Files
appRobotRender/data/evaluations/Scene5/render_f_aruco_detection.json
2026-06-02 17:16:24 +02:00

2324 lines
49 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T10:17:21Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"camera": {
"camera_id": "f",
"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_f.png",
"image_sha256": "6041c1dc8cecc13a71be62bbf38b90384c6e307a06d98a04964884dcfab75708",
"width_px": 1440,
"height_px": 1080
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 37,
"num_rejected_candidates": 11
},
"detections": [
{
"observation_id": "6e9aa0cb-e195-41e2-932f-c00192fd9cdb",
"type": "aruco",
"marker_id": 247,
"marker_size_m": 0.025,
"image_points_px": [
[
1287.0,
523.0
],
[
1305.0,
563.0
],
[
1266.0,
581.0
],
[
1248.0,
540.0
]
],
"center_px": [
1276.5,
551.75
],
"quality": {
"area_px": 1894.5,
"perimeter_px": 174.13821029663086,
"sharpness": {
"laplacian_var": 874.9609765038158
},
"contrast": {
"p05": 54.0,
"p95": 180.0,
"dynamic_range": 126.0,
"mean_gray": 121.6062015503876,
"std_gray": 52.789709697183085
},
"geometry": {
"distance_to_center_norm": 0.6184711456298828,
"distance_to_border_px": 135.0
},
"edge_ratio": 1.0524898098474815,
"edge_lengths_px": [
43.863426208496094,
42.95346450805664,
44.777225494384766,
42.54409408569336
]
},
"confidence": 0.9501279638469013
},
{
"observation_id": "bd1cf0a5-05cc-4111-94b2-72974ab587d9",
"type": "aruco",
"marker_id": 246,
"marker_size_m": 0.025,
"image_points_px": [
[
1304.0,
592.0
],
[
1321.0,
633.0
],
[
1281.0,
650.0
],
[
1267.0,
608.0
]
],
"center_px": [
1293.25,
620.75
],
"quality": {
"area_px": 1853.5,
"perimeter_px": 172.43048477172852,
"sharpness": {
"laplacian_var": 823.9252352300467
},
"contrast": {
"p05": 50.0,
"p95": 179.0,
"dynamic_range": 129.0,
"mean_gray": 95.26968973747017,
"std_gray": 53.05990651648179
},
"geometry": {
"distance_to_center_norm": 0.6432327032089233,
"distance_to_border_px": 119.0
},
"edge_ratio": 1.1010484925187574,
"edge_lengths_px": [
44.384681701660156,
43.46262741088867,
44.271888732910156,
40.31128692626953
]
},
"confidence": 0.9082252115094414
},
{
"observation_id": "9de0b8e0-175a-4d32-8866-f5104d5773be",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
"image_points_px": [
[
1273.0,
431.0
],
[
1289.0,
470.0
],
[
1249.0,
484.0
],
[
1233.0,
444.0
]
],
"center_px": [
1261.0,
457.25
],
"quality": {
"area_px": 1796.0,
"perimeter_px": 169.67451858520508,
"sharpness": {
"laplacian_var": 370.6214228686013
},
"contrast": {
"p05": 15.0,
"p95": 166.0,
"dynamic_range": 151.0,
"mean_gray": 72.84449958643508,
"std_gray": 64.801655552802
},
"geometry": {
"distance_to_center_norm": 0.6081022620201111,
"distance_to_border_px": 151.0
},
"edge_ratio": 1.0242950047076629,
"edge_lengths_px": [
42.154476165771484,
42.379241943359375,
43.08131790161133,
42.05948257446289
]
},
"confidence": 0.9762812426146735
},
{
"observation_id": "7cf8ef27-203b-42cb-a63d-70ad9e47b228",
"type": "aruco",
"marker_id": 231,
"marker_size_m": 0.025,
"image_points_px": [
[
1362.0,
574.0
],
[
1380.0,
614.0
],
[
1344.0,
627.0
],
[
1325.0,
586.0
]
],
"center_px": [
1352.75,
600.25
],
"quality": {
"area_px": 1709.5,
"perimeter_px": 166.22454071044922,
"sharpness": {
"laplacian_var": 342.4512652229876
},
"contrast": {
"p05": 6.0,
"p95": 148.0,
"dynamic_range": 142.0,
"mean_gray": 75.09836065573771,
"std_gray": 58.18607492940611
},
"geometry": {
"distance_to_center_norm": 0.7062355279922485,
"distance_to_border_px": 60.0
},
"edge_ratio": 1.180617113720886,
"edge_lengths_px": [
43.863426208496094,
38.27531814575195,
45.18849563598633,
38.897300720214844
]
},
"confidence": 0.847014657316253
},
{
"observation_id": "37167f55-3fba-4316-876f-a5234cc002b3",
"type": "aruco",
"marker_id": 122,
"marker_size_m": 0.025,
"image_points_px": [
[
1125.0,
643.0
],
[
1131.0,
673.0
],
[
1097.0,
687.0
],
[
1092.0,
656.0
]
],
"center_px": [
1111.25,
664.75
],
"quality": {
"area_px": 1096.0,
"perimeter_px": 134.23260307312012,
"sharpness": {
"laplacian_var": 1444.2633939600316
},
"contrast": {
"p05": 47.0,
"p95": 185.0,
"dynamic_range": 138.0,
"mean_gray": 101.84625322997417,
"std_gray": 58.51105489899528
},
"geometry": {
"distance_to_center_norm": 0.4562855064868927,
"distance_to_border_px": 309.0
},
"edge_ratio": 1.2018505089236196,
"edge_lengths_px": [
30.5941162109375,
36.769554138183594,
31.400636672973633,
35.46829605102539
]
},
"confidence": 0.6079513726886496
},
{
"observation_id": "c3717873-4796-4e4e-b0a1-3ccb4f4be538",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
"image_points_px": [
[
968.0,
709.0
],
[
972.0,
742.0
],
[
938.0,
756.0
],
[
935.0,
722.0
]
],
"center_px": [
953.25,
732.25
],
"quality": {
"area_px": 1169.5,
"perimeter_px": 139.6114845275879,
"sharpness": {
"laplacian_var": 771.969656428795
},
"contrast": {
"p05": 47.0,
"p95": 186.0,
"dynamic_range": 139.0,
"mean_gray": 116.50673194614443,
"std_gray": 57.52587851451681
},
"geometry": {
"distance_to_center_norm": 0.3358527719974518,
"distance_to_border_px": 324.0
},
"edge_ratio": 1.106132725580584,
"edge_lengths_px": [
33.241539001464844,
36.769554138183594,
34.13209533691406,
35.46829605102539
]
},
"confidence": 0.7048581500537716
},
{
"observation_id": "5d6f49fd-3587-4545-af79-65d4acd803be",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
"image_points_px": [
[
1373.0,
932.0
],
[
1403.0,
920.0
],
[
1417.0,
952.0
],
[
1387.0,
963.0
]
],
"center_px": [
1395.0,
941.75
],
"quality": {
"area_px": 1106.0,
"perimeter_px": 133.20727920532227,
"sharpness": {
"laplacian_var": 411.80564027515106
},
"contrast": {
"p05": 7.0,
"p95": 134.0,
"dynamic_range": 127.0,
"mean_gray": 60.02937249666222,
"std_gray": 50.00188719809743
},
"geometry": {
"distance_to_center_norm": 0.8727903962135315,
"distance_to_border_px": 23.0
},
"edge_ratio": 1.0931179608780046,
"edge_lengths_px": [
32.31098937988281,
34.928497314453125,
31.95309066772461,
34.01470184326172
]
},
"confidence": 0.31028063344682905
},
{
"observation_id": "5a123a98-80bb-4d9d-b7eb-0f3f61613499",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
"image_points_px": [
[
1362.0,
872.0
],
[
1393.0,
862.0
],
[
1405.0,
893.0
],
[
1375.0,
904.0
]
],
"center_px": [
1383.75,
882.75
],
"quality": {
"area_px": 1092.0,
"perimeter_px": 132.30745697021484,
"sharpness": {
"laplacian_var": 383.38841516382183
},
"contrast": {
"p05": 7.0,
"p95": 136.0,
"dynamic_range": 129.0,
"mean_gray": 79.04359673024523,
"std_gray": 50.36469997882708
},
"geometry": {
"distance_to_center_norm": 0.8300243020057678,
"distance_to_border_px": 35.0
},
"edge_ratio": 1.0809543723961539,
"edge_lengths_px": [
32.572994232177734,
33.241539001464844,
31.95309066772461,
34.539833068847656
]
},
"confidence": 0.47143525482057913
},
{
"observation_id": "f97a7d3a-a0be-4b50-bc43-610cd315e27d",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
"image_points_px": [
[
590.0,
838.0
],
[
621.0,
828.0
],
[
631.0,
859.0
],
[
600.0,
870.0
]
],
"center_px": [
610.5,
848.75
],
"quality": {
"area_px": 1081.5,
"perimeter_px": 131.56586456298828,
"sharpness": {
"laplacian_var": 664.4595587867535
},
"contrast": {
"p05": 31.0,
"p95": 168.0,
"dynamic_range": 137.0,
"mean_gray": 67.6958981612447,
"std_gray": 51.02232944492833
},
"geometry": {
"distance_to_center_norm": 0.3639915883541107,
"distance_to_border_px": 210.0
},
"edge_ratio": 1.0292608517692443,
"edge_lengths_px": [
32.572994232177734,
32.572994232177734,
32.893768310546875,
33.52610778808594
]
},
"confidence": 0.7005026944924987
},
{
"observation_id": "fdb23eb4-e551-4829-858e-9e88d91448bd",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
"image_points_px": [
[
1321.0,
833.0
],
[
1351.0,
823.0
],
[
1363.0,
855.0
],
[
1334.0,
865.0
]
],
"center_px": [
1342.25,
844.0
],
"quality": {
"area_px": 1069.0,
"perimeter_px": 131.01434707641602,
"sharpness": {
"laplacian_var": 304.19878474100506
},
"contrast": {
"p05": 6.0,
"p95": 131.0,
"dynamic_range": 125.0,
"mean_gray": 45.903225806451616,
"std_gray": 46.79141628077218
},
"geometry": {
"distance_to_center_norm": 0.7694883942604065,
"distance_to_border_px": 77.0
},
"edge_ratio": 1.1259663516201106,
"edge_lengths_px": [
31.62277603149414,
34.1760139465332,
30.675724029541016,
34.539833068847656
]
},
"confidence": 0.6329378010641592
},
{
"observation_id": "9637fac2-46ea-4dee-af5a-9f635722f522",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
"image_points_px": [
[
644.0,
826.0
],
[
676.0,
816.0
],
[
685.0,
847.0
],
[
654.0,
857.0
]
],
"center_px": [
664.75,
836.5
],
"quality": {
"area_px": 1071.5,
"perimeter_px": 130.95212173461914,
"sharpness": {
"laplacian_var": 720.5789628163973
},
"contrast": {
"p05": 29.0,
"p95": 169.0,
"dynamic_range": 140.0,
"mean_gray": 90.32951289398281,
"std_gray": 57.26998608904597
},
"geometry": {
"distance_to_center_norm": 0.3351152539253235,
"distance_to_border_px": 223.0
},
"edge_ratio": 1.0386022714448035,
"edge_lengths_px": [
33.52610778808594,
32.280025482177734,
32.572994232177734,
32.572994232177734
]
},
"confidence": 0.6877833343649649
},
{
"observation_id": "0d318a7e-8682-4cbe-bda3-70a4b864f5e9",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
"image_points_px": [
[
1378.0,
796.0
],
[
1408.0,
785.0
],
[
1421.0,
817.0
],
[
1391.0,
826.0
]
],
"center_px": [
1399.5,
806.0
],
"quality": {
"area_px": 1060.0,
"perimeter_px": 130.50940704345703,
"sharpness": {
"laplacian_var": 312.25316142448264
},
"contrast": {
"p05": 6.0,
"p95": 125.0,
"dynamic_range": 119.0,
"mean_gray": 76.69390581717451,
"std_gray": 45.19305086534262
},
"geometry": {
"distance_to_center_norm": 0.8107885718345642,
"distance_to_border_px": 19.0
},
"edge_ratio": 1.1027720172640434,
"edge_lengths_px": [
31.95309066772461,
34.539833068847656,
31.320919036865234,
32.69556427001953
]
},
"confidence": 0.24350756922501487
},
{
"observation_id": "223c7c3c-1397-4df8-bc6f-854dd0fdaedb",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
900.0,
600.0
],
[
909.0,
631.0
],
[
878.0,
640.0
],
[
868.0,
609.0
]
],
"center_px": [
888.75,
620.0
],
"quality": {
"area_px": 1062.0,
"perimeter_px": 130.37458419799805,
"sharpness": {
"laplacian_var": 503.21452278588134
},
"contrast": {
"p05": 23.0,
"p95": 170.0,
"dynamic_range": 147.0,
"mean_gray": 90.15983026874116,
"std_gray": 61.44072866485177
},
"geometry": {
"distance_to_center_norm": 0.20750296115875244,
"distance_to_border_px": 440.0
},
"edge_ratio": 1.0297866406523741,
"edge_lengths_px": [
32.280025482177734,
32.280025482177734,
32.572994232177734,
33.241539001464844
]
},
"confidence": 0.6875210573245337
},
{
"observation_id": "8d3ca70b-ee62-42de-9982-04edede7103f",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
"image_points_px": [
[
1050.0,
760.0
],
[
1070.0,
777.0
],
[
1035.0,
790.0
],
[
1013.0,
774.0
]
],
"center_px": [
1042.0,
775.25
],
"quality": {
"area_px": 877.5,
"perimeter_px": 130.34814071655273,
"sharpness": {
"laplacian_var": 180.49647354421532
},
"contrast": {
"p05": 12.0,
"p95": 92.0,
"dynamic_range": 80.0,
"mean_gray": 33.238952536824875,
"std_gray": 28.690661041206084
},
"geometry": {
"distance_to_center_norm": 0.44309037923812866,
"distance_to_border_px": 290.0
},
"edge_ratio": 1.5071190565048407,
"edge_lengths_px": [
26.248809814453125,
37.336307525634766,
27.20294189453125,
39.560081481933594
]
},
"confidence": 0.3881577885138506
},
{
"observation_id": "389a28ea-d89d-462f-8ccb-c2a56d76d4a9",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
"image_points_px": [
[
824.0,
853.0
],
[
856.0,
844.0
],
[
867.0,
872.0
],
[
836.0,
884.0
]
],
"center_px": [
845.75,
863.25
],
"quality": {
"area_px": 1050.0,
"perimeter_px": 129.80783462524414,
"sharpness": {
"laplacian_var": 426.82905961171696
},
"contrast": {
"p05": 21.0,
"p95": 161.0,
"dynamic_range": 140.0,
"mean_gray": 52.34125874125874,
"std_gray": 47.566056135837755
},
"geometry": {
"distance_to_center_norm": 0.3853868246078491,
"distance_to_border_px": 196.0
},
"edge_ratio": 1.104986156082796,
"edge_lengths_px": [
33.241539001464844,
30.08321762084961,
33.241539001464844,
33.241539001464844
]
},
"confidence": 0.6334920995585299
},
{
"observation_id": "02ecad3f-8d50-439e-a94b-2ef371544131",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
"image_points_px": [
[
534.0,
808.0
],
[
566.0,
798.0
],
[
575.0,
829.0
],
[
544.0,
838.0
]
],
"center_px": [
554.75,
818.25
],
"quality": {
"area_px": 1051.0,
"perimeter_px": 129.70893478393555,
"sharpness": {
"laplacian_var": 736.9796573919754
},
"contrast": {
"p05": 35.0,
"p95": 172.0,
"dynamic_range": 137.0,
"mean_gray": 114.45558739255014,
"std_gray": 55.74976226977426
},
"geometry": {
"distance_to_center_norm": 0.35957902669906616,
"distance_to_border_px": 242.0
},
"edge_ratio": 1.060188636022853,
"edge_lengths_px": [
33.52610778808594,
32.280025482177734,
32.280025482177734,
31.62277603149414
]
},
"confidence": 0.6608886785422622
},
{
"observation_id": "ed3a76e7-f405-4ac9-b54f-0b765d93e345",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
"image_points_px": [
[
1325.0,
744.0
],
[
1354.0,
732.0
],
[
1368.0,
763.0
],
[
1339.0,
774.0
]
],
"center_px": [
1346.5,
753.25
],
"quality": {
"area_px": 1045.5,
"perimeter_px": 129.52142906188965,
"sharpness": {
"laplacian_var": 259.72469283920105
},
"contrast": {
"p05": 5.0,
"p95": 124.0,
"dynamic_range": 119.0,
"mean_gray": 46.3328611898017,
"std_gray": 45.57210731870959
},
"geometry": {
"distance_to_center_norm": 0.735332190990448,
"distance_to_border_px": 72.0
},
"edge_ratio": 1.096678006826234,
"edge_lengths_px": [
31.38471031188965,
34.01470184326172,
31.016124725341797,
33.105892181396484
]
},
"confidence": 0.63555573802114
},
{
"observation_id": "08c446d7-d448-4f60-83e2-d7acdacc84d8",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
656.0,
734.0
],
[
687.0,
726.0
],
[
696.0,
756.0
],
[
665.0,
766.0
]
],
"center_px": [
676.0,
745.5
],
"quality": {
"area_px": 1042.0,
"perimeter_px": 129.15107345581055,
"sharpness": {
"laplacian_var": 754.7104081567143
},
"contrast": {
"p05": 29.0,
"p95": 170.75,
"dynamic_range": 141.75,
"mean_gray": 95.34844192634561,
"std_gray": 58.2859790924216
},
"geometry": {
"distance_to_center_norm": 0.23350854218006134,
"distance_to_border_px": 314.0
},
"edge_ratio": 1.061320677159537,
"edge_lengths_px": [
32.015621185302734,
31.320919036865234,
32.572994232177734,
33.241539001464844
]
},
"confidence": 0.6545304182010626
},
{
"observation_id": "42486c50-9626-4815-aed8-a4c97b62b1e5",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
"image_points_px": [
[
847.0,
704.0
],
[
875.0,
704.0
],
[
873.0,
742.0
],
[
846.0,
740.0
]
],
"center_px": [
860.25,
722.5
],
"quality": {
"area_px": 1019.0,
"perimeter_px": 129.14045524597168,
"sharpness": {
"laplacian_var": 807.7871289172452
},
"contrast": {
"p05": 43.0,
"p95": 183.0,
"dynamic_range": 140.0,
"mean_gray": 104.16438356164383,
"std_gray": 56.57547115975943
},
"geometry": {
"distance_to_center_norm": 0.25573980808258057,
"distance_to_border_px": 338.0
},
"edge_ratio": 1.405504743049784,
"edge_lengths_px": [
28.0,
38.05259704589844,
27.073972702026367,
36.013885498046875
]
},
"confidence": 0.4833376313332518
},
{
"observation_id": "1e1d0ea0-cafa-4159-9382-d7b6cf90328c",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
"image_points_px": [
[
489.0,
682.0
],
[
519.0,
673.0
],
[
528.0,
703.0
],
[
497.0,
713.0
]
],
"center_px": [
508.25,
692.75
],
"quality": {
"area_px": 1011.0,
"perimeter_px": 127.23045349121094,
"sharpness": {
"laplacian_var": 747.5925731315834
},
"contrast": {
"p05": 39.0,
"p95": 174.0,
"dynamic_range": 135.0,
"mean_gray": 87.22206303724928,
"std_gray": 54.9813276486956
},
"geometry": {
"distance_to_center_norm": 0.2901056110858917,
"distance_to_border_px": 367.0
},
"edge_ratio": 1.039975685063353,
"edge_lengths_px": [
31.320919036865234,
31.320919036865234,
32.572994232177734,
32.015621185302734
]
},
"confidence": 0.6480920753055313
},
{
"observation_id": "9095ee84-aabe-4028-92c2-19a71f637870",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
"image_points_px": [
[
796.0,
816.0
],
[
822.0,
809.0
],
[
837.0,
838.0
],
[
807.0,
848.0
]
],
"center_px": [
815.5,
827.75
],
"quality": {
"area_px": 964.5,
"perimeter_px": 125.03610229492188,
"sharpness": {
"laplacian_var": 1531.3371067080775
},
"contrast": {
"p05": 23.0,
"p95": 167.0,
"dynamic_range": 144.0,
"mean_gray": 99.1875945537065,
"std_gray": 61.27042236673002
},
"geometry": {
"distance_to_center_norm": 0.3368707001209259,
"distance_to_border_px": 232.0
},
"edge_ratio": 1.256706188602784,
"edge_lengths_px": [
26.925823211669922,
32.649654388427734,
31.62277603149414,
33.83784866333008
]
},
"confidence": 0.5116549960773986
},
{
"observation_id": "118e0ce9-c36d-4e79-bcae-cf9b2d8450cf",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
"image_points_px": [
[
593.0,
617.0
],
[
622.0,
606.0
],
[
633.0,
635.0
],
[
603.0,
646.0
]
],
"center_px": [
612.75,
626.0
],
"quality": {
"area_px": 971.0,
"perimeter_px": 124.66106414794922,
"sharpness": {
"laplacian_var": 778.2035930203557
},
"contrast": {
"p05": 34.0,
"p95": 173.0,
"dynamic_range": 139.0,
"mean_gray": 97.8900293255132,
"std_gray": 58.34135508284295
},
"geometry": {
"distance_to_center_norm": 0.15274672210216522,
"distance_to_border_px": 434.0
},
"edge_ratio": 1.041640961333251,
"edge_lengths_px": [
31.016124725341797,
31.016124725341797,
31.95309066772461,
30.675724029541016
]
},
"confidence": 0.6214553357279435
},
{
"observation_id": "80853ddf-392f-41ea-b8bf-430d88a17224",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
"image_points_px": [
[
720.0,
549.0
],
[
750.0,
540.0
],
[
759.0,
569.0
],
[
728.0,
578.0
]
],
"center_px": [
739.25,
559.0
],
"quality": {
"area_px": 961.0,
"perimeter_px": 124.04861450195312,
"sharpness": {
"laplacian_var": 684.9909285170595
},
"contrast": {
"p05": 29.0,
"p95": 175.0,
"dynamic_range": 146.0,
"mean_gray": 91.84728340675477,
"std_gray": 58.497312430882445
},
"geometry": {
"distance_to_center_norm": 0.030052680522203445,
"distance_to_border_px": 502.0
},
"edge_ratio": 1.0730243649138647,
"edge_lengths_px": [
31.320919036865234,
30.364452362060547,
32.280025482177734,
30.08321762084961
]
},
"confidence": 0.5970662807065851
},
{
"observation_id": "aee3f578-4173-4952-8bfd-512e21d5446b",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
670.0,
479.0
],
[
700.0,
469.0
],
[
710.0,
497.0
],
[
680.0,
507.0
]
],
"center_px": [
690.0,
488.0
],
"quality": {
"area_px": 940.0,
"perimeter_px": 122.7098274230957,
"sharpness": {
"laplacian_var": 587.3406517636812
},
"contrast": {
"p05": 33.0,
"p95": 177.0,
"dynamic_range": 144.0,
"mean_gray": 125.62650602409639,
"std_gray": 56.0784650038651
},
"geometry": {
"distance_to_center_norm": 0.0667036920785904,
"distance_to_border_px": 469.0
},
"edge_ratio": 1.0635890487184443,
"edge_lengths_px": [
31.62277603149414,
29.73213768005371,
31.62277603149414,
29.73213768005371
]
},
"confidence": 0.5891999992118755
},
{
"observation_id": "3664d700-b6ef-41d1-95a2-a4d5b4e3cc49",
"type": "aruco",
"marker_id": 82,
"marker_size_m": 0.025,
"image_points_px": [
[
1336.0,
420.0
],
[
1365.0,
411.0
],
[
1378.0,
438.0
],
[
1349.0,
448.0
]
],
"center_px": [
1357.0,
429.25
],
"quality": {
"area_px": 921.0,
"perimeter_px": 121.87752342224121,
"sharpness": {
"laplacian_var": 419.5115803497738
},
"contrast": {
"p05": 9.0,
"p95": 151.0,
"dynamic_range": 142.0,
"mean_gray": 81.02973395931143,
"std_gray": 57.51201051748528
},
"geometry": {
"distance_to_center_norm": 0.718395471572876,
"distance_to_border_px": 62.0
},
"edge_ratio": 1.0301685668665714,
"edge_lengths_px": [
30.364452362060547,
29.96664810180664,
30.675724029541016,
30.870698928833008
]
},
"confidence": 0.5960189620884889
},
{
"observation_id": "c18492f7-004d-4266-b7ad-5d82ad672dd8",
"type": "aruco",
"marker_id": 73,
"marker_size_m": 0.025,
"image_points_px": [
[
1381.0,
409.0
],
[
1410.0,
400.0
],
[
1422.0,
428.0
],
[
1393.0,
437.0
]
],
"center_px": [
1401.5,
418.5
],
"quality": {
"area_px": 920.0,
"perimeter_px": 121.65509033203125,
"sharpness": {
"laplacian_var": 682.1538838315934
},
"contrast": {
"p05": 10.0,
"p95": 153.0,
"dynamic_range": 143.0,
"mean_gray": 92.87010954616588,
"std_gray": 51.68467381329544
},
"geometry": {
"distance_to_center_norm": 0.7691621780395508,
"distance_to_border_px": 18.0
},
"edge_ratio": 1.0032485500057224,
"edge_lengths_px": [
30.364452362060547,
30.463092803955078,
30.364452362060547,
30.463092803955078
]
},
"confidence": 0.22008504273316973
},
{
"observation_id": "e7c6e63a-53ff-480b-bc43-ce14d0e953f7",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
"image_points_px": [
[
519.0,
394.0
],
[
550.0,
385.0
],
[
558.0,
413.0
],
[
527.0,
421.0
]
],
"center_px": [
538.5,
403.25
],
"quality": {
"area_px": 920.5,
"perimeter_px": 121.57634162902832,
"sharpness": {
"laplacian_var": 619.0248326765496
},
"contrast": {
"p05": 38.0,
"p95": 176.0,
"dynamic_range": 138.0,
"mean_gray": 96.42161339421614,
"std_gray": 53.96363019384749
},
"geometry": {
"distance_to_center_norm": 0.25250062346458435,
"distance_to_border_px": 385.0
},
"edge_ratio": 1.146297325320013,
"edge_lengths_px": [
32.280025482177734,
29.120439529418945,
32.015621185302734,
28.160255432128906
]
},
"confidence": 0.5353468538324895
},
{
"observation_id": "a4aa1cb9-8c88-484b-b677-727686d32efa",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
"image_points_px": [
[
882.0,
289.0
],
[
892.0,
316.0
],
[
863.0,
326.0
],
[
852.0,
298.0
]
],
"center_px": [
872.25,
307.25
],
"quality": {
"area_px": 911.0,
"perimeter_px": 120.87222099304199,
"sharpness": {
"laplacian_var": 654.0160006115492
},
"contrast": {
"p05": 22.0,
"p95": 171.0,
"dynamic_range": 149.0,
"mean_gray": 85.28438948995363,
"std_gray": 58.54856598217027
},
"geometry": {
"distance_to_center_norm": 0.30902600288391113,
"distance_to_border_px": 289.0
},
"edge_ratio": 1.0878204740502277,
"edge_lengths_px": [
28.792360305786133,
30.675724029541016,
30.08321762084961,
31.320919036865234
]
},
"confidence": 0.5583029073465398
},
{
"observation_id": "ba5f2ebd-7ac4-4292-ac13-3f739eb7b832",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
"image_points_px": [
[
614.0,
419.0
],
[
643.0,
410.0
],
[
653.0,
438.0
],
[
623.0,
447.0
]
],
"center_px": [
633.25,
428.5
],
"quality": {
"area_px": 911.5,
"perimeter_px": 120.8283920288086,
"sharpness": {
"laplacian_var": 668.9411785209696
},
"contrast": {
"p05": 33.0,
"p95": 174.0,
"dynamic_range": 141.0,
"mean_gray": 92.03658536585365,
"std_gray": 56.609557092366764
},
"geometry": {
"distance_to_center_norm": 0.15696902573108673,
"distance_to_border_px": 410.0
},
"edge_ratio": 1.0649431739364776,
"edge_lengths_px": [
30.364452362060547,
29.73213768005371,
31.320919036865234,
29.4108829498291
]
},
"confidence": 0.5706094762037633
},
{
"observation_id": "8fc8fdbc-1d4a-4e08-bffd-6864ab3875b9",
"type": "aruco",
"marker_id": 74,
"marker_size_m": 0.025,
"image_points_px": [
[
1083.0,
332.0
],
[
1113.0,
324.0
],
[
1122.0,
352.0
],
[
1093.0,
360.0
]
],
"center_px": [
1102.75,
342.0
],
"quality": {
"area_px": 902.0,
"perimeter_px": 120.27458763122559,
"sharpness": {
"laplacian_var": 409.4020341417494
},
"contrast": {
"p05": 14.0,
"p95": 160.0,
"dynamic_range": 146.0,
"mean_gray": 90.84890965732087,
"std_gray": 60.01890076440018
},
"geometry": {
"distance_to_center_norm": 0.47881224751472473,
"distance_to_border_px": 318.0
},
"edge_ratio": 1.0556755277785217,
"edge_lengths_px": [
31.048349380493164,
29.4108829498291,
30.08321762084961,
29.73213768005371
]
},
"confidence": 0.5696194687762921
},
{
"observation_id": "74d83251-aa01-4ad5-ab31-e065a8c7fc9f",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
621.0,
329.0
],
[
651.0,
320.0
],
[
660.0,
347.0
],
[
630.0,
356.0
]
],
"center_px": [
640.5,
338.0
],
"quality": {
"area_px": 891.0,
"perimeter_px": 119.56283569335938,
"sharpness": {
"laplacian_var": 636.0657723885564
},
"contrast": {
"p05": 32.0,
"p95": 174.0,
"dynamic_range": 142.0,
"mean_gray": 92.1648177496038,
"std_gray": 56.912378213399045
},
"geometry": {
"distance_to_center_norm": 0.24120134115219116,
"distance_to_border_px": 320.0
},
"edge_ratio": 1.1005049224950472,
"edge_lengths_px": [
31.320919036865234,
28.460498809814453,
31.320919036865234,
28.460498809814453
]
},
"confidence": 0.5397522426826521
},
{
"observation_id": "c26c1b63-85ac-4d1a-8d24-c48500c60d1a",
"type": "aruco",
"marker_id": 101,
"marker_size_m": 0.025,
"image_points_px": [
[
1287.0,
296.0
],
[
1315.0,
285.0
],
[
1328.0,
312.0
],
[
1300.0,
322.0
]
],
"center_px": [
1307.5,
303.75
],
"quality": {
"area_px": 878.5,
"perimeter_px": 118.85088729858398,
"sharpness": {
"laplacian_var": 636.8408295714177
},
"contrast": {
"p05": 10.0,
"p95": 159.0,
"dynamic_range": 149.0,
"mean_gray": 91.5299003322259,
"std_gray": 56.0849196215896
},
"geometry": {
"distance_to_center_norm": 0.7035802006721497,
"distance_to_border_px": 112.0
},
"edge_ratio": 1.0348941407110426,
"edge_lengths_px": [
30.08321762084961,
29.96664810180664,
29.73213768005371,
29.068883895874023
]
},
"confidence": 0.5659193956439582
},
{
"observation_id": "4fa501ed-d693-4d69-b2b0-aaa670ba794c",
"type": "aruco",
"marker_id": 52,
"marker_size_m": 0.025,
"image_points_px": [
[
1171.0,
304.0
],
[
1198.0,
294.0
],
[
1211.0,
321.0
],
[
1183.0,
331.0
]
],
"center_px": [
1190.75,
312.5
],
"quality": {
"area_px": 867.5,
"perimeter_px": 118.0377197265625,
"sharpness": {
"laplacian_var": 625.5149926795926
},
"contrast": {
"p05": 12.0,
"p95": 162.0,
"dynamic_range": 150.0,
"mean_gray": 77.06896551724138,
"std_gray": 58.17036729536746
},
"geometry": {
"distance_to_center_norm": 0.5809335112571716,
"distance_to_border_px": 229.0
},
"edge_ratio": 1.0407847006479882,
"edge_lengths_px": [
28.792360305786133,
29.96664810180664,
29.73213768005371,
29.546573638916016
]
},
"confidence": 0.5556704791810116
},
{
"observation_id": "d93fdd5a-f5c6-4b21-86bc-6fb73b44a3b6",
"type": "aruco",
"marker_id": 77,
"marker_size_m": 0.025,
"image_points_px": [
[
1106.0,
221.0
],
[
1134.0,
213.0
],
[
1144.0,
240.0
],
[
1116.0,
248.0
]
],
"center_px": [
1125.0,
230.5
],
"quality": {
"area_px": 836.0,
"perimeter_px": 115.82559967041016,
"sharpness": {
"laplacian_var": 486.1134555555556
},
"contrast": {
"p05": 11.0,
"p95": 157.0,
"dynamic_range": 146.0,
"mean_gray": 71.93833333333333,
"std_gray": 56.852040689455954
},
"geometry": {
"distance_to_center_norm": 0.5663564205169678,
"distance_to_border_px": 213.0
},
"edge_ratio": 1.011394662339193,
"edge_lengths_px": [
29.120439529418945,
28.792360305786133,
29.120439529418945,
28.792360305786133
]
},
"confidence": 0.5510542561538847
},
{
"observation_id": "114c5bff-b009-4c1e-9a46-1e0ed4f29aef",
"type": "aruco",
"marker_id": 83,
"marker_size_m": 0.025,
"image_points_px": [
[
1304.0,
199.0
],
[
1332.0,
191.0
],
[
1343.0,
218.0
],
[
1314.0,
226.0
]
],
"center_px": [
1323.25,
208.5
],
"quality": {
"area_px": 853.5,
"perimeter_px": 117.15077781677246,
"sharpness": {
"laplacian_var": 559.9039268274103
},
"contrast": {
"p05": 12.0,
"p95": 159.0,
"dynamic_range": 147.0,
"mean_gray": 95.37601296596435,
"std_gray": 53.96620535941436
},
"geometry": {
"distance_to_center_norm": 0.7648148536682129,
"distance_to_border_px": 97.0
},
"edge_ratio": 1.0448333273602466,
"edge_lengths_px": [
29.120439529418945,
29.154760360717773,
30.08321762084961,
28.792360305786133
]
},
"confidence": 0.5445844663450473
},
{
"observation_id": "e52fdc40-411b-42c7-a95c-eb07bfb4c8ea",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
"image_points_px": [
[
1089.0,
172.0
],
[
1119.0,
165.0
],
[
1127.0,
192.0
],
[
1099.0,
199.0
]
],
"center_px": [
1108.5,
182.0
],
"quality": {
"area_px": 846.0,
"perimeter_px": 116.62019920349121,
"sharpness": {
"laplacian_var": 636.8780615759784
},
"contrast": {
"p05": 22.0,
"p95": 165.0,
"dynamic_range": 143.0,
"mean_gray": 110.6213921901528,
"std_gray": 51.306770213185956
},
"geometry": {
"distance_to_center_norm": 0.5869951248168945,
"distance_to_border_px": 165.0
},
"edge_ratio": 1.0939475825252687,
"edge_lengths_px": [
30.805843353271484,
28.160255432128906,
28.861740112304688,
28.792360305786133
]
},
"confidence": 0.5155640078275618
},
{
"observation_id": "9cfc2bdd-7363-4d70-a750-50b450f5c687",
"type": "aruco",
"marker_id": 61,
"marker_size_m": 0.025,
"image_points_px": [
[
1260.0,
127.0
],
[
1287.0,
117.0
],
[
1300.0,
143.0
],
[
1273.0,
153.0
]
],
"center_px": [
1280.0,
135.0
],
"quality": {
"area_px": 832.0,
"perimeter_px": 115.72248840332031,
"sharpness": {
"laplacian_var": 630.4485549201917
},
"contrast": {
"p05": 12.0,
"p95": 161.0,
"dynamic_range": 149.0,
"mean_gray": 97.44905008635578,
"std_gray": 55.05141649083052
},
"geometry": {
"distance_to_center_norm": 0.7678935527801514,
"distance_to_border_px": 117.0
},
"edge_ratio": 1.0096040611867558,
"edge_lengths_px": [
28.792360305786133,
29.068883895874023,
28.792360305786133,
29.068883895874023
]
},
"confidence": 0.5493902887184056
}
],
"rejected_candidates": [
{
"image_points_px": [
[
1341.0,
497.0
],
[
1218.0,
544.0
],
[
1274.0,
507.0
],
[
1328.0,
491.0
]
],
"center_px": [
1290.25,
509.75
],
"area_px": 1225.5
},
{
"image_points_px": [
[
1028.0,
668.0
],
[
1017.0,
679.0
],
[
982.0,
693.0
],
[
995.0,
682.0
]
],
"center_px": [
1005.5,
680.5
],
"area_px": 206.0
},
{
"image_points_px": [
[
1250.0,
702.0
],
[
1235.0,
708.0
],
[
1219.0,
706.0
],
[
1241.0,
699.0
]
],
"center_px": [
1236.25,
703.75
],
"area_px": 127.5
},
{
"image_points_px": [
[
1368.0,
569.0
],
[
1372.0,
571.0
],
[
1378.0,
597.0
],
[
1368.0,
575.0
]
],
"center_px": [
1371.5,
578.0
],
"area_px": 76.0
},
{
"image_points_px": [
[
1341.0,
570.0
],
[
1337.0,
575.0
],
[
1317.0,
585.0
],
[
1328.0,
574.0
]
],
"center_px": [
1330.75,
576.0
],
"area_px": 79.5
},
{
"image_points_px": [
[
752.0,
81.0
],
[
755.0,
82.0
],
[
762.0,
93.0
],
[
766.0,
105.0
]
],
"center_px": [
758.75,
90.25
],
"area_px": 49.0
},
{
"image_points_px": [
[
781.0,
278.0
],
[
792.0,
292.0
],
[
796.0,
301.0
],
[
793.0,
300.0
]
],
"center_px": [
790.5,
292.75
],
"area_px": 48.5
},
{
"image_points_px": [
[
990.0,
113.0
],
[
994.0,
118.0
],
[
1001.0,
138.0
],
[
998.0,
135.0
]
],
"center_px": [
995.75,
126.0
],
"area_px": 43.5
},
{
"image_points_px": [
[
891.0,
716.0
],
[
889.0,
725.0
],
[
879.0,
735.0
],
[
880.0,
715.0
]
],
"center_px": [
884.75,
722.75
],
"area_px": 145.5
},
{
"image_points_px": [
[
1214.0,
340.0
],
[
1220.0,
348.0
],
[
1224.0,
362.0
],
[
1220.0,
358.0
]
],
"center_px": [
1219.5,
352.0
],
"area_px": 50.0
},
{
"image_points_px": [
[
1135.0,
196.0
],
[
1118.0,
206.0
],
[
1115.0,
205.0
],
[
1117.0,
201.0
]
],
"center_px": [
1121.25,
202.0
],
"area_px": 54.5
}
]
}