1590 lines
29 KiB
JSON
1590 lines
29 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T15:25:56Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "c",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_a.npz",
|
|
"camera_matrix": [
|
|
[
|
|
2000.0,
|
|
0.0,
|
|
720.0
|
|
],
|
|
[
|
|
0.0,
|
|
2250.0,
|
|
540.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\render_c.png",
|
|
"image_sha256": "df8fb761b22dee7f907a168509a1308dbf7a4eb1b5fef78c3b00b85e8688196c",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 16,
|
|
"num_rejected_candidates": 27
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "915f6eb9-85f2-45d5-8bee-0666d87071a8",
|
|
"type": "aruco",
|
|
"marker_id": 113,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
891.0,
|
|
407.0
|
|
],
|
|
[
|
|
829.0,
|
|
409.0
|
|
],
|
|
[
|
|
830.0,
|
|
345.0
|
|
],
|
|
[
|
|
893.0,
|
|
342.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
860.75,
|
|
375.75
|
|
],
|
|
"quality": {
|
|
"area_px": 4027.5,
|
|
"perimeter_px": 254.1422119140625,
|
|
"sharpness": {
|
|
"laplacian_var": 683.4934452896103
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 48.68277945619335,
|
|
"std_gray": 62.705190470263986
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24034085869789124,
|
|
"distance_to_border_px": 342.0
|
|
},
|
|
"edge_ratio": 1.0483379579915164,
|
|
"edge_lengths_px": [
|
|
62.032249450683594,
|
|
64.0078125,
|
|
63.071388244628906,
|
|
65.03076171875
|
|
]
|
|
},
|
|
"confidence": 0.9538908635111087
|
|
},
|
|
{
|
|
"observation_id": "20417158-e8bb-41f9-9644-ffea474d0d2c",
|
|
"type": "aruco",
|
|
"marker_id": 245,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
855.0,
|
|
805.0
|
|
],
|
|
[
|
|
854.0,
|
|
862.0
|
|
],
|
|
[
|
|
792.0,
|
|
859.0
|
|
],
|
|
[
|
|
793.0,
|
|
802.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
823.5,
|
|
832.0
|
|
],
|
|
"quality": {
|
|
"area_px": 3537.0,
|
|
"perimeter_px": 238.16261291503906,
|
|
"sharpness": {
|
|
"laplacian_var": 1310.3593617148474
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 80.17611683848797,
|
|
"std_gray": 72.3971298630855
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3442226052284241,
|
|
"distance_to_border_px": 218.0
|
|
},
|
|
"edge_ratio": 1.0888243419471784,
|
|
"edge_lengths_px": [
|
|
57.00876998901367,
|
|
62.07253646850586,
|
|
57.00876998901367,
|
|
62.07253646850586
|
|
]
|
|
},
|
|
"confidence": 0.9184217889652145
|
|
},
|
|
{
|
|
"observation_id": "2ade18e7-8d66-496c-acb2-7b92db80fce5",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
568.0,
|
|
799.0
|
|
],
|
|
[
|
|
628.0,
|
|
802.0
|
|
],
|
|
[
|
|
630.0,
|
|
857.0
|
|
],
|
|
[
|
|
570.0,
|
|
854.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
599.0,
|
|
828.0
|
|
],
|
|
"quality": {
|
|
"area_px": 3294.0,
|
|
"perimeter_px": 230.2226104736328,
|
|
"sharpness": {
|
|
"laplacian_var": 1290.4790189498276
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 72.21798365122616,
|
|
"std_gray": 69.3615537913106
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3470955491065979,
|
|
"distance_to_border_px": 223.0
|
|
},
|
|
"edge_ratio": 1.0915504882394662,
|
|
"edge_lengths_px": [
|
|
60.074954986572266,
|
|
55.03635025024414,
|
|
60.074954986572266,
|
|
55.03635025024414
|
|
]
|
|
},
|
|
"confidence": 0.9161280314324941
|
|
},
|
|
{
|
|
"observation_id": "c55c1467-6afb-4b98-86a3-f8e7a7d3ff78",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
250.0,
|
|
1050.0
|
|
],
|
|
[
|
|
270.0,
|
|
1018.0
|
|
],
|
|
[
|
|
328.0,
|
|
1021.0
|
|
],
|
|
[
|
|
310.0,
|
|
1053.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
289.5,
|
|
1035.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1945.0,
|
|
"perimeter_px": 192.60353088378906,
|
|
"sharpness": {
|
|
"laplacian_var": 2451.0625367565162
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 162.0,
|
|
"mean_gray": 73.50597014925373,
|
|
"std_gray": 70.69875630774416
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.729324460029602,
|
|
"distance_to_border_px": 27.0
|
|
},
|
|
"edge_ratio": 1.6362457099729777,
|
|
"edge_lengths_px": [
|
|
37.735923767089844,
|
|
58.07753372192383,
|
|
36.715118408203125,
|
|
60.074954986572266
|
|
]
|
|
},
|
|
"confidence": 0.3300237835361035
|
|
},
|
|
{
|
|
"observation_id": "0f3e9d9a-0ac1-48db-8c4a-9b617d885d1e",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1064.0,
|
|
1055.0
|
|
],
|
|
[
|
|
1061.0,
|
|
1024.0
|
|
],
|
|
[
|
|
1123.0,
|
|
1027.0
|
|
],
|
|
[
|
|
1128.0,
|
|
1059.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1094.0,
|
|
1041.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1970.5,
|
|
"perimeter_px": 189.7305088043213,
|
|
"sharpness": {
|
|
"laplacian_var": 1574.3804243784862
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 82.6858407079646,
|
|
"std_gray": 71.5225698650742
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6948910355567932,
|
|
"distance_to_border_px": 21.0
|
|
},
|
|
"edge_ratio": 2.058925741097494,
|
|
"edge_lengths_px": [
|
|
31.14482307434082,
|
|
62.07253646850586,
|
|
32.38827133178711,
|
|
64.1248779296875
|
|
]
|
|
},
|
|
"confidence": 0.2039898727848836
|
|
},
|
|
{
|
|
"observation_id": "41454cc5-33e0-438a-a8f2-881b2536c460",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1152.0,
|
|
1045.0
|
|
],
|
|
[
|
|
1147.0,
|
|
1014.0
|
|
],
|
|
[
|
|
1208.0,
|
|
1018.0
|
|
],
|
|
[
|
|
1215.0,
|
|
1049.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1180.5,
|
|
1031.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1898.0,
|
|
"perimeter_px": 187.4389991760254,
|
|
"sharpness": {
|
|
"laplacian_var": 1314.2657848481515
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 44.15255530129672,
|
|
"std_gray": 50.56336690152075
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7483583092689514,
|
|
"distance_to_border_px": 31.0
|
|
},
|
|
"edge_ratio": 2.0103687200680653,
|
|
"edge_lengths_px": [
|
|
31.400636672973633,
|
|
61.13100814819336,
|
|
31.78049659729004,
|
|
63.12685775756836
|
|
]
|
|
},
|
|
"confidence": 0.3084011374684583
|
|
},
|
|
{
|
|
"observation_id": "14600b14-389d-4a88-804a-c9ee6827d807",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
107.0,
|
|
1000.0
|
|
],
|
|
[
|
|
130.0,
|
|
971.0
|
|
],
|
|
[
|
|
185.0,
|
|
974.0
|
|
],
|
|
[
|
|
164.0,
|
|
1004.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
146.5,
|
|
987.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1729.0,
|
|
"perimeter_px": 185.8551139831543,
|
|
"sharpness": {
|
|
"laplacian_var": 2760.665852671177
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 72.1457800511509,
|
|
"std_gray": 72.5179348226274
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8080878257751465,
|
|
"distance_to_border_px": 76.0
|
|
},
|
|
"edge_ratio": 1.5603686018601142,
|
|
"edge_lengths_px": [
|
|
37.013511657714844,
|
|
55.081756591796875,
|
|
36.619667053222656,
|
|
57.14017868041992
|
|
]
|
|
},
|
|
"confidence": 0.640874213187769
|
|
},
|
|
{
|
|
"observation_id": "e0c01457-9ec4-478a-93b1-ec921ba8adf7",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
407.0,
|
|
1018.0
|
|
],
|
|
[
|
|
422.0,
|
|
988.0
|
|
],
|
|
[
|
|
480.0,
|
|
991.0
|
|
],
|
|
[
|
|
467.0,
|
|
1021.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
444.0,
|
|
1004.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1812.0,
|
|
"perimeter_px": 184.3890724182129,
|
|
"sharpness": {
|
|
"laplacian_var": 2196.8448896009504
|
|
},
|
|
"contrast": {
|
|
"p05": 29.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 113.55211726384364,
|
|
"std_gray": 69.228270762138
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6003458499908447,
|
|
"distance_to_border_px": 59.0
|
|
},
|
|
"edge_ratio": 1.8374038291689156,
|
|
"edge_lengths_px": [
|
|
33.541019439697266,
|
|
58.07753372192383,
|
|
32.69556427001953,
|
|
60.074954986572266
|
|
]
|
|
},
|
|
"confidence": 0.5442461717587225
|
|
},
|
|
{
|
|
"observation_id": "d2586607-7f59-4d8e-8719-dff844c800ee",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
919.0,
|
|
1011.0
|
|
],
|
|
[
|
|
920.0,
|
|
981.0
|
|
],
|
|
[
|
|
979.0,
|
|
985.0
|
|
],
|
|
[
|
|
979.0,
|
|
1014.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
949.25,
|
|
997.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1757.0,
|
|
"perimeter_px": 178.22705459594727,
|
|
"sharpness": {
|
|
"laplacian_var": 2744.599869245792
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 92.17985012489592,
|
|
"std_gray": 69.25478880313894
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5688309669494629,
|
|
"distance_to_border_px": 66.0
|
|
},
|
|
"edge_ratio": 2.0715501719507676,
|
|
"edge_lengths_px": [
|
|
30.01666259765625,
|
|
59.13543701171875,
|
|
29.0,
|
|
60.074954986572266
|
|
]
|
|
},
|
|
"confidence": 0.4827302826357835
|
|
},
|
|
{
|
|
"observation_id": "b2d177d3-cb53-4f9c-af89-f3c92eac9dde",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
565.0,
|
|
1006.0
|
|
],
|
|
[
|
|
576.0,
|
|
977.0
|
|
],
|
|
[
|
|
633.0,
|
|
981.0
|
|
],
|
|
[
|
|
624.0,
|
|
1010.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
599.5,
|
|
993.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1722.0,
|
|
"perimeter_px": 177.65619277954102,
|
|
"sharpness": {
|
|
"laplacian_var": 2353.596692802173
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 77.38468085106383,
|
|
"std_gray": 67.04888102104867
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.521373450756073,
|
|
"distance_to_border_px": 70.0
|
|
},
|
|
"edge_ratio": 1.9475219347478392,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
57.14017868041992,
|
|
30.364452362060547,
|
|
59.13543701171875
|
|
]
|
|
},
|
|
"confidence": 0.5134730357373242
|
|
},
|
|
{
|
|
"observation_id": "203cdf78-727d-4f2f-8d0a-085fb7dc4511",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
587.0,
|
|
699.0
|
|
],
|
|
[
|
|
645.0,
|
|
701.0
|
|
],
|
|
[
|
|
636.0,
|
|
725.0
|
|
],
|
|
[
|
|
577.0,
|
|
722.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
611.25,
|
|
711.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1398.5,
|
|
"perimeter_px": 167.82257843017578,
|
|
"sharpness": {
|
|
"laplacian_var": 2221.4297803786844
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 65.05607476635514,
|
|
"std_gray": 67.96466136269656
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22587177157402039,
|
|
"distance_to_border_px": 355.0
|
|
},
|
|
"edge_ratio": 2.35552323220278,
|
|
"edge_lengths_px": [
|
|
58.03447341918945,
|
|
25.63201141357422,
|
|
59.07622146606445,
|
|
25.079872131347656
|
|
]
|
|
},
|
|
"confidence": 0.3958073181309517
|
|
},
|
|
{
|
|
"observation_id": "33a61ccb-81f6-48d3-950c-a8f81dd44cb2",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1009.0,
|
|
853.0
|
|
],
|
|
[
|
|
1064.0,
|
|
856.0
|
|
],
|
|
[
|
|
1067.0,
|
|
880.0
|
|
],
|
|
[
|
|
1011.0,
|
|
878.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1037.75,
|
|
866.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1353.5,
|
|
"perimeter_px": 160.3841037750244,
|
|
"sharpness": {
|
|
"laplacian_var": 1677.6401187202734
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 143.0,
|
|
"dynamic_range": 132.0,
|
|
"mean_gray": 54.52693965517241,
|
|
"std_gray": 55.728031531652995
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.506416380405426,
|
|
"distance_to_border_px": 200.0
|
|
},
|
|
"edge_ratio": 2.3167911261364096,
|
|
"edge_lengths_px": [
|
|
55.081756591796875,
|
|
24.1867733001709,
|
|
56.035701751708984,
|
|
25.079872131347656
|
|
]
|
|
},
|
|
"confidence": 0.38947547888708767
|
|
},
|
|
{
|
|
"observation_id": "27312315-a8f7-4e63-8812-cf3dcd75515d",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
621.0,
|
|
620.0
|
|
],
|
|
[
|
|
673.0,
|
|
622.0
|
|
],
|
|
[
|
|
667.0,
|
|
641.0
|
|
],
|
|
[
|
|
613.0,
|
|
639.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
643.5,
|
|
630.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1021.0,
|
|
"perimeter_px": 146.61585998535156,
|
|
"sharpness": {
|
|
"laplacian_var": 3154.1811673606544
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 161.0,
|
|
"mean_gray": 85.1951566951567,
|
|
"std_gray": 68.23198930125653
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1316678375005722,
|
|
"distance_to_border_px": 439.0
|
|
},
|
|
"edge_ratio": 2.712040667930009,
|
|
"edge_lengths_px": [
|
|
52.038448333740234,
|
|
19.92485809326172,
|
|
54.037025451660156,
|
|
20.615528106689453
|
|
]
|
|
},
|
|
"confidence": 0.25097952059332207
|
|
},
|
|
{
|
|
"observation_id": "a6770eee-2af8-4b80-bfa5-deaea01a4882",
|
|
"type": "aruco",
|
|
"marker_id": 214,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1005.0,
|
|
780.0
|
|
],
|
|
[
|
|
1055.0,
|
|
782.0
|
|
],
|
|
[
|
|
1058.0,
|
|
803.0
|
|
],
|
|
[
|
|
1006.0,
|
|
801.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1031.0,
|
|
791.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1067.0,
|
|
"perimeter_px": 144.31543350219727,
|
|
"sharpness": {
|
|
"laplacian_var": 1116.4435182456568
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 139.0,
|
|
"dynamic_range": 126.0,
|
|
"mean_gray": 71.45576407506702,
|
|
"std_gray": 54.62149848550704
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.44440728425979614,
|
|
"distance_to_border_px": 277.0
|
|
},
|
|
"edge_ratio": 2.475216565643223,
|
|
"edge_lengths_px": [
|
|
50.03998565673828,
|
|
21.21320343017578,
|
|
52.038448333740234,
|
|
21.02379608154297
|
|
]
|
|
},
|
|
"confidence": 0.2873822610945893
|
|
},
|
|
{
|
|
"observation_id": "82f021d4-6a20-46e6-aea5-7a9f34a5dca6",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
337.0,
|
|
758.0
|
|
],
|
|
[
|
|
384.0,
|
|
760.0
|
|
],
|
|
[
|
|
372.0,
|
|
779.0
|
|
],
|
|
[
|
|
323.0,
|
|
777.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
354.0,
|
|
768.5
|
|
],
|
|
"quality": {
|
|
"area_px": 938.0,
|
|
"perimeter_px": 142.1563835144043,
|
|
"sharpness": {
|
|
"laplacian_var": 2460.134555894439
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 87.09486780715396,
|
|
"std_gray": 64.13182881114612
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.47941353917121887,
|
|
"distance_to_border_px": 301.0
|
|
},
|
|
"edge_ratio": 2.1822869591484637,
|
|
"edge_lengths_px": [
|
|
47.04253387451172,
|
|
22.472204208374023,
|
|
49.04079818725586,
|
|
23.600847244262695
|
|
]
|
|
},
|
|
"confidence": 0.28654954414305833
|
|
},
|
|
{
|
|
"observation_id": "e2900440-5878-47c8-8eb0-25cc32f8b9ef",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1157.0,
|
|
702.0
|
|
],
|
|
[
|
|
1153.0,
|
|
687.0
|
|
],
|
|
[
|
|
1194.0,
|
|
689.0
|
|
],
|
|
[
|
|
1199.0,
|
|
704.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1175.75,
|
|
695.5
|
|
],
|
|
"quality": {
|
|
"area_px": 613.5,
|
|
"perimeter_px": 114.43190670013428,
|
|
"sharpness": {
|
|
"laplacian_var": 1111.5657251756697
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 62.521444695259596,
|
|
"std_gray": 52.122934781080446
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5350531339645386,
|
|
"distance_to_border_px": 241.0
|
|
},
|
|
"edge_ratio": 2.7085235126543186,
|
|
"edge_lengths_px": [
|
|
15.524174690246582,
|
|
41.04875183105469,
|
|
15.81138801574707,
|
|
42.04759216308594
|
|
]
|
|
},
|
|
"confidence": 0.15100478105105508
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
733.0,
|
|
615.0
|
|
],
|
|
[
|
|
727.0,
|
|
688.0
|
|
],
|
|
[
|
|
716.0,
|
|
699.0
|
|
],
|
|
[
|
|
713.0,
|
|
680.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
722.25,
|
|
670.5
|
|
],
|
|
"area_px": 656.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1382.0,
|
|
685.0
|
|
],
|
|
[
|
|
1423.0,
|
|
687.0
|
|
],
|
|
[
|
|
1432.0,
|
|
702.0
|
|
],
|
|
[
|
|
1389.0,
|
|
700.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1406.5,
|
|
693.5
|
|
],
|
|
"area_px": 614.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1325.0,
|
|
700.0
|
|
],
|
|
[
|
|
1364.0,
|
|
701.0
|
|
],
|
|
[
|
|
1375.0,
|
|
716.0
|
|
],
|
|
[
|
|
1332.0,
|
|
715.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1349.0,
|
|
708.0
|
|
],
|
|
"area_px": 606.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1229.0,
|
|
679.0
|
|
],
|
|
[
|
|
1270.0,
|
|
681.0
|
|
],
|
|
[
|
|
1276.0,
|
|
695.0
|
|
],
|
|
[
|
|
1234.0,
|
|
694.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1252.25,
|
|
687.25
|
|
],
|
|
"area_px": 593.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1279.0,
|
|
649.0
|
|
],
|
|
[
|
|
1318.0,
|
|
651.0
|
|
],
|
|
[
|
|
1324.0,
|
|
664.0
|
|
],
|
|
[
|
|
1286.0,
|
|
663.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1301.75,
|
|
656.75
|
|
],
|
|
"area_px": 510.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1088.0,
|
|
647.0
|
|
],
|
|
[
|
|
1126.0,
|
|
648.0
|
|
],
|
|
[
|
|
1130.0,
|
|
661.0
|
|
],
|
|
[
|
|
1090.0,
|
|
660.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1108.5,
|
|
654.0
|
|
],
|
|
"area_px": 504.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1352.0,
|
|
626.0
|
|
],
|
|
[
|
|
1389.0,
|
|
627.0
|
|
],
|
|
[
|
|
1397.0,
|
|
640.0
|
|
],
|
|
[
|
|
1358.0,
|
|
638.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1374.0,
|
|
632.75
|
|
],
|
|
"area_px": 464.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1129.0,
|
|
635.0
|
|
],
|
|
[
|
|
1167.0,
|
|
636.0
|
|
],
|
|
[
|
|
1171.0,
|
|
649.0
|
|
],
|
|
[
|
|
1132.0,
|
|
647.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1149.75,
|
|
641.75
|
|
],
|
|
"area_px": 476.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1013.0,
|
|
626.0
|
|
],
|
|
[
|
|
1050.0,
|
|
627.0
|
|
],
|
|
[
|
|
1052.0,
|
|
639.0
|
|
],
|
|
[
|
|
1014.0,
|
|
638.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1032.25,
|
|
632.5
|
|
],
|
|
"area_px": 448.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
572.0,
|
|
638.0
|
|
],
|
|
[
|
|
555.0,
|
|
673.0
|
|
],
|
|
[
|
|
555.0,
|
|
644.0
|
|
],
|
|
[
|
|
561.0,
|
|
638.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
560.75,
|
|
648.25
|
|
],
|
|
"area_px": 279.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
621.0,
|
|
528.0
|
|
],
|
|
[
|
|
620.0,
|
|
538.0
|
|
],
|
|
[
|
|
605.0,
|
|
568.0
|
|
],
|
|
[
|
|
607.0,
|
|
555.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
613.25,
|
|
547.25
|
|
],
|
|
"area_px": 124.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
119.0,
|
|
997.0
|
|
],
|
|
[
|
|
122.0,
|
|
990.0
|
|
],
|
|
[
|
|
153.0,
|
|
992.0
|
|
],
|
|
[
|
|
149.0,
|
|
999.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
135.75,
|
|
994.5
|
|
],
|
|
"area_px": 220.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
717.0,
|
|
106.0
|
|
],
|
|
[
|
|
732.0,
|
|
106.0
|
|
],
|
|
[
|
|
746.0,
|
|
111.0
|
|
],
|
|
[
|
|
733.0,
|
|
111.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
732.0,
|
|
108.5
|
|
],
|
|
"area_px": 70.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
882.0,
|
|
65.0
|
|
],
|
|
[
|
|
861.0,
|
|
72.0
|
|
],
|
|
[
|
|
857.0,
|
|
65.0
|
|
],
|
|
[
|
|
877.0,
|
|
59.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
869.25,
|
|
65.25
|
|
],
|
|
"area_px": 162.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
650.0,
|
|
567.0
|
|
],
|
|
[
|
|
659.0,
|
|
562.0
|
|
],
|
|
[
|
|
677.0,
|
|
565.0
|
|
],
|
|
[
|
|
664.0,
|
|
569.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
662.5,
|
|
565.75
|
|
],
|
|
"area_px": 99.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1388.0,
|
|
688.0
|
|
],
|
|
[
|
|
1409.0,
|
|
687.0
|
|
],
|
|
[
|
|
1413.0,
|
|
692.0
|
|
],
|
|
[
|
|
1391.0,
|
|
692.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1400.25,
|
|
689.75
|
|
],
|
|
"area_px": 98.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
893.0,
|
|
67.0
|
|
],
|
|
[
|
|
900.0,
|
|
81.0
|
|
],
|
|
[
|
|
888.0,
|
|
83.0
|
|
],
|
|
[
|
|
882.0,
|
|
72.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
890.75,
|
|
75.75
|
|
],
|
|
"area_px": 166.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
870.0,
|
|
374.0
|
|
],
|
|
[
|
|
883.0,
|
|
374.0
|
|
],
|
|
[
|
|
882.0,
|
|
387.0
|
|
],
|
|
[
|
|
870.0,
|
|
387.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
876.25,
|
|
380.5
|
|
],
|
|
"area_px": 162.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
200.0,
|
|
1029.0
|
|
],
|
|
[
|
|
191.0,
|
|
1030.0
|
|
],
|
|
[
|
|
177.0,
|
|
1027.0
|
|
],
|
|
[
|
|
190.0,
|
|
1025.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
189.5,
|
|
1027.75
|
|
],
|
|
"area_px": 56.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
222.0,
|
|
1034.0
|
|
],
|
|
[
|
|
227.0,
|
|
1033.0
|
|
],
|
|
[
|
|
245.0,
|
|
1037.0
|
|
],
|
|
[
|
|
231.0,
|
|
1037.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
231.25,
|
|
1035.25
|
|
],
|
|
"area_px": 40.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1034.0,
|
|
647.0
|
|
],
|
|
[
|
|
1044.0,
|
|
645.0
|
|
],
|
|
[
|
|
1057.0,
|
|
646.0
|
|
],
|
|
[
|
|
1053.0,
|
|
648.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1047.0,
|
|
646.5
|
|
],
|
|
"area_px": 39.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
747.0,
|
|
161.0
|
|
],
|
|
[
|
|
752.0,
|
|
168.0
|
|
],
|
|
[
|
|
753.0,
|
|
183.0
|
|
],
|
|
[
|
|
750.0,
|
|
178.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
750.5,
|
|
172.5
|
|
],
|
|
"area_px": 52.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
348.0,
|
|
776.0
|
|
],
|
|
[
|
|
351.0,
|
|
771.0
|
|
],
|
|
[
|
|
368.0,
|
|
772.0
|
|
],
|
|
[
|
|
366.0,
|
|
777.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
358.25,
|
|
774.0
|
|
],
|
|
"area_px": 90.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
217.0,
|
|
880.0
|
|
],
|
|
[
|
|
220.0,
|
|
878.0
|
|
],
|
|
[
|
|
239.0,
|
|
879.0
|
|
],
|
|
[
|
|
227.0,
|
|
882.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
225.75,
|
|
879.75
|
|
],
|
|
"area_px": 47.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1124.0,
|
|
767.0
|
|
],
|
|
[
|
|
1136.0,
|
|
766.0
|
|
],
|
|
[
|
|
1146.0,
|
|
768.0
|
|
],
|
|
[
|
|
1127.0,
|
|
769.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1133.25,
|
|
767.5
|
|
],
|
|
"area_px": 37.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
809.0,
|
|
59.0
|
|
],
|
|
[
|
|
817.0,
|
|
55.0
|
|
],
|
|
[
|
|
829.0,
|
|
57.0
|
|
],
|
|
[
|
|
828.0,
|
|
61.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
820.75,
|
|
58.0
|
|
],
|
|
"area_px": 71.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
224.0,
|
|
1014.0
|
|
],
|
|
[
|
|
240.0,
|
|
1014.0
|
|
],
|
|
[
|
|
245.0,
|
|
1016.0
|
|
],
|
|
[
|
|
226.0,
|
|
1016.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
233.75,
|
|
1015.0
|
|
],
|
|
"area_px": 35.0
|
|
}
|
|
]
|
|
} |