Files
appRobotRender/data/evaluations/Scene9a/render_g_aruco_detection.json
2026-05-31 17:39:25 +02:00

2336 lines
50 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T15:25:59Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
},
"camera": {
"camera_id": "g",
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\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_g.png",
"image_sha256": "08675570ec87a0355c889526ab58df45875c803cbe3e0ca9de9eb78ee86618b2",
"width_px": 1440,
"height_px": 1080
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 40,
"num_rejected_candidates": 5
},
"detections": [
{
"observation_id": "502436cc-5e45-4e76-bea4-c0164df7a2f9",
"type": "aruco",
"marker_id": 41,
"marker_size_m": 0.025,
"image_points_px": [
[
541.0,
443.0
],
[
582.0,
455.0
],
[
577.0,
494.0
],
[
540.0,
484.0
]
],
"center_px": [
560.0,
469.0
],
"quality": {
"area_px": 1593.0,
"perimeter_px": 161.37895584106445,
"sharpness": {
"laplacian_var": 922.2962292097413
},
"contrast": {
"p05": 7.0,
"p95": 133.0,
"dynamic_range": 126.0,
"mean_gray": 37.60586617781851,
"std_gray": 47.17666275952546
},
"geometry": {
"distance_to_center_norm": 0.19449524581432343,
"distance_to_border_px": 443.0
},
"edge_ratio": 1.114603834211145,
"edge_lengths_px": [
42.72002029418945,
39.31920623779297,
38.327537536621094,
41.01219177246094
]
},
"confidence": 0.8971797595759615
},
{
"observation_id": "6f9c859d-7e17-40c1-8b1c-03f60b2a2b00",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
"image_points_px": [
[
545.0,
518.0
],
[
573.0,
531.0
],
[
560.0,
570.0
],
[
532.0,
558.0
]
],
"center_px": [
552.5,
544.25
],
"quality": {
"area_px": 1268.5,
"perimeter_px": 144.50288200378418,
"sharpness": {
"laplacian_var": 2271.830324112185
},
"contrast": {
"p05": 45.0,
"p95": 192.0,
"dynamic_range": 147.0,
"mean_gray": 92.4661921708185,
"std_gray": 62.65280051355109
},
"geometry": {
"distance_to_center_norm": 0.1861710101366043,
"distance_to_border_px": 510.0
},
"edge_ratio": 1.3806701389493266,
"edge_lengths_px": [
30.870698928833008,
41.1096076965332,
30.463092803955078,
42.05948257446289
]
},
"confidence": 0.6125044953244291
},
{
"observation_id": "ed833b3f-dfbf-43d4-a088-215d8d0cd1cf",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
"image_points_px": [
[
598.0,
783.0
],
[
574.0,
759.0
],
[
600.0,
736.0
],
[
624.0,
760.0
]
],
"center_px": [
599.0,
759.5
],
"quality": {
"area_px": 1176.0,
"perimeter_px": 137.30846405029297,
"sharpness": {
"laplacian_var": 4684.6484809094745
},
"contrast": {
"p05": 27.0,
"p95": 179.0,
"dynamic_range": 152.0,
"mean_gray": 87.14357053682896,
"std_gray": 67.3405870808967
},
"geometry": {
"distance_to_center_norm": 0.27849075198173523,
"distance_to_border_px": 297.0
},
"edge_ratio": 1.0227448007083368,
"edge_lengths_px": [
33.941123962402344,
34.71310806274414,
33.941123962402344,
34.71310806274414
]
},
"confidence": 0.7665646400324051
},
{
"observation_id": "af2f6f21-74c5-47a1-9071-475dbedf9afe",
"type": "aruco",
"marker_id": 43,
"marker_size_m": 0.025,
"image_points_px": [
[
462.0,
483.0
],
[
481.0,
463.0
],
[
514.0,
485.0
],
[
496.0,
506.0
]
],
"center_px": [
488.25,
484.25
],
"quality": {
"area_px": 1103.0,
"perimeter_px": 135.95467948913574,
"sharpness": {
"laplacian_var": 3427.507413752363
},
"contrast": {
"p05": 28.0,
"p95": 189.0,
"dynamic_range": 161.0,
"mean_gray": 90.64266304347827,
"std_gray": 70.05319233233898
},
"geometry": {
"distance_to_center_norm": 0.26484590768814087,
"distance_to_border_px": 462.0
},
"edge_ratio": 1.4880160441077446,
"edge_lengths_px": [
27.58622932434082,
39.66106414794922,
27.658634185791016,
41.04875183105469
]
},
"confidence": 0.49417029893267006
},
{
"observation_id": "191eb4e9-4ffc-4009-91d0-1843573a8306",
"type": "aruco",
"marker_id": 86,
"marker_size_m": 0.025,
"image_points_px": [
[
98.0,
955.0
],
[
71.0,
979.0
],
[
50.0,
955.0
],
[
77.0,
932.0
]
],
"center_px": [
74.0,
955.25
],
"quality": {
"area_px": 1128.0,
"perimeter_px": 134.62833976745605,
"sharpness": {
"laplacian_var": 2642.9657162336953
},
"contrast": {
"p05": 9.0,
"p95": 156.0,
"dynamic_range": 147.0,
"mean_gray": 70.5338441890166,
"std_gray": 66.70243152848515
},
"geometry": {
"distance_to_center_norm": 0.8532787561416626,
"distance_to_border_px": 50.0
},
"edge_ratio": 1.1598968623462131,
"edge_lengths_px": [
36.12478256225586,
31.890438079833984,
35.46829605102539,
31.14482307434082
]
},
"confidence": 0.6483335065489111
},
{
"observation_id": "4ad4f0b7-edc4-4aca-887f-580883e68869",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
"image_points_px": [
[
97.0,
880.0
],
[
70.0,
903.0
],
[
50.0,
880.0
],
[
77.0,
857.0
]
],
"center_px": [
73.5,
880.0
],
"quality": {
"area_px": 1081.0,
"perimeter_px": 131.8955955505371,
"sharpness": {
"laplacian_var": 3679.490286087987
},
"contrast": {
"p05": 9.0,
"p95": 157.0,
"dynamic_range": 148.0,
"mean_gray": 73.43817204301075,
"std_gray": 65.02128638130807
},
"geometry": {
"distance_to_center_norm": 0.8116149306297302,
"distance_to_border_px": 50.0
},
"edge_ratio": 1.1636770302847235,
"edge_lengths_px": [
35.46829605102539,
30.479501724243164,
35.46829605102539,
30.479501724243164
]
},
"confidence": 0.6193012733871159
},
{
"observation_id": "9eb98c1b-eee2-4a38-b61b-96d5d7cbbb5a",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
"image_points_px": [
[
692.0,
697.0
],
[
668.0,
674.0
],
[
693.0,
652.0
],
[
716.0,
675.0
]
],
"center_px": [
692.25,
674.5
],
"quality": {
"area_px": 1080.5,
"perimeter_px": 131.62774276733398,
"sharpness": {
"laplacian_var": 3310.278106281957
},
"contrast": {
"p05": 31.0,
"p95": 182.0,
"dynamic_range": 151.0,
"mean_gray": 76.64054054054054,
"std_gray": 63.90686195639105
},
"geometry": {
"distance_to_center_norm": 0.15259206295013428,
"distance_to_border_px": 383.0
},
"edge_ratio": 1.023818378312449,
"edge_lengths_px": [
33.241539001464844,
33.30165100097656,
32.526912689208984,
32.557640075683594
]
},
"confidence": 0.7035753104184871
},
{
"observation_id": "cbc77614-9288-4c14-b945-a9379f6e8b94",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
945.0,
863.0
],
[
923.0,
886.0
],
[
899.0,
863.0
],
[
920.0,
841.0
]
],
"center_px": [
921.75,
863.25
],
"quality": {
"area_px": 1035.0,
"perimeter_px": 128.78466415405273,
"sharpness": {
"laplacian_var": 3709.147222512018
},
"contrast": {
"p05": 41.0,
"p95": 183.0,
"dynamic_range": 142.0,
"mean_gray": 92.42776203966005,
"std_gray": 62.06093158557285
},
"geometry": {
"distance_to_center_norm": 0.42338091135025024,
"distance_to_border_px": 194.0
},
"edge_ratio": 1.0949515405412542,
"edge_lengths_px": [
31.827661514282227,
33.241539001464844,
30.4138126373291,
33.30165100097656
]
},
"confidence": 0.6301648743824048
},
{
"observation_id": "8c0c129b-46bb-4e4e-8d0c-9da1fa7c407e",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
"image_points_px": [
[
138.0,
789.0
],
[
112.0,
811.0
],
[
92.0,
789.0
],
[
118.0,
767.0
]
],
"center_px": [
115.0,
789.0
],
"quality": {
"area_px": 1012.0,
"perimeter_px": 127.58182144165039,
"sharpness": {
"laplacian_var": 2572.309533041365
},
"contrast": {
"p05": 9.0,
"p95": 157.0,
"dynamic_range": 148.0,
"mean_gray": 54.02620087336245,
"std_gray": 60.87020013129328
},
"geometry": {
"distance_to_center_norm": 0.7269299030303955,
"distance_to_border_px": 92.0
},
"edge_ratio": 1.1455204939273629,
"edge_lengths_px": [
34.058773040771484,
29.73213768005371,
34.058773040771484,
29.73213768005371
]
},
"confidence": 0.5889608001281618
},
{
"observation_id": "086e26a0-2a05-4a4f-9d54-1c76816fb426",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
"image_points_px": [
[
81.0,
764.0
],
[
55.0,
785.0
],
[
36.0,
764.0
],
[
62.0,
742.0
]
],
"center_px": [
58.5,
763.75
],
"quality": {
"area_px": 967.5,
"perimeter_px": 124.86881256103516,
"sharpness": {
"laplacian_var": 3833.569883034726
},
"contrast": {
"p05": 9.0,
"p95": 158.0,
"dynamic_range": 149.0,
"mean_gray": 90.33026113671275,
"std_gray": 65.90686061614446
},
"geometry": {
"distance_to_center_norm": 0.7759075164794922,
"distance_to_border_px": 36.0
},
"edge_ratio": 1.202657070701322,
"edge_lengths_px": [
33.42155075073242,
28.319604873657227,
34.058773040771484,
29.068883895874023
]
},
"confidence": 0.3861449878885159
},
{
"observation_id": "65bb0d10-809b-43fc-9b91-253b8b87be91",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
"image_points_px": [
[
901.0,
769.0
],
[
880.0,
791.0
],
[
856.0,
769.0
],
[
878.0,
748.0
]
],
"center_px": [
878.75,
769.25
],
"quality": {
"area_px": 967.5,
"perimeter_px": 124.53008842468262,
"sharpness": {
"laplacian_var": 3780.91955147305
},
"contrast": {
"p05": 38.0,
"p95": 183.0,
"dynamic_range": 145.0,
"mean_gray": 91.75654853620955,
"std_gray": 63.37701817270485
},
"geometry": {
"distance_to_center_norm": 0.30983293056488037,
"distance_to_border_px": 289.0
},
"edge_ratio": 1.070488611997406,
"edge_lengths_px": [
30.4138126373291,
32.557640075683594,
30.4138126373291,
31.14482307434082
]
},
"confidence": 0.6025285956069217
},
{
"observation_id": "823585e2-ffd2-4436-9e85-c27c05eef1b2",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
567.0,
714.0
],
[
545.0,
692.0
],
[
568.0,
671.0
],
[
590.0,
693.0
]
],
"center_px": [
567.5,
692.5
],
"quality": {
"area_px": 968.0,
"perimeter_px": 124.51504135131836,
"sharpness": {
"laplacian_var": 562.4338926070926
},
"contrast": {
"p05": 3.0,
"p95": 71.0,
"dynamic_range": 68.0,
"mean_gray": 28.64406779661017,
"std_gray": 28.992714128089546
},
"geometry": {
"distance_to_center_norm": 0.23963063955307007,
"distance_to_border_px": 366.0
},
"edge_ratio": 1.0010325518357206,
"edge_lengths_px": [
31.11269760131836,
31.14482307434082,
31.11269760131836,
31.14482307434082
]
},
"confidence": 0.5479675284559109
},
{
"observation_id": "afd4aaf4-8993-445f-917f-8c6560d980b0",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
"image_points_px": [
[
118.0,
714.0
],
[
92.0,
735.0
],
[
73.0,
714.0
],
[
98.0,
693.0
]
],
"center_px": [
95.25,
714.0
],
"quality": {
"area_px": 945.0,
"perimeter_px": 123.39081001281738,
"sharpness": {
"laplacian_var": 2653.4535906705655
},
"contrast": {
"p05": 9.0,
"p95": 156.0,
"dynamic_range": 147.0,
"mean_gray": 47.93354430379747,
"std_gray": 57.47629132653829
},
"geometry": {
"distance_to_center_norm": 0.7205866575241089,
"distance_to_border_px": 73.0
},
"edge_ratio": 1.1801559696837791,
"edge_lengths_px": [
33.42155075073242,
28.319604873657227,
32.649654388427734,
29.0
]
},
"confidence": 0.5338277449622252
},
{
"observation_id": "eb929c1c-9668-4bbb-9dfb-85938e7cb7b0",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
"image_points_px": [
[
1000.0,
751.0
],
[
979.0,
772.0
],
[
955.0,
751.0
],
[
976.0,
730.0
]
],
"center_px": [
977.5,
751.0
],
"quality": {
"area_px": 945.0,
"perimeter_px": 123.1778450012207,
"sharpness": {
"laplacian_var": 3464.045730244801
},
"contrast": {
"p05": 44.0,
"p95": 185.0,
"dynamic_range": 141.0,
"mean_gray": 97.25515055467513,
"std_gray": 61.21526694953773
},
"geometry": {
"distance_to_center_norm": 0.36989694833755493,
"distance_to_border_px": 308.0
},
"edge_ratio": 1.0738069198414777,
"edge_lengths_px": [
29.698484420776367,
31.890438079833984,
29.698484420776367,
31.890438079833984
]
},
"confidence": 0.5866976533295247
},
{
"observation_id": "f70a86fe-306d-42de-a662-cda8fed7067b",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
819.0,
746.0
],
[
797.0,
768.0
],
[
775.0,
747.0
],
[
796.0,
725.0
]
],
"center_px": [
796.75,
746.5
],
"quality": {
"area_px": 946.5,
"perimeter_px": 123.08514595031738,
"sharpness": {
"laplacian_var": 3824.4225659950334
},
"contrast": {
"p05": 33.0,
"p95": 182.0,
"dynamic_range": 149.0,
"mean_gray": 123.43354430379746,
"std_gray": 65.63896275644298
},
"geometry": {
"distance_to_center_norm": 0.24477960169315338,
"distance_to_border_px": 312.0
},
"edge_ratio": 1.0240354751220666,
"edge_lengths_px": [
31.11269760131836,
30.4138126373291,
30.4138126373291,
31.14482307434082
]
},
"confidence": 0.6161895904287729
},
{
"observation_id": "4d235300-c3ea-4e18-8502-293f7e7aab63",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
"image_points_px": [
[
69.0,
695.0
],
[
43.0,
716.0
],
[
25.0,
695.0
],
[
50.0,
674.0
]
],
"center_px": [
46.75,
695.0
],
"quality": {
"area_px": 924.0,
"perimeter_px": 122.0494441986084,
"sharpness": {
"laplacian_var": 3655.3272474278965
},
"contrast": {
"p05": 9.0,
"p95": 154.0,
"dynamic_range": 145.0,
"mean_gray": 82.92045454545455,
"std_gray": 64.04578189868688
},
"geometry": {
"distance_to_center_norm": 0.7676246762275696,
"distance_to_border_px": 25.0
},
"edge_ratio": 1.2083586820025254,
"edge_lengths_px": [
33.42155075073242,
27.658634185791016,
32.649654388427734,
28.319604873657227
]
},
"confidence": 0.25489120456317976
},
{
"observation_id": "6a7822bd-fe9c-460a-a46f-ece92ddefae6",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
"image_points_px": [
[
476.0,
626.0
],
[
455.0,
605.0
],
[
479.0,
585.0
],
[
500.0,
605.0
]
],
"center_px": [
477.5,
605.25
],
"quality": {
"area_px": 922.5,
"perimeter_px": 121.82992172241211,
"sharpness": {
"laplacian_var": 2238.077590221652
},
"contrast": {
"p05": 12.0,
"p95": 146.0,
"dynamic_range": 134.0,
"mean_gray": 59.06199021207178,
"std_gray": 55.88618188103128
},
"geometry": {
"distance_to_center_norm": 0.27902787923812866,
"distance_to_border_px": 454.0
},
"edge_ratio": 1.099670278614965,
"edge_lengths_px": [
29.698484420776367,
31.240999221801758,
29.0,
31.890438079833984
]
},
"confidence": 0.5592585450018642
},
{
"observation_id": "c00e4e05-6fe3-4489-bf84-7683f9065845",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
"image_points_px": [
[
55.0,
651.0
],
[
29.0,
671.0
],
[
11.0,
651.0
],
[
36.0,
630.0
]
],
"center_px": [
32.75,
650.75
],
"quality": {
"area_px": 902.0,
"perimeter_px": 120.67894744873047,
"sharpness": {
"laplacian_var": 3195.3736082117944
},
"contrast": {
"p05": 8.0,
"p95": 154.0,
"dynamic_range": 146.0,
"mean_gray": 61.56260434056761,
"std_gray": 61.49513604199457
},
"geometry": {
"distance_to_center_norm": 0.77346271276474,
"distance_to_border_px": 11.0
},
"edge_ratio": 1.2190931305954351,
"edge_lengths_px": [
32.80244064331055,
26.90724754333496,
32.649654388427734,
28.319604873657227
]
},
"confidence": 0.10851782362904303
},
{
"observation_id": "7233e895-5cbf-49a8-8a57-3308aa6ed378",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
"image_points_px": [
[
821.0,
602.0
],
[
800.0,
622.0
],
[
778.0,
602.0
],
[
798.0,
583.0
]
],
"center_px": [
799.25,
602.25
],
"quality": {
"area_px": 838.5,
"perimeter_px": 116.15123558044434,
"sharpness": {
"laplacian_var": 3487.2415068562614
},
"contrast": {
"p05": 30.0,
"p95": 182.0,
"dynamic_range": 152.0,
"mean_gray": 93.53886010362694,
"std_gray": 67.5190739461209
},
"geometry": {
"distance_to_center_norm": 0.11197236180305481,
"distance_to_border_px": 458.0
},
"edge_ratio": 1.0814406066626385,
"edge_lengths_px": [
29.0,
29.73213768005371,
27.58622932434082,
29.832868576049805
]
},
"confidence": 0.5169030981045668
},
{
"observation_id": "13af2025-d684-444f-bd63-dda6e780e9f9",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
"image_points_px": [
[
878.0,
509.0
],
[
858.0,
528.0
],
[
835.0,
509.0
],
[
856.0,
490.0
]
],
"center_px": [
856.75,
509.0
],
"quality": {
"area_px": 817.0,
"perimeter_px": 114.80758666992188,
"sharpness": {
"laplacian_var": 3182.4875619993577
},
"contrast": {
"p05": 31.0,
"p95": 181.0,
"dynamic_range": 150.0,
"mean_gray": 77.98217468805704,
"std_gray": 63.18557425993468
},
"geometry": {
"distance_to_center_norm": 0.15579965710639954,
"distance_to_border_px": 490.0
},
"edge_ratio": 1.0814406066626385,
"edge_lengths_px": [
27.58622932434082,
29.832868576049805,
28.319604873657227,
29.068883895874023
]
},
"confidence": 0.5036491725121419
},
{
"observation_id": "626dfe51-6476-4e97-bec5-6f1d0cdeedd0",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
722.0,
531.0
],
[
701.0,
550.0
],
[
679.0,
531.0
],
[
700.0,
512.0
]
],
"center_px": [
700.5,
531.0
],
"quality": {
"area_px": 817.0,
"perimeter_px": 114.7769775390625,
"sharpness": {
"laplacian_var": 3419.5031217943033
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 89.16370106761566,
"std_gray": 67.77071638335754
},
"geometry": {
"distance_to_center_norm": 0.023863036185503006,
"distance_to_border_px": 512.0
},
"edge_ratio": 1.0264579617392111,
"edge_lengths_px": [
28.319604873657227,
29.068883895874023,
28.319604873657227,
29.068883895874023
]
},
"confidence": 0.5306273485801539
},
{
"observation_id": "742ce990-0975-4481-9292-b5d5716662e3",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
"image_points_px": [
[
224.0,
380.0
],
[
206.0,
362.0
],
[
230.0,
344.0
],
[
248.0,
362.0
]
],
"center_px": [
227.0,
362.0
],
"quality": {
"area_px": 756.0,
"perimeter_px": 110.91168975830078,
"sharpness": {
"laplacian_var": 3303.5714236859208
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 69.16179337231969,
"std_gray": 64.73890537913272
},
"geometry": {
"distance_to_center_norm": 0.5823886394500732,
"distance_to_border_px": 206.0
},
"edge_ratio": 1.1785112669574562,
"edge_lengths_px": [
25.45584487915039,
30.0,
25.45584487915039,
30.0
]
},
"confidence": 0.42765819396972654
},
{
"observation_id": "6d5399fb-8469-4e0d-b175-2968bf998a5e",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
"image_points_px": [
[
789.0,
437.0
],
[
769.0,
455.0
],
[
747.0,
437.0
],
[
768.0,
419.0
]
],
"center_px": [
768.25,
437.0
],
"quality": {
"area_px": 756.0,
"perimeter_px": 110.64985656738281,
"sharpness": {
"laplacian_var": 3496.0237853714666
},
"contrast": {
"p05": 24.650000000000002,
"p95": 180.0,
"dynamic_range": 155.35,
"mean_gray": 105.35992217898833,
"std_gray": 68.63327252906143
},
"geometry": {
"distance_to_center_norm": 0.1263791173696518,
"distance_to_border_px": 419.0
},
"edge_ratio": 1.0564194872287076,
"edge_lengths_px": [
26.90724754333496,
28.42534065246582,
27.658634185791016,
27.658634185791016
]
},
"confidence": 0.4770832099303063
},
{
"observation_id": "958f7c79-5809-4c1f-ad17-73b4221c34f2",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
"image_points_px": [
[
689.0,
464.0
],
[
668.0,
482.0
],
[
648.0,
463.0
],
[
669.0,
445.0
]
],
"center_px": [
668.5,
463.5
],
"quality": {
"area_px": 759.0,
"perimeter_px": 110.48972702026367,
"sharpness": {
"laplacian_var": 3196.2473999597214
},
"contrast": {
"p05": 21.0,
"p95": 177.0,
"dynamic_range": 156.0,
"mean_gray": 82.02534113060429,
"std_gray": 66.91017910138005
},
"geometry": {
"distance_to_center_norm": 0.10246650129556656,
"distance_to_border_px": 445.0
},
"edge_ratio": 1.0026246740936902,
"edge_lengths_px": [
27.658634185791016,
27.58622932434082,
27.658634185791016,
27.58622932434082
]
},
"confidence": 0.5046753915740128
},
{
"observation_id": "9dbdf752-7082-471b-8840-e79c5e00afca",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
"image_points_px": [
[
730.0,
430.0
],
[
709.0,
449.0
],
[
689.0,
430.0
],
[
709.0,
412.0
]
],
"center_px": [
709.25,
430.25
],
"quality": {
"area_px": 758.5,
"perimeter_px": 110.47171592712402,
"sharpness": {
"laplacian_var": 2681.7457679285935
},
"contrast": {
"p05": 22.0,
"p95": 177.0,
"dynamic_range": 155.0,
"mean_gray": 57.92202729044834,
"std_gray": 57.959165585973174
},
"geometry": {
"distance_to_center_norm": 0.12252802401781082,
"distance_to_border_px": 412.0
},
"edge_ratio": 1.052489847876399,
"edge_lengths_px": [
28.319604873657227,
27.58622932434082,
26.90724754333496,
27.658634185791016
]
},
"confidence": 0.48044802302553946
},
{
"observation_id": "ab90cfa5-df94-4bb0-bb79-11e517668d70",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
"image_points_px": [
[
146.0,
304.0
],
[
129.0,
287.0
],
[
153.0,
270.0
],
[
170.0,
287.0
]
],
"center_px": [
149.5,
287.0
],
"quality": {
"area_px": 697.0,
"perimeter_px": 106.90502548217773,
"sharpness": {
"laplacian_var": 3584.0677301110723
},
"contrast": {
"p05": 10.0,
"p95": 162.0,
"dynamic_range": 152.0,
"mean_gray": 78.18884120171674,
"std_gray": 63.942392628459224
},
"geometry": {
"distance_to_center_norm": 0.6934252381324768,
"distance_to_border_px": 129.0
},
"edge_ratio": 1.2233314964579192,
"edge_lengths_px": [
24.041629791259766,
29.4108829498291,
24.041629791259766,
29.4108829498291
]
},
"confidence": 0.37983708259950827
},
{
"observation_id": "abd66d0f-ed3f-494d-9aa8-caf7f771e173",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
"image_points_px": [
[
348.0,
312.0
],
[
325.0,
329.0
],
[
307.0,
312.0
],
[
329.0,
295.0
]
],
"center_px": [
327.25,
312.0
],
"quality": {
"area_px": 697.0,
"perimeter_px": 106.65751075744629,
"sharpness": {
"laplacian_var": 2979.9950329517865
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 63.987096774193546,
"std_gray": 64.40730477807297
},
"geometry": {
"distance_to_center_norm": 0.5045919418334961,
"distance_to_border_px": 295.0
},
"edge_ratio": 1.1551713339456755,
"edge_lengths_px": [
28.600698471069336,
24.75883674621582,
27.80287742614746,
25.495098114013672
]
},
"confidence": 0.4022491322386975
},
{
"observation_id": "c3878c57-b394-436f-9595-96f9f5872450",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
"image_points_px": [
[
518.0,
341.0
],
[
496.0,
358.0
],
[
478.0,
340.0
],
[
499.0,
324.0
]
],
"center_px": [
497.75,
340.75
],
"quality": {
"area_px": 681.5,
"perimeter_px": 105.15457725524902,
"sharpness": {
"laplacian_var": 2115.9225066481667
},
"contrast": {
"p05": 14.0,
"p95": 169.0,
"dynamic_range": 155.0,
"mean_gray": 43.51827956989247,
"std_gray": 52.9638159018927
},
"geometry": {
"distance_to_center_norm": 0.33165431022644043,
"distance_to_border_px": 324.0
},
"edge_ratio": 1.09220014335173,
"edge_lengths_px": [
27.80287742614746,
25.45584487915039,
26.4007568359375,
25.495098114013672
]
},
"confidence": 0.4159799246492322
},
{
"observation_id": "1cd03eaf-fe38-4b29-bd78-1b8ce9574d78",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
"image_points_px": [
[
379.0,
281.0
],
[
357.0,
298.0
],
[
339.0,
281.0
],
[
360.0,
264.0
]
],
"center_px": [
358.75,
281.0
],
"quality": {
"area_px": 680.0,
"perimeter_px": 105.07532501220703,
"sharpness": {
"laplacian_var": 3541.7677696843566
},
"contrast": {
"p05": 12.0,
"p95": 168.0,
"dynamic_range": 156.0,
"mean_gray": 101.37849462365591,
"std_gray": 64.764011394658
},
"geometry": {
"distance_to_center_norm": 0.49389177560806274,
"distance_to_border_px": 264.0
},
"edge_ratio": 1.1229476453653218,
"edge_lengths_px": [
27.80287742614746,
24.75883674621582,
27.018512725830078,
25.495098114013672
]
},
"confidence": 0.40369943799637525
},
{
"observation_id": "c64f8ca7-93ab-4c7e-94b4-a48c73f9e67d",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
"image_points_px": [
[
576.0,
321.0
],
[
554.0,
338.0
],
[
536.0,
321.0
],
[
558.0,
305.0
]
],
"center_px": [
556.0,
321.25
],
"quality": {
"area_px": 660.0,
"perimeter_px": 103.84784507751465,
"sharpness": {
"laplacian_var": 3732.5087970793797
},
"contrast": {
"p05": 16.0,
"p95": 173.0,
"dynamic_range": 157.0,
"mean_gray": 126.28953229398664,
"std_gray": 59.65110812983741
},
"geometry": {
"distance_to_center_norm": 0.3037777841091156,
"distance_to_border_px": 305.0
},
"edge_ratio": 1.1544516556294537,
"edge_lengths_px": [
27.80287742614746,
24.75883674621582,
27.20294189453125,
24.083189010620117
]
},
"confidence": 0.3811333266788848
},
{
"observation_id": "41e46c02-b1a4-4fc3-a052-898597da48c3",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
"image_points_px": [
[
447.0,
258.0
],
[
426.0,
275.0
],
[
408.0,
258.0
],
[
429.0,
241.0
]
],
"center_px": [
427.5,
258.0
],
"quality": {
"area_px": 663.0,
"perimeter_px": 103.5546989440918,
"sharpness": {
"laplacian_var": 2932.5969060006937
},
"contrast": {
"p05": 12.0,
"p95": 169.0,
"dynamic_range": 157.0,
"mean_gray": 99.86021505376344,
"std_gray": 67.57530111204728
},
"geometry": {
"distance_to_center_norm": 0.45144522190093994,
"distance_to_border_px": 241.0
},
"edge_ratio": 1.0912674534258815,
"edge_lengths_px": [
27.018512725830078,
24.75883674621582,
27.018512725830078,
24.75883674621582
]
},
"confidence": 0.40503361354029466
},
{
"observation_id": "b3235b47-c282-4c05-abbc-cabbb56eb0d3",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
"image_points_px": [
[
293.0,
182.0
],
[
271.0,
198.0
],
[
254.0,
182.0
],
[
275.0,
166.0
]
],
"center_px": [
273.25,
182.0
],
"quality": {
"area_px": 624.0,
"perimeter_px": 101.03212356567383,
"sharpness": {
"laplacian_var": 2614.235149795455
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 53.32332563510393,
"std_gray": 59.94941544364582
},
"geometry": {
"distance_to_center_norm": 0.6361045837402344,
"distance_to_border_px": 166.0
},
"edge_ratio": 1.1652459670543882,
"edge_lengths_px": [
27.20294189453125,
23.34523582458496,
26.4007568359375,
24.083189010620117
]
},
"confidence": 0.3570061701664598
},
{
"observation_id": "e7567136-1f6e-4e50-9ec8-7d30cb560d51",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
"image_points_px": [
[
540.0,
214.0
],
[
519.0,
230.0
],
[
501.0,
214.0
],
[
522.0,
198.0
]
],
"center_px": [
520.5,
214.0
],
"quality": {
"area_px": 624.0,
"perimeter_px": 100.96789169311523,
"sharpness": {
"laplacian_var": 4175.324909728037
},
"contrast": {
"p05": 13.0,
"p95": 171.0,
"dynamic_range": 158.0,
"mean_gray": 84.31408775981524,
"std_gray": 66.0170263583756
},
"geometry": {
"distance_to_center_norm": 0.42466580867767334,
"distance_to_border_px": 198.0
},
"edge_ratio": 1.096231766660777,
"edge_lengths_px": [
26.4007568359375,
24.083189010620117,
26.4007568359375,
24.083189010620117
]
},
"confidence": 0.3794817963241243
},
{
"observation_id": "70ea18c7-f025-4659-8167-b611e8cf9938",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,
"image_points_px": [
[
356.0,
168.0
],
[
334.0,
184.0
],
[
318.0,
168.0
],
[
338.0,
152.0
]
],
"center_px": [
336.5,
168.0
],
"quality": {
"area_px": 608.0,
"perimeter_px": 99.52604484558105,
"sharpness": {
"laplacian_var": 3343.399992025564
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 100.49880668257757,
"std_gray": 64.79445653465534
},
"geometry": {
"distance_to_center_norm": 0.5936456322669983,
"distance_to_border_px": 152.0
},
"edge_ratio": 1.2022115631903918,
"edge_lengths_px": [
27.20294189453125,
22.627416610717773,
25.612497329711914,
24.083189010620117
]
},
"confidence": 0.33715640885841447
},
{
"observation_id": "44f055a4-fa82-43e0-aa91-bf04fe9a116c",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
"image_points_px": [
[
435.0,
185.0
],
[
414.0,
201.0
],
[
397.0,
184.0
],
[
417.0,
169.0
]
],
"center_px": [
415.75,
184.75
],
"quality": {
"area_px": 609.5,
"perimeter_px": 99.52557563781738,
"sharpness": {
"laplacian_var": 3079.381824037173
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 66.35251798561151,
"std_gray": 64.174432178698
},
"geometry": {
"distance_to_center_norm": 0.5196991562843323,
"distance_to_border_px": 169.0
},
"edge_ratio": 1.0981267520197564,
"edge_lengths_px": [
26.4007568359375,
24.041629791259766,
25.0,
24.083189010620117
]
},
"confidence": 0.37002407289138056
},
{
"observation_id": "793ca971-18d4-4e00-b0bc-41aeba5f8cf9",
"type": "aruco",
"marker_id": 65,
"marker_size_m": 0.025,
"image_points_px": [
[
328.0,
123.0
],
[
306.0,
138.0
],
[
289.0,
123.0
],
[
310.0,
108.0
]
],
"center_px": [
308.25,
123.0
],
"quality": {
"area_px": 585.0,
"perimeter_px": 98.53634834289551,
"sharpness": {
"laplacian_var": 3027.4788859559835
},
"contrast": {
"p05": 9.0,
"p95": 164.0,
"dynamic_range": 155.0,
"mean_gray": 83.9832134292566,
"std_gray": 65.27457010493217
},
"geometry": {
"distance_to_center_norm": 0.651140570640564,
"distance_to_border_px": 108.0
},
"edge_ratio": 1.1744690227032824,
"edge_lengths_px": [
26.62705421447754,
22.671567916870117,
25.806976318359375,
23.430749893188477
]
},
"confidence": 0.3320649522984733
},
{
"observation_id": "1da9146e-b559-490e-8d99-a34491c50df4",
"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,
"image_points_px": [
[
626.0,
599.0
],
[
591.0,
610.0
],
[
589.0,
598.0
],
[
623.0,
587.0
]
],
"center_px": [
607.25,
598.5
],
"quality": {
"area_px": 441.5,
"perimeter_px": 96.95785427093506,
"sharpness": {
"laplacian_var": 3355.5429246078597
},
"contrast": {
"p05": 28.0,
"p95": 142.0,
"dynamic_range": 114.0,
"mean_gray": 58.34090909090909,
"std_gray": 41.079002304612814
},
"geometry": {
"distance_to_center_norm": 0.1411365270614624,
"distance_to_border_px": 470.0
},
"edge_ratio": 3.015724559709976,
"edge_lengths_px": [
36.68787384033203,
12.165525436401367,
35.735137939453125,
12.369317054748535
]
},
"confidence": 0.0975995411734948
},
{
"observation_id": "e2f95744-ca99-4b52-a99d-cb42cf303969",
"type": "aruco",
"marker_id": 87,
"marker_size_m": 0.025,
"image_points_px": [
[
180.0,
65.0
],
[
159.0,
80.0
],
[
142.0,
65.0
],
[
163.0,
50.0
]
],
"center_px": [
161.0,
65.0
],
"quality": {
"area_px": 570.0,
"perimeter_px": 96.95708847045898,
"sharpness": {
"laplacian_var": 2686.785266150377
},
"contrast": {
"p05": 8.0,
"p95": 159.0,
"dynamic_range": 151.0,
"mean_gray": 93.96039603960396,
"std_gray": 61.713995522956616
},
"geometry": {
"distance_to_center_norm": 0.8150634169578552,
"distance_to_border_px": 50.0
},
"edge_ratio": 1.1382969370705134,
"edge_lengths_px": [
25.806976318359375,
22.671567916870117,
25.806976318359375,
22.671567916870117
]
},
"confidence": 0.33383204999036237
},
{
"observation_id": "0b4fc94c-70e9-4122-965e-58e3f3bbc2ac",
"type": "aruco",
"marker_id": 78,
"marker_size_m": 0.025,
"image_points_px": [
[
354.0,
79.0
],
[
333.0,
94.0
],
[
316.0,
79.0
],
[
336.0,
64.0
]
],
"center_px": [
334.75,
79.0
],
"quality": {
"area_px": 570.0,
"perimeter_px": 96.90929412841797,
"sharpness": {
"laplacian_var": 2908.8170094799634
},
"contrast": {
"p05": 9.0,
"p95": 164.0,
"dynamic_range": 155.0,
"mean_gray": 79.24626865671642,
"std_gray": 62.838389797525316
},
"geometry": {
"distance_to_center_norm": 0.667535126209259,
"distance_to_border_px": 64.0
},
"edge_ratio": 1.1382969370705134,
"edge_lengths_px": [
25.806976318359375,
22.671567916870117,
25.0,
23.430749893188477
]
},
"confidence": 0.33383204999036237
},
{
"observation_id": "68328d1a-65f9-4a52-8ebb-0ccf0b5ad4b9",
"type": "aruco",
"marker_id": 80,
"marker_size_m": 0.025,
"image_points_px": [
[
316.0,
59.0
],
[
296.0,
73.0
],
[
280.0,
58.0
],
[
300.0,
44.0
]
],
"center_px": [
298.0,
58.5
],
"quality": {
"area_px": 524.0,
"perimeter_px": 92.68964767456055,
"sharpness": {
"laplacian_var": 1896.42575095882
},
"contrast": {
"p05": 9.0,
"p95": 162.0,
"dynamic_range": 153.0,
"mean_gray": 70.11111111111111,
"std_gray": 64.70669137182986
},
"geometry": {
"distance_to_center_norm": 0.7113942503929138,
"distance_to_border_px": 44.0
},
"edge_ratio": 1.113141988361299,
"edge_lengths_px": [
24.413110733032227,
21.931713104248047,
24.413110733032227,
21.931713104248047
]
},
"confidence": 0.2761672244399736
}
],
"rejected_candidates": [
{
"image_points_px": [
[
653.0,
695.0
],
[
663.0,
712.0
],
[
642.0,
729.0
],
[
628.0,
713.0
]
],
"center_px": [
646.5,
712.25
],
"area_px": 589.5
},
{
"image_points_px": [
[
542.0,
572.0
],
[
567.0,
582.0
],
[
571.0,
587.0
],
[
561.0,
590.0
]
],
"center_px": [
560.25,
582.75
],
"area_px": 161.0
},
{
"image_points_px": [
[
563.0,
455.0
],
[
570.0,
457.0
],
[
566.0,
479.0
],
[
559.0,
477.0
]
],
"center_px": [
564.5,
467.0
],
"area_px": 162.0
},
{
"image_points_px": [
[
404.0,
523.0
],
[
415.0,
532.0
],
[
419.0,
538.0
],
[
419.0,
544.0
]
],
"center_px": [
414.25,
534.25
],
"area_px": 60.0
},
{
"image_points_px": [
[
802.0,
971.0
],
[
822.0,
982.0
],
[
824.0,
985.0
],
[
808.0,
977.0
]
],
"center_px": [
814.0,
978.75
],
"area_px": 43.0
}
]
}