3355 lines
68 KiB
JSON
3355 lines
68 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:17:04Z",
|
|
"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\\Scene5\\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\\Scene5\\render_b.png",
|
|
"image_sha256": "d52f12cf643599c1409a8847166801b364e8b4ba640d55d00bcfee327b395693",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 51,
|
|
"num_rejected_candidates": 22
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "49b9aaa1-aa12-44d8-bb4c-6f5292df44a1",
|
|
"type": "aruco",
|
|
"marker_id": 247,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
747.0,
|
|
178.0
|
|
],
|
|
[
|
|
784.0,
|
|
175.0
|
|
],
|
|
[
|
|
787.0,
|
|
212.0
|
|
],
|
|
[
|
|
749.0,
|
|
214.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
766.75,
|
|
194.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1375.0,
|
|
"perimeter_px": 148.3509521484375,
|
|
"sharpness": {
|
|
"laplacian_var": 831.9897845993953
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 108.60695468914648,
|
|
"std_gray": 62.87165907929913
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.387112021446228,
|
|
"distance_to_border_px": 175.0
|
|
},
|
|
"edge_ratio": 1.055389189880039,
|
|
"edge_lengths_px": [
|
|
37.121421813964844,
|
|
37.121421813964844,
|
|
38.05259704589844,
|
|
36.055511474609375
|
|
]
|
|
},
|
|
"confidence": 0.8685579456909728
|
|
},
|
|
{
|
|
"observation_id": "ebc8c2a9-ac7c-4c04-b8a3-8290b2f2e413",
|
|
"type": "aruco",
|
|
"marker_id": 246,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
808.0,
|
|
186.0
|
|
],
|
|
[
|
|
845.0,
|
|
186.0
|
|
],
|
|
[
|
|
846.0,
|
|
222.0
|
|
],
|
|
[
|
|
809.0,
|
|
220.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
827.0,
|
|
203.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1294.0,
|
|
"perimeter_px": 144.08260345458984,
|
|
"sharpness": {
|
|
"laplacian_var": 785.139906300068
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 79.78173719376392,
|
|
"std_gray": 62.02403819953045
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3923359215259552,
|
|
"distance_to_border_px": 186.0
|
|
},
|
|
"edge_ratio": 1.0893529593181372,
|
|
"edge_lengths_px": [
|
|
37.0,
|
|
36.013885498046875,
|
|
37.05401611328125,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.7919073972192069
|
|
},
|
|
{
|
|
"observation_id": "194a9a71-5b36-40a3-891f-a73cd89ed59c",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
732.0,
|
|
673.0
|
|
],
|
|
[
|
|
744.0,
|
|
640.0
|
|
],
|
|
[
|
|
778.0,
|
|
653.0
|
|
],
|
|
[
|
|
765.0,
|
|
686.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
754.75,
|
|
663.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1268.0,
|
|
"perimeter_px": 142.45124435424805,
|
|
"sharpness": {
|
|
"laplacian_var": 1205.2113387318425
|
|
},
|
|
"contrast": {
|
|
"p05": 58.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 127.0,
|
|
"mean_gray": 110.60899653979239,
|
|
"std_gray": 53.46395965975034
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.14201617240905762,
|
|
"distance_to_border_px": 394.0
|
|
},
|
|
"edge_ratio": 1.0366362623766274,
|
|
"edge_lengths_px": [
|
|
35.11410140991211,
|
|
36.400550842285156,
|
|
35.46829605102539,
|
|
35.46829605102539
|
|
]
|
|
},
|
|
"confidence": 0.815458000085096
|
|
},
|
|
{
|
|
"observation_id": "486ff596-bc62-46ff-a245-07a56e01bbb1",
|
|
"type": "aruco",
|
|
"marker_id": 124,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
791.0,
|
|
521.0
|
|
],
|
|
[
|
|
825.0,
|
|
519.0
|
|
],
|
|
[
|
|
825.0,
|
|
557.0
|
|
],
|
|
[
|
|
792.0,
|
|
558.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
808.25,
|
|
538.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1257.0,
|
|
"perimeter_px": 142.08743286132812,
|
|
"sharpness": {
|
|
"laplacian_var": 825.1025292531165
|
|
},
|
|
"contrast": {
|
|
"p05": 51.0,
|
|
"p95": 189.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 119.43433179723502,
|
|
"std_gray": 59.01377696791609
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.09806539118289948,
|
|
"distance_to_border_px": 519.0
|
|
},
|
|
"edge_ratio": 1.1509868080122263,
|
|
"edge_lengths_px": [
|
|
34.058773040771484,
|
|
38.0,
|
|
33.0151481628418,
|
|
37.013511657714844
|
|
]
|
|
},
|
|
"confidence": 0.7280708989595112
|
|
},
|
|
{
|
|
"observation_id": "7f10a233-4558-460e-b641-26e3c5419bbf",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
787.0,
|
|
354.0
|
|
],
|
|
[
|
|
821.0,
|
|
350.0
|
|
],
|
|
[
|
|
820.0,
|
|
388.0
|
|
],
|
|
[
|
|
787.0,
|
|
390.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
803.75,
|
|
370.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1238.0,
|
|
"perimeter_px": 141.3081932067871,
|
|
"sharpness": {
|
|
"laplacian_var": 762.1894498208601
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 91.42124105011933,
|
|
"std_gray": 59.14522701092116
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2100685089826584,
|
|
"distance_to_border_px": 350.0
|
|
},
|
|
"edge_ratio": 1.149804104827427,
|
|
"edge_lengths_px": [
|
|
34.2344856262207,
|
|
38.01315689086914,
|
|
33.060550689697266,
|
|
36.0
|
|
]
|
|
},
|
|
"confidence": 0.7178034326614331
|
|
},
|
|
{
|
|
"observation_id": "a993e184-0dd2-4be1-9eba-9481176061de",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
751.0,
|
|
1047.0
|
|
],
|
|
[
|
|
750.0,
|
|
1014.0
|
|
],
|
|
[
|
|
786.0,
|
|
1013.0
|
|
],
|
|
[
|
|
788.0,
|
|
1047.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
768.75,
|
|
1030.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1223.5,
|
|
"perimeter_px": 140.08780670166016,
|
|
"sharpness": {
|
|
"laplacian_var": 550.6862585034014
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 49.52142857142857,
|
|
"std_gray": 57.131131683898865
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5474087595939636,
|
|
"distance_to_border_px": 33.0
|
|
},
|
|
"edge_ratio": 1.120697681485589,
|
|
"edge_lengths_px": [
|
|
33.0151481628418,
|
|
36.013885498046875,
|
|
34.058773040771484,
|
|
37.0
|
|
]
|
|
},
|
|
"confidence": 0.48036148275633117
|
|
},
|
|
{
|
|
"observation_id": "4ab5704f-fceb-4b47-9764-d67f7b0d5811",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1279.0,
|
|
1028.0
|
|
],
|
|
[
|
|
1271.0,
|
|
995.0
|
|
],
|
|
[
|
|
1306.0,
|
|
994.0
|
|
],
|
|
[
|
|
1315.0,
|
|
1027.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1292.75,
|
|
1011.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1180.0,
|
|
"perimeter_px": 139.18928146362305,
|
|
"sharpness": {
|
|
"laplacian_var": 631.4616964446739
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 60.17456359102244,
|
|
"std_gray": 61.07480349797109
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.82393479347229,
|
|
"distance_to_border_px": 52.0
|
|
},
|
|
"edge_ratio": 1.0606090802457118,
|
|
"edge_lengths_px": [
|
|
33.95585250854492,
|
|
35.0142822265625,
|
|
34.20526123046875,
|
|
36.013885498046875
|
|
]
|
|
},
|
|
"confidence": 0.7417121739938519
|
|
},
|
|
{
|
|
"observation_id": "dc1b8128-da1e-4f74-b713-4720a3fffcd9",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1003.0,
|
|
1024.0
|
|
],
|
|
[
|
|
1000.0,
|
|
991.0
|
|
],
|
|
[
|
|
1036.0,
|
|
992.0
|
|
],
|
|
[
|
|
1039.0,
|
|
1025.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1019.5,
|
|
1008.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1185.0,
|
|
"perimeter_px": 138.29993438720703,
|
|
"sharpness": {
|
|
"laplacian_var": 649.8824609719635
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 114.7240099009901,
|
|
"std_gray": 58.2672599487954
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6173661947250366,
|
|
"distance_to_border_px": 55.0
|
|
},
|
|
"edge_ratio": 1.0868480416281727,
|
|
"edge_lengths_px": [
|
|
33.13608169555664,
|
|
36.013885498046875,
|
|
33.13608169555664,
|
|
36.013885498046875
|
|
]
|
|
},
|
|
"confidence": 0.7268725431169991
|
|
},
|
|
{
|
|
"observation_id": "039fc689-2622-4fb8-9bff-e7a639a21924",
|
|
"type": "aruco",
|
|
"marker_id": 71,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1365.0,
|
|
980.0
|
|
],
|
|
[
|
|
1359.0,
|
|
948.0
|
|
],
|
|
[
|
|
1394.0,
|
|
949.0
|
|
],
|
|
[
|
|
1400.0,
|
|
981.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1379.5,
|
|
964.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1114.0,
|
|
"perimeter_px": 135.1438446044922,
|
|
"sharpness": {
|
|
"laplacian_var": 705.4061315555556
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 96.76666666666667,
|
|
"std_gray": 60.3964476512393
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8714544177055359,
|
|
"distance_to_border_px": 40.0
|
|
},
|
|
"edge_ratio": 1.0754551664422909,
|
|
"edge_lengths_px": [
|
|
32.557640075683594,
|
|
35.0142822265625,
|
|
32.557640075683594,
|
|
35.0142822265625
|
|
]
|
|
},
|
|
"confidence": 0.5524482580699143
|
|
},
|
|
{
|
|
"observation_id": "71dcbcc6-ecf1-4571-a62e-90c041027afa",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
756.0,
|
|
992.0
|
|
],
|
|
[
|
|
755.0,
|
|
959.0
|
|
],
|
|
[
|
|
790.0,
|
|
959.0
|
|
],
|
|
[
|
|
791.0,
|
|
991.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
773.0,
|
|
975.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1138.0,
|
|
"perimeter_px": 135.04505157470703,
|
|
"sharpness": {
|
|
"laplacian_var": 762.1949671108113
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 74.88701298701298,
|
|
"std_gray": 65.10280750953224
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4871833324432373,
|
|
"distance_to_border_px": 88.0
|
|
},
|
|
"edge_ratio": 1.0936624350939144,
|
|
"edge_lengths_px": [
|
|
33.0151481628418,
|
|
35.0,
|
|
32.015621185302734,
|
|
35.0142822265625
|
|
]
|
|
},
|
|
"confidence": 0.6936936318943047
|
|
},
|
|
{
|
|
"observation_id": "2ad03205-59d7-43ac-a703-c49155d77f6d",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1179.0,
|
|
972.0
|
|
],
|
|
[
|
|
1172.0,
|
|
940.0
|
|
],
|
|
[
|
|
1206.0,
|
|
938.0
|
|
],
|
|
[
|
|
1214.0,
|
|
970.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1192.75,
|
|
955.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1119.0,
|
|
"perimeter_px": 134.85739135742188,
|
|
"sharpness": {
|
|
"laplacian_var": 710.281194320331
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 95.40575916230367,
|
|
"std_gray": 64.33626295667129
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6989564895629883,
|
|
"distance_to_border_px": 108.0
|
|
},
|
|
"edge_ratio": 1.0702273573428196,
|
|
"edge_lengths_px": [
|
|
32.75667953491211,
|
|
34.058773040771484,
|
|
32.98484420776367,
|
|
35.05709457397461
|
|
]
|
|
},
|
|
"confidence": 0.6970481504529866
|
|
},
|
|
{
|
|
"observation_id": "b223d680-d06c-446b-b9b8-d5630f3a4cbe",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
522.0,
|
|
980.0
|
|
],
|
|
[
|
|
522.0,
|
|
948.0
|
|
],
|
|
[
|
|
557.0,
|
|
946.0
|
|
],
|
|
[
|
|
557.0,
|
|
978.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
539.5,
|
|
963.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1120.0,
|
|
"perimeter_px": 134.11418914794922,
|
|
"sharpness": {
|
|
"laplacian_var": 702.8814832899305
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 83.47395833333333,
|
|
"std_gray": 68.00878350868803
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.511001467704773,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.0955342054367065,
|
|
"edge_lengths_px": [
|
|
32.0,
|
|
35.05709457397461,
|
|
32.0,
|
|
35.05709457397461
|
|
]
|
|
},
|
|
"confidence": 0.6815548642491059
|
|
},
|
|
{
|
|
"observation_id": "2449dd8b-ab7c-4082-9b4b-d25337a3ef0d",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
250.0,
|
|
983.0
|
|
],
|
|
[
|
|
256.0,
|
|
951.0
|
|
],
|
|
[
|
|
290.0,
|
|
951.0
|
|
],
|
|
[
|
|
284.0,
|
|
984.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
270.0,
|
|
967.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1108.0,
|
|
"perimeter_px": 134.11336135864258,
|
|
"sharpness": {
|
|
"laplacian_var": 833.4676380699103
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 82.42744063324538,
|
|
"std_gray": 66.56351252389136
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6894644498825073,
|
|
"distance_to_border_px": 96.0
|
|
},
|
|
"edge_ratio": 1.044753297972182,
|
|
"edge_lengths_px": [
|
|
32.557640075683594,
|
|
34.0,
|
|
33.541019439697266,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.7070249676171251
|
|
},
|
|
{
|
|
"observation_id": "5aa4798c-2339-42b8-a5de-ab9470a56e24",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1021.0,
|
|
962.0
|
|
],
|
|
[
|
|
1016.0,
|
|
930.0
|
|
],
|
|
[
|
|
1051.0,
|
|
929.0
|
|
],
|
|
[
|
|
1056.0,
|
|
960.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1036.0,
|
|
945.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1110.0,
|
|
"perimeter_px": 133.86028480529785,
|
|
"sharpness": {
|
|
"laplacian_var": 467.05062621396394
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 37.23746701846966,
|
|
"std_gray": 50.62719106221967
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5709896087646484,
|
|
"distance_to_border_px": 118.0
|
|
},
|
|
"edge_ratio": 1.116445342783386,
|
|
"edge_lengths_px": [
|
|
32.38827133178711,
|
|
35.0142822265625,
|
|
31.400636672973633,
|
|
35.05709457397461
|
|
]
|
|
},
|
|
"confidence": 0.6628179380059231
|
|
},
|
|
{
|
|
"observation_id": "7d5dd52c-76a5-4240-95f0-6727bb32879c",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
667.0,
|
|
955.0
|
|
],
|
|
[
|
|
668.0,
|
|
924.0
|
|
],
|
|
[
|
|
702.0,
|
|
924.0
|
|
],
|
|
[
|
|
702.0,
|
|
955.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
684.75,
|
|
939.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1069.5,
|
|
"perimeter_px": 131.0161247253418,
|
|
"sharpness": {
|
|
"laplacian_var": 786.2128178547473
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 86.80084151472651,
|
|
"std_gray": 66.21410848138561
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.44561347365379333,
|
|
"distance_to_border_px": 125.0
|
|
},
|
|
"edge_ratio": 1.1290322580645162,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
34.0,
|
|
31.0,
|
|
35.0
|
|
]
|
|
},
|
|
"confidence": 0.6315142857142857
|
|
},
|
|
{
|
|
"observation_id": "1008f1fb-5fd1-4e0b-9357-ee4470e8d88e",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1386.0,
|
|
915.0
|
|
],
|
|
[
|
|
1377.0,
|
|
885.0
|
|
],
|
|
[
|
|
1411.0,
|
|
884.0
|
|
],
|
|
[
|
|
1420.0,
|
|
914.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1398.5,
|
|
899.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1029.0,
|
|
"perimeter_px": 130.6712417602539,
|
|
"sharpness": {
|
|
"laplacian_var": 595.9016037818401
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 154.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 51.14550641940085,
|
|
"std_gray": 57.23389903528005
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8531730771064758,
|
|
"distance_to_border_px": 20.0
|
|
},
|
|
"edge_ratio": 1.08600586729993,
|
|
"edge_lengths_px": [
|
|
31.320919036865234,
|
|
34.01470184326172,
|
|
31.320919036865234,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.25266898482070266
|
|
},
|
|
{
|
|
"observation_id": "3dde3db0-02b4-40e7-9846-289e084efb7b",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1200.0,
|
|
900.0
|
|
],
|
|
[
|
|
1196.0,
|
|
869.0
|
|
],
|
|
[
|
|
1230.0,
|
|
870.0
|
|
],
|
|
[
|
|
1234.0,
|
|
900.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1215.0,
|
|
884.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1035.0,
|
|
"perimeter_px": 129.53719329833984,
|
|
"sharpness": {
|
|
"laplacian_var": 794.6818821978092
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 96.59916201117318,
|
|
"std_gray": 60.59177396250644
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6702473759651184,
|
|
"distance_to_border_px": 180.0
|
|
},
|
|
"edge_ratio": 1.123877398767847,
|
|
"edge_lengths_px": [
|
|
31.256999969482422,
|
|
34.01470184326172,
|
|
30.265491485595703,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.6139459702245773
|
|
},
|
|
{
|
|
"observation_id": "2ee16298-767e-488c-9d9c-2c85987a5714",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
323.0,
|
|
901.0
|
|
],
|
|
[
|
|
326.0,
|
|
871.0
|
|
],
|
|
[
|
|
360.0,
|
|
870.0
|
|
],
|
|
[
|
|
357.0,
|
|
900.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
341.5,
|
|
885.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1017.0,
|
|
"perimeter_px": 128.3286590576172,
|
|
"sharpness": {
|
|
"laplacian_var": 868.3505035319066
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 79.29871977240398,
|
|
"std_gray": 66.33579035699393
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5694186687469482,
|
|
"distance_to_border_px": 179.0
|
|
},
|
|
"edge_ratio": 1.1281964141655945,
|
|
"edge_lengths_px": [
|
|
30.149627685546875,
|
|
34.01470184326172,
|
|
30.149627685546875,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.6009591871477837
|
|
},
|
|
{
|
|
"observation_id": "9b93bb89-4c28-44d4-9e47-07009d3c7d07",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
231.0,
|
|
867.0
|
|
],
|
|
[
|
|
237.0,
|
|
837.0
|
|
],
|
|
[
|
|
270.0,
|
|
838.0
|
|
],
|
|
[
|
|
265.0,
|
|
867.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
250.75,
|
|
852.25
|
|
],
|
|
"quality": {
|
|
"area_px": 991.0,
|
|
"perimeter_px": 127.03714179992676,
|
|
"sharpness": {
|
|
"laplacian_var": 810.3549982884248
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 161.0,
|
|
"mean_gray": 76.57482517482518,
|
|
"std_gray": 66.61811369681585
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6262722015380859,
|
|
"distance_to_border_px": 213.0
|
|
},
|
|
"edge_ratio": 1.1553670523919637,
|
|
"edge_lengths_px": [
|
|
30.5941162109375,
|
|
33.0151481628418,
|
|
29.42787742614746,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.5718240495943555
|
|
},
|
|
{
|
|
"observation_id": "a9ed66bd-9518-4b2e-ad82-683c81c81017",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
668.0,
|
|
166.0
|
|
],
|
|
[
|
|
705.0,
|
|
166.0
|
|
],
|
|
[
|
|
705.0,
|
|
192.0
|
|
],
|
|
[
|
|
667.0,
|
|
192.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
686.25,
|
|
179.0
|
|
],
|
|
"quality": {
|
|
"area_px": 975.0,
|
|
"perimeter_px": 127.01922416687012,
|
|
"sharpness": {
|
|
"laplacian_var": 580.2457391894623
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 66.39393939393939,
|
|
"std_gray": 66.34860767979109
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.40286025404930115,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.4615384615384615,
|
|
"edge_lengths_px": [
|
|
37.0,
|
|
26.0,
|
|
38.0,
|
|
26.019224166870117
|
|
]
|
|
},
|
|
"confidence": 0.4447368421052632
|
|
},
|
|
{
|
|
"observation_id": "86ebdd26-6dc8-4e7b-b68d-c43ad7141a8a",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
410.0,
|
|
867.0
|
|
],
|
|
[
|
|
412.0,
|
|
838.0
|
|
],
|
|
[
|
|
446.0,
|
|
837.0
|
|
],
|
|
[
|
|
444.0,
|
|
866.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
428.0,
|
|
852.0
|
|
],
|
|
"quality": {
|
|
"area_px": 984.0,
|
|
"perimeter_px": 126.16717147827148,
|
|
"sharpness": {
|
|
"laplacian_var": 703.5376607535975
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 114.73906705539359,
|
|
"std_gray": 63.53069427579554
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4748072922229767,
|
|
"distance_to_border_px": 213.0
|
|
},
|
|
"edge_ratio": 1.1701413086619983,
|
|
"edge_lengths_px": [
|
|
29.068883895874023,
|
|
34.01470184326172,
|
|
29.068883895874023,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.560616051364006
|
|
},
|
|
{
|
|
"observation_id": "008f44e5-46f1-4dad-beb2-ee79a209cc1a",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1186.0,
|
|
853.0
|
|
],
|
|
[
|
|
1180.0,
|
|
824.0
|
|
],
|
|
[
|
|
1213.0,
|
|
824.0
|
|
],
|
|
[
|
|
1219.0,
|
|
853.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1199.5,
|
|
838.5
|
|
],
|
|
"quality": {
|
|
"area_px": 957.0,
|
|
"perimeter_px": 125.2283706665039,
|
|
"sharpness": {
|
|
"laplacian_var": 627.5291836734694
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 58.05142857142857,
|
|
"std_gray": 60.11617501104993
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.627578616142273,
|
|
"distance_to_border_px": 221.0
|
|
},
|
|
"edge_ratio": 1.114330839381434,
|
|
"edge_lengths_px": [
|
|
29.614185333251953,
|
|
33.0,
|
|
29.614185333251953,
|
|
33.0
|
|
]
|
|
},
|
|
"confidence": 0.5725409164428711
|
|
},
|
|
{
|
|
"observation_id": "e31522b6-4c53-4353-8ab4-6dbe131604c8",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
835.0,
|
|
840.0
|
|
],
|
|
[
|
|
832.0,
|
|
811.0
|
|
],
|
|
[
|
|
865.0,
|
|
810.0
|
|
],
|
|
[
|
|
869.0,
|
|
838.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
850.25,
|
|
824.75
|
|
],
|
|
"quality": {
|
|
"area_px": 960.0,
|
|
"perimeter_px": 124.51295280456543,
|
|
"sharpness": {
|
|
"laplacian_var": 589.671111111111
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 160.29999999999995,
|
|
"dynamic_range": 149.29999999999995,
|
|
"mean_gray": 40.59407407407407,
|
|
"std_gray": 50.59987961186523
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3479173183441162,
|
|
"distance_to_border_px": 240.0
|
|
},
|
|
"edge_ratio": 1.204159469108855,
|
|
"edge_lengths_px": [
|
|
29.154760360717773,
|
|
33.0151481628418,
|
|
28.284271240234375,
|
|
34.058773040771484
|
|
]
|
|
},
|
|
"confidence": 0.5314910661074115
|
|
},
|
|
{
|
|
"observation_id": "3850ef73-d53d-4b6c-9fee-68ba98a6cf24",
|
|
"type": "aruco",
|
|
"marker_id": 42,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
808.0,
|
|
708.0
|
|
],
|
|
[
|
|
842.0,
|
|
693.0
|
|
],
|
|
[
|
|
844.0,
|
|
719.0
|
|
],
|
|
[
|
|
811.0,
|
|
733.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
826.25,
|
|
713.25
|
|
],
|
|
"quality": {
|
|
"area_px": 890.5,
|
|
"perimeter_px": 124.26487159729004,
|
|
"sharpness": {
|
|
"laplacian_var": 563.034029783138
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 58.983579638752055,
|
|
"std_gray": 55.642446317339214
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22581711411476135,
|
|
"distance_to_border_px": 347.0
|
|
},
|
|
"edge_ratio": 1.4758838851062042,
|
|
"edge_lengths_px": [
|
|
37.161808013916016,
|
|
26.07680892944336,
|
|
35.84689712524414,
|
|
25.179357528686523
|
|
]
|
|
},
|
|
"confidence": 0.40224483284736634
|
|
},
|
|
{
|
|
"observation_id": "c9a7502b-1abb-44b8-b8f2-d3a02048b4e4",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
501.0,
|
|
843.0
|
|
],
|
|
[
|
|
504.0,
|
|
815.0
|
|
],
|
|
[
|
|
537.0,
|
|
815.0
|
|
],
|
|
[
|
|
535.0,
|
|
844.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
519.25,
|
|
829.25
|
|
],
|
|
"quality": {
|
|
"area_px": 956.0,
|
|
"perimeter_px": 124.24384117126465,
|
|
"sharpness": {
|
|
"laplacian_var": 865.5973967998319
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 77.7085798816568,
|
|
"std_gray": 64.43536725746634
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.39120912551879883,
|
|
"distance_to_border_px": 236.0
|
|
},
|
|
"edge_ratio": 1.2078974896105983,
|
|
"edge_lengths_px": [
|
|
28.160255432128906,
|
|
33.0,
|
|
29.068883895874023,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.5276385941813627
|
|
},
|
|
{
|
|
"observation_id": "5ec31b4a-3277-473a-99ef-142a2bf66510",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
792.0,
|
|
854.0
|
|
],
|
|
[
|
|
791.0,
|
|
825.0
|
|
],
|
|
[
|
|
824.0,
|
|
825.0
|
|
],
|
|
[
|
|
826.0,
|
|
853.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
808.25,
|
|
839.25
|
|
],
|
|
"quality": {
|
|
"area_px": 955.5,
|
|
"perimeter_px": 124.10327529907227,
|
|
"sharpness": {
|
|
"laplacian_var": 669.7428718792867
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 86.74222222222222,
|
|
"std_gray": 66.54523548258055
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3466570973396301,
|
|
"distance_to_border_px": 226.0
|
|
},
|
|
"edge_ratio": 1.2117236222406509,
|
|
"edge_lengths_px": [
|
|
29.017236709594727,
|
|
33.0,
|
|
28.07133674621582,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.5256974348837862
|
|
},
|
|
{
|
|
"observation_id": "7833979c-f36d-4995-81fa-84cb31d16c39",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
705.0,
|
|
824.0
|
|
],
|
|
[
|
|
706.0,
|
|
796.0
|
|
],
|
|
[
|
|
739.0,
|
|
796.0
|
|
],
|
|
[
|
|
739.0,
|
|
824.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
722.25,
|
|
810.0
|
|
],
|
|
"quality": {
|
|
"area_px": 938.0,
|
|
"perimeter_px": 123.01785087585449,
|
|
"sharpness": {
|
|
"laplacian_var": 982.1262167125802
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 101.24242424242425,
|
|
"std_gray": 60.129521969701926
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30001041293144226,
|
|
"distance_to_border_px": 256.0
|
|
},
|
|
"edge_ratio": 1.2142857142857142,
|
|
"edge_lengths_px": [
|
|
28.017850875854492,
|
|
33.0,
|
|
28.0,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.5149803921568628
|
|
},
|
|
{
|
|
"observation_id": "b1d499d8-625f-47d3-9eb7-ceb4cc31bac7",
|
|
"type": "aruco",
|
|
"marker_id": 242,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
703.0,
|
|
242.0
|
|
],
|
|
[
|
|
705.0,
|
|
267.0
|
|
],
|
|
[
|
|
669.0,
|
|
268.0
|
|
],
|
|
[
|
|
666.0,
|
|
244.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
685.75,
|
|
255.25
|
|
],
|
|
"quality": {
|
|
"area_px": 898.0,
|
|
"perimeter_px": 122.33454704284668,
|
|
"sharpness": {
|
|
"laplacian_var": 855.3153968253968
|
|
},
|
|
"contrast": {
|
|
"p05": 20.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 82.12063492063493,
|
|
"std_gray": 63.224051478145256
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3186693787574768,
|
|
"distance_to_border_px": 242.0
|
|
},
|
|
"edge_ratio": 1.5319950145238859,
|
|
"edge_lengths_px": [
|
|
25.079872131347656,
|
|
36.013885498046875,
|
|
24.1867733001709,
|
|
37.05401611328125
|
|
]
|
|
},
|
|
"confidence": 0.39077585827047917
|
|
},
|
|
{
|
|
"observation_id": "f297a4de-7e9c-4b3a-9558-d50f533227fb",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1166.0,
|
|
687.0
|
|
],
|
|
[
|
|
1199.0,
|
|
688.0
|
|
],
|
|
[
|
|
1204.0,
|
|
714.0
|
|
],
|
|
[
|
|
1170.0,
|
|
714.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1184.75,
|
|
700.75
|
|
],
|
|
"quality": {
|
|
"area_px": 885.5,
|
|
"perimeter_px": 120.78623962402344,
|
|
"sharpness": {
|
|
"laplacian_var": 833.5022558593749
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 65.1015625,
|
|
"std_gray": 59.142946515696984
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5464059114456177,
|
|
"distance_to_border_px": 236.0
|
|
},
|
|
"edge_ratio": 1.284162296206375,
|
|
"edge_lengths_px": [
|
|
33.0151481628418,
|
|
26.476404190063477,
|
|
34.0,
|
|
27.294687271118164
|
|
]
|
|
},
|
|
"confidence": 0.4597030570647296
|
|
},
|
|
{
|
|
"observation_id": "24dc2e84-2b4a-4246-9dbf-1d5fe2b07dea",
|
|
"type": "aruco",
|
|
"marker_id": 205,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1313.0,
|
|
687.0
|
|
],
|
|
[
|
|
1345.0,
|
|
687.0
|
|
],
|
|
[
|
|
1352.0,
|
|
714.0
|
|
],
|
|
[
|
|
1319.0,
|
|
714.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1332.25,
|
|
700.5
|
|
],
|
|
"quality": {
|
|
"area_px": 877.5,
|
|
"perimeter_px": 120.55128479003906,
|
|
"sharpness": {
|
|
"laplacian_var": 812.5780243530519
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 71.46445497630332,
|
|
"std_gray": 58.178097894516625
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7032642960548401,
|
|
"distance_to_border_px": 88.0
|
|
},
|
|
"edge_ratio": 1.1931174828926654,
|
|
"edge_lengths_px": [
|
|
32.0,
|
|
27.892650604248047,
|
|
33.0,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.49031215147538615
|
|
},
|
|
{
|
|
"observation_id": "283a4532-07f5-4677-b52e-0cc05b798352",
|
|
"type": "aruco",
|
|
"marker_id": 215,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
622.0,
|
|
692.0
|
|
],
|
|
[
|
|
654.0,
|
|
693.0
|
|
],
|
|
[
|
|
653.0,
|
|
720.0
|
|
],
|
|
[
|
|
620.0,
|
|
719.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
637.25,
|
|
706.0
|
|
],
|
|
"quality": {
|
|
"area_px": 879.0,
|
|
"perimeter_px": 119.12325477600098,
|
|
"sharpness": {
|
|
"laplacian_var": 718.449864861607
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 84.37806873977087,
|
|
"std_gray": 64.47346434096906
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20609109103679657,
|
|
"distance_to_border_px": 360.0
|
|
},
|
|
"edge_ratio": 1.2219454304484663,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
27.018512725830078,
|
|
33.0151481628418,
|
|
27.073972702026367
|
|
]
|
|
},
|
|
"confidence": 0.4795631502013408
|
|
},
|
|
{
|
|
"observation_id": "0efe5f33-ff9d-4b3c-9893-b2b14d1150ea",
|
|
"type": "aruco",
|
|
"marker_id": 211,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
627.0,
|
|
604.0
|
|
],
|
|
[
|
|
658.0,
|
|
605.0
|
|
],
|
|
[
|
|
657.0,
|
|
631.0
|
|
],
|
|
[
|
|
625.0,
|
|
630.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
641.75,
|
|
617.5
|
|
],
|
|
"quality": {
|
|
"area_px": 820.5,
|
|
"perimeter_px": 115.12777900695801,
|
|
"sharpness": {
|
|
"laplacian_var": 813.6984549034657
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 79.74694589877836,
|
|
"std_gray": 66.6899301534061
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1223701760172844,
|
|
"distance_to_border_px": 449.0
|
|
},
|
|
"edge_ratio": 1.230460254309494,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
26.019224166870117,
|
|
32.015621185302734,
|
|
26.07680892944336
|
|
]
|
|
},
|
|
"confidence": 0.4445491011060442
|
|
},
|
|
{
|
|
"observation_id": "109086a9-099b-46a0-b596-486425c02c29",
|
|
"type": "aruco",
|
|
"marker_id": 207,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1291.0,
|
|
601.0
|
|
],
|
|
[
|
|
1322.0,
|
|
599.0
|
|
],
|
|
[
|
|
1330.0,
|
|
624.0
|
|
],
|
|
[
|
|
1299.0,
|
|
626.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1310.5,
|
|
612.5
|
|
],
|
|
"quality": {
|
|
"area_px": 791.0,
|
|
"perimeter_px": 114.62651824951172,
|
|
"sharpness": {
|
|
"laplacian_var": 777.6701268742792
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 64.19964349376114,
|
|
"std_gray": 58.32766929357368
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.661037802696228,
|
|
"distance_to_border_px": 110.0
|
|
},
|
|
"edge_ratio": 1.183461251382073,
|
|
"edge_lengths_px": [
|
|
31.064449310302734,
|
|
26.248809814453125,
|
|
31.064449310302734,
|
|
26.248809814453125
|
|
]
|
|
},
|
|
"confidence": 0.4455856351169093
|
|
},
|
|
{
|
|
"observation_id": "e7cc896c-ad09-494c-bb41-0f31a3c6555e",
|
|
"type": "aruco",
|
|
"marker_id": 206,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1155.0,
|
|
600.0
|
|
],
|
|
[
|
|
1185.0,
|
|
599.0
|
|
],
|
|
[
|
|
1192.0,
|
|
624.0
|
|
],
|
|
[
|
|
1160.0,
|
|
626.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.0,
|
|
612.25
|
|
],
|
|
"quality": {
|
|
"area_px": 799.5,
|
|
"perimeter_px": 114.51701545715332,
|
|
"sharpness": {
|
|
"laplacian_var": 834.6296265191033
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 65.22222222222223,
|
|
"std_gray": 56.59005091386526
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5096949338912964,
|
|
"distance_to_border_px": 248.0
|
|
},
|
|
"edge_ratio": 1.2349990169938114,
|
|
"edge_lengths_px": [
|
|
30.01666259765625,
|
|
25.961509704589844,
|
|
32.06243896484375,
|
|
26.476404190063477
|
|
]
|
|
},
|
|
"confidence": 0.43157929088673186
|
|
},
|
|
{
|
|
"observation_id": "89b3b541-bdb4-4c78-92dd-dd4e8f64b9c0",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
317.0,
|
|
620.0
|
|
],
|
|
[
|
|
348.0,
|
|
620.0
|
|
],
|
|
[
|
|
345.0,
|
|
645.0
|
|
],
|
|
[
|
|
313.0,
|
|
646.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
330.75,
|
|
632.75
|
|
],
|
|
"quality": {
|
|
"area_px": 801.5,
|
|
"perimeter_px": 114.5008716583252,
|
|
"sharpness": {
|
|
"laplacian_var": 1025.96269621422
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 170.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 78.4578947368421,
|
|
"std_gray": 63.27225341101909
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4446084797382355,
|
|
"distance_to_border_px": 313.0
|
|
},
|
|
"edge_ratio": 1.271502704103063,
|
|
"edge_lengths_px": [
|
|
31.0,
|
|
25.179357528686523,
|
|
32.015621185302734,
|
|
26.305892944335938
|
|
]
|
|
},
|
|
"confidence": 0.42023766965581094
|
|
},
|
|
{
|
|
"observation_id": "026068b6-382e-4029-8d22-0b140ddc6014",
|
|
"type": "aruco",
|
|
"marker_id": 231,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
806.0,
|
|
153.0
|
|
],
|
|
[
|
|
842.0,
|
|
152.0
|
|
],
|
|
[
|
|
846.0,
|
|
170.0
|
|
],
|
|
[
|
|
808.0,
|
|
171.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
825.5,
|
|
161.5
|
|
],
|
|
"quality": {
|
|
"area_px": 669.0,
|
|
"perimeter_px": 110.57690238952637,
|
|
"sharpness": {
|
|
"laplacian_var": 904.4973515125621
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 146.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 74.43177189409369,
|
|
"std_gray": 53.197944625135726
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.43658676743507385,
|
|
"distance_to_border_px": 152.0
|
|
},
|
|
"edge_ratio": 2.098925358547317,
|
|
"edge_lengths_px": [
|
|
36.013885498046875,
|
|
18.439088821411133,
|
|
38.01315689086914,
|
|
18.11077117919922
|
|
]
|
|
},
|
|
"confidence": 0.21248969058560527
|
|
},
|
|
{
|
|
"observation_id": "495ac113-b49e-4944-95e9-7606ab445aaf",
|
|
"type": "aruco",
|
|
"marker_id": 74,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
432.0,
|
|
500.0
|
|
],
|
|
[
|
|
434.0,
|
|
478.0
|
|
],
|
|
[
|
|
463.0,
|
|
478.0
|
|
],
|
|
[
|
|
461.0,
|
|
500.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
447.5,
|
|
489.0
|
|
],
|
|
"quality": {
|
|
"area_px": 638.0,
|
|
"perimeter_px": 102.18144226074219,
|
|
"sharpness": {
|
|
"laplacian_var": 891.8203875171467
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 91.43287037037037,
|
|
"std_gray": 61.96978903362578
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30803489685058594,
|
|
"distance_to_border_px": 432.0
|
|
},
|
|
"edge_ratio": 1.312768371338036,
|
|
"edge_lengths_px": [
|
|
22.090721130371094,
|
|
29.0,
|
|
22.090721130371094,
|
|
29.0
|
|
]
|
|
},
|
|
"confidence": 0.3239972432454427
|
|
},
|
|
{
|
|
"observation_id": "3b180702-00e5-437e-ba13-05f374640336",
|
|
"type": "aruco",
|
|
"marker_id": 81,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
481.0,
|
|
476.0
|
|
],
|
|
[
|
|
482.0,
|
|
454.0
|
|
],
|
|
[
|
|
511.0,
|
|
454.0
|
|
],
|
|
[
|
|
510.0,
|
|
475.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
496.0,
|
|
464.75
|
|
],
|
|
"quality": {
|
|
"area_px": 623.0,
|
|
"perimeter_px": 101.06374740600586,
|
|
"sharpness": {
|
|
"laplacian_var": 911.4971337908399
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 71.6923076923077,
|
|
"std_gray": 62.2239991592033
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.26255759596824646,
|
|
"distance_to_border_px": 454.0
|
|
},
|
|
"edge_ratio": 1.3802091970949666,
|
|
"edge_lengths_px": [
|
|
22.022714614868164,
|
|
29.0,
|
|
21.02379608154297,
|
|
29.017236709594727
|
|
]
|
|
},
|
|
"confidence": 0.3009205663949477
|
|
},
|
|
{
|
|
"observation_id": "ea838b09-e94d-484d-8a8c-eec947169917",
|
|
"type": "aruco",
|
|
"marker_id": 100,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1309.0,
|
|
464.0
|
|
],
|
|
[
|
|
1303.0,
|
|
443.0
|
|
],
|
|
[
|
|
1331.0,
|
|
442.0
|
|
],
|
|
[
|
|
1337.0,
|
|
463.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1320.0,
|
|
453.0
|
|
],
|
|
"quality": {
|
|
"area_px": 594.0,
|
|
"perimeter_px": 99.71636199951172,
|
|
"sharpness": {
|
|
"laplacian_var": 711.563761621704
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 142.0,
|
|
"dynamic_range": 136.0,
|
|
"mean_gray": 84.82222222222222,
|
|
"std_gray": 51.24608265667066
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6736385822296143,
|
|
"distance_to_border_px": 103.0
|
|
},
|
|
"edge_ratio": 1.282849238858008,
|
|
"edge_lengths_px": [
|
|
21.840330123901367,
|
|
28.017850875854492,
|
|
21.840330123901367,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.3086878707216751
|
|
},
|
|
{
|
|
"observation_id": "f3567032-e122-4a79-8cf0-c98c00afb9aa",
|
|
"type": "aruco",
|
|
"marker_id": 77,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
339.0,
|
|
455.0
|
|
],
|
|
[
|
|
343.0,
|
|
434.0
|
|
],
|
|
[
|
|
371.0,
|
|
434.0
|
|
],
|
|
[
|
|
368.0,
|
|
455.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
355.25,
|
|
444.5
|
|
],
|
|
"quality": {
|
|
"area_px": 598.5,
|
|
"perimeter_px": 99.59076118469238,
|
|
"sharpness": {
|
|
"laplacian_var": 909.4441452478529
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 73.66334164588528,
|
|
"std_gray": 58.13689989998207
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.41893869638442993,
|
|
"distance_to_border_px": 339.0
|
|
},
|
|
"edge_ratio": 1.3670731106433223,
|
|
"edge_lengths_px": [
|
|
21.3775577545166,
|
|
28.0,
|
|
21.21320343017578,
|
|
29.0
|
|
]
|
|
},
|
|
"confidence": 0.2918644196082806
|
|
},
|
|
{
|
|
"observation_id": "393e9365-7154-4ff1-aca8-1b59ffff8ada",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
288.0,
|
|
453.0
|
|
],
|
|
[
|
|
292.0,
|
|
432.0
|
|
],
|
|
[
|
|
320.0,
|
|
432.0
|
|
],
|
|
[
|
|
317.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
304.25,
|
|
442.5
|
|
],
|
|
"quality": {
|
|
"area_px": 598.5,
|
|
"perimeter_px": 99.59076118469238,
|
|
"sharpness": {
|
|
"laplacian_var": 1723.8353617203873
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 112.06483790523691,
|
|
"std_gray": 51.77368539410672
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4744773805141449,
|
|
"distance_to_border_px": 288.0
|
|
},
|
|
"edge_ratio": 1.3670731106433223,
|
|
"edge_lengths_px": [
|
|
21.3775577545166,
|
|
28.0,
|
|
21.21320343017578,
|
|
29.0
|
|
]
|
|
},
|
|
"confidence": 0.2918644196082806
|
|
},
|
|
{
|
|
"observation_id": "1597ee91-a5fd-47a1-ac40-f6bae8afc909",
|
|
"type": "aruco",
|
|
"marker_id": 76,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1165.0,
|
|
466.0
|
|
],
|
|
[
|
|
1162.0,
|
|
445.0
|
|
],
|
|
[
|
|
1190.0,
|
|
445.0
|
|
],
|
|
[
|
|
1194.0,
|
|
466.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1177.75,
|
|
455.5
|
|
],
|
|
"quality": {
|
|
"area_px": 598.5,
|
|
"perimeter_px": 99.59076118469238,
|
|
"sharpness": {
|
|
"laplacian_var": 1021.1203164159427
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 140.0,
|
|
"dynamic_range": 134.0,
|
|
"mean_gray": 77.38902743142144,
|
|
"std_gray": 51.04546190748375
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5172044038772583,
|
|
"distance_to_border_px": 246.0
|
|
},
|
|
"edge_ratio": 1.3670731106433223,
|
|
"edge_lengths_px": [
|
|
21.21320343017578,
|
|
28.0,
|
|
21.3775577545166,
|
|
29.0
|
|
]
|
|
},
|
|
"confidence": 0.2918644196082806
|
|
},
|
|
{
|
|
"observation_id": "6862211c-9c65-4626-986a-db5468fd5336",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1029.0,
|
|
464.0
|
|
],
|
|
[
|
|
1025.0,
|
|
443.0
|
|
],
|
|
[
|
|
1053.0,
|
|
442.0
|
|
],
|
|
[
|
|
1057.0,
|
|
463.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1041.0,
|
|
453.0
|
|
],
|
|
"quality": {
|
|
"area_px": 592.0,
|
|
"perimeter_px": 98.79081726074219,
|
|
"sharpness": {
|
|
"laplacian_var": 633.0098213410449
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 133.0,
|
|
"dynamic_range": 127.0,
|
|
"mean_gray": 61.45792079207921,
|
|
"std_gray": 47.49477002613351
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3695342242717743,
|
|
"distance_to_border_px": 383.0
|
|
},
|
|
"edge_ratio": 1.3106198190452762,
|
|
"edge_lengths_px": [
|
|
21.3775577545166,
|
|
28.017850875854492,
|
|
21.3775577545166,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.30112978678604324
|
|
},
|
|
{
|
|
"observation_id": "34c32c1c-d2de-4a99-81a0-43b95f186255",
|
|
"type": "aruco",
|
|
"marker_id": 94,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1394.0,
|
|
458.0
|
|
],
|
|
[
|
|
1389.0,
|
|
437.0
|
|
],
|
|
[
|
|
1416.0,
|
|
437.0
|
|
],
|
|
[
|
|
1422.0,
|
|
458.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1405.25,
|
|
447.5
|
|
],
|
|
"quality": {
|
|
"area_px": 577.5,
|
|
"perimeter_px": 98.4273624420166,
|
|
"sharpness": {
|
|
"laplacian_var": 991.3733580705008
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 141.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 66.37922077922077,
|
|
"std_gray": 52.069699386476294
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7682943940162659,
|
|
"distance_to_border_px": 18.0
|
|
},
|
|
"edge_ratio": 1.2970750025932551,
|
|
"edge_lengths_px": [
|
|
21.587032318115234,
|
|
27.0,
|
|
21.840330123901367,
|
|
28.0
|
|
]
|
|
},
|
|
"confidence": 0.10685580997467042
|
|
},
|
|
{
|
|
"observation_id": "52bcfe43-84d8-43c4-85dd-7444a496a780",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
937.0,
|
|
472.0
|
|
],
|
|
[
|
|
934.0,
|
|
452.0
|
|
],
|
|
[
|
|
963.0,
|
|
451.0
|
|
],
|
|
[
|
|
965.0,
|
|
472.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
949.75,
|
|
461.75
|
|
],
|
|
"quality": {
|
|
"area_px": 585.5,
|
|
"perimeter_px": 98.33600807189941,
|
|
"sharpness": {
|
|
"laplacian_var": 485.28734274040585
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 129.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 46.256857855361595,
|
|
"std_gray": 44.820020899355875
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2696777284145355,
|
|
"distance_to_border_px": 451.0
|
|
},
|
|
"edge_ratio": 1.4348099592674537,
|
|
"edge_lengths_px": [
|
|
20.2237491607666,
|
|
29.017236709594727,
|
|
21.095022201538086,
|
|
28.0
|
|
]
|
|
},
|
|
"confidence": 0.27204531918123787
|
|
},
|
|
{
|
|
"observation_id": "95a30f87-7c47-443f-a8ad-fcbd26e6ca36",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
438.0,
|
|
433.0
|
|
],
|
|
[
|
|
439.0,
|
|
413.0
|
|
],
|
|
[
|
|
468.0,
|
|
412.0
|
|
],
|
|
[
|
|
466.0,
|
|
433.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
452.75,
|
|
422.75
|
|
],
|
|
"quality": {
|
|
"area_px": 583.5,
|
|
"perimeter_px": 98.13724327087402,
|
|
"sharpness": {
|
|
"laplacian_var": 1189.6162983243764
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 76.22249388753056,
|
|
"std_gray": 57.7466592786042
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3242657780647278,
|
|
"distance_to_border_px": 412.0
|
|
},
|
|
"edge_ratio": 1.4490516540892682,
|
|
"edge_lengths_px": [
|
|
20.02498435974121,
|
|
29.017236709594727,
|
|
21.095022201538086,
|
|
28.0
|
|
]
|
|
},
|
|
"confidence": 0.26845143780915615
|
|
},
|
|
{
|
|
"observation_id": "3141ce89-d7d0-4f3d-b0c6-b7812c21be40",
|
|
"type": "aruco",
|
|
"marker_id": 50,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1018.0,
|
|
429.0
|
|
],
|
|
[
|
|
1015.0,
|
|
408.0
|
|
],
|
|
[
|
|
1043.0,
|
|
408.0
|
|
],
|
|
[
|
|
1046.0,
|
|
428.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1030.5,
|
|
418.25
|
|
],
|
|
"quality": {
|
|
"area_px": 575.5,
|
|
"perimeter_px": 97.45480346679688,
|
|
"sharpness": {
|
|
"laplacian_var": 605.3559427383796
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 129.39999999999998,
|
|
"dynamic_range": 123.39999999999998,
|
|
"mean_gray": 54.842239185750635,
|
|
"std_gray": 45.22306091754461
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3705739676952362,
|
|
"distance_to_border_px": 394.0
|
|
},
|
|
"edge_ratio": 1.385393512010532,
|
|
"edge_lengths_px": [
|
|
21.21320343017578,
|
|
28.0,
|
|
20.2237491607666,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.27693695931192575
|
|
},
|
|
{
|
|
"observation_id": "6be6cc86-061b-4d8a-bdb8-f5a28f3549b6",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
918.0,
|
|
427.0
|
|
],
|
|
[
|
|
916.0,
|
|
406.0
|
|
],
|
|
[
|
|
943.0,
|
|
406.0
|
|
],
|
|
[
|
|
946.0,
|
|
426.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
930.75,
|
|
416.25
|
|
],
|
|
"quality": {
|
|
"area_px": 565.0,
|
|
"perimeter_px": 96.33662223815918,
|
|
"sharpness": {
|
|
"laplacian_var": 513.922433942596
|
|
},
|
|
"contrast": {
|
|
"p05": 7.600000000000001,
|
|
"p95": 124.0,
|
|
"dynamic_range": 116.4,
|
|
"mean_gray": 78.19338422391857,
|
|
"std_gray": 40.75849878745633
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27155160903930664,
|
|
"distance_to_border_px": 406.0
|
|
},
|
|
"edge_ratio": 1.385393512010532,
|
|
"edge_lengths_px": [
|
|
21.095022201538086,
|
|
27.0,
|
|
20.2237491607666,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.27188424328625205
|
|
},
|
|
{
|
|
"observation_id": "e176a63f-db63-4e39-806b-c53466092c73",
|
|
"type": "aruco",
|
|
"marker_id": 61,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
315.0,
|
|
330.0
|
|
],
|
|
[
|
|
317.0,
|
|
312.0
|
|
],
|
|
[
|
|
344.0,
|
|
310.0
|
|
],
|
|
[
|
|
343.0,
|
|
329.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
329.75,
|
|
320.25
|
|
],
|
|
"quality": {
|
|
"area_px": 506.5,
|
|
"perimeter_px": 92.2288932800293,
|
|
"sharpness": {
|
|
"laplacian_var": 939.4784308959365
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 96.40641711229947,
|
|
"std_gray": 54.02035228961827
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.49763035774230957,
|
|
"distance_to_border_px": 310.0
|
|
},
|
|
"edge_ratio": 1.5470269376509964,
|
|
"edge_lengths_px": [
|
|
18.11077117919922,
|
|
27.073972702026367,
|
|
19.02629852294922,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.21826812348812702
|
|
},
|
|
{
|
|
"observation_id": "f8726275-2ba2-406e-9ec7-356ac382ebb6",
|
|
"type": "aruco",
|
|
"marker_id": 90,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1089.0,
|
|
336.0
|
|
],
|
|
[
|
|
1085.0,
|
|
316.0
|
|
],
|
|
[
|
|
1111.0,
|
|
316.0
|
|
],
|
|
[
|
|
1115.0,
|
|
335.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1100.0,
|
|
325.75
|
|
],
|
|
"quality": {
|
|
"area_px": 509.0,
|
|
"perimeter_px": 91.83179092407227,
|
|
"sharpness": {
|
|
"laplacian_var": 586.1934959829867
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 131.0,
|
|
"dynamic_range": 126.0,
|
|
"mean_gray": 68.76358695652173,
|
|
"std_gray": 46.640986362563915
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4847082197666168,
|
|
"distance_to_border_px": 316.0
|
|
},
|
|
"edge_ratio": 1.3400581659893798,
|
|
"edge_lengths_px": [
|
|
20.39607810974121,
|
|
26.0,
|
|
19.416488647460938,
|
|
26.019224166870117
|
|
]
|
|
},
|
|
"confidence": 0.253222839086839
|
|
},
|
|
{
|
|
"observation_id": "c7862518-76a5-42b6-af71-39dde741b83e",
|
|
"type": "aruco",
|
|
"marker_id": 91,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1180.0,
|
|
326.0
|
|
],
|
|
[
|
|
1175.0,
|
|
308.0
|
|
],
|
|
[
|
|
1202.0,
|
|
307.0
|
|
],
|
|
[
|
|
1206.0,
|
|
326.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1190.75,
|
|
316.75
|
|
],
|
|
"quality": {
|
|
"area_px": 492.5,
|
|
"perimeter_px": 91.11654281616211,
|
|
"sharpness": {
|
|
"laplacian_var": 552.9950960776467
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 132.0,
|
|
"mean_gray": 64.87114845938375,
|
|
"std_gray": 51.60298975197179
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5788943767547607,
|
|
"distance_to_border_px": 234.0
|
|
},
|
|
"edge_ratio": 1.4462678472466406,
|
|
"edge_lengths_px": [
|
|
18.681541442871094,
|
|
27.018512725830078,
|
|
19.416488647460938,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.2270211108947793
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1089.0,
|
|
696.0
|
|
],
|
|
[
|
|
872.0,
|
|
703.0
|
|
],
|
|
[
|
|
884.0,
|
|
673.0
|
|
],
|
|
[
|
|
1068.0,
|
|
674.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
978.25,
|
|
686.5
|
|
],
|
|
"area_px": 5226.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
740.0,
|
|
153.0
|
|
],
|
|
[
|
|
758.0,
|
|
147.0
|
|
],
|
|
[
|
|
802.0,
|
|
149.0
|
|
],
|
|
[
|
|
791.0,
|
|
156.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
772.75,
|
|
151.25
|
|
],
|
|
"area_px": 345.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
621.0,
|
|
482.0
|
|
],
|
|
[
|
|
630.0,
|
|
483.0
|
|
],
|
|
[
|
|
625.0,
|
|
531.0
|
|
],
|
|
[
|
|
620.0,
|
|
528.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
624.0,
|
|
506.0
|
|
],
|
|
"area_px": 335.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
975.0,
|
|
435.0
|
|
],
|
|
[
|
|
1002.0,
|
|
434.0
|
|
],
|
|
[
|
|
1006.0,
|
|
455.0
|
|
],
|
|
[
|
|
977.0,
|
|
456.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
990.0,
|
|
445.0
|
|
],
|
|
"area_px": 591.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1318.0,
|
|
379.0
|
|
],
|
|
[
|
|
1346.0,
|
|
379.0
|
|
],
|
|
[
|
|
1352.0,
|
|
398.0
|
|
],
|
|
[
|
|
1324.0,
|
|
399.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1335.0,
|
|
388.75
|
|
],
|
|
"area_px": 549.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
499.0,
|
|
336.0
|
|
],
|
|
[
|
|
499.0,
|
|
356.0
|
|
],
|
|
[
|
|
471.0,
|
|
356.0
|
|
],
|
|
[
|
|
472.0,
|
|
337.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
485.25,
|
|
346.25
|
|
],
|
|
"area_px": 536.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
953.0,
|
|
361.0
|
|
],
|
|
[
|
|
980.0,
|
|
360.0
|
|
],
|
|
[
|
|
984.0,
|
|
379.0
|
|
],
|
|
[
|
|
957.0,
|
|
381.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
968.5,
|
|
370.25
|
|
],
|
|
"area_px": 532.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
781.0,
|
|
468.0
|
|
],
|
|
[
|
|
781.0,
|
|
505.0
|
|
],
|
|
[
|
|
772.0,
|
|
507.0
|
|
],
|
|
[
|
|
772.0,
|
|
470.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
776.5,
|
|
487.5
|
|
],
|
|
"area_px": 333.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
625.0,
|
|
309.0
|
|
],
|
|
[
|
|
625.0,
|
|
329.0
|
|
],
|
|
[
|
|
598.0,
|
|
329.0
|
|
],
|
|
[
|
|
599.0,
|
|
310.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
611.75,
|
|
319.25
|
|
],
|
|
"area_px": 516.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
397.0,
|
|
304.0
|
|
],
|
|
[
|
|
424.0,
|
|
304.0
|
|
],
|
|
[
|
|
422.0,
|
|
322.0
|
|
],
|
|
[
|
|
394.0,
|
|
322.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
409.25,
|
|
313.0
|
|
],
|
|
"area_px": 495.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1252.0,
|
|
317.0
|
|
],
|
|
[
|
|
1257.0,
|
|
334.0
|
|
],
|
|
[
|
|
1229.0,
|
|
334.0
|
|
],
|
|
[
|
|
1225.0,
|
|
316.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1240.75,
|
|
325.25
|
|
],
|
|
"area_px": 479.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
682.0,
|
|
392.0
|
|
],
|
|
[
|
|
685.0,
|
|
399.0
|
|
],
|
|
[
|
|
683.0,
|
|
434.0
|
|
],
|
|
[
|
|
678.0,
|
|
410.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
682.0,
|
|
408.75
|
|
],
|
|
"area_px": 152.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
827.0,
|
|
261.0
|
|
],
|
|
[
|
|
837.0,
|
|
292.0
|
|
],
|
|
[
|
|
832.0,
|
|
300.0
|
|
],
|
|
[
|
|
827.0,
|
|
299.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
830.75,
|
|
288.0
|
|
],
|
|
"area_px": 212.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
768.0,
|
|
691.0
|
|
],
|
|
[
|
|
769.0,
|
|
696.0
|
|
],
|
|
[
|
|
762.0,
|
|
717.0
|
|
],
|
|
[
|
|
757.0,
|
|
720.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
764.0,
|
|
706.0
|
|
],
|
|
"area_px": 84.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1176.0,
|
|
602.0
|
|
],
|
|
[
|
|
1184.0,
|
|
604.0
|
|
],
|
|
[
|
|
1189.0,
|
|
624.0
|
|
],
|
|
[
|
|
1178.0,
|
|
621.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1181.75,
|
|
612.75
|
|
],
|
|
"area_px": 176.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
635.0,
|
|
201.0
|
|
],
|
|
[
|
|
639.0,
|
|
201.0
|
|
],
|
|
[
|
|
639.0,
|
|
226.0
|
|
],
|
|
[
|
|
635.0,
|
|
220.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
637.0,
|
|
212.0
|
|
],
|
|
"area_px": 88.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
378.0,
|
|
908.0
|
|
],
|
|
[
|
|
376.0,
|
|
910.0
|
|
],
|
|
[
|
|
353.0,
|
|
911.0
|
|
],
|
|
[
|
|
364.0,
|
|
908.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
367.75,
|
|
909.25
|
|
],
|
|
"area_px": 43.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1163.0,
|
|
863.0
|
|
],
|
|
[
|
|
1178.0,
|
|
862.0
|
|
],
|
|
[
|
|
1187.0,
|
|
865.0
|
|
],
|
|
[
|
|
1183.0,
|
|
867.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1177.75,
|
|
864.25
|
|
],
|
|
"area_px": 55.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
36.0,
|
|
1033.0
|
|
],
|
|
[
|
|
22.0,
|
|
1036.0
|
|
],
|
|
[
|
|
14.0,
|
|
1035.0
|
|
],
|
|
[
|
|
31.0,
|
|
1032.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
25.75,
|
|
1034.0
|
|
],
|
|
"area_px": 35.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
636.0,
|
|
606.0
|
|
],
|
|
[
|
|
635.0,
|
|
617.0
|
|
],
|
|
[
|
|
628.0,
|
|
623.0
|
|
],
|
|
[
|
|
628.0,
|
|
607.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
631.75,
|
|
613.25
|
|
],
|
|
"area_px": 99.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
525.0,
|
|
875.0
|
|
],
|
|
[
|
|
544.0,
|
|
875.0
|
|
],
|
|
[
|
|
546.0,
|
|
877.0
|
|
],
|
|
[
|
|
530.0,
|
|
878.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
536.25,
|
|
876.25
|
|
],
|
|
"area_px": 45.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
49.0,
|
|
746.0
|
|
],
|
|
[
|
|
45.0,
|
|
748.0
|
|
],
|
|
[
|
|
28.0,
|
|
747.0
|
|
],
|
|
[
|
|
46.0,
|
|
744.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
42.0,
|
|
746.25
|
|
],
|
|
"area_px": 41.5
|
|
}
|
|
]
|
|
} |