.172504425048828,
28.42534065246582,
26.172504425048828,
28.42534065246582
]
},
"confidence": 0.45546210617301425
},
{
"observation_id": "066685f0-84a4-47c7-bb4b-36fa5c6c53e2",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
728.0,
543.0
],
[
709.0,
562.0
],
[
688.0,
544.0
],
[
708.0,
525.0
]
],
"center_px": [
708.25,
543.5
],
"quality": {
"area_px": 740.5,
"perimeter_px": 109.02216911315918,
"sharpness": {
"laplacian_var": 3703.9558686623423
},
"contrast": {
"p05": 34.0,
"p95": 182.0,
"dynamic_range": 148.0,
"mean_gray": 122.44054580896686,
"std_gray": 65.20366109632847
},
"geometry": {
"distance_to_center_norm": 0.2666221559047699,
"distance_to_border_px": 158.0
},
"edge_ratio": 1.0293477641301256,
"edge_lengths_px": [
26.870058059692383,
27.658634185791016,
27.58622932434082,
26.90724754333496
]
},
"confidence": 0.4795917219326271
},
{
"observation_id": "ea66d7b9-6c8e-4665-acda-70559c7e3cf8",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
"image_points_px": [
[
104.0,
515.0
],
[
81.0,
533.0
],
[
65.0,
515.0
],
[
87.0,
496.0
]
],
"center_px": [
84.25,
514.75
],
"quality": {
"area_px": 721.5,
"perimeter_px": 107.85333442687988,
"sharpness": {
"laplacian_var": 3116.4511549612603
},
"contrast": {
"p05": 9.0,
"p95": 157.0,
"dynamic_range": 148.0,
"mean_gray": 48.32553606237817,
"std_gray": 57.67284615975553
},
"geometry": {
"distance_to_center_norm": 0.7856342196464539,
"distance_to_border_px": 65.0
},
"edge_ratio": 1.2127199347849176,
"edge_lengths_px": [
29.20616340637207,
24.083189010620117,
29.068883895874023,
25.495098114013672
]
},
"confidence": 0.39662908657084783
},
{
"observation_id": "f095c1fd-785d-48e5-bfb8-040b75bddca3",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
503.0,
514.0
],
[
485.0,
495.0
],
[
506.0,
477.0
],
[
524.0,
496.0
]
],
"center_px": [
504.5,
495.5
],
"quality": {
"area_px": 723.0,
"perimeter_px": 107.66227722167969,
"sharpness": {
"laplacian_var": 582.9357029133371
},
"contrast": {
"p05": 2.0,
"p95": 71.0,
"dynamic_range": 69.0,
"mean_gray": 27.84990253411306,
"std_gray": 28.254394420763433
},
"geometry": {
"distance_to_center_norm": 0.2609632611274719,
"distance_to_border_px": 206.0
},
"edge_ratio": 1.056782099894111,
"edge_lengths_px": [
26.172504425048828,
27.658634185791016,
26.172504425048828,
27.658634185791016
]
},
"confidence": 0.39338762460270227
},
{
"observation_id": "8e907d89-dc2e-4ab4-a4ec-663e909d625d",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
"image_points_px": [
[
61.0,
498.0
],
[
38.0,
516.0
],
[
22.0,
498.0
],
[
45.0,
480.0
]
],
"center_px": [
41.5,
498.0
],
"quality": {
"area_px": 702.0,
"perimeter_px": 106.57870483398438,
"sharpness": {
"laplacian_var": 3995.4965160782485
},
"contrast": {
"p05": 9.0,
"p95": 156.0,
"dynamic_range": 147.0,
"mean_gray": 82.92585170340682,
"std_gray": 63.90737687202768
},
"geometry": {
"distance_to_center_norm": 0.8364452719688416,
"distance_to_border_px": 22.0
},
"edge_ratio": 1.2127199347849176,
"edge_lengths_px": [
29.20616340637207,
24.083189010620117,
29.20616340637207,
24.083189010620117
]
},
"confidence": 0.1698001278724927
},
{
"observation_id": "8d1643b1-6188-401b-ac79-83e7e1d11fe2",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
"image_points_px": [
[
49.0,
458.0
],
[
26.0,
476.0
],
[
10.0,
458.0
],
[
32.0,
440.0
]
],
"center_px": [
29.25,
458.0
],
"quality": {
"area_px": 702.0,
"perimeter_px": 106.47352981567383,
"sharpness": {
"laplacian_var": 3711.328518394066
},
"contrast": {
"p05": 8.0,
"p95": 155.0,
"dynamic_range": 147.0,
"mean_gray": 60.0,
"std_gray": 60.87411558031966
},
"geometry": {
"distance_to_center_norm": 0.8423811793327332,
"distance_to_border_px": 10.0
},
"edge_ratio": 1.2127199347849176,
"edge_lengths_px": [
29.20616340637207,
24.083189010620117,
28.42534065246582,
24.75883674621582
]
},
"confidence": 0.07718187630567852
},
{
"observation_id": "4e621307-af8b-45c2-babc-a3e4959954db",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
"image_points_px": [
[
423.0,
436.0
],
[
405.0,
417.0
],
[
426.0,
400.0
],
[
444.0,
418.0
]
],
"center_px": [
424.5,
417.75
],
"quality": {
"area_px": 703.5,
"perimeter_px": 106.30549621582031,
"sharpness": {
"laplacian_var": 2826.766498386699
},
"contrast": {
"p05": 14.0,
"p95": 151.2,
"dynamic_range": 137.2,
"mean_gray": 61.40643863179074,
"std_gray": 57.4109738491046
},
"geometry": {
"distance_to_center_norm": 0.3038310110569,
"distance_to_border_px": 284.0
},
"edge_ratio": 1.0865337338869794,
"edge_lengths_px": [
26.172504425048828,
27.018512725830078,
25.45584487915039,
27.658634185791016
]
},
"confidence": 0.4316478958478293
},
{
"observation_id": "375a8b39-f118-4c41-b24b-943c6d980fdd",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
"image_points_px": [
[
527.0,
198.0
],
[
508.0,
211.0
],
[
520.0,
186.0
],
[
539.0,
171.0
]
],
"center_px": [
523.5,
191.5
],
"quality": {
"area_px": 326.0,
"perimeter_px": 104.50658798217773,
"sharpness": {
"laplacian_var": 1613.9235894698782
},
"contrast": {
"p05": 19.0,
"p95": 81.0,
"dynamic_range": 62.0,
"mean_gray": 37.55601659751037,
"std_gray": 22.897887504796095
},
"geometry": {
"distance_to_center_norm": 0.2789755165576935,
"distance_to_border_px": 171.0
},
"edge_ratio": 1.2834211653074858,
"edge_lengths_px": [
23.021728515625,
27.73084831237793,
24.20743751525879,
29.546573638916016
]
},
"confidence": 0.13123777126815542
},
{
"observation_id": "3001012d-7b80-415a-9d18-cece110567b2",
"type": "aruco",
"marker_id": 41,
"marker_size_m": 0.025,
"image_points_px": [
[
528.0,
266.0
],
[
495.0,
254.0
],
[
504.0,
240.0
],
[
537.0,
252.0
]
],
"center_px": [
516.0,
253.0
],
"quality": {
"area_px": 570.0,
"perimeter_px": 103.51483535766602,
"sharpness": {
"laplacian_var": 3325.5749954907365
},
"contrast": {
"p05": 25.0,
"p95": 185.0,
"dynamic_range": 160.0,
"mean_gray": 73.52030456852792,
"std_gray": 61.639906019724236
},
"geometry": {
"distance_to_center_norm": 0.22304624319076538,
"distance_to_border_px": 240.0
},
"edge_ratio": 2.1098019675010837,
"edge_lengths_px": [
35.11410140991211,
16.6433162689209,
35.11410140991211,
16.6433162689209
]
},
"confidence": 0.1801116909802127
},
{
"observation_id": "04630cac-e622-4562-94c3-c11d2c187ac1",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
"image_points_px": [
[
730.0,
415.0
],
[
711.0,
433.0
],
[
692.0,
415.0
],
[
710.0,
398.0
]
],
"center_px": [
710.75,
415.25
],
"quality": {
"area_px": 665.0,
"perimeter_px": 103.3526554107666,
"sharpness": {
"laplacian_var": 3879.2134925852874
},
"contrast": {
"p05": 30.0,
"p95": 182.0,
"dynamic_range": 152.0,
"mean_gray": 93.47008547008546,
"std_gray": 66.77066537554909
},
"geometry": {
"distance_to_center_norm": 0.1222480833530426,
"distance_to_border_px": 287.0
},
"edge_ratio": 1.0601794455656337,
"edge_lengths_px": [
26.172504425048828,
26.172504425048828,
24.75883674621582,
26.248809814453125
]
},
"confidence": 0.4181682027393045
},
{
"observation_id": "73b5c48f-516f-4beb-84a4-9df96a79f22c",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
641.0,
352.0
],
[
623.0,
369.0
],
[
604.0,
351.0
],
[
623.0,
335.0
]
],
"center_px": [
622.75,
351.75
],
"quality": {
"area_px": 629.0,
"perimeter_px": 100.5296630859375,
"sharpness": {
"laplacian_var": 4175.852684959178
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 90.11467889908256,
"std_gray": 67.32224754037642
},
"geometry": {
"distance_to_center_norm": 0.026040121912956238,
"distance_to_border_px": 335.0
},
"edge_ratio": 1.057097499907748,
"edge_lengths_px": [
24.75883674621582,
26.172504425048828,
24.83948516845703,
24.75883674621582
]
},
"confidence": 0.39668368657567366
},
{
"observation_id": "4d0e3b83-750e-47ae-a435-08e5381f7974",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
"image_points_px": [
[
780.0,
332.0
],
[
763.0,
349.0
],
[
743.0,
333.0
],
[
760.0,
316.0
]
],
"center_px": [
761.5,
332.5
],
"quality": {
"area_px": 612.0,
"perimeter_px": 99.30825424194336,
"sharpness": {
"laplacian_var": 4010.7918145350113
},
"contrast": {
"p05": 30.0,
"p95": 182.0,
"dynamic_range": 152.0,
"mean_gray": 80.78384798099762,
"std_gray": 63.73451710202778
},
"geometry": {
"distance_to_center_norm": 0.16964846849441528,
"distance_to_border_px": 316.0
},
"edge_ratio": 1.0653394779010876,
"edge_lengths_px": [
24.041629791259766,
25.612497329711914,
24.041629791259766,
25.612497329711914
]
},
"confidence": 0.3829765144945479
},
{
"observation_id": "06c95ba7-95d1-4491-bf68-1963b38874fd",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
"image_points_px": [
[
199.0,
218.0
],
[
183.0,
202.0
],
[
204.0,
186.0
],
[
220.0,
202.0
]
],
"center_px": [
201.5,
202.0
],
"quality": {
"area_px": 592.0,
"perimeter_px": 98.05634689331055,
"sharpness": {
"laplacian_var": 3645.144319202116
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 70.0960591133005,
"std_gray": 63.48420643930294
},
"geometry": {
"distance_to_center_norm": 0.6347478032112122,
"distance_to_border_px": 183.0
},
"edge_ratio": 1.1667596566650227,
"edge_lengths_px": [
22.627416610717773,
26.4007568359375,
22.627416610717773,
26.4007568359375
]
},
"confidence": 0.3382587531306593
},
{
"observation_id": "aa6b0e8e-797d-43aa-8dcb-c5b28003eb81",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
"image_points_px": [
[
701.0,
268.0
],
[
683.0,
285.0
],
[
665.0,
269.0
],
[
682.0,
253.0
]
],
"center_px": [
682.75,
268.75
],
"quality": {
"area_px": 576.5,
"perimeter_px": 96.39469909667969,
"sharpness": {
"laplacian_var": 3862.863279623074
},
"contrast": {
"p05": 25.0,
"p95": 179.0,
"dynamic_range": 154.0,
"mean_gray": 108.67091836734694,
"std_gray": 67.36237952052174
},
"geometry": {
"distance_to_center_norm": 0.13722912967205048,
"distance_to_border_px": 253.0
},
"edge_ratio": 1.0605520086518976,
"edge_lengths_px": [
24.75883674621582,
24.083189010620117,
23.34523582458496,
24.20743751525879
]
},
"confidence": 0.3623898971459892
},
{
"observation_id": "e24758d8-b688-412a-81f9-ac6dd8914548",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
"image_points_px": [
[
648.0,
262.0
],
[
631.0,
278.0
],
[
612.0,
263.0
],
[
630.0,
247.0
]
],
"center_px": [
630.25,
262.5
],
"quality": {
"area_px": 558.5,
"perimeter_px": 95.06661224365234,
"sharpness": {
"laplacian_var": 3569.1988256207833
},
"contrast": {
"p05": 22.0,
"p95": 177.0,
"dynamic_range": 155.0,
"mean_gray": 59.98941798941799,
"std_gray": 58.87121532498847
},
"geometry": {
"distance_to_center_norm": 0.13344134390354156,
"distance_to_border_px": 247.0
},
"edge_ratio": 1.0369326614283263,
"edge_lengths_px": [
23.34523582458496,
24.20743751525879,
24.083189010620117,
23.430749893188477
]
},
"confidence": 0.3590718541167963
},
{
"observation_id": "03ab8c8e-6bcc-47ed-97ef-3a31eef319de",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
"image_points_px": [
[
130.0,
150.0
],
[
115.0,
135.0
],
[
136.0,
120.0
],
[
151.0,
135.0
]
],
"center_px": [
133.0,
135.0
],
"quality": {
"area_px": 540.0,
"perimeter_px": 94.04035949707031,
"sharpness": {
"laplacian_var": 3633.0481789423593
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 78.17989417989418,
"std_gray": 62.911791931322114
},
"geometry": {
"distance_to_center_norm": 0.7553886771202087,
"distance_to_border_px": 115.0
},
"edge_ratio": 1.216552530753038,
"edge_lengths_px": [
21.21320343017578,
25.806976318359375,
21.21320343017578,
25.806976318359375
]
},
"confidence": 0.29591817114314195
},
{
"observation_id": "69493694-aeea-437a-ae92-8ab2be9afd3a",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
"image_points_px": [
[
309.0,
157.0
],
[
289.0,
172.0
],
[
273.0,
157.0
],
[
293.0,
142.0
]
],
"center_px": [
291.0,
157.0
],
"quality": {
"area_px": 540.0,
"perimeter_px": 93.8634262084961,
"sharpness": {
"laplacian_var": 3374.5356512975563
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 63.473544973544975,
"std_gray": 63.53947728103725
},
"geometry": {
"distance_to_center_norm": 0.5498347282409668,
"distance_to_border_px": 142.0
},
"edge_ratio": 1.1399018344425471,
"edge_lengths_px": [
25.0,
21.931713104248047,
25.0,
21.931713104248047
]
},
"confidence": 0.3158166687011719
},
{
"observation_id": "42086b89-add3-4c53-885e-61018ff5ed97",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
"image_points_px": [
[
460.0,
183.0
],
[
441.0,
198.0
],
[
425.0,
182.0
],
[
444.0,
168.0
]
],
"center_px": [
442.5,
182.75
],
"quality": {
"area_px": 526.5,
"perimeter_px": 92.3674144744873,
"sharpness": {
"laplacian_var": 2584.1210283355226
},
"contrast": {
"p05": 14.0,
"p95": 168.0,
"dynamic_range": 154.0,
"mean_gray": 43.797260273972604,
"std_gray": 52.64934393847121
},
"geometry": {
"distance_to_center_norm": 0.36139723658561707,
"distance_to_border_px": 168.0
},
"edge_ratio": 1.1037640972318732,
"edge_lengths_px": [
24.20743751525879,
22.627416610717773,
23.600847244262695,
21.931713104248047
]
},
"confidence": 0.31800273344664126
},
{
"observation_id": "46aeb112-9a6a-41e8-b34b-b64672a0f98c",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
"image_points_px": [
[
511.0,
166.0
],
[
493.0,
181.0
],
[
476.0,
166.0
],
[
496.0,
151.0
]
],
"center_px": [
494.0,
166.0
],
"quality": {
"area_px": 525.0,
"perimeter_px": 92.31552124023438,
"sharpness": {
"laplacian_var": 3988.960863329007
},
"contrast": {
"p05": 17.0,
"p95": 172.89999999999998,
"dynamic_range": 155.89999999999998,
"mean_gray": 125.2892561983471,
"std_gray": 58.87060630547796
},
"geometry": {
"distance_to_center_norm": 0.33065441250801086,
"distance_to_border_px": 151.0
},
"edge_ratio": 1.1785113022787261,
"edge_lengths_px": [
23.430749893188477,
22.671567916870117,
25.0,
21.21320343017578
]
},
"confidence": 0.2969848480224609
},
{
"observation_id": "f735d7d0-e02c-4c05-918a-7a8c2dcd64c5",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
"image_points_px": [
[
336.0,
130.0
],
[
317.0,
145.0
],
[
301.0,
130.0
],
[
320.0,
115.0
]
],
"center_px": [
318.5,
130.0
],
"quality": {
"area_px": 525.0,
"perimeter_px": 92.27830123901367,
"sharpness": {
"laplacian_var": 4094.997830737474
},
"contrast": {
"p05": 12.0,
"p95": 168.0,
"dynamic_range": 156.0,
"mean_gray": 102.7068493150685,
"std_gray": 63.62690119616552
},
"geometry": {
"distance_to_center_norm": 0.5383343696594238,
"distance_to_border_px": 115.0
},
"edge_ratio": 1.1037640972318732,
"edge_lengths_px": [
24.20743751525879,
21.931713104248047,
24.20743751525879,
21.931713104248047
]
},
"confidence": 0.3170967427530611
},
{
"observation_id": "c0c8702b-f8f4-44d1-8889-9e7ba6e2c9b8",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
"image_points_px": [
[
397.0,
109.0
],
[
379.0,
124.0
],
[
362.0,
109.0
],
[
381.0,
94.0
]
],
"center_px": [
379.75,
109.0
],
"quality": {
"area_px": 525.0,
"perimeter_px": 92.24146842956543,
"sharpness": {
"laplacian_var": 3375.194925877275
},
"contrast": {
"p05": 12.0,
"p95": 169.0,
"dynamic_range": 157.0,
"mean_gray": 99.71506849315068,
"std_gray": 66.8933390857147
},
"geometry": {
"distance_to_center_norm": 0.49239593744277954,
"distance_to_border_px": 94.0
},
"edge_ratio": 1.1037640972318732,
"edge_lengths_px": [
23.430749893188477,
22.671567916870117,
24.20743751525879,
21.931713104248047
]
},
"confidence": 0.3170967427530611
},
{
"observation_id": "ac21e6c4-5305-4d78-aa43-2b8df6a9de2e",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
"image_points_px": [
[
523.0,
392.0
],
[
494.0,
380.0
],
[
489.0,
367.0
],
[
519.0,
379.0
]
],
"center_px": [
506.25,
379.5
],
"quality": {
"area_px": 329.5,
"perimeter_px": 91.22555923461914,
"sharpness": {
"laplacian_var": 960.690516374605
},
"contrast": {
"p05": 18.0,
"p95": 87.0,
"dynamic_range": 69.0,
"mean_gray": 35.29237288135593,
"std_gray": 23.67441820658496
},
"geometry": {
"distance_to_center_norm": 0.18407133221626282,
"distance_to_border_px": 328.0
},
"edge_ratio": 2.375551108049711,
"edge_lengths_px": [
31.38471031188965,
13.928388595581055,
32.31098937988281,
13.601470947265625
]
},
"confidence": 0.07975517738094284
},
{
"observation_id": "25d32ff0-77fe-4cd0-bad9-fc1b6eb1bc81",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
"image_points_px": [
[
387.0,
44.0
],
[
368.0,
59.0
],
[
352.0,
44.0
],
[
371.0,
30.0
]
],
"center_px": [
369.5,
44.25
],
"quality": {
"area_px": 507.5,
"perimeter_px": 91.00028991699219,
"sharpness": {
"laplacian_var": 3261.5671683242635
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 62.131506849315066,
"std_gray": 62.01987502187831
},
"geometry": {
"distance_to_center_norm": 0.5662168264389038,
"distance_to_border_px": 30.0
},
"edge_ratio": 1.1386220591259189,
"edge_lengths_px": [
24.20743751525879,
21.931713104248047,
23.600847244262695,
21.260292053222656
]
},
"confidence": 0.17828567290874034
},
{
"observation_id": "1b5d8b3f-96f1-4461-906f-ce26071a0ee3",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
"image_points_px": [
[
480.0,
71.0
],
[
462.0,
85.0
],
[
446.0,
70.0
],
[
464.0,
56.0
]
],
"center_px": [
463.0,
70.5
],
"quality": {
"area_px": 494.0,
"perimeter_px": 89.47044372558594,
"sharpness": {
"laplacian_var": 4670.437491929235
},
"contrast": {
"p05": 13.0,
"p95": 171.0,
"dynamic_range": 158.0,
"mean_gray": 84.45170454545455,
"std_gray": 65.03327773535342
},
"geometry": {
"distance_to_center_norm": 0.4621008336544037,
"distance_to_border_px": 56.0
},
"edge_ratio": 1.0397504586236819,
"edge_lengths_px": [
22.803508758544922,
21.931713104248047,
22.803508758544922,
21.931713104248047
]
},
"confidence": 0.3167426670523156
},
{
"observation_id": "ca1df5ea-dc2a-463d-b6d0-dc52e4a8580d",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
"image_points_px": [
[
260.0,
42.0
],
[
241.0,
56.0
],
[
226.0,
42.0
],
[
245.0,
28.0
]
],
"center_px": [
243.0,
42.0
],
"quality": {
"area_px": 476.0,
"perimeter_px": 88.23826217651367,
"sharpness": {
"laplacian_var": 3207.674136059662
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 54.16568047337278,
"std_gray": 59.906799455376174
},
"geometry": {
"distance_to_center_norm": 0.6927092671394348,
"distance_to_border_px": 28.0
},
"edge_ratio": 1.1502349525772275,
"edge_lengths_px": [
23.600847244262695,
20.51828384399414,
23.600847244262695,
20.51828384399414
]
},
"confidence": 0.15449597168691093
},
{
"observation_id": "9a5f6c06-afa7-4077-805d-d15d98eb1195",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,
"image_points_px": [
[
316.0,
30.0
],
[
297.0,
43.0
],
[
282.0,
29.0
],
[
302.0,
16.0
]
],
"center_px": [
299.25,
29.5
],
"quality": {
"area_px": 461.5,
"perimeter_px": 87.19272422790527,
"sharpness": {
"laplacian_var": 4543.295715211096
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 102.7746913580247,
"std_gray": 63.54507859617162
},
"geometry": {
"distance_to_center_norm": 0.646465003490448,
"distance_to_border_px": 16.0
},
"edge_ratio": 1.2047948566010105,
"edge_lengths_px": [
23.021728515625,
20.51828384399414,
23.853721618652344,
19.79899024963379
]
},
"confidence": 0.08171792300897739
}
],
"rejected_candidates": [
{
"image_points_px": [
[
477.0,
441.0
],
[
513.0,
473.0
],
[
495.0,
467.0
],
[
482.0,
453.0
]
],
"center_px": [
491.75,
458.5
],
"area_px": 223.0
},
{
"image_points_px": [
[
492.0,
291.0
],
[
496.0,
304.0
],
[
480.0,
333.0
],
[
478.0,
317.0
]
],
"center_px": [
486.5,
311.25
],
"area_px": 300.0
},
{
"image_points_px": [
[
587.0,
506.0
],
[
598.0,
521.0
],
[
580.0,
536.0
],
[
566.0,
524.0
]
],
"center_px": [
582.75,
521.75
],
"area_px": 469.5
},
{
"image_points_px": [
[
552.0,
443.0
],
[
537.0,
440.0
],
[
529.0,
435.0
],
[
550.0,
433.0
]
],
"center_px": [
542.0,
437.75
],
"area_px": 132.5
},
{
"image_points_px": [
[
569.0,
312.0
],
[
569.0,
317.0
],
[
559.0,
333.0
],
[
562.0,
320.0
]
],
"center_px": [
564.75,
320.5
],
"area_px": 58.5
},
{
"image_points_px": [
[
273.0,
678.0
],
[
275.0,
678.0
],
[
290.0,
692.0
],
[
281.0,
687.0
]
],
"center_px": [
279.75,
683.75
],
"area_px": 34.5
}
]
}