Files
appRobotRender/data/evaluations/Scene9b/render_e_aruco_detection.json
2026-05-31 17:39:25 +02:00

2075 lines
43 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T14:41:33Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"camera": {
"camera_id": "e",
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_a.npz",
"camera_matrix": [
[
2000.0,
0.0,
720.0
],
[
0.0,
2250.0,
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\\Scene9b\\render_e.png",
"image_sha256": "3f7b08eb984ff721d83775bf09db51ea1a5cb0fea2736acf5fcbd85be077f025",
"width_px": 4896,
"height_px": 3264
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 31,
"num_rejected_candidates": 14
},
"detections": [
{
"observation_id": "126e4bd3-4496-4907-a393-b3a016e49f16",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
"image_points_px": [
[
2452.0,
815.0
],
[
2331.0,
801.0
],
[
2337.0,
661.0
],
[
2458.0,
674.0
]
],
"center_px": [
2394.5,
737.75
],
"quality": {
"area_px": 17081.5,
"perimeter_px": 524.7596893310547,
"sharpness": {
"laplacian_var": 89.02267792242195
},
"contrast": {
"p05": 30.0,
"p95": 168.0,
"dynamic_range": 138.0,
"mean_gray": 63.59243020758769,
"std_gray": 55.00172812375499
},
"geometry": {
"distance_to_center_norm": 0.30448994040489197,
"distance_to_border_px": 661.0
},
"edge_ratio": 1.159670096820992,
"edge_lengths_px": [
121.8072280883789,
140.12850952148438,
121.69634246826172,
141.1276092529297
]
},
"confidence": 0.6397126660307684
},
{
"observation_id": "b5ce0f91-4b2b-468c-9364-75b063387f6a",
"type": "aruco",
"marker_id": 244,
"marker_size_m": 0.025,
"image_points_px": [
[
2614.0,
1812.0
],
[
2506.0,
1835.0
],
[
2514.0,
1698.0
],
[
2620.0,
1681.0
]
],
"center_px": [
2563.5,
1756.5
],
"quality": {
"area_px": 14198.0,
"perimeter_px": 486.1471862792969,
"sharpness": {
"laplacian_var": 38.04407757746846
},
"contrast": {
"p05": 10.0,
"p95": 89.0,
"dynamic_range": 79.0,
"mean_gray": 44.25121555915721,
"std_gray": 36.66419655324779
},
"geometry": {
"distance_to_center_norm": 0.057721756398677826,
"distance_to_border_px": 1429.0
},
"edge_ratio": 1.2783191682059836,
"edge_lengths_px": [
110.42192077636719,
137.23338317871094,
107.35455322265625,
131.1373291015625
]
},
"confidence": 0.24490836314686093
},
{
"observation_id": "a78d0bbf-df68-4e3b-a068-d5b20a74cddb",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
"image_points_px": [
[
2469.0,
2791.0
],
[
2596.0,
2755.0
],
[
2692.0,
2808.0
],
[
2571.0,
2848.0
]
],
"center_px": [
2582.0,
2800.5
],
"quality": {
"area_px": 10582.0,
"perimeter_px": 485.9485855102539,
"sharpness": {
"laplacian_var": 798.5352821224925
},
"contrast": {
"p05": 48.0,
"p95": 170.0,
"dynamic_range": 122.0,
"mean_gray": 138.36036295549474,
"std_gray": 38.05271700522787
},
"geometry": {
"distance_to_center_norm": 0.39976420998573303,
"distance_to_border_px": 416.0
},
"edge_ratio": 1.2037708877939008,
"edge_lengths_px": [
132.0037841796875,
109.65856170654297,
127.440185546875,
116.84605407714844
]
},
"confidence": 0.830722864408739
},
{
"observation_id": "2a8be1bc-6364-4941-b582-dc7e128a7706",
"type": "aruco",
"marker_id": 206,
"marker_size_m": 0.025,
"image_points_px": [
[
4654.0,
2386.0
],
[
4785.0,
2430.0
],
[
4695.0,
2463.0
],
[
4564.0,
2416.0
]
],
"center_px": [
4674.5,
2423.75
],
"quality": {
"area_px": 8221.5,
"perimeter_px": 468.09564208984375,
"sharpness": {
"laplacian_var": 517.6482033158767
},
"contrast": {
"p05": 23.0,
"p95": 160.0,
"dynamic_range": 137.0,
"mean_gray": 89.48617469327962,
"std_gray": 49.59573284084786
},
"geometry": {
"distance_to_center_norm": 0.8031885027885437,
"distance_to_border_px": 111.0
},
"edge_ratio": 1.467045373941802,
"edge_lengths_px": [
138.19189453125,
95.85926818847656,
139.1761474609375,
94.86833190917969
]
},
"confidence": 0.6816421753289754
},
{
"observation_id": "33b69324-0019-4850-8c54-23300da5a19e",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
"image_points_px": [
[
2334.0,
1686.0
],
[
2329.0,
1818.0
],
[
2246.0,
1788.0
],
[
2251.0,
1657.0
]
],
"center_px": [
2290.0,
1737.25
],
"quality": {
"area_px": 11062.0,
"perimeter_px": 439.3657760620117,
"sharpness": {
"laplacian_var": 262.86164666461065
},
"contrast": {
"p05": 34.0,
"p95": 177.0,
"dynamic_range": 143.0,
"mean_gray": 87.81031636863824,
"std_gray": 65.61113971142998
},
"geometry": {
"distance_to_center_norm": 0.06452677398920059,
"distance_to_border_px": 1446.0
},
"edge_ratio": 1.5024344612351455,
"edge_lengths_px": [
132.09466552734375,
88.25531005859375,
131.0953826904297,
87.92041778564453
]
},
"confidence": 0.6655864370801932
},
{
"observation_id": "200ffbed-08fe-4add-8bf7-67760a6cae1d",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
"image_points_px": [
[
1751.0,
2488.0
],
[
1875.0,
2457.0
],
[
1955.0,
2499.0
],
[
1833.0,
2534.0
]
],
"center_px": [
1853.5,
2494.5
],
"quality": {
"area_px": 8085.0,
"perimeter_px": 439.11363983154297,
"sharpness": {
"laplacian_var": 129.29205059561806
},
"contrast": {
"p05": 24.0,
"p95": 171.0,
"dynamic_range": 147.0,
"mean_gray": 64.52851285874021,
"std_gray": 55.21407384301147
},
"geometry": {
"distance_to_center_norm": 0.3560476303100586,
"distance_to_border_px": 730.0
},
"edge_ratio": 1.4146032522862466,
"edge_lengths_px": [
127.81627655029297,
90.3548583984375,
126.92123413085938,
94.02127075195312
]
},
"confidence": 0.706911989905173
},
{
"observation_id": "e9033344-26ad-4641-b755-8422c6e1e96f",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
"image_points_px": [
[
1474.0,
2462.0
],
[
1601.0,
2431.0
],
[
1676.0,
2473.0
],
[
1552.0,
2507.0
]
],
"center_px": [
1575.75,
2468.25
],
"quality": {
"area_px": 7945.5,
"perimeter_px": 435.31483459472656,
"sharpness": {
"laplacian_var": 111.32550009707099
},
"contrast": {
"p05": 23.0,
"p95": 176.0,
"dynamic_range": 153.0,
"mean_gray": 111.40407696704135,
"std_gray": 62.22143476893076
},
"geometry": {
"distance_to_center_norm": 0.41070929169654846,
"distance_to_border_px": 757.0
},
"edge_ratio": 1.5208214252494219,
"edge_lengths_px": [
130.72872924804688,
85.95928955078125,
128.5768280029297,
90.04998779296875
]
},
"confidence": 0.6100075166002975
},
{
"observation_id": "cdf4ef56-5cf5-4c91-aa36-e57b09e0e473",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
"image_points_px": [
[
2726.0,
2377.0
],
[
2832.0,
2346.0
],
[
2926.0,
2387.0
],
[
2818.0,
2418.0
]
],
"center_px": [
2825.5,
2382.0
],
"quality": {
"area_px": 7270.0,
"perimeter_px": 426.07586669921875,
"sharpness": {
"laplacian_var": 126.25668646754218
},
"contrast": {
"p05": 23.0,
"p95": 166.0,
"dynamic_range": 143.0,
"mean_gray": 53.75299055613851,
"std_gray": 49.03051338063086
},
"geometry": {
"distance_to_center_norm": 0.2853873074054718,
"distance_to_border_px": 846.0
},
"edge_ratio": 1.1155516049412642,
"edge_lengths_px": [
110.44002532958984,
102.55242919921875,
112.36102294921875,
100.7223892211914
]
},
"confidence": 0.8964175171911046
},
{
"observation_id": "25d8b8ba-b273-439f-988d-28852b0eeff4",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
"image_points_px": [
[
2696.0,
599.0
],
[
2628.0,
606.0
],
[
2634.0,
463.0
],
[
2703.0,
457.0
]
],
"center_px": [
2665.25,
531.25
],
"quality": {
"area_px": 9719.0,
"perimeter_px": 422.91796875,
"sharpness": {
"laplacian_var": 21.68886850070263
},
"contrast": {
"p05": 8.0,
"p95": 77.0,
"dynamic_range": 69.0,
"mean_gray": 37.2205329153605,
"std_gray": 29.834645421516242
},
"geometry": {
"distance_to_center_norm": 0.38135093450546265,
"distance_to_border_px": 457.0
},
"edge_ratio": 2.0937272739853903,
"edge_lengths_px": [
68.35934448242188,
143.12582397460938,
69.2603759765625,
142.17242431640625
]
},
"confidence": 0.07445513285599388
},
{
"observation_id": "ae759acd-af0d-419a-9e54-b287f05de6b0",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
"image_points_px": [
[
2541.0,
2333.0
],
[
2649.0,
2304.0
],
[
2739.0,
2343.0
],
[
2631.0,
2374.0
]
],
"center_px": [
2640.0,
2338.5
],
"quality": {
"area_px": 7020.0,
"perimeter_px": 421.1724166870117,
"sharpness": {
"laplacian_var": 142.64538846809614
},
"contrast": {
"p05": 22.0,
"p95": 171.0,
"dynamic_range": 149.0,
"mean_gray": 94.15988869863014,
"std_gray": 65.39817055001602
},
"geometry": {
"distance_to_center_norm": 0.24884164333343506,
"distance_to_border_px": 890.0
},
"edge_ratio": 1.1455276932091276,
"edge_lengths_px": [
111.82575988769531,
98.0866928100586,
112.36102294921875,
98.89894104003906
]
},
"confidence": 0.8729601265234885
},
{
"observation_id": "da5ac926-b042-41a3-8f41-96d6d963b5c3",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
1891.0,
2294.0
],
[
2007.0,
2265.0
],
[
2085.0,
2303.0
],
[
1970.0,
2333.0
]
],
"center_px": [
1988.25,
2298.75
],
"quality": {
"area_px": 6762.5,
"perimeter_px": 413.2849578857422,
"sharpness": {
"laplacian_var": 235.94985972265863
},
"contrast": {
"p05": 27.0,
"p95": 176.0,
"dynamic_range": 149.0,
"mean_gray": 92.477821695213,
"std_gray": 63.63262315060959
},
"geometry": {
"distance_to_center_norm": 0.2752741575241089,
"distance_to_border_px": 931.0
},
"edge_ratio": 1.3781061007952895,
"edge_lengths_px": [
119.57006072998047,
86.76404571533203,
118.84864044189453,
88.10221099853516
]
},
"confidence": 0.7256335338932984
},
{
"observation_id": "571fa1a5-58f8-4294-90be-a0198babe73c",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
"image_points_px": [
[
1171.0,
2306.0
],
[
1297.0,
2277.0
],
[
1364.0,
2315.0
],
[
1239.0,
2345.0
]
],
"center_px": [
1267.75,
2310.75
],
"quality": {
"area_px": 6823.0,
"perimeter_px": 413.2598648071289,
"sharpness": {
"laplacian_var": 183.3419915675498
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 75.59458278724334,
"std_gray": 64.56974505057512
},
"geometry": {
"distance_to_center_norm": 0.46276116371154785,
"distance_to_border_px": 919.0
},
"edge_ratio": 1.6785797628910133,
"edge_lengths_px": [
129.2942352294922,
77.02597045898438,
128.5496063232422,
78.39005279541016
]
},
"confidence": 0.5957417229180119
},
{
"observation_id": "80abaa41-b04d-41e6-9795-72b38811e43a",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
"image_points_px": [
[
1963.0,
1576.0
],
[
2038.0,
1603.0
],
[
2044.0,
1726.0
],
[
1969.0,
1699.0
]
],
"center_px": [
2003.5,
1651.0
],
"quality": {
"area_px": 9063.0,
"perimeter_px": 405.7164764404297,
"sharpness": {
"laplacian_var": 764.4726864106423
},
"contrast": {
"p05": 34.0,
"p95": 177.0,
"dynamic_range": 143.0,
"mean_gray": 79.16176470588235,
"std_gray": 63.77512010556621
},
"geometry": {
"distance_to_center_norm": 0.151218980550766,
"distance_to_border_px": 1538.0
},
"edge_ratio": 1.5448901316987762,
"edge_lengths_px": [
79.71198272705078,
123.14625549316406,
79.71198272705078,
123.14625549316406
]
},
"confidence": 0.6472952215057457
},
{
"observation_id": "50b3356f-fc72-4c08-9b5f-2882899944f8",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
"image_points_px": [
[
2981.0,
2014.0
],
[
3071.0,
2047.0
],
[
2972.0,
2074.0
],
[
2879.0,
2039.0
]
],
"center_px": [
2975.75,
2043.5
],
"quality": {
"area_px": 5796.0,
"perimeter_px": 402.8621063232422,
"sharpness": {
"laplacian_var": 228.76811188999412
},
"contrast": {
"p05": 12.0,
"p95": 141.0,
"dynamic_range": 129.0,
"mean_gray": 56.70350194552529,
"std_gray": 53.78943937238778
},
"geometry": {
"distance_to_center_norm": 0.22746029496192932,
"distance_to_border_px": 1190.0
},
"edge_ratio": 1.0955543992080523,
"edge_lengths_px": [
95.85926818847656,
102.61579132080078,
99.36800384521484,
105.01904296875
]
},
"confidence": 0.912779868094979
},
{
"observation_id": "d6b93c2e-455d-4063-b8e6-1c843385663c",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
"image_points_px": [
[
2454.0,
2209.0
],
[
2558.0,
2181.0
],
[
2644.0,
2217.0
],
[
2538.0,
2246.0
]
],
"center_px": [
2548.5,
2213.25
],
"quality": {
"area_px": 6255.0,
"perimeter_px": 402.61739349365234,
"sharpness": {
"laplacian_var": 472.77850753513314
},
"contrast": {
"p05": 24.0,
"p95": 171.0,
"dynamic_range": 147.0,
"mean_gray": 98.43461538461538,
"std_gray": 64.21513610996477
},
"geometry": {
"distance_to_center_norm": 0.20049230754375458,
"distance_to_border_px": 1018.0
},
"edge_ratio": 1.1972769082048507,
"edge_lengths_px": [
107.70329284667969,
93.23089599609375,
109.8954086303711,
91.78779602050781
]
},
"confidence": 0.8352286702826001
},
{
"observation_id": "9cd8634e-135a-4c47-9434-32d14866a1e6",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
"image_points_px": [
[
2158.0,
1415.0
],
[
2233.0,
1438.0
],
[
2128.0,
1461.0
],
[
2044.0,
1436.0
]
],
"center_px": [
2140.75,
1437.5
],
"quality": {
"area_px": 4377.0,
"perimeter_px": 389.49635314941406,
"sharpness": {
"laplacian_var": 1569.3094335331502
},
"contrast": {
"p05": 23.0,
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 64.64066193853428,
"std_gray": 64.07161452633831
},
"geometry": {
"distance_to_center_norm": 0.12359695881605148,
"distance_to_border_px": 1415.0
},
"edge_ratio": 1.4776528744356057,
"edge_lengths_px": [
78.44743347167969,
107.48953247070312,
87.64131164550781,
115.91807556152344
]
},
"confidence": 0.6767489288591905
},
{
"observation_id": "d29bf13d-0abf-4ab6-b9f2-ec251d418617",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
"image_points_px": [
[
2844.0,
61.0
],
[
2787.0,
127.0
],
[
2679.0,
155.0
],
[
2738.0,
88.0
]
],
"center_px": [
2762.0,
107.75
],
"quality": {
"area_px": 5520.5,
"perimeter_px": 397.43675231933594,
"sharpness": {
"laplacian_var": 490.9298434953076
},
"contrast": {
"p05": 36.0,
"p95": 186.0,
"dynamic_range": 150.0,
"mean_gray": 95.3021582733813,
"std_gray": 64.15401912690548
},
"geometry": {
"distance_to_center_norm": 0.5289556980133057,
"distance_to_border_px": 61.0
},
"edge_ratio": 1.279381821204075,
"edge_lengths_px": [
87.20664978027344,
111.57060241699219,
89.27485656738281,
109.3846435546875
]
},
"confidence": 0.7816274887029908
},
{
"observation_id": "d6e629d5-c51f-4008-ab99-47b04b7b54a8",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
"image_points_px": [
[
1539.0,
2161.0
],
[
1652.0,
2133.0
],
[
1724.0,
2168.0
],
[
1609.0,
2196.0
]
],
"center_px": [
1631.0,
2164.5
],
"quality": {
"area_px": 5978.0,
"perimeter_px": 393.0955810546875,
"sharpness": {
"laplacian_var": 649.4244314683589
},
"contrast": {
"p05": 23.0,
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 83.66988318943626,
"std_gray": 70.285854066847
},
"geometry": {
"distance_to_center_norm": 0.33146584033966064,
"distance_to_border_px": 1068.0
},
"edge_ratio": 1.512343674555886,
"edge_lengths_px": [
116.41735076904297,
80.05622863769531,
118.359619140625,
78.26238250732422
]
},
"confidence": 0.6612253661811753
},
{
"observation_id": "48096f6c-5b3b-40d0-851c-7e8f7cb077cd",
"type": "aruco",
"marker_id": 214,
"marker_size_m": 0.025,
"image_points_px": [
[
3285.0,
1929.0
],
[
3378.0,
1960.0
],
[
3284.0,
1985.0
],
[
3192.0,
1953.0
]
],
"center_px": [
3284.75,
1956.75
],
"quality": {
"area_px": 5211.5,
"perimeter_px": 388.7515106201172,
"sharpness": {
"laplacian_var": 739.5890739272428
},
"contrast": {
"p05": 15.0,
"p95": 138.0,
"dynamic_range": 123.0,
"mean_gray": 71.6105082809823,
"std_gray": 55.62170487239013
},
"geometry": {
"distance_to_center_norm": 0.3050713539123535,
"distance_to_border_px": 1279.0
},
"edge_ratio": 1.0206538934018479,
"edge_lengths_px": [
98.03060913085938,
97.26766967773438,
97.40636444091797,
96.04686737060547
]
},
"confidence": 0.9797640575954614
},
{
"observation_id": "9109171f-e845-4ad2-86c2-d42e92dc6bd1",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
"image_points_px": [
[
4497.0,
2035.0
],
[
4573.0,
2010.0
],
[
4682.0,
2042.0
],
[
4606.0,
2067.0
]
],
"center_px": [
4589.5,
2038.5
],
"quality": {
"area_px": 5157.0,
"perimeter_px": 387.2128448486328,
"sharpness": {
"laplacian_var": 1588.3617573417525
},
"contrast": {
"p05": 15.0,
"p95": 154.0,
"dynamic_range": 139.0,
"mean_gray": 83.14474820143884,
"std_gray": 64.66319645683883
},
"geometry": {
"distance_to_center_norm": 0.740871250629425,
"distance_to_border_px": 214.0
},
"edge_ratio": 1.4198912724540578,
"edge_lengths_px": [
80.0062484741211,
113.60017395019531,
80.0062484741211,
113.60017395019531
]
},
"confidence": 0.7042792778574221
},
{
"observation_id": "3a4ab5c0-06f2-47c6-a8c6-5381e7eb8994",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
2628.0,
1886.0
],
[
2709.0,
1915.0
],
[
2611.0,
1940.0
],
[
2528.0,
1909.0
]
],
"center_px": [
2619.0,
1912.5
],
"quality": {
"area_px": 4938.0,
"perimeter_px": 378.38453674316406,
"sharpness": {
"laplacian_var": 206.37880467615665
},
"contrast": {
"p05": 13.0,
"p95": 71.0,
"dynamic_range": 58.0,
"mean_gray": 33.91355777979982,
"std_gray": 24.56805718857317
},
"geometry": {
"distance_to_center_norm": 0.11165846139192581,
"distance_to_border_px": 1324.0
},
"edge_ratio": 1.1926665480155962,
"edge_lengths_px": [
86.03487396240234,
101.13851928710938,
88.60022735595703,
102.61091613769531
]
},
"confidence": 0.6078815585179969
},
{
"observation_id": "fa3e0374-ee08-4325-9058-f376f6a0c279",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
"image_points_px": [
[
4248.0,
1996.0
],
[
4326.0,
1972.0
],
[
4428.0,
2003.0
],
[
4352.0,
2027.0
]
],
"center_px": [
4338.5,
1999.5
],
"quality": {
"area_px": 4859.0,
"perimeter_px": 376.43689727783203,
"sharpness": {
"laplacian_var": 1002.8390745562128
},
"contrast": {
"p05": 15.0,
"p95": 153.0,
"dynamic_range": 138.0,
"mean_gray": 54.030153846153844,
"std_gray": 57.48701805270227
},
"geometry": {
"distance_to_center_norm": 0.6545898914337158,
"distance_to_border_px": 468.0
},
"edge_ratio": 1.3616394182703186,
"edge_lengths_px": [
81.60882568359375,
106.60675048828125,
79.69943237304688,
108.52188873291016
]
},
"confidence": 0.7344088211475938
},
{
"observation_id": "8709d225-812d-427d-bdd0-c51f388091b5",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
"image_points_px": [
[
1937.0,
2025.0
],
[
2040.0,
2000.0
],
[
2113.0,
2031.0
],
[
2010.0,
2057.0
]
],
"center_px": [
2025.0,
2028.25
],
"quality": {
"area_px": 5106.0,
"perimeter_px": 371.2366714477539,
"sharpness": {
"laplacian_var": 1544.9704621910591
},
"contrast": {
"p05": 31.0,
"p95": 177.0,
"dynamic_range": 146.0,
"mean_gray": 78.60621009866512,
"std_gray": 63.51907009359783
},
"geometry": {
"distance_to_center_norm": 0.19700217247009277,
"distance_to_border_px": 1207.0
},
"edge_ratio": 1.3394468265671546,
"edge_lengths_px": [
105.99056243896484,
79.30951690673828,
106.23088073730469,
79.7057113647461
]
},
"confidence": 0.7465768555836464
},
{
"observation_id": "d2608fda-e727-4f89-b3f1-321f19cb5ba0",
"type": "aruco",
"marker_id": 211,
"marker_size_m": 0.025,
"image_points_px": [
[
2928.0,
1811.0
],
[
3012.0,
1838.0
],
[
2919.0,
1861.0
],
[
2837.0,
1832.0
]
],
"center_px": [
2924.0,
1835.5
],
"quality": {
"area_px": 4402.0,
"perimeter_px": 364.40318298339844,
"sharpness": {
"laplacian_var": 663.9618125700305
},
"contrast": {
"p05": 10.0,
"p95": 133.0,
"dynamic_range": 123.0,
"mean_gray": 56.15990534144692,
"std_gray": 54.0107587158024
},
"geometry": {
"distance_to_center_norm": 0.17595274746418,
"distance_to_border_px": 1403.0
},
"edge_ratio": 1.1014621609175237,
"edge_lengths_px": [
88.23265075683594,
95.8018798828125,
86.97700500488281,
93.39164733886719
]
},
"confidence": 0.9078841157530049
},
{
"observation_id": "83b1cebc-f2a9-4c9f-a79f-42d4700b298b",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
"image_points_px": [
[
4218.0,
1815.0
],
[
4300.0,
1797.0
],
[
4392.0,
1821.0
],
[
4319.0,
1841.0
]
],
"center_px": [
4307.25,
1818.5
],
"quality": {
"area_px": 3771.0,
"perimeter_px": 359.01428985595703,
"sharpness": {
"laplacian_var": 271.15676424470286
},
"contrast": {
"p05": 16.0,
"p95": 151.0,
"dynamic_range": 135.0,
"mean_gray": 77.15191855912295,
"std_gray": 57.06470195935392
},
"geometry": {
"distance_to_center_norm": 0.6351114511489868,
"distance_to_border_px": 504.0
},
"edge_ratio": 1.3778919367877382,
"edge_lengths_px": [
83.9523696899414,
95.07891082763672,
75.69015502929688,
104.29285430908203
]
},
"confidence": 0.7257463181991523
},
{
"observation_id": "d9087df4-5882-4fbd-85dc-f2ae0694591e",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
1697.0,
1963.0
],
[
1798.0,
1940.0
],
[
1867.0,
1969.0
],
[
1763.0,
1993.0
]
],
"center_px": [
1781.25,
1966.25
],
"quality": {
"area_px": 4610.0,
"perimeter_px": 357.663818359375,
"sharpness": {
"laplacian_var": 1286.8622315848625
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 112.2347371857656,
"std_gray": 69.93047763486787
},
"geometry": {
"distance_to_center_norm": 0.2535037100315094,
"distance_to_border_px": 1271.0
},
"edge_ratio": 1.4722186617534303,
"edge_lengths_px": [
103.5857162475586,
74.84651184082031,
106.73331451416016,
72.49827575683594
]
},
"confidence": 0.6792469257311192
},
{
"observation_id": "097f08a1-63f0-41b6-8fb7-999a78d020e8",
"type": "aruco",
"marker_id": 60,
"marker_size_m": 0.025,
"image_points_px": [
[
4490.0,
1901.0
],
[
4563.0,
1881.0
],
[
4661.0,
1908.0
],
[
4590.0,
1930.0
]
],
"center_px": [
4576.0,
1905.0
],
"quality": {
"area_px": 4095.0,
"perimeter_px": 355.7919921875,
"sharpness": {
"laplacian_var": 429.7506695105965
},
"contrast": {
"p05": 16.0,
"p95": 153.0,
"dynamic_range": 137.0,
"mean_gray": 94.39423076923077,
"std_gray": 60.38760304933133
},
"geometry": {
"distance_to_center_norm": 0.7292131781578064,
"distance_to_border_px": 235.0
},
"edge_ratio": 1.4007754787286837,
"edge_lengths_px": [
75.69015502929688,
101.6513671875,
74.3303451538086,
104.12012481689453
]
},
"confidence": 0.7138902809089579
},
{
"observation_id": "509a99a9-bb12-43c0-be86-4fd11c2fded3",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
"image_points_px": [
[
1045.0,
1936.0
],
[
1154.0,
1914.0
],
[
1212.0,
1942.0
],
[
1102.0,
1965.0
]
],
"center_px": [
1128.25,
1939.25
],
"quality": {
"area_px": 4414.5,
"perimeter_px": 351.9349174499512,
"sharpness": {
"laplacian_var": 967.3475320061217
},
"contrast": {
"p05": 24.0,
"p95": 180.0,
"dynamic_range": 156.0,
"mean_gray": 80.22050223598211,
"std_gray": 68.36464498977143
},
"geometry": {
"distance_to_center_norm": 0.460565447807312,
"distance_to_border_px": 1045.0
},
"edge_ratio": 1.7572066391238421,
"edge_lengths_px": [
111.1980209350586,
64.40496826171875,
112.37882232666016,
63.95310592651367
]
},
"confidence": 0.5690850340166074
},
{
"observation_id": "8439e8d7-9ec1-4495-a498-65824e749630",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
"image_points_px": [
[
4307.0,
1894.0
],
[
4378.0,
1873.0
],
[
4476.0,
1901.0
],
[
4402.0,
1922.0
]
],
"center_px": [
4390.75,
1897.5
],
"quality": {
"area_px": 4056.5,
"perimeter_px": 351.92449951171875,
"sharpness": {
"laplacian_var": 451.3315907967029
},
"contrast": {
"p05": 16.0,
"p95": 152.0,
"dynamic_range": 136.0,
"mean_gray": 78.04426052536884,
"std_gray": 58.36915057407373
},
"geometry": {
"distance_to_center_norm": 0.6664586663246155,
"distance_to_border_px": 420.0
},
"edge_ratio": 1.376564200217628,
"edge_lengths_px": [
74.04052734375,
101.92153930664062,
76.92203521728516,
99.04039764404297
]
},
"confidence": 0.7264463218220443
},
{
"observation_id": "df9ff4e5-a8aa-42f3-aef5-b9feec492d11",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
"image_points_px": [
[
1423.0,
1926.0
],
[
1525.0,
1904.0
],
[
1589.0,
1932.0
],
[
1484.0,
1955.0
]
],
"center_px": [
1505.25,
1929.25
],
"quality": {
"area_px": 4356.0,
"perimeter_px": 349.2346878051758,
"sharpness": {
"laplacian_var": 863.8481369865095
},
"contrast": {
"p05": 23.0,
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 79.02257728377909,
"std_gray": 67.79500784525324
},
"geometry": {
"distance_to_center_norm": 0.3359815776348114,
"distance_to_border_px": 1309.0
},
"edge_ratio": 1.5914336264073148,
"edge_lengths_px": [
104.3455810546875,
69.85699462890625,
107.48953247070312,
67.5425796508789
]
},
"confidence": 0.6283642518334334
},
{
"observation_id": "0b6728dd-70a7-4976-8ff4-55d6305babd2",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
1362.0,
1822.0
],
[
1471.0,
1801.0
],
[
1529.0,
1826.0
],
[
1431.0,
1846.0
]
],
"center_px": [
1448.25,
1823.75
],
"quality": {
"area_px": 3837.5,
"perimeter_px": 347.23780059814453,
"sharpness": {
"laplacian_var": 330.8416143040392
},
"contrast": {
"p05": 23.0,
"p95": 178.0,
"dynamic_range": 155.0,
"mean_gray": 81.37694099378882,
"std_gray": 65.39055798716122
},
"geometry": {
"distance_to_center_norm": 0.34599849581718445,
"distance_to_border_px": 1362.0
},
"edge_ratio": 1.7575535601145886,
"edge_lengths_px": [
111.00450134277344,
63.158531188964844,
100.0199966430664,
73.05477142333984
]
},
"confidence": 0.5689727031333272
}
],
"rejected_candidates": [
{
"image_points_px": [
[
2887.0,
3164.0
],
[
2757.0,
3218.0
],
[
2642.0,
3149.0
],
[
2775.0,
3106.0
]
],
"center_px": [
2765.25,
3159.25
],
"area_px": 13855.0
},
{
"image_points_px": [
[
3232.0,
3023.0
],
[
3351.0,
2983.0
],
[
3473.0,
3037.0
],
[
3355.0,
3087.0
]
],
"center_px": [
3352.75,
3032.5
],
"area_px": 12504.0
},
{
"image_points_px": [
[
3637.0,
2965.0
],
[
3752.0,
2928.0
],
[
3878.0,
2982.0
],
[
3769.0,
3030.0
]
],
"center_px": [
3759.0,
2976.25
],
"area_px": 12146.5
},
{
"image_points_px": [
[
3795.0,
2878.0
],
[
3905.0,
2842.0
],
[
4030.0,
2891.0
],
[
3926.0,
2939.0
]
],
"center_px": [
3914.0,
2887.5
],
"area_px": 11261.0
},
{
"image_points_px": [
[
4248.0,
2543.0
],
[
4347.0,
2510.0
],
[
4480.0,
2561.0
],
[
4381.0,
2595.0
]
],
"center_px": [
4364.0,
2552.25
],
"area_px": 9554.0
},
{
"image_points_px": [
[
3023.0,
2765.0
],
[
2907.0,
2807.0
],
[
2800.0,
2752.0
],
[
2917.0,
2717.0
]
],
"center_px": [
2911.75,
2760.25
],
"area_px": 10100.0
},
{
"image_points_px": [
[
2182.0,
2438.0
],
[
2063.0,
2471.0
],
[
1980.0,
2428.0
],
[
2099.0,
2397.0
]
],
"center_px": [
2081.0,
2433.5
],
"area_px": 7654.0
},
{
"image_points_px": [
[
3729.0,
1667.0
],
[
3808.0,
1656.0
],
[
3880.0,
1677.0
],
[
3812.0,
1693.0
]
],
"center_px": [
3807.25,
1673.25
],
"area_px": 2773.5
},
{
"image_points_px": [
[
3842.0,
1644.0
],
[
3914.0,
1630.0
],
[
3988.0,
1653.0
],
[
3926.0,
1670.0
]
],
"center_px": [
3917.5,
1649.25
],
"area_px": 2866.0
},
{
"image_points_px": [
[
3301.0,
1495.0
],
[
3380.0,
1484.0
],
[
3447.0,
1506.0
],
[
3387.0,
1522.0
]
],
"center_px": [
3378.75,
1501.75
],
"area_px": 2735.5
},
{
"image_points_px": [
[
3081.0,
1622.0
],
[
3158.0,
1607.0
],
[
3224.0,
1629.0
],
[
3155.0,
1645.0
]
],
"center_px": [
3154.5,
1625.75
],
"area_px": 2727.5
},
{
"image_points_px": [
[
3413.0,
1578.0
],
[
3485.0,
1565.0
],
[
3555.0,
1589.0
],
[
3491.0,
1604.0
]
],
"center_px": [
3486.0,
1584.0
],
"area_px": 2736.0
},
{
"image_points_px": [
[
4770.0,
2428.0
],
[
4693.0,
2456.0
],
[
4664.0,
2443.0
],
[
4726.0,
2416.0
]
],
"center_px": [
4713.25,
2435.75
],
"area_px": 1872.5
},
{
"image_points_px": [
[
4256.0,
1815.0
],
[
4293.0,
1805.0
],
[
4356.0,
1825.0
],
[
4284.0,
1826.0
]
],
"center_px": [
4297.25,
1817.75
],
"area_px": 1095.0
}
]
}