1822 lines
36 KiB
JSON
1822 lines
36 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T08:27:15Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "e",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_a.npz",
|
|
"camera_matrix": [
|
|
[
|
|
1777.77783203125,
|
|
0.0,
|
|
640.0
|
|
],
|
|
[
|
|
0.0,
|
|
1500.0,
|
|
360.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_e.png",
|
|
"image_sha256": "b7fc68b80fafea97b7dfacde750d23ba6255e6016af8fb7ca2d64481e7ca26ca",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 24,
|
|
"num_rejected_candidates": 19
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "a1ff9fd4-63d6-4114-9f9b-347b42bdca7e",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
991.0,
|
|
686.0
|
|
],
|
|
[
|
|
1021.0,
|
|
676.0
|
|
],
|
|
[
|
|
1054.0,
|
|
690.0
|
|
],
|
|
[
|
|
1026.0,
|
|
702.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1023.0,
|
|
688.5
|
|
],
|
|
"quality": {
|
|
"area_px": 809.0,
|
|
"perimeter_px": 136.41653060913086,
|
|
"sharpness": {
|
|
"laplacian_var": 1176.1825453985841
|
|
},
|
|
"contrast": {
|
|
"p05": 20.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 71.81228070175439,
|
|
"std_gray": 57.669611232525924
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6871559619903564,
|
|
"distance_to_border_px": 18.0
|
|
},
|
|
"edge_ratio": 1.263291448970706,
|
|
"edge_lengths_px": [
|
|
31.62277603149414,
|
|
35.84689712524414,
|
|
30.463092803955078,
|
|
38.4837646484375
|
|
]
|
|
},
|
|
"confidence": 0.15369374989294518
|
|
},
|
|
{
|
|
"observation_id": "a6084009-c111-4039-aeef-efac97a5e841",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1138.0,
|
|
589.0
|
|
],
|
|
[
|
|
1171.0,
|
|
602.0
|
|
],
|
|
[
|
|
1146.0,
|
|
612.0
|
|
],
|
|
[
|
|
1110.0,
|
|
599.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1141.25,
|
|
600.5
|
|
],
|
|
"quality": {
|
|
"area_px": 689.5,
|
|
"perimeter_px": 130.40157508850098,
|
|
"sharpness": {
|
|
"laplacian_var": 1843.7665630762924
|
|
},
|
|
"contrast": {
|
|
"p05": 16.150000000000002,
|
|
"p95": 162.84999999999997,
|
|
"dynamic_range": 146.69999999999996,
|
|
"mean_gray": 74.31818181818181,
|
|
"std_gray": 57.10232587062204
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7571271657943726,
|
|
"distance_to_border_px": 108.0
|
|
},
|
|
"edge_ratio": 1.4215096728839491,
|
|
"edge_lengths_px": [
|
|
35.46829605102539,
|
|
26.925823211669922,
|
|
38.27531814575195,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.3233651345714012
|
|
},
|
|
{
|
|
"observation_id": "ffdf8e17-1845-44ce-8a4a-64bb90990048",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
730.0,
|
|
653.0
|
|
],
|
|
[
|
|
763.0,
|
|
643.0
|
|
],
|
|
[
|
|
790.0,
|
|
656.0
|
|
],
|
|
[
|
|
759.0,
|
|
667.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
760.5,
|
|
654.75
|
|
],
|
|
"quality": {
|
|
"area_px": 726.0,
|
|
"perimeter_px": 129.54478073120117,
|
|
"sharpness": {
|
|
"laplacian_var": 1564.786037572075
|
|
},
|
|
"contrast": {
|
|
"p05": 20.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 47.104330708661415,
|
|
"std_gray": 48.70737527769088
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.43365001678466797,
|
|
"distance_to_border_px": 53.0
|
|
},
|
|
"edge_ratio": 1.1506752463886485,
|
|
"edge_lengths_px": [
|
|
34.48188018798828,
|
|
29.96664810180664,
|
|
32.893768310546875,
|
|
32.202484130859375
|
|
]
|
|
},
|
|
"confidence": 0.420622587927407
|
|
},
|
|
{
|
|
"observation_id": "c92f9dcc-c145-4027-97b3-56cd3f408d04",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
645.0,
|
|
664.0
|
|
],
|
|
[
|
|
680.0,
|
|
654.0
|
|
],
|
|
[
|
|
704.0,
|
|
667.0
|
|
],
|
|
[
|
|
670.0,
|
|
677.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
674.75,
|
|
665.5
|
|
],
|
|
"quality": {
|
|
"area_px": 693.5,
|
|
"perimeter_px": 127.31333351135254,
|
|
"sharpness": {
|
|
"laplacian_var": 2295.2329908289107
|
|
},
|
|
"contrast": {
|
|
"p05": 29.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 130.60940695296523,
|
|
"std_gray": 50.58614302869375
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.418724000453949,
|
|
"distance_to_border_px": 43.0
|
|
},
|
|
"edge_ratio": 1.3336130390767418,
|
|
"edge_lengths_px": [
|
|
36.400550842285156,
|
|
27.294687271118164,
|
|
35.44009017944336,
|
|
28.17800521850586
|
|
]
|
|
},
|
|
"confidence": 0.2981424558820519
|
|
},
|
|
{
|
|
"observation_id": "498c39cc-bc88-4682-99f3-e7fd7c422b9c",
|
|
"type": "aruco",
|
|
"marker_id": 244,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
717.0,
|
|
279.0
|
|
],
|
|
[
|
|
690.0,
|
|
278.0
|
|
],
|
|
[
|
|
696.0,
|
|
242.0
|
|
],
|
|
[
|
|
722.0,
|
|
243.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
706.25,
|
|
260.5
|
|
],
|
|
"quality": {
|
|
"area_px": 959.5,
|
|
"perimeter_px": 125.87987327575684,
|
|
"sharpness": {
|
|
"laplacian_var": 533.5199905325444
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 84.0,
|
|
"dynamic_range": 78.0,
|
|
"mean_gray": 41.37384615384615,
|
|
"std_gray": 34.49606790043926
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16279113292694092,
|
|
"distance_to_border_px": 242.0
|
|
},
|
|
"edge_ratio": 1.4026772730728077,
|
|
"edge_lengths_px": [
|
|
27.018512725830078,
|
|
36.49657440185547,
|
|
26.019224166870117,
|
|
36.34556198120117
|
|
]
|
|
},
|
|
"confidence": 0.4446318565023385
|
|
},
|
|
{
|
|
"observation_id": "5c3a1a88-5ffd-4f91-8fc4-7238c6693ff7",
|
|
"type": "aruco",
|
|
"marker_id": 206,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1217.0,
|
|
556.0
|
|
],
|
|
[
|
|
1251.0,
|
|
568.0
|
|
],
|
|
[
|
|
1229.0,
|
|
578.0
|
|
],
|
|
[
|
|
1193.0,
|
|
565.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1222.5,
|
|
566.75
|
|
],
|
|
"quality": {
|
|
"area_px": 620.0,
|
|
"perimeter_px": 124.12893295288086,
|
|
"sharpness": {
|
|
"laplacian_var": 2150.86136652697
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 80.0068493150685,
|
|
"std_gray": 51.00986965678261
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8417559862136841,
|
|
"distance_to_border_px": 29.0
|
|
},
|
|
"edge_ratio": 1.583843936128768,
|
|
"edge_lengths_px": [
|
|
36.055511474609375,
|
|
24.166091918945312,
|
|
38.27531814575195,
|
|
25.63201141357422
|
|
]
|
|
},
|
|
"confidence": 0.15136171428561934
|
|
},
|
|
{
|
|
"observation_id": "fbe999b2-7161-41ba-83d5-f49bebefc0ab",
|
|
"type": "aruco",
|
|
"marker_id": 245,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
647.0,
|
|
235.0
|
|
],
|
|
[
|
|
642.0,
|
|
270.0
|
|
],
|
|
[
|
|
620.0,
|
|
264.0
|
|
],
|
|
[
|
|
625.0,
|
|
229.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
633.5,
|
|
249.5
|
|
],
|
|
"quality": {
|
|
"area_px": 800.0,
|
|
"perimeter_px": 116.31769561767578,
|
|
"sharpness": {
|
|
"laplacian_var": 2347.368494722992
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 98.2063492063492,
|
|
"std_gray": 61.578914500097596
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15074309706687927,
|
|
"distance_to_border_px": 229.0
|
|
},
|
|
"edge_ratio": 1.5504341645249935,
|
|
"edge_lengths_px": [
|
|
35.35533905029297,
|
|
22.803508758544922,
|
|
35.35533905029297,
|
|
22.803508758544922
|
|
]
|
|
},
|
|
"confidence": 0.3439896678855311
|
|
},
|
|
{
|
|
"observation_id": "9ab05c10-33fb-4dad-915c-628dd6205e3b",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
385.0,
|
|
577.0
|
|
],
|
|
[
|
|
418.0,
|
|
568.0
|
|
],
|
|
[
|
|
438.0,
|
|
579.0
|
|
],
|
|
[
|
|
404.0,
|
|
588.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
411.25,
|
|
578.0
|
|
],
|
|
"quality": {
|
|
"area_px": 544.0,
|
|
"perimeter_px": 114.15619277954102,
|
|
"sharpness": {
|
|
"laplacian_var": 3940.9750504835793
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 101.58762886597938,
|
|
"std_gray": 66.12609051618766
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.43032872676849365,
|
|
"distance_to_border_px": 132.0
|
|
},
|
|
"edge_ratio": 1.6019955727302424,
|
|
"edge_lengths_px": [
|
|
34.20526123046875,
|
|
22.825424194335938,
|
|
35.1710090637207,
|
|
21.954498291015625
|
|
]
|
|
},
|
|
"confidence": 0.2263843126910661
|
|
},
|
|
{
|
|
"observation_id": "dd87615c-6217-4ec9-b788-1dd37c417cce",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
518.0,
|
|
568.0
|
|
],
|
|
[
|
|
549.0,
|
|
560.0
|
|
],
|
|
[
|
|
570.0,
|
|
570.0
|
|
],
|
|
[
|
|
539.0,
|
|
579.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
544.0,
|
|
569.25
|
|
],
|
|
"quality": {
|
|
"area_px": 504.0,
|
|
"perimeter_px": 111.26159286499023,
|
|
"sharpness": {
|
|
"laplacian_var": 3282.708378824781
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 174.14999999999998,
|
|
"dynamic_range": 150.14999999999998,
|
|
"mean_gray": 81.26719576719577,
|
|
"std_gray": 61.60387221620455
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.31352299451828003,
|
|
"distance_to_border_px": 141.0
|
|
},
|
|
"edge_ratio": 1.3878266725315442,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
23.25940704345703,
|
|
32.280025482177734,
|
|
23.706539154052734
|
|
]
|
|
},
|
|
"confidence": 0.24210516100479615
|
|
},
|
|
{
|
|
"observation_id": "b72fa9d5-198d-46d9-bdf4-16141832977b",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
665.0,
|
|
543.0
|
|
],
|
|
[
|
|
692.0,
|
|
535.0
|
|
],
|
|
[
|
|
715.0,
|
|
545.0
|
|
],
|
|
[
|
|
688.0,
|
|
554.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
690.0,
|
|
544.25
|
|
],
|
|
"quality": {
|
|
"area_px": 479.0,
|
|
"perimeter_px": 107.19572448730469,
|
|
"sharpness": {
|
|
"laplacian_var": 3403.9246590306175
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 90.73463687150839,
|
|
"std_gray": 61.47029510402077
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.25999337434768677,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.1347944144516315,
|
|
"edge_lengths_px": [
|
|
28.160255432128906,
|
|
25.079872131347656,
|
|
28.460498809814453,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.28140192555287236
|
|
},
|
|
{
|
|
"observation_id": "aafe4996-8c1c-4997-8a88-be7b17a52f41",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
551.0,
|
|
203.0
|
|
],
|
|
[
|
|
571.0,
|
|
207.0
|
|
],
|
|
[
|
|
562.0,
|
|
240.0
|
|
],
|
|
[
|
|
542.0,
|
|
235.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
556.5,
|
|
221.25
|
|
],
|
|
"quality": {
|
|
"area_px": 690.5,
|
|
"perimeter_px": 108.45840644836426,
|
|
"sharpness": {
|
|
"laplacian_var": 3258.2936124178404
|
|
},
|
|
"contrast": {
|
|
"p05": 67.0,
|
|
"p95": 190.0,
|
|
"dynamic_range": 123.0,
|
|
"mean_gray": 109.32591093117409,
|
|
"std_gray": 52.39534640189969
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22053270041942596,
|
|
"distance_to_border_px": 203.0
|
|
},
|
|
"edge_ratio": 1.6770509039251151,
|
|
"edge_lengths_px": [
|
|
20.39607810974121,
|
|
34.20526123046875,
|
|
20.615528106689453,
|
|
33.241539001464844
|
|
]
|
|
},
|
|
"confidence": 0.2744897798009168
|
|
},
|
|
{
|
|
"observation_id": "29da89bd-a6bd-462d-a9e4-06f0e849f550",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
713.0,
|
|
555.0
|
|
],
|
|
[
|
|
741.0,
|
|
547.0
|
|
],
|
|
[
|
|
764.0,
|
|
557.0
|
|
],
|
|
[
|
|
736.0,
|
|
565.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
738.5,
|
|
556.0
|
|
],
|
|
"quality": {
|
|
"area_px": 464.0,
|
|
"perimeter_px": 108.4006233215332,
|
|
"sharpness": {
|
|
"laplacian_var": 2518.7388248093903
|
|
},
|
|
"contrast": {
|
|
"p05": 26.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 54.74927113702624,
|
|
"std_gray": 46.77046604041759
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2987307906150818,
|
|
"distance_to_border_px": 155.0
|
|
},
|
|
"edge_ratio": 1.161107974431055,
|
|
"edge_lengths_px": [
|
|
29.120439529418945,
|
|
25.079872131347656,
|
|
29.120439529418945,
|
|
25.079872131347656
|
|
]
|
|
},
|
|
"confidence": 0.2664122029520185
|
|
},
|
|
{
|
|
"observation_id": "3ec3e159-cf3e-45a9-949d-14eff7010a0b",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
643.0,
|
|
510.0
|
|
],
|
|
[
|
|
668.0,
|
|
503.0
|
|
],
|
|
[
|
|
694.0,
|
|
514.0
|
|
],
|
|
[
|
|
663.0,
|
|
520.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
667.0,
|
|
511.75
|
|
],
|
|
"quality": {
|
|
"area_px": 443.5,
|
|
"perimeter_px": 108.12868309020996,
|
|
"sharpness": {
|
|
"laplacian_var": 5376.414701561065
|
|
},
|
|
"contrast": {
|
|
"p05": 35.0,
|
|
"p95": 175.55,
|
|
"dynamic_range": 140.55,
|
|
"mean_gray": 102.41818181818182,
|
|
"std_gray": 56.16847738046376
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20990434288978577,
|
|
"distance_to_border_px": 200.0
|
|
},
|
|
"edge_ratio": 1.4120906191665992,
|
|
"edge_lengths_px": [
|
|
25.961509704589844,
|
|
28.23118782043457,
|
|
31.575305938720703,
|
|
22.360679626464844
|
|
]
|
|
},
|
|
"confidence": 0.2093822185726055
|
|
},
|
|
{
|
|
"observation_id": "e3592a65-8fe3-4e8f-86cf-9fb06e3b08d3",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
306.0,
|
|
536.0
|
|
],
|
|
[
|
|
339.0,
|
|
529.0
|
|
],
|
|
[
|
|
356.0,
|
|
538.0
|
|
],
|
|
[
|
|
324.0,
|
|
546.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
331.25,
|
|
537.25
|
|
],
|
|
"quality": {
|
|
"area_px": 440.0,
|
|
"perimeter_px": 106.54574584960938,
|
|
"sharpness": {
|
|
"laplacian_var": 3592.627486057995
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 73.91540785498489,
|
|
"std_gray": 62.611631580112046
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.48482945561408997,
|
|
"distance_to_border_px": 174.0
|
|
},
|
|
"edge_ratio": 1.7537605054536587,
|
|
"edge_lengths_px": [
|
|
33.734256744384766,
|
|
19.235383987426758,
|
|
32.98484420776367,
|
|
20.59126091003418
|
|
]
|
|
},
|
|
"confidence": 0.16725963004706537
|
|
},
|
|
{
|
|
"observation_id": "2a0a6fe3-737c-4bbb-9127-7ae9db3fe664",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
495.0,
|
|
533.0
|
|
],
|
|
[
|
|
524.0,
|
|
525.0
|
|
],
|
|
[
|
|
544.0,
|
|
535.0
|
|
],
|
|
[
|
|
515.0,
|
|
543.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
519.5,
|
|
534.0
|
|
],
|
|
"quality": {
|
|
"area_px": 450.0,
|
|
"perimeter_px": 104.8877944946289,
|
|
"sharpness": {
|
|
"laplacian_var": 4252.619248057131
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 85.27246376811594,
|
|
"std_gray": 63.32177747525332
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2882344722747803,
|
|
"distance_to_border_px": 177.0
|
|
},
|
|
"edge_ratio": 1.3453624005794889,
|
|
"edge_lengths_px": [
|
|
30.08321762084961,
|
|
22.360679626464844,
|
|
30.08321762084961,
|
|
22.360679626464844
|
|
]
|
|
},
|
|
"confidence": 0.22298824455832925
|
|
},
|
|
{
|
|
"observation_id": "c137861b-eaf9-4a5d-9cad-f718c701ae79",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1176.0,
|
|
465.0
|
|
],
|
|
[
|
|
1196.0,
|
|
459.0
|
|
],
|
|
[
|
|
1222.0,
|
|
467.0
|
|
],
|
|
[
|
|
1204.0,
|
|
473.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1199.5,
|
|
466.0
|
|
],
|
|
"quality": {
|
|
"area_px": 314.0,
|
|
"perimeter_px": 96.17765998840332,
|
|
"sharpness": {
|
|
"laplacian_var": 4611.719317138621
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 89.00420168067227,
|
|
"std_gray": 53.01747752885222
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7755014896392822,
|
|
"distance_to_border_px": 58.0
|
|
},
|
|
"edge_ratio": 1.5347819815001813,
|
|
"edge_lengths_px": [
|
|
20.880613327026367,
|
|
27.20294189453125,
|
|
18.973665237426758,
|
|
29.120439529418945
|
|
]
|
|
},
|
|
"confidence": 0.13639287915585202
|
|
},
|
|
{
|
|
"observation_id": "06fff50d-b1f7-4a90-8c6f-8fb7448bd4a7",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
507.0,
|
|
462.0
|
|
],
|
|
[
|
|
533.0,
|
|
456.0
|
|
],
|
|
[
|
|
551.0,
|
|
464.0
|
|
],
|
|
[
|
|
524.0,
|
|
470.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
528.75,
|
|
463.0
|
|
],
|
|
"quality": {
|
|
"area_px": 317.0,
|
|
"perimeter_px": 92.82797241210938,
|
|
"sharpness": {
|
|
"laplacian_var": 5934.181325867118
|
|
},
|
|
"contrast": {
|
|
"p05": 29.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 86.97854077253218,
|
|
"std_gray": 58.714369807611746
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20646795630455017,
|
|
"distance_to_border_px": 250.0
|
|
},
|
|
"edge_ratio": 1.4721205886780915,
|
|
"edge_lengths_px": [
|
|
26.68332862854004,
|
|
19.697715759277344,
|
|
27.658634185791016,
|
|
18.788293838500977
|
|
]
|
|
},
|
|
"confidence": 0.14355708014592924
|
|
},
|
|
{
|
|
"observation_id": "392b28ad-d7e4-4cf8-b97e-d7e92b6ead98",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
402.0,
|
|
498.0
|
|
],
|
|
[
|
|
431.0,
|
|
491.0
|
|
],
|
|
[
|
|
449.0,
|
|
500.0
|
|
],
|
|
[
|
|
419.0,
|
|
506.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
425.25,
|
|
498.75
|
|
],
|
|
"quality": {
|
|
"area_px": 364.5,
|
|
"perimeter_px": 99.33988952636719,
|
|
"sharpness": {
|
|
"laplacian_var": 5611.299524221453
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 88.2095588235294,
|
|
"std_gray": 65.40836245631846
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.34818607568740845,
|
|
"distance_to_border_px": 214.0
|
|
},
|
|
"edge_ratio": 1.6283605352309334,
|
|
"edge_lengths_px": [
|
|
29.832868576049805,
|
|
20.124610900878906,
|
|
30.5941162109375,
|
|
18.788293838500977
|
|
]
|
|
},
|
|
"confidence": 0.14922985097126407
|
|
},
|
|
{
|
|
"observation_id": "ec76531f-58cc-4f39-94c2-586f736ace9d",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
444.0,
|
|
446.0
|
|
],
|
|
[
|
|
471.0,
|
|
441.0
|
|
],
|
|
[
|
|
486.0,
|
|
448.0
|
|
],
|
|
[
|
|
461.0,
|
|
454.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
465.5,
|
|
447.25
|
|
],
|
|
"quality": {
|
|
"area_px": 283.0,
|
|
"perimeter_px": 88.51022148132324,
|
|
"sharpness": {
|
|
"laplacian_var": 5883.251885191818
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 123.50485436893204,
|
|
"std_gray": 57.3513060577716
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2656901776790619,
|
|
"distance_to_border_px": 266.0
|
|
},
|
|
"edge_ratio": 1.6588624477171257,
|
|
"edge_lengths_px": [
|
|
27.459060668945312,
|
|
16.552946090698242,
|
|
25.70992088317871,
|
|
18.788293838500977
|
|
]
|
|
},
|
|
"confidence": 0.11373255626245794
|
|
},
|
|
{
|
|
"observation_id": "2beb0028-cb13-4ca7-8a3e-09b5264b3e5c",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1111.0,
|
|
455.0
|
|
],
|
|
[
|
|
1131.0,
|
|
449.0
|
|
],
|
|
[
|
|
1157.0,
|
|
456.0
|
|
],
|
|
[
|
|
1136.0,
|
|
462.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1133.75,
|
|
455.5
|
|
],
|
|
"quality": {
|
|
"area_px": 296.5,
|
|
"perimeter_px": 95.6082763671875,
|
|
"sharpness": {
|
|
"laplacian_var": 4659.809917355371
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 147.04999999999998,
|
|
"dynamic_range": 132.04999999999998,
|
|
"mean_gray": 58.88636363636363,
|
|
"std_gray": 49.482143661348324
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6848689913749695,
|
|
"distance_to_border_px": 123.0
|
|
},
|
|
"edge_ratio": 1.2895130420723355,
|
|
"edge_lengths_px": [
|
|
20.880613327026367,
|
|
26.925823211669922,
|
|
21.840330123901367,
|
|
25.961509704589844
|
|
]
|
|
},
|
|
"confidence": 0.1532878382904936
|
|
},
|
|
{
|
|
"observation_id": "8557d79f-5738-446d-95cb-d086564b1099",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1126.0,
|
|
428.0
|
|
],
|
|
[
|
|
1147.0,
|
|
423.0
|
|
],
|
|
[
|
|
1169.0,
|
|
430.0
|
|
],
|
|
[
|
|
1150.0,
|
|
435.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1148.0,
|
|
429.0
|
|
],
|
|
"quality": {
|
|
"area_px": 255.0,
|
|
"perimeter_px": 89.32070732116699,
|
|
"sharpness": {
|
|
"laplacian_var": 5865.460493580027
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 148.7,
|
|
"dynamic_range": 132.7,
|
|
"mean_gray": 81.14973262032086,
|
|
"std_gray": 49.984158318573385
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6981655359268188,
|
|
"distance_to_border_px": 111.0
|
|
},
|
|
"edge_ratio": 1.272466476548753,
|
|
"edge_lengths_px": [
|
|
21.587032318115234,
|
|
23.0867919921875,
|
|
19.646883010864258,
|
|
25.0
|
|
]
|
|
},
|
|
"confidence": 0.13359880447387698
|
|
},
|
|
{
|
|
"observation_id": "6cc27d0b-21ac-408c-abcc-187b24aacd9c",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
358.0,
|
|
408.0
|
|
],
|
|
[
|
|
384.0,
|
|
404.0
|
|
],
|
|
[
|
|
399.0,
|
|
410.0
|
|
],
|
|
[
|
|
373.0,
|
|
415.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
378.5,
|
|
409.25
|
|
],
|
|
"quality": {
|
|
"area_px": 236.5,
|
|
"perimeter_px": 85.49073791503906,
|
|
"sharpness": {
|
|
"laplacian_var": 8162.914448245092
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 90.85975609756098,
|
|
"std_gray": 60.67967546530435
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3623812198638916,
|
|
"distance_to_border_px": 305.0
|
|
},
|
|
"edge_ratio": 1.6388482493543195,
|
|
"edge_lengths_px": [
|
|
26.305892944335938,
|
|
16.155494689941406,
|
|
26.476404190063477,
|
|
16.552946090698242
|
|
]
|
|
},
|
|
"confidence": 0.09620577544552089
|
|
},
|
|
{
|
|
"observation_id": "f9273a0d-cbff-40f5-9432-49a6d7e13e37",
|
|
"type": "aruco",
|
|
"marker_id": 86,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1106.0,
|
|
408.0
|
|
],
|
|
[
|
|
1128.0,
|
|
404.0
|
|
],
|
|
[
|
|
1147.0,
|
|
409.0
|
|
],
|
|
[
|
|
1128.0,
|
|
414.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1127.25,
|
|
408.75
|
|
],
|
|
"quality": {
|
|
"area_px": 205.0,
|
|
"perimeter_px": 84.45795440673828,
|
|
"sharpness": {
|
|
"laplacian_var": 5959.471141868512
|
|
},
|
|
"contrast": {
|
|
"p05": 15.450000000000001,
|
|
"p95": 148.0,
|
|
"dynamic_range": 132.55,
|
|
"mean_gray": 79.57058823529412,
|
|
"std_gray": 50.45788301620975
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6668679118156433,
|
|
"distance_to_border_px": 133.0
|
|
},
|
|
"edge_ratio": 1.1606680177173716,
|
|
"edge_lengths_px": [
|
|
22.360679626464844,
|
|
19.646883010864258,
|
|
19.646883010864258,
|
|
22.803508758544922
|
|
]
|
|
},
|
|
"confidence": 0.11774828338549573
|
|
},
|
|
{
|
|
"observation_id": "2d299e62-841a-4717-9e1a-34a63900ec5a",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
577.0,
|
|
349.0
|
|
],
|
|
[
|
|
592.0,
|
|
355.0
|
|
],
|
|
[
|
|
570.0,
|
|
359.0
|
|
],
|
|
[
|
|
554.0,
|
|
353.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
573.25,
|
|
354.0
|
|
],
|
|
"quality": {
|
|
"area_px": 197.0,
|
|
"perimeter_px": 78.94941711425781,
|
|
"sharpness": {
|
|
"laplacian_var": 6191.256912305683
|
|
},
|
|
"contrast": {
|
|
"p05": 27.0,
|
|
"p95": 174.1,
|
|
"dynamic_range": 147.1,
|
|
"mean_gray": 87.61635220125787,
|
|
"std_gray": 54.04922037524271
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.0912691056728363,
|
|
"distance_to_border_px": 349.0
|
|
},
|
|
"edge_ratio": 1.4450337964036453,
|
|
"edge_lengths_px": [
|
|
16.155494689941406,
|
|
22.360679626464844,
|
|
17.0880069732666,
|
|
23.34523582458496
|
|
]
|
|
},
|
|
"confidence": 0.09088599426545704
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
511.0,
|
|
586.0
|
|
],
|
|
[
|
|
477.0,
|
|
595.0
|
|
],
|
|
[
|
|
457.0,
|
|
584.0
|
|
],
|
|
[
|
|
489.0,
|
|
575.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
483.5,
|
|
585.0
|
|
],
|
|
"area_px": 552.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
753.0,
|
|
466.0
|
|
],
|
|
[
|
|
781.0,
|
|
460.0
|
|
],
|
|
[
|
|
805.0,
|
|
469.0
|
|
],
|
|
[
|
|
778.0,
|
|
476.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
779.25,
|
|
467.75
|
|
],
|
|
"area_px": 420.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
835.0,
|
|
443.0
|
|
],
|
|
[
|
|
861.0,
|
|
438.0
|
|
],
|
|
[
|
|
885.0,
|
|
447.0
|
|
],
|
|
[
|
|
861.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
860.5,
|
|
445.25
|
|
],
|
|
"area_px": 375.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
710.0,
|
|
435.0
|
|
],
|
|
[
|
|
683.0,
|
|
441.0
|
|
],
|
|
[
|
|
661.0,
|
|
432.0
|
|
],
|
|
[
|
|
686.0,
|
|
426.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
685.0,
|
|
433.5
|
|
],
|
|
"area_px": 372.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1174.0,
|
|
430.0
|
|
],
|
|
[
|
|
1196.0,
|
|
425.0
|
|
],
|
|
[
|
|
1220.0,
|
|
433.0
|
|
],
|
|
[
|
|
1201.0,
|
|
439.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1197.75,
|
|
431.75
|
|
],
|
|
"area_px": 314.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
319.0,
|
|
442.0
|
|
],
|
|
[
|
|
287.0,
|
|
446.0
|
|
],
|
|
[
|
|
273.0,
|
|
439.0
|
|
],
|
|
[
|
|
302.0,
|
|
434.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
295.25,
|
|
440.25
|
|
],
|
|
"area_px": 298.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
742.0,
|
|
412.0
|
|
],
|
|
[
|
|
766.0,
|
|
407.0
|
|
],
|
|
[
|
|
788.0,
|
|
415.0
|
|
],
|
|
[
|
|
762.0,
|
|
419.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
764.5,
|
|
413.25
|
|
],
|
|
"area_px": 282.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
417.0,
|
|
439.0
|
|
],
|
|
[
|
|
388.0,
|
|
444.0
|
|
],
|
|
[
|
|
373.0,
|
|
436.0
|
|
],
|
|
[
|
|
399.0,
|
|
431.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
394.25,
|
|
437.5
|
|
],
|
|
"area_px": 302.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
671.0,
|
|
118.0
|
|
],
|
|
[
|
|
684.0,
|
|
119.0
|
|
],
|
|
[
|
|
681.0,
|
|
150.0
|
|
],
|
|
[
|
|
666.0,
|
|
146.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
675.5,
|
|
133.25
|
|
],
|
|
"area_px": 423.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
976.0,
|
|
370.0
|
|
],
|
|
[
|
|
997.0,
|
|
366.0
|
|
],
|
|
[
|
|
1016.0,
|
|
373.0
|
|
],
|
|
[
|
|
998.0,
|
|
377.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
996.75,
|
|
371.5
|
|
],
|
|
"area_px": 218.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1005.0,
|
|
363.0
|
|
],
|
|
[
|
|
1026.0,
|
|
360.0
|
|
],
|
|
[
|
|
1044.0,
|
|
366.0
|
|
],
|
|
[
|
|
1027.0,
|
|
371.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1025.5,
|
|
365.0
|
|
],
|
|
"area_px": 213.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
893.0,
|
|
346.0
|
|
],
|
|
[
|
|
914.0,
|
|
343.0
|
|
],
|
|
[
|
|
930.0,
|
|
349.0
|
|
],
|
|
[
|
|
913.0,
|
|
353.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
912.5,
|
|
347.75
|
|
],
|
|
"area_px": 186.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
866.0,
|
|
324.0
|
|
],
|
|
[
|
|
885.0,
|
|
321.0
|
|
],
|
|
[
|
|
902.0,
|
|
327.0
|
|
],
|
|
[
|
|
885.0,
|
|
331.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
884.5,
|
|
325.75
|
|
],
|
|
"area_px": 180.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
636.0,
|
|
150.0
|
|
],
|
|
[
|
|
642.0,
|
|
161.0
|
|
],
|
|
[
|
|
645.0,
|
|
180.0
|
|
],
|
|
[
|
|
638.0,
|
|
175.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
640.25,
|
|
166.5
|
|
],
|
|
"area_px": 123.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
603.0,
|
|
344.0
|
|
],
|
|
[
|
|
607.0,
|
|
342.0
|
|
],
|
|
[
|
|
630.0,
|
|
350.0
|
|
],
|
|
[
|
|
620.0,
|
|
350.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
615.0,
|
|
346.5
|
|
],
|
|
"area_px": 69.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1209.0,
|
|
563.0
|
|
],
|
|
[
|
|
1211.0,
|
|
560.0
|
|
],
|
|
[
|
|
1235.0,
|
|
564.0
|
|
],
|
|
[
|
|
1225.0,
|
|
566.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1220.0,
|
|
563.25
|
|
],
|
|
"area_px": 71.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
439.0,
|
|
497.0
|
|
],
|
|
[
|
|
428.0,
|
|
504.0
|
|
],
|
|
[
|
|
416.0,
|
|
502.0
|
|
],
|
|
[
|
|
431.0,
|
|
494.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
428.5,
|
|
499.25
|
|
],
|
|
"area_px": 107.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
688.0,
|
|
371.0
|
|
],
|
|
[
|
|
693.0,
|
|
370.0
|
|
],
|
|
[
|
|
712.0,
|
|
377.0
|
|
],
|
|
[
|
|
708.0,
|
|
378.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
700.25,
|
|
374.0
|
|
],
|
|
"area_px": 51.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1243.0,
|
|
567.0
|
|
],
|
|
[
|
|
1227.0,
|
|
575.0
|
|
],
|
|
[
|
|
1220.0,
|
|
572.0
|
|
],
|
|
[
|
|
1234.0,
|
|
565.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1231.0,
|
|
569.75
|
|
],
|
|
"area_px": 97.5
|
|
}
|
|
]
|
|
} |