Files
appRobotRender/data/evaluations/Scene4/render_g_aruco_detection.json
2026-06-02 17:16:24 +02:00

2228 lines
47 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T11:34:33Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"camera": {
"camera_id": "g",
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene4\\render_a.npz",
"camera_matrix": [
[
1992.8416748046875,
0.0,
719.249267578125
],
[
0.0,
1997.40380859375,
537.7935791015625
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.019999999552965164,
-0.009999999776482582,
0.0,
0.0,
0.0
]
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene4\\render_g.png",
"image_sha256": "ec5e99f8d5f2baca1789fb1520207452684f38fe0e70e8b0b124d9db766de7c6",
"width_px": 1440,
"height_px": 1080
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 38,
"num_rejected_candidates": 5
},
"detections": [
{
"observation_id": "d006469a-7e8d-40bf-85ca-5ce6eb6842fc",
"type": "aruco",
"marker_id": 231,
"marker_size_m": 0.025,
"image_points_px": [
[
448.0,
595.0
],
[
421.0,
571.0
],
[
444.0,
541.0
],
[
472.0,
565.0
]
],
"center_px": [
446.25,
568.0
],
"quality": {
"area_px": 1389.0,
"perimeter_px": 149.22382354736328,
"sharpness": {
"laplacian_var": 995.203403486788
},
"contrast": {
"p05": 5.0,
"p95": 135.0,
"dynamic_range": 130.0,
"mean_gray": 65.35620915032679,
"std_gray": 56.181084819642024
},
"geometry": {
"distance_to_center_norm": 0.30575358867645264,
"distance_to_border_px": 421.0
},
"edge_ratio": 1.0635011264644434,
"edge_lengths_px": [
36.12478256225586,
37.80211639404297,
36.878177642822266,
38.41874694824219
]
},
"confidence": 0.87070899781596
},
{
"observation_id": "37db0f9a-568e-4984-ab33-5ce0c1aa582b",
"type": "aruco",
"marker_id": 247,
"marker_size_m": 0.025,
"image_points_px": [
[
522.0,
599.0
],
[
495.0,
574.0
],
[
522.0,
555.0
],
[
549.0,
580.0
]
],
"center_px": [
522.0,
577.0
],
"quality": {
"area_px": 1188.0,
"perimeter_px": 139.62377166748047,
"sharpness": {
"laplacian_var": 1547.6601395798086
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 109.16959798994975,
"std_gray": 65.61719065064896
},
"geometry": {
"distance_to_center_norm": 0.22380821406841278,
"distance_to_border_px": 481.0
},
"edge_ratio": 1.1145410430813325,
"edge_lengths_px": [
36.79673767089844,
33.0151481628418,
36.79673767089844,
33.0151481628418
]
},
"confidence": 0.7106064015465823
},
{
"observation_id": "6a45f8dd-d4cd-4edc-9e51-9ebe2fa0ee65",
"type": "aruco",
"marker_id": 246,
"marker_size_m": 0.025,
"image_points_px": [
[
487.0,
553.0
],
[
460.0,
529.0
],
[
488.0,
510.0
],
[
512.0,
537.0
]
],
"center_px": [
486.75,
532.25
],
"quality": {
"area_px": 1122.0,
"perimeter_px": 135.76905822753906,
"sharpness": {
"laplacian_var": 1676.6991082313345
},
"contrast": {
"p05": 21.0,
"p95": 177.0,
"dynamic_range": 156.0,
"mean_gray": 76.90713324360699,
"std_gray": 65.72319080160179
},
"geometry": {
"distance_to_center_norm": 0.25930967926979065,
"distance_to_border_px": 460.0
},
"edge_ratio": 1.2170748367951378,
"edge_lengths_px": [
36.12478256225586,
33.83784866333008,
36.12478256225586,
29.681644439697266
]
},
"confidence": 0.6145883370406957
},
{
"observation_id": "e7e5e3df-70ac-4810-8142-c2155ff066b5",
"type": "aruco",
"marker_id": 218,
"marker_size_m": 0.025,
"image_points_px": [
[
628.0,
504.0
],
[
608.0,
473.0
],
[
634.0,
455.0
],
[
652.0,
486.0
]
],
"center_px": [
630.5,
479.5
],
"quality": {
"area_px": 1117.0,
"perimeter_px": 134.36140823364258,
"sharpness": {
"laplacian_var": 2525.2095666348723
},
"contrast": {
"p05": 71.0,
"p95": 191.0,
"dynamic_range": 120.0,
"mean_gray": 114.48767833981842,
"std_gray": 50.63645038487653
},
"geometry": {
"distance_to_center_norm": 0.12003343552350998,
"distance_to_border_px": 455.0
},
"edge_ratio": 1.2297245025634767,
"edge_lengths_px": [
36.8917350769043,
31.62277603149414,
35.84689712524414,
30.0
]
},
"confidence": 0.6055556875660677
},
{
"observation_id": "86099d8a-f0ed-49f5-9664-e0c88b380070",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
"image_points_px": [
[
94.0,
959.0
],
[
68.0,
983.0
],
[
47.0,
960.0
],
[
73.0,
936.0
]
],
"center_px": [
70.5,
959.5
],
"quality": {
"area_px": 1102.0,
"perimeter_px": 133.0568733215332,
"sharpness": {
"laplacian_var": 923.6762349077329
},
"contrast": {
"p05": 7.0,
"p95": 144.0,
"dynamic_range": 137.0,
"mean_gray": 68.31847968545216,
"std_gray": 59.983348600700225
},
"geometry": {
"distance_to_center_norm": 0.8591055870056152,
"distance_to_border_px": 47.0
},
"edge_ratio": 1.136099360781958,
"edge_lengths_px": [
35.38361358642578,
31.14482307434082,
35.38361358642578,
31.14482307434082
]
},
"confidence": 0.6078576315643269
},
{
"observation_id": "e302087b-c4d3-4b5e-ad15-137093fb868b",
"type": "aruco",
"marker_id": 219,
"marker_size_m": 0.025,
"image_points_px": [
[
734.0,
427.0
],
[
718.0,
395.0
],
[
742.0,
382.0
],
[
758.0,
414.0
]
],
"center_px": [
738.0,
404.5
],
"quality": {
"area_px": 976.0,
"perimeter_px": 126.14355087280273,
"sharpness": {
"laplacian_var": 2340.7290485192184
},
"contrast": {
"p05": 68.0,
"p95": 189.0,
"dynamic_range": 121.0,
"mean_gray": 118.24782608695652,
"std_gray": 51.84182494969368
},
"geometry": {
"distance_to_center_norm": 0.15187814831733704,
"distance_to_border_px": 382.0
},
"edge_ratio": 1.3107711332212506,
"edge_lengths_px": [
35.7770881652832,
27.294687271118164,
35.7770881652832,
27.294687271118164
]
},
"confidence": 0.49639990550267776
},
{
"observation_id": "30c72b59-aa9b-4108-816a-a1593285b80e",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
944.0,
859.0
],
[
923.0,
881.0
],
[
899.0,
859.0
],
[
921.0,
837.0
]
],
"center_px": [
921.75,
859.0
],
"quality": {
"area_px": 990.0,
"perimeter_px": 125.91181182861328,
"sharpness": {
"laplacian_var": 1682.2267981451553
},
"contrast": {
"p05": 37.0,
"p95": 176.0,
"dynamic_range": 139.0,
"mean_gray": 92.64767616191904,
"std_gray": 59.62011428061556
},
"geometry": {
"distance_to_center_norm": 0.41938236355781555,
"distance_to_border_px": 199.0
},
"edge_ratio": 1.070488611997406,
"edge_lengths_px": [
30.4138126373291,
32.557640075683594,
31.11269760131836,
31.827661514282227
]
},
"confidence": 0.616540888528013
},
{
"observation_id": "6ed296be-6f52-4bf2-a6a2-a38a75ee941c",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
"image_points_px": [
[
77.0,
764.0
],
[
51.0,
786.0
],
[
32.0,
764.0
],
[
58.0,
743.0
]
],
"center_px": [
54.5,
764.25
],
"quality": {
"area_px": 967.5,
"perimeter_px": 124.86881256103516,
"sharpness": {
"laplacian_var": 1199.4847251422248
},
"contrast": {
"p05": 7.0,
"p95": 143.0,
"dynamic_range": 136.0,
"mean_gray": 83.63748079877112,
"std_gray": 55.95162554958825
},
"geometry": {
"distance_to_center_norm": 0.7802961468696594,
"distance_to_border_px": 32.0
},
"edge_ratio": 1.202657070701322,
"edge_lengths_px": [
34.058773040771484,
29.068883895874023,
33.42155075073242,
28.319604873657227
]
},
"confidence": 0.3432399892342364
},
{
"observation_id": "e5b1e4db-d8e0-4194-b8b8-487838a9258e",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
"image_points_px": [
[
903.0,
772.0
],
[
882.0,
794.0
],
[
858.0,
773.0
],
[
880.0,
751.0
]
],
"center_px": [
880.75,
772.5
],
"quality": {
"area_px": 968.5,
"perimeter_px": 124.56177139282227,
"sharpness": {
"laplacian_var": 1696.0176210407856
},
"contrast": {
"p05": 34.0,
"p95": 176.0,
"dynamic_range": 142.0,
"mean_gray": 89.31741140215716,
"std_gray": 59.81533747032604
},
"geometry": {
"distance_to_center_norm": 0.31406694650650024,
"distance_to_border_px": 286.0
},
"edge_ratio": 1.0485511454980332,
"edge_lengths_px": [
30.4138126373291,
31.890438079833984,
31.11269760131836,
31.14482307434082
]
},
"confidence": 0.615770312625039
},
{
"observation_id": "cff69a55-e988-40a8-b763-a6064e4b4c3a",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
"image_points_px": [
[
138.0,
787.0
],
[
114.0,
809.0
],
[
93.0,
789.0
],
[
118.0,
766.0
]
],
"center_px": [
115.75,
787.75
],
"quality": {
"area_px": 963.5,
"perimeter_px": 124.52821731567383,
"sharpness": {
"laplacian_var": 922.1697096813493
},
"contrast": {
"p05": 7.0,
"p95": 142.0,
"dynamic_range": 135.0,
"mean_gray": 51.72024729520866,
"std_gray": 54.51291077964844
},
"geometry": {
"distance_to_center_norm": 0.7256313562393188,
"distance_to_border_px": 93.0
},
"edge_ratio": 1.1713992151720771,
"edge_lengths_px": [
32.557640075683594,
29.0,
33.970577239990234,
29.0
]
},
"confidence": 0.5483470750310988
},
{
"observation_id": "0432068a-2dee-4df6-9b4a-ae80ad395bf8",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
"image_points_px": [
[
602.0,
639.0
],
[
576.0,
613.0
],
[
599.0,
604.0
],
[
625.0,
629.0
]
],
"center_px": [
600.5,
621.25
],
"quality": {
"area_px": 833.5,
"perimeter_px": 122.61698150634766,
"sharpness": {
"laplacian_var": 1222.6031746031747
},
"contrast": {
"p05": 27.0,
"p95": 183.0,
"dynamic_range": 156.0,
"mean_gray": 88.49319727891157,
"std_gray": 66.77489055134987
},
"geometry": {
"distance_to_center_norm": 0.16056156158447266,
"distance_to_border_px": 441.0
},
"edge_ratio": 1.488755774788983,
"edge_lengths_px": [
36.769554138183594,
24.698177337646484,
36.06937789916992,
25.079872131347656
]
},
"confidence": 0.37324232495113385
},
{
"observation_id": "c4050a9c-5ddd-49ab-b5ff-c4f887de84a9",
"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,
"image_points_px": [
[
600.0,
462.0
],
[
573.0,
447.0
],
[
597.0,
430.0
],
[
625.0,
445.0
]
],
"center_px": [
598.75,
446.0
],
"quality": {
"area_px": 835.0,
"perimeter_px": 122.29496765136719,
"sharpness": {
"laplacian_var": 1216.0346093628696
},
"contrast": {
"p05": 11.0,
"p95": 168.0,
"dynamic_range": 157.0,
"mean_gray": 59.564748201438846,
"std_gray": 60.95016051384292
},
"geometry": {
"distance_to_center_norm": 0.17046618461608887,
"distance_to_border_px": 430.0
},
"edge_ratio": 1.0800342521255015,
"edge_lengths_px": [
30.886890411376953,
29.4108829498291,
31.764760971069336,
30.232433319091797
]
},
"confidence": 0.5154157523903984
},
{
"observation_id": "240390ad-76e8-4555-9ab0-9d09553ffbf3",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
"image_points_px": [
[
120.0,
710.0
],
[
95.0,
731.0
],
[
76.0,
709.0
],
[
101.0,
689.0
]
],
"center_px": [
98.0,
709.75
],
"quality": {
"area_px": 927.0,
"perimeter_px": 122.05376434326172,
"sharpness": {
"laplacian_var": 963.5448220610557
},
"contrast": {
"p05": 7.0,
"p95": 140.0,
"dynamic_range": 133.0,
"mean_gray": 44.922077922077925,
"std_gray": 50.914912783330855
},
"geometry": {
"distance_to_center_norm": 0.7163859009742737,
"distance_to_border_px": 76.0
},
"edge_ratio": 1.1528993619115888,
"edge_lengths_px": [
32.649654388427734,
29.068883895874023,
32.015621185302734,
28.319604873657227
]
},
"confidence": 0.5360398491116452
},
{
"observation_id": "cea85372-8746-4ac5-a961-612ea9be8d99",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
823.0,
743.0
],
[
803.0,
765.0
],
[
779.0,
745.0
],
[
800.0,
723.0
]
],
"center_px": [
801.25,
744.0
],
"quality": {
"area_px": 927.0,
"perimeter_px": 121.86645126342773,
"sharpness": {
"laplacian_var": 1750.1576416154408
},
"contrast": {
"p05": 30.0,
"p95": 175.0,
"dynamic_range": 145.0,
"mean_gray": 122.6178861788618,
"std_gray": 59.473533134489664
},
"geometry": {
"distance_to_center_norm": 0.24398331344127655,
"distance_to_border_px": 315.0
},
"edge_ratio": 1.0507485051355823,
"edge_lengths_px": [
29.73213768005371,
31.240999221801758,
30.4138126373291,
30.479501724243164
]
},
"confidence": 0.5881521572283912
},
{
"observation_id": "084d6c13-e23b-43c7-a3e4-91c132533fd5",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
"image_points_px": [
[
999.0,
755.0
],
[
978.0,
776.0
],
[
955.0,
755.0
],
[
976.0,
734.0
]
],
"center_px": [
977.0,
755.0
],
"quality": {
"area_px": 924.0,
"perimeter_px": 121.68661499023438,
"sharpness": {
"laplacian_var": 1577.3370115332787
},
"contrast": {
"p05": 40.0,
"p95": 177.0,
"dynamic_range": 137.0,
"mean_gray": 96.73615635179154,
"std_gray": 58.1564952824064
},
"geometry": {
"distance_to_center_norm": 0.37230345606803894,
"distance_to_border_px": 304.0
},
"edge_ratio": 1.0487007563440722,
"edge_lengths_px": [
29.698484420776367,
31.14482307434082,
29.698484420776367,
31.14482307434082
]
},
"confidence": 0.5873934926369923
},
{
"observation_id": "d7c87ca5-e6cd-45c8-b48b-2123a39564c4",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
"image_points_px": [
[
747.0,
705.0
],
[
724.0,
724.0
],
[
703.0,
703.0
],
[
726.0,
683.0
]
],
"center_px": [
725.0,
703.75
],
"quality": {
"area_px": 904.0,
"perimeter_px": 120.42466735839844,
"sharpness": {
"laplacian_var": 1785.3392915068064
},
"contrast": {
"p05": 26.0,
"p95": 173.0,
"dynamic_range": 147.0,
"mean_gray": 85.68561872909699,
"std_gray": 62.08125132778168
},
"geometry": {
"distance_to_center_norm": 0.18202924728393555,
"distance_to_border_px": 356.0
},
"edge_ratio": 1.0262982208923905,
"edge_lengths_px": [
29.832868576049805,
29.698484420776367,
30.479501724243164,
30.4138126373291
]
},
"confidence": 0.5872237273710109
},
{
"observation_id": "70b7e02e-7027-4992-82f4-88cd1c9b20e4",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
"image_points_px": [
[
73.0,
695.0
],
[
48.0,
715.0
],
[
30.0,
695.0
],
[
55.0,
674.0
]
],
"center_px": [
51.5,
694.75
],
"quality": {
"area_px": 881.5,
"perimeter_px": 119.23115730285645,
"sharpness": {
"laplacian_var": 1447.3531711823566
},
"contrast": {
"p05": 7.0,
"p95": 143.0,
"dynamic_range": 136.0,
"mean_gray": 82.47855917667239,
"std_gray": 55.47362703774959
},
"geometry": {
"distance_to_center_norm": 0.7624196410179138,
"distance_to_border_px": 30.0
},
"edge_ratio": 1.2134148740351256,
"edge_lengths_px": [
32.015621185302734,
26.90724754333496,
32.649654388427734,
27.658634185791016
]
},
"confidence": 0.290584867175275
},
{
"observation_id": "6fd4405d-e511-4439-83a5-a809763abbc6",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
"image_points_px": [
[
50.0,
652.0
],
[
25.0,
672.0
],
[
7.0,
652.0
],
[
31.0,
632.0
]
],
"center_px": [
28.25,
652.0
],
"quality": {
"area_px": 860.0,
"perimeter_px": 117.75009727478027,
"sharpness": {
"laplacian_var": 1191.865400739245
},
"contrast": {
"p05": 7.0,
"p95": 143.0,
"dynamic_range": 136.0,
"mean_gray": 61.15120274914089,
"std_gray": 55.33609732297964
},
"geometry": {
"distance_to_center_norm": 0.778620183467865,
"distance_to_border_px": 7.0
},
"edge_ratio": 1.1898512151323013,
"edge_lengths_px": [
32.015621185302734,
26.90724754333496,
31.240999221801758,
27.58622932434082
]
},
"confidence": 0.06745941479560678
},
{
"observation_id": "15288b9e-6f39-4b80-b7d2-58d9da064ab9",
"type": "aruco",
"marker_id": 114,
"marker_size_m": 0.025,
"image_points_px": [
[
675.0,
417.0
],
[
649.0,
401.0
],
[
673.0,
387.0
],
[
699.0,
402.0
]
],
"center_px": [
674.0,
401.75
],
"quality": {
"area_px": 749.0,
"perimeter_px": 116.63216781616211,
"sharpness": {
"laplacian_var": 1237.9587239952698
},
"contrast": {
"p05": 11.0,
"p95": 170.0,
"dynamic_range": 159.0,
"mean_gray": 64.90403071017275,
"std_gray": 64.26828965182325
},
"geometry": {
"distance_to_center_norm": 0.16189107298851013,
"distance_to_border_px": 387.0
},
"edge_ratio": 1.0987510848797266,
"edge_lengths_px": [
30.528675079345703,
27.784887313842773,
30.01666259765625,
28.301942825317383
]
},
"confidence": 0.454455372290251
},
{
"observation_id": "1a5bde5d-d7b0-4b71-b809-2f038130068b",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
"image_points_px": [
[
824.0,
598.0
],
[
804.0,
619.0
],
[
781.0,
600.0
],
[
800.0,
580.0
]
],
"center_px": [
802.25,
599.25
],
"quality": {
"area_px": 842.5,
"perimeter_px": 116.41909790039062,
"sharpness": {
"laplacian_var": 1582.7479629432812
},
"contrast": {
"p05": 28.0,
"p95": 177.0,
"dynamic_range": 149.0,
"mean_gray": 92.1872852233677,
"std_gray": 63.500853498480524
},
"geometry": {
"distance_to_center_norm": 0.11263195425271988,
"distance_to_border_px": 461.0
},
"edge_ratio": 1.0874991158552205,
"edge_lengths_px": [
29.0,
29.832868576049805,
27.58622932434082,
30.0
]
},
"confidence": 0.516475515683492
},
{
"observation_id": "44d54032-8a22-4faf-ad03-03d4dce69029",
"type": "aruco",
"marker_id": 40,
"marker_size_m": 0.025,
"image_points_px": [
[
789.0,
319.0
],
[
766.0,
327.0
],
[
769.0,
294.0
],
[
792.0,
285.0
]
],
"center_px": [
779.0,
306.25
],
"quality": {
"area_px": 745.0,
"perimeter_px": 116.31794548034668,
"sharpness": {
"laplacian_var": 421.61952292899406
},
"contrast": {
"p05": 9.0,
"p95": 91.0,
"dynamic_range": 82.0,
"mean_gray": 32.14038461538462,
"std_gray": 31.046142827531018
},
"geometry": {
"distance_to_center_norm": 0.2678678035736084,
"distance_to_border_px": 285.0
},
"edge_ratio": 1.4016371736209068,
"edge_lengths_px": [
24.351591110229492,
33.13608169555664,
24.698177337646484,
34.13209533691406
]
},
"confidence": 0.35434752731593677
},
{
"observation_id": "b1566d5f-193a-41c9-aefb-9d2ac7635399",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
720.0,
532.0
],
[
698.0,
551.0
],
[
678.0,
531.0
],
[
701.0,
513.0
]
],
"center_px": [
699.25,
531.75
],
"quality": {
"area_px": 799.5,
"perimeter_px": 113.42937660217285,
"sharpness": {
"laplacian_var": 1552.7800470371972
},
"contrast": {
"p05": 22.0,
"p95": 173.0,
"dynamic_range": 151.0,
"mean_gray": 91.13786764705883,
"std_gray": 63.7217448907644
},
"geometry": {
"distance_to_center_norm": 0.02481101267039776,
"distance_to_border_px": 513.0
},
"edge_ratio": 1.0869408373249503,
"edge_lengths_px": [
29.068883895874023,
28.284271240234375,
29.20616340637207,
26.870058059692383
]
},
"confidence": 0.4903670758306923
},
{
"observation_id": "54522b44-2f7b-4d4c-b105-d4330e608c42",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
"image_points_px": [
[
879.0,
509.0
],
[
858.0,
528.0
],
[
837.0,
509.0
],
[
857.0,
490.0
]
],
"center_px": [
857.75,
509.0
],
"quality": {
"area_px": 798.0,
"perimeter_px": 113.2943229675293,
"sharpness": {
"laplacian_var": 1397.4052217826784
},
"contrast": {
"p05": 28.0,
"p95": 174.0,
"dynamic_range": 146.0,
"mean_gray": 77.86605504587156,
"std_gray": 60.24039337960103
},
"geometry": {
"distance_to_center_norm": 0.15688347816467285,
"distance_to_border_px": 490.0
},
"edge_ratio": 1.0537461845220353,
"edge_lengths_px": [
28.319604873657227,
28.319604873657227,
27.58622932434082,
29.068883895874023
]
},
"confidence": 0.5048654104890617
},
{
"observation_id": "fa4e93bf-777c-4c16-8e66-a6a1ab0f9132",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
"image_points_px": [
[
226.0,
383.0
],
[
209.0,
365.0
],
[
232.0,
347.0
],
[
250.0,
366.0
]
],
"center_px": [
229.25,
365.25
],
"quality": {
"area_px": 741.0,
"perimeter_px": 109.54838752746582,
"sharpness": {
"laplacian_var": 1926.890801549741
},
"contrast": {
"p05": 9.0,
"p95": 155.0,
"dynamic_range": 146.0,
"mean_gray": 68.45472837022133,
"std_gray": 58.70454672008228
},
"geometry": {
"distance_to_center_norm": 0.5788165330886841,
"distance_to_border_px": 209.0
},
"edge_ratio": 1.187894376916731,
"edge_lengths_px": [
24.75883674621582,
29.20616340637207,
26.172504425048828,
29.4108829498291
]
},
"confidence": 0.4158618894065431
},
{
"observation_id": "2095177c-abd9-43f5-b949-d5df02f6a03a",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
"image_points_px": [
[
522.0,
341.0
],
[
502.0,
359.0
],
[
482.0,
342.0
],
[
503.0,
324.0
]
],
"center_px": [
502.25,
341.5
],
"quality": {
"area_px": 699.5,
"perimeter_px": 106.30978965759277,
"sharpness": {
"laplacian_var": 919.4197293407273
},
"contrast": {
"p05": 12.0,
"p95": 156.0,
"dynamic_range": 144.0,
"mean_gray": 40.0977130977131,
"std_gray": 48.64570046329127
},
"geometry": {
"distance_to_center_norm": 0.32738640904426575,
"distance_to_border_px": 324.0
},
"edge_ratio": 1.0848608647082685,
"edge_lengths_px": [
26.90724754333496,
26.248809814453125,
27.658634185791016,
25.495098114013672
]
},
"confidence": 0.4298554298561924
},
{
"observation_id": "fa4c40ff-d5f6-46c1-972b-a17ee928090f",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
"image_points_px": [
[
145.0,
302.0
],
[
128.0,
284.0
],
[
151.0,
268.0
],
[
168.0,
285.0
]
],
"center_px": [
148.0,
284.75
],
"quality": {
"area_px": 683.0,
"perimeter_px": 105.41901588439941,
"sharpness": {
"laplacian_var": 1605.0106881688741
},
"contrast": {
"p05": 8.0,
"p95": 153.0,
"dynamic_range": 145.0,
"mean_gray": 76.40343347639485,
"std_gray": 56.98799200574128
},
"geometry": {
"distance_to_center_norm": 0.6959641575813293,
"distance_to_border_px": 128.0
},
"edge_ratio": 1.1896322636773569,
"edge_lengths_px": [
24.75883674621582,
28.017850875854492,
24.041629791259766,
28.600698471069336
]
},
"confidence": 0.38275133184923893
},
{
"observation_id": "209ea92d-5cc3-4b8e-b4e4-e54921d6ed67",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
"image_points_px": [
[
576.0,
320.0
],
[
553.0,
336.0
],
[
536.0,
319.0
],
[
558.0,
303.0
]
],
"center_px": [
555.75,
319.5
],
"quality": {
"area_px": 662.5,
"perimeter_px": 104.02125930786133,
"sharpness": {
"laplacian_var": 2885.117593662729
},
"contrast": {
"p05": 17.400000000000002,
"p95": 163.0,
"dynamic_range": 145.6,
"mean_gray": 119.76614699331849,
"std_gray": 53.88105446184667
},
"geometry": {
"distance_to_center_norm": 0.30550163984298706,
"distance_to_border_px": 303.0
},
"edge_ratio": 1.1653889989621362,
"edge_lengths_px": [
28.017850875854492,
24.041629791259766,
27.20294189453125,
24.75883674621582
]
},
"confidence": 0.378986473237694
},
{
"observation_id": "db5be6cc-adf3-4557-bb15-612e5bf90bf2",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
"image_points_px": [
[
349.0,
310.0
],
[
327.0,
326.0
],
[
309.0,
310.0
],
[
331.0,
293.0
]
],
"center_px": [
329.0,
309.75
],
"quality": {
"area_px": 660.0,
"perimeter_px": 103.84784507751465,
"sharpness": {
"laplacian_var": 1155.9720041071225
},
"contrast": {
"p05": 9.0,
"p95": 158.0,
"dynamic_range": 149.0,
"mean_gray": 64.45879732739421,
"std_gray": 59.425375481479506
},
"geometry": {
"distance_to_center_norm": 0.5041752457618713,
"distance_to_border_px": 293.0
},
"edge_ratio": 1.1544516556294537,
"edge_lengths_px": [
27.20294189453125,
24.083189010620117,
27.80287742614746,
24.75883674621582
]
},
"confidence": 0.3811333266788848
},
{
"observation_id": "26245619-3e52-4bdd-91a4-840f5891e9a7",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
"image_points_px": [
[
378.0,
281.0
],
[
356.0,
296.0
],
[
339.0,
279.0
],
[
361.0,
263.0
]
],
"center_px": [
358.5,
279.75
],
"quality": {
"area_px": 648.5,
"perimeter_px": 102.63046264648438,
"sharpness": {
"laplacian_var": 1625.927288888889
},
"contrast": {
"p05": 11.0,
"p95": 159.0,
"dynamic_range": 148.0,
"mean_gray": 101.60666666666667,
"std_gray": 56.1798180448776
},
"geometry": {
"distance_to_center_norm": 0.4949277341365814,
"distance_to_border_px": 263.0
},
"edge_ratio": 1.131493252775266,
"edge_lengths_px": [
26.62705421447754,
24.041629791259766,
27.20294189453125,
24.75883674621582
]
},
"confidence": 0.3820909512919581
},
{
"observation_id": "81465f4a-8b21-47b9-b021-9b8ff279f9e5",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
"image_points_px": [
[
445.0,
258.0
],
[
425.0,
275.0
],
[
406.0,
259.0
],
[
426.0,
242.0
]
],
"center_px": [
425.5,
258.5
],
"quality": {
"area_px": 643.0,
"perimeter_px": 102.17658996582031,
"sharpness": {
"laplacian_var": 1303.2259462998695
},
"contrast": {
"p05": 11.0,
"p95": 160.0,
"dynamic_range": 149.0,
"mean_gray": 99.16035634743875,
"std_gray": 60.602440547542734
},
"geometry": {
"distance_to_center_norm": 0.4526635706424713,
"distance_to_border_px": 242.0
},
"edge_ratio": 1.0567372727912154,
"edge_lengths_px": [
26.248809814453125,
24.83948516845703,
26.248809814453125,
24.83948516845703
]
},
"confidence": 0.4056511279614534
},
{
"observation_id": "52ee0ed9-cd87-4cab-b83c-ddc0d0109f0d",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
"image_points_px": [
[
540.0,
214.0
],
[
518.0,
229.0
],
[
502.0,
212.0
],
[
523.0,
197.0
]
],
"center_px": [
520.75,
213.0
],
"quality": {
"area_px": 613.0,
"perimeter_px": 99.82089614868164,
"sharpness": {
"laplacian_var": 2529.1751532984435
},
"contrast": {
"p05": 11.0,
"p95": 162.0,
"dynamic_range": 151.0,
"mean_gray": 84.01421800947867,
"std_gray": 59.41376152468142
},
"geometry": {
"distance_to_center_norm": 0.4254693388938904,
"distance_to_border_px": 197.0
},
"edge_ratio": 1.1405776499561628,
"edge_lengths_px": [
26.62705421447754,
23.34523582458496,
25.806976318359375,
24.041629791259766
]
},
"confidence": 0.35829797882009473
},
{
"observation_id": "de641ff3-b5de-4b74-9725-0846e079a18e",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,
"image_points_px": [
[
356.0,
167.0
],
[
334.0,
182.0
],
[
319.0,
165.0
],
[
340.0,
150.0
]
],
"center_px": [
337.25,
166.0
],
"quality": {
"area_px": 598.0,
"perimeter_px": 98.45083427429199,
"sharpness": {
"laplacian_var": 1653.5302754048578
},
"contrast": {
"p05": 9.0,
"p95": 157.0,
"dynamic_range": 148.0,
"mean_gray": 100.02689486552568,
"std_gray": 57.02984043155911
},
"geometry": {
"distance_to_center_norm": 0.5945987105369568,
"distance_to_border_px": 150.0
},
"edge_ratio": 1.1744690227032824,
"edge_lengths_px": [
26.62705421447754,
22.671567916870117,
25.806976318359375,
23.34523582458496
]
},
"confidence": 0.33944417346066164
},
{
"observation_id": "e87ec7e0-d526-4e32-acac-fcc0b3ba1da9",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
"image_points_px": [
[
435.0,
187.0
],
[
414.0,
203.0
],
[
397.0,
188.0
],
[
417.0,
172.0
]
],
"center_px": [
415.75,
187.5
],
"quality": {
"area_px": 587.5,
"perimeter_px": 98.11557197570801,
"sharpness": {
"laplacian_var": 1864.4415546644884
},
"contrast": {
"p05": 9.0,
"p95": 158.0,
"dynamic_range": 149.0,
"mean_gray": 65.32089552238806,
"std_gray": 59.4060067920672
},
"geometry": {
"distance_to_center_norm": 0.5173822045326233,
"distance_to_border_px": 172.0
},
"edge_ratio": 1.1644874731532113,
"edge_lengths_px": [
26.4007568359375,
22.671567916870117,
25.612497329711914,
23.430749893188477
]
},
"confidence": 0.3363425332572343
},
{
"observation_id": "5eb03e71-c2ac-4be6-91c7-84c0c4d601d3",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
"image_points_px": [
[
295.0,
182.0
],
[
274.0,
199.0
],
[
257.0,
184.0
],
[
277.0,
168.0
]
],
"center_px": [
275.75,
183.25
],
"quality": {
"area_px": 586.0,
"perimeter_px": 98.10608673095703,
"sharpness": {
"laplacian_var": 1130.2242647744729
},
"contrast": {
"p05": 8.0,
"p95": 154.0,
"dynamic_range": 146.0,
"mean_gray": 55.600997506234414,
"std_gray": 56.10051007722818
},
"geometry": {
"distance_to_center_norm": 0.6330687999725342,
"distance_to_border_px": 168.0
},
"edge_ratio": 1.1917355175830322,
"edge_lengths_px": [
27.018512725830078,
22.671567916870117,
25.612497329711914,
22.803508758544922
]
},
"confidence": 0.32781322776968225
},
{
"observation_id": "d5f5393c-9724-4195-8a2e-05ef59382926",
"type": "aruco",
"marker_id": 65,
"marker_size_m": 0.025,
"image_points_px": [
[
329.0,
124.0
],
[
309.0,
140.0
],
[
292.0,
125.0
],
[
312.0,
109.0
]
],
"center_px": [
310.5,
124.5
],
"quality": {
"area_px": 572.0,
"perimeter_px": 96.56813049316406,
"sharpness": {
"laplacian_var": 1534.261994623269
},
"contrast": {
"p05": 8.0,
"p95": 155.0,
"dynamic_range": 147.0,
"mean_gray": 86.30946291560102,
"std_gray": 58.673389511736396
},
"geometry": {
"distance_to_center_norm": 0.6481983661651611,
"distance_to_border_px": 109.0
},
"edge_ratio": 1.1297188365456377,
"edge_lengths_px": [
25.612497329711914,
22.671567916870117,
25.612497329711914,
22.671567916870117
]
},
"confidence": 0.3375471143770103
},
{
"observation_id": "9d14d64f-8287-4340-8088-9a9ca1a7b240",
"type": "aruco",
"marker_id": 80,
"marker_size_m": 0.025,
"image_points_px": [
[
318.0,
56.0
],
[
297.0,
71.0
],
[
281.0,
57.0
],
[
301.0,
42.0
]
],
"center_px": [
299.25,
56.5
],
"quality": {
"area_px": 534.5,
"perimeter_px": 94.0899829864502,
"sharpness": {
"laplacian_var": 945.6695105107684
},
"contrast": {
"p05": 7.0,
"p95": 154.0,
"dynamic_range": 147.0,
"mean_gray": 65.18508997429306,
"std_gray": 59.719754120306355
},
"geometry": {
"distance_to_center_norm": 0.7121544480323792,
"distance_to_border_px": 42.0
},
"edge_ratio": 1.2138580342054863,
"edge_lengths_px": [
25.806976318359375,
21.260292053222656,
25.0,
22.022714614868164
]
},
"confidence": 0.24658567276025462
},
{
"observation_id": "7ae85acc-ee86-4235-af6b-a11fd730679c",
"type": "aruco",
"marker_id": 78,
"marker_size_m": 0.025,
"image_points_px": [
[
352.0,
82.0
],
[
332.0,
97.0
],
[
315.0,
83.0
],
[
336.0,
68.0
]
],
"center_px": [
333.75,
82.5
],
"quality": {
"area_px": 534.5,
"perimeter_px": 94.0899829864502,
"sharpness": {
"laplacian_var": 1506.5180739273158
},
"contrast": {
"p05": 8.0,
"p95": 155.0,
"dynamic_range": 147.0,
"mean_gray": 78.87531806615776,
"std_gray": 56.628086490770755
},
"geometry": {
"distance_to_center_norm": 0.6652719378471375,
"distance_to_border_px": 68.0
},
"edge_ratio": 1.2138580342054863,
"edge_lengths_px": [
25.0,
22.022714614868164,
25.806976318359375,
21.260292053222656
]
},
"confidence": 0.29355437233363646
},
{
"observation_id": "c345f12d-eca8-4a61-96b9-06166d916814",
"type": "aruco",
"marker_id": 87,
"marker_size_m": 0.025,
"image_points_px": [
[
179.0,
66.0
],
[
159.0,
81.0
],
[
143.0,
66.0
],
[
163.0,
51.0
]
],
"center_px": [
161.0,
66.0
],
"quality": {
"area_px": 540.0,
"perimeter_px": 93.8634262084961,
"sharpness": {
"laplacian_var": 1466.1753590325018
},
"contrast": {
"p05": 7.850000000000001,
"p95": 150.0,
"dynamic_range": 142.15,
"mean_gray": 95.3862433862434,
"std_gray": 53.38647175372366
},
"geometry": {
"distance_to_center_norm": 0.8143444061279297,
"distance_to_border_px": 51.0
},
"edge_ratio": 1.1399018344425471,
"edge_lengths_px": [
25.0,
21.931713104248047,
25.0,
21.931713104248047
]
},
"confidence": 0.3158166687011719
}
],
"rejected_candidates": [
{
"image_points_px": [
[
654.0,
389.0
],
[
635.0,
407.0
],
[
592.0,
430.0
],
[
596.0,
420.0
]
],
"center_px": [
619.25,
411.5
],
"area_px": 396.5
},
{
"image_points_px": [
[
519.0,
701.0
],
[
496.0,
735.0
],
[
497.0,
726.0
],
[
507.0,
709.0
]
],
"center_px": [
504.75,
717.75
],
"area_px": 148.5
},
{
"image_points_px": [
[
146.0,
743.0
],
[
157.0,
749.0
],
[
173.0,
767.0
],
[
165.0,
763.0
]
],
"center_px": [
160.25,
755.5
],
"area_px": 93.0
},
{
"image_points_px": [
[
802.0,
971.0
],
[
822.0,
982.0
],
[
824.0,
985.0
],
[
808.0,
977.0
]
],
"center_px": [
814.0,
978.75
],
"area_px": 43.0
},
{
"image_points_px": [
[
539.0,
627.0
],
[
556.0,
643.0
],
[
554.0,
646.0
],
[
538.0,
630.0
]
],
"center_px": [
546.75,
636.5
],
"area_px": 73.5
}
]
}