2598 lines
55 KiB
JSON
2598 lines
55 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:46:59Z",
|
|
"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\\Scene11\\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\\Scene11\\render_g.png",
|
|
"image_sha256": "3309276b378e688685730a4699ae4f5150b27413f9be9ac3629893dd286bb37c",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 43,
|
|
"num_rejected_candidates": 9
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "24ef442c-b2e5-444f-8479-4ea430d69c1a",
|
|
"type": "aruco",
|
|
"marker_id": 45,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
312.0,
|
|
856.0
|
|
],
|
|
[
|
|
281.0,
|
|
874.0
|
|
],
|
|
[
|
|
265.0,
|
|
842.0
|
|
],
|
|
[
|
|
296.0,
|
|
824.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
288.5,
|
|
849.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1280.0,
|
|
"perimeter_px": 143.2479705810547,
|
|
"sharpness": {
|
|
"laplacian_var": 1300.2614964886059
|
|
},
|
|
"contrast": {
|
|
"p05": 57.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 120.4502262443439,
|
|
"std_gray": 54.31434826591058
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5896989107131958,
|
|
"distance_to_border_px": 206.0
|
|
},
|
|
"edge_ratio": 1.001951219720242,
|
|
"edge_lengths_px": [
|
|
35.84689712524414,
|
|
35.7770881652832,
|
|
35.84689712524414,
|
|
35.7770881652832
|
|
]
|
|
},
|
|
"confidence": 0.8516715350389965
|
|
},
|
|
{
|
|
"observation_id": "3867f2a5-0c58-47e4-82af-2b3423237e2a",
|
|
"type": "aruco",
|
|
"marker_id": 115,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
759.0
|
|
],
|
|
[
|
|
457.0,
|
|
786.0
|
|
],
|
|
[
|
|
428.0,
|
|
809.0
|
|
],
|
|
[
|
|
407.0,
|
|
782.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
431.75,
|
|
784.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1264.0,
|
|
"perimeter_px": 142.2822608947754,
|
|
"sharpness": {
|
|
"laplacian_var": 1218.5578824253616
|
|
},
|
|
"contrast": {
|
|
"p05": 39.0,
|
|
"p95": 173.29999999999995,
|
|
"dynamic_range": 134.29999999999995,
|
|
"mean_gray": 71.13801169590643,
|
|
"std_gray": 48.92949593706064
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.41961777210235596,
|
|
"distance_to_border_px": 271.0
|
|
},
|
|
"edge_ratio": 1.0820999555689583,
|
|
"edge_lengths_px": [
|
|
34.828147888183594,
|
|
37.013511657714844,
|
|
34.20526123046875,
|
|
36.2353401184082
|
|
]
|
|
},
|
|
"confidence": 0.7787327430612454
|
|
},
|
|
{
|
|
"observation_id": "49749696-c1af-49d1-8cc3-d5d4e2588ff2",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
601.0,
|
|
788.0
|
|
],
|
|
[
|
|
579.0,
|
|
763.0
|
|
],
|
|
[
|
|
605.0,
|
|
741.0
|
|
],
|
|
[
|
|
628.0,
|
|
765.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
603.25,
|
|
764.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1155.5,
|
|
"perimeter_px": 136.07025909423828,
|
|
"sharpness": {
|
|
"laplacian_var": 1090.6620670498824
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 84.83726708074533,
|
|
"std_gray": 61.605776146745804
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2809126079082489,
|
|
"distance_to_border_px": 292.0
|
|
},
|
|
"edge_ratio": 1.0669871827974757,
|
|
"edge_lengths_px": [
|
|
33.30165100097656,
|
|
34.058773040771484,
|
|
33.241539001464844,
|
|
35.46829605102539
|
|
]
|
|
},
|
|
"confidence": 0.7219705594903569
|
|
},
|
|
{
|
|
"observation_id": "3509cf64-4742-417d-aade-95f38e5ea693",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
700.0,
|
|
701.0
|
|
],
|
|
[
|
|
675.0,
|
|
678.0
|
|
],
|
|
[
|
|
701.0,
|
|
655.0
|
|
],
|
|
[
|
|
725.0,
|
|
677.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
700.25,
|
|
677.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1149.5,
|
|
"perimeter_px": 135.89677047729492,
|
|
"sharpness": {
|
|
"laplacian_var": 866.5305158854419
|
|
},
|
|
"contrast": {
|
|
"p05": 20.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 68.51984635083227,
|
|
"std_gray": 60.83910628240225
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1546207070350647,
|
|
"distance_to_border_px": 379.0
|
|
},
|
|
"edge_ratio": 1.0662046752175507,
|
|
"edge_lengths_px": [
|
|
33.970577239990234,
|
|
34.71310806274414,
|
|
32.557640075683594,
|
|
34.65544509887695
|
|
]
|
|
},
|
|
"confidence": 0.7187488023131854
|
|
},
|
|
{
|
|
"observation_id": "1b584b12-3fbf-42bd-9a75-83ba6e67e712",
|
|
"type": "aruco",
|
|
"marker_id": 86,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
94.0,
|
|
958.0
|
|
],
|
|
[
|
|
68.0,
|
|
982.0
|
|
],
|
|
[
|
|
47.0,
|
|
960.0
|
|
],
|
|
[
|
|
73.0,
|
|
936.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
70.5,
|
|
959.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1076.0,
|
|
"perimeter_px": 131.59485244750977,
|
|
"sharpness": {
|
|
"laplacian_var": 513.702091312575
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 140.0,
|
|
"dynamic_range": 133.0,
|
|
"mean_gray": 69.3778677462888,
|
|
"std_gray": 56.79860242610514
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8588042259216309,
|
|
"distance_to_border_px": 47.0
|
|
},
|
|
"edge_ratio": 1.1634060487042286,
|
|
"edge_lengths_px": [
|
|
35.38361358642578,
|
|
30.4138126373291,
|
|
35.38361358642578,
|
|
30.4138126373291
|
|
]
|
|
},
|
|
"confidence": 0.5795855489013004
|
|
},
|
|
{
|
|
"observation_id": "ffe02e7c-84a5-45f9-89a1-3182eba6b106",
|
|
"type": "aruco",
|
|
"marker_id": 245,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
587.0,
|
|
586.0
|
|
],
|
|
[
|
|
613.0,
|
|
565.0
|
|
],
|
|
[
|
|
636.0,
|
|
586.0
|
|
],
|
|
[
|
|
610.0,
|
|
608.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
611.5,
|
|
586.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1053.5,
|
|
"perimeter_px": 130.45280838012695,
|
|
"sharpness": {
|
|
"laplacian_var": 1014.604734909328
|
|
},
|
|
"contrast": {
|
|
"p05": 20.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 85.51456310679612,
|
|
"std_gray": 65.09327668833475
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13105136156082153,
|
|
"distance_to_border_px": 472.0
|
|
},
|
|
"edge_ratio": 1.093561294584183,
|
|
"edge_lengths_px": [
|
|
33.42155075073242,
|
|
31.14482307434082,
|
|
34.058773040771484,
|
|
31.827661514282227
|
|
]
|
|
},
|
|
"confidence": 0.642244140142496
|
|
},
|
|
{
|
|
"observation_id": "94008ffd-c55d-4585-95c8-ee3735f0f8c5",
|
|
"type": "aruco",
|
|
"marker_id": 248,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
621.0,
|
|
620.0
|
|
],
|
|
[
|
|
647.0,
|
|
598.0
|
|
],
|
|
[
|
|
669.0,
|
|
617.0
|
|
],
|
|
[
|
|
643.0,
|
|
640.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
645.0,
|
|
618.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1002.0,
|
|
"perimeter_px": 127.57290267944336,
|
|
"sharpness": {
|
|
"laplacian_var": 1870.1707867149405
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 170.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 98.79032258064517,
|
|
"std_gray": 62.679268019699975
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.12083332985639572,
|
|
"distance_to_border_px": 440.0
|
|
},
|
|
"edge_ratio": 1.1941672128550918,
|
|
"edge_lengths_px": [
|
|
34.058773040771484,
|
|
29.068883895874023,
|
|
34.71310806274414,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.5593856478465044
|
|
},
|
|
{
|
|
"observation_id": "1495afe4-4ac0-4443-ae72-9e36755043c3",
|
|
"type": "aruco",
|
|
"marker_id": 44,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
354.0,
|
|
799.0
|
|
],
|
|
[
|
|
334.0,
|
|
830.0
|
|
],
|
|
[
|
|
310.0,
|
|
817.0
|
|
],
|
|
[
|
|
331.0,
|
|
787.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
332.25,
|
|
808.25
|
|
],
|
|
"quality": {
|
|
"area_px": 973.0,
|
|
"perimeter_px": 126.74833297729492,
|
|
"sharpness": {
|
|
"laplacian_var": 577.6429178343055
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 134.0,
|
|
"dynamic_range": 128.0,
|
|
"mean_gray": 48.022761760242794,
|
|
"std_gray": 50.57233372759187
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5238840579986572,
|
|
"distance_to_border_px": 250.0
|
|
},
|
|
"edge_ratio": 1.4220718793560012,
|
|
"edge_lengths_px": [
|
|
36.8917350769043,
|
|
27.294687271118164,
|
|
36.619667053222656,
|
|
25.942243576049805
|
|
]
|
|
},
|
|
"confidence": 0.4561419686889677
|
|
},
|
|
{
|
|
"observation_id": "8f2cfdf5-4c03-4d8a-beb9-e1f7a7dd26d5",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
944.0,
|
|
859.0
|
|
],
|
|
[
|
|
923.0,
|
|
881.0
|
|
],
|
|
[
|
|
899.0,
|
|
859.0
|
|
],
|
|
[
|
|
921.0,
|
|
837.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
921.75,
|
|
859.0
|
|
],
|
|
"quality": {
|
|
"area_px": 990.0,
|
|
"perimeter_px": 125.91181182861328,
|
|
"sharpness": {
|
|
"laplacian_var": 1252.7403689459618
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 94.77511244377811,
|
|
"std_gray": 57.960130365138745
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.41938236355781555,
|
|
"distance_to_border_px": 199.0
|
|
},
|
|
"edge_ratio": 1.070488611997406,
|
|
"edge_lengths_px": [
|
|
30.4138126373291,
|
|
32.557640075683594,
|
|
31.11269760131836,
|
|
31.827661514282227
|
|
]
|
|
},
|
|
"confidence": 0.616540888528013
|
|
},
|
|
{
|
|
"observation_id": "3f8982e3-fc26-48f3-9d56-3eb48150c0aa",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
903.0,
|
|
772.0
|
|
],
|
|
[
|
|
882.0,
|
|
794.0
|
|
],
|
|
[
|
|
858.0,
|
|
773.0
|
|
],
|
|
[
|
|
879.0,
|
|
752.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
880.5,
|
|
772.75
|
|
],
|
|
"quality": {
|
|
"area_px": 946.5,
|
|
"perimeter_px": 123.24373435974121,
|
|
"sharpness": {
|
|
"laplacian_var": 1450.8913831339582
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 92.55309033280507,
|
|
"std_gray": 58.5348037593631
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.31413766741752625,
|
|
"distance_to_border_px": 286.0
|
|
},
|
|
"edge_ratio": 1.0738069198414777,
|
|
"edge_lengths_px": [
|
|
30.4138126373291,
|
|
31.890438079833984,
|
|
29.698484420776367,
|
|
31.240999221801758
|
|
]
|
|
},
|
|
"confidence": 0.5876289194459208
|
|
},
|
|
{
|
|
"observation_id": "c94c0aff-9f35-4554-ba90-496dd0fa6809",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
138.0,
|
|
787.0
|
|
],
|
|
[
|
|
113.0,
|
|
809.0
|
|
],
|
|
[
|
|
93.0,
|
|
789.0
|
|
],
|
|
[
|
|
118.0,
|
|
767.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
115.5,
|
|
788.0
|
|
],
|
|
"quality": {
|
|
"area_px": 940.0,
|
|
"perimeter_px": 123.17184448242188,
|
|
"sharpness": {
|
|
"laplacian_var": 809.4435207675646
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 147.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 57.38632750397456,
|
|
"std_gray": 55.81298437485276
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.725993812084198,
|
|
"distance_to_border_px": 93.0
|
|
},
|
|
"edge_ratio": 1.177391162675776,
|
|
"edge_lengths_px": [
|
|
33.30165100097656,
|
|
28.284271240234375,
|
|
33.30165100097656,
|
|
28.284271240234375
|
|
]
|
|
},
|
|
"confidence": 0.5322501871361803
|
|
},
|
|
{
|
|
"observation_id": "7ed1c277-0a87-4a2f-a0ce-13d4994d4a2c",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1000.0,
|
|
756.0
|
|
],
|
|
[
|
|
977.0,
|
|
776.0
|
|
],
|
|
[
|
|
955.0,
|
|
755.0
|
|
],
|
|
[
|
|
975.0,
|
|
735.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
976.75,
|
|
755.5
|
|
],
|
|
"quality": {
|
|
"area_px": 921.5,
|
|
"perimeter_px": 121.82723999023438,
|
|
"sharpness": {
|
|
"laplacian_var": 1849.0657025992036
|
|
},
|
|
"contrast": {
|
|
"p05": 40.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 98.01468189233279,
|
|
"std_gray": 56.920007231794045
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3724473714828491,
|
|
"distance_to_border_px": 304.0
|
|
},
|
|
"edge_ratio": 1.1543396013676888,
|
|
"edge_lengths_px": [
|
|
30.479501724243164,
|
|
30.4138126373291,
|
|
28.284271240234375,
|
|
32.649654388427734
|
|
]
|
|
},
|
|
"confidence": 0.532194626785269
|
|
},
|
|
{
|
|
"observation_id": "2db9095d-59f2-4e1a-a558-e7faeaba7cab",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
76.0,
|
|
765.0
|
|
],
|
|
[
|
|
50.0,
|
|
785.0
|
|
],
|
|
[
|
|
32.0,
|
|
764.0
|
|
],
|
|
[
|
|
58.0,
|
|
744.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
54.0,
|
|
764.5
|
|
],
|
|
"quality": {
|
|
"area_px": 906.0,
|
|
"perimeter_px": 120.92214965820312,
|
|
"sharpness": {
|
|
"laplacian_var": 1461.6657666666665
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 97.61166666666666,
|
|
"std_gray": 54.5840715217259
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7809113264083862,
|
|
"distance_to_border_px": 32.0
|
|
},
|
|
"edge_ratio": 1.1859747094873558,
|
|
"edge_lengths_px": [
|
|
32.80244064331055,
|
|
27.658634185791016,
|
|
32.80244064331055,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.32594286952973284
|
|
},
|
|
{
|
|
"observation_id": "155b1f35-22d6-49b0-a32b-0c3cf32d11df",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
120.0,
|
|
709.0
|
|
],
|
|
[
|
|
94.0,
|
|
730.0
|
|
],
|
|
[
|
|
76.0,
|
|
709.0
|
|
],
|
|
[
|
|
101.0,
|
|
689.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
97.75,
|
|
709.25
|
|
],
|
|
"quality": {
|
|
"area_px": 902.0,
|
|
"perimeter_px": 120.68203544616699,
|
|
"sharpness": {
|
|
"laplacian_var": 1037.4955253747898
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 51.87813021702838,
|
|
"std_gray": 54.44812058803334
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7165078520774841,
|
|
"distance_to_border_px": 76.0
|
|
},
|
|
"edge_ratio": 1.211530229731063,
|
|
"edge_lengths_px": [
|
|
33.42155075073242,
|
|
27.658634185791016,
|
|
32.015621185302734,
|
|
27.58622932434082
|
|
]
|
|
},
|
|
"confidence": 0.49634199673814006
|
|
},
|
|
{
|
|
"observation_id": "70393f94-2e27-4b2f-ac7e-2061cdcc18cd",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
823.0,
|
|
743.0
|
|
],
|
|
[
|
|
803.0,
|
|
765.0
|
|
],
|
|
[
|
|
779.0,
|
|
745.0
|
|
],
|
|
[
|
|
799.0,
|
|
724.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
801.0,
|
|
744.25
|
|
],
|
|
"quality": {
|
|
"area_px": 906.0,
|
|
"perimeter_px": 120.58359336853027,
|
|
"sharpness": {
|
|
"laplacian_var": 1580.1389134349727
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 126.25919732441471,
|
|
"std_gray": 56.62339389757079
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24413886666297913,
|
|
"distance_to_border_px": 315.0
|
|
},
|
|
"edge_ratio": 1.0772758352345433,
|
|
"edge_lengths_px": [
|
|
29.73213768005371,
|
|
31.240999221801758,
|
|
29.0,
|
|
30.610456466674805
|
|
]
|
|
},
|
|
"confidence": 0.5606734879266068
|
|
},
|
|
{
|
|
"observation_id": "c31b91a9-4901-4159-b656-18b061fce106",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
472.0,
|
|
624.0
|
|
],
|
|
[
|
|
453.0,
|
|
603.0
|
|
],
|
|
[
|
|
478.0,
|
|
584.0
|
|
],
|
|
[
|
|
497.0,
|
|
605.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
475.0,
|
|
604.0
|
|
],
|
|
"quality": {
|
|
"area_px": 886.0,
|
|
"perimeter_px": 119.44048309326172,
|
|
"sharpness": {
|
|
"laplacian_var": 844.0639841836221
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 67.56020066889631,
|
|
"std_gray": 55.87942904080434
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.28135696053504944,
|
|
"distance_to_border_px": 453.0
|
|
},
|
|
"edge_ratio": 1.1087950136685123,
|
|
"edge_lengths_px": [
|
|
28.319604873657227,
|
|
31.400636672973633,
|
|
28.319604873657227,
|
|
31.400636672973633
|
|
]
|
|
},
|
|
"confidence": 0.5327104283346404
|
|
},
|
|
{
|
|
"observation_id": "83a2b0c4-2f0e-44e7-b408-c31396e0a3c5",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
73.0,
|
|
695.0
|
|
],
|
|
[
|
|
48.0,
|
|
715.0
|
|
],
|
|
[
|
|
30.0,
|
|
694.0
|
|
],
|
|
[
|
|
54.0,
|
|
674.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
51.25,
|
|
694.5
|
|
],
|
|
"quality": {
|
|
"area_px": 884.5,
|
|
"perimeter_px": 119.23485946655273,
|
|
"sharpness": {
|
|
"laplacian_var": 1232.502096101841
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 91.43642611683849,
|
|
"std_gray": 56.35368104477371
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7626277208328247,
|
|
"distance_to_border_px": 30.0
|
|
},
|
|
"edge_ratio": 1.157527192783439,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
27.658634185791016,
|
|
31.240999221801758,
|
|
28.319604873657227
|
|
]
|
|
},
|
|
"confidence": 0.30565156672409355
|
|
},
|
|
{
|
|
"observation_id": "4e55249c-6e8c-4cc1-bc48-a3e06480ca30",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
50.0,
|
|
652.0
|
|
],
|
|
[
|
|
25.0,
|
|
672.0
|
|
],
|
|
[
|
|
7.0,
|
|
652.0
|
|
],
|
|
[
|
|
31.0,
|
|
632.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
28.25,
|
|
652.0
|
|
],
|
|
"quality": {
|
|
"area_px": 860.0,
|
|
"perimeter_px": 117.75009727478027,
|
|
"sharpness": {
|
|
"laplacian_var": 967.5293040941888
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 67.66838487972508,
|
|
"std_gray": 57.18257668281086
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.778620183467865,
|
|
"distance_to_border_px": 7.0
|
|
},
|
|
"edge_ratio": 1.1898512151323013,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
26.90724754333496,
|
|
31.240999221801758,
|
|
27.58622932434082
|
|
]
|
|
},
|
|
"confidence": 0.06745941479560678
|
|
},
|
|
{
|
|
"observation_id": "4cfec1df-cf19-4611-9395-dc7ffcc8f763",
|
|
"type": "aruco",
|
|
"marker_id": 124,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
422.0,
|
|
822.0
|
|
],
|
|
[
|
|
432.0,
|
|
843.0
|
|
],
|
|
[
|
|
406.0,
|
|
865.0
|
|
],
|
|
[
|
|
394.0,
|
|
848.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
413.5,
|
|
844.5
|
|
],
|
|
"quality": {
|
|
"area_px": 777.0,
|
|
"perimeter_px": 116.33677864074707,
|
|
"sharpness": {
|
|
"laplacian_var": 3764.3603319553495
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 83.39332096474953,
|
|
"std_gray": 63.11815077492191
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4800495207309723,
|
|
"distance_to_border_px": 215.0
|
|
},
|
|
"edge_ratio": 1.8362527311636672,
|
|
"edge_lengths_px": [
|
|
23.25940704345703,
|
|
34.058773040771484,
|
|
20.808652877807617,
|
|
38.20994567871094
|
|
]
|
|
},
|
|
"confidence": 0.2820962448190527
|
|
},
|
|
{
|
|
"observation_id": "899a9a71-a0a3-4085-b6f9-df846e0084dc",
|
|
"type": "aruco",
|
|
"marker_id": 40,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
277.0,
|
|
788.0
|
|
],
|
|
[
|
|
290.0,
|
|
814.0
|
|
],
|
|
[
|
|
264.0,
|
|
810.0
|
|
],
|
|
[
|
|
250.0,
|
|
783.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
270.25,
|
|
798.75
|
|
],
|
|
"quality": {
|
|
"area_px": 641.5,
|
|
"perimeter_px": 113.24765014648438,
|
|
"sharpness": {
|
|
"laplacian_var": 1796.8457973312193
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 79.80229885057472,
|
|
"std_gray": 63.2344842211533
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5765228271484375,
|
|
"distance_to_border_px": 250.0
|
|
},
|
|
"edge_ratio": 1.1561596750083962,
|
|
"edge_lengths_px": [
|
|
29.068883895874023,
|
|
26.305892944335938,
|
|
30.4138126373291,
|
|
27.459060668945312
|
|
]
|
|
},
|
|
"confidence": 0.36990277027570684
|
|
},
|
|
{
|
|
"observation_id": "9b31ee6e-b57e-47ec-982b-c6bbbc79d5e4",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
720.0,
|
|
532.0
|
|
],
|
|
[
|
|
698.0,
|
|
550.0
|
|
],
|
|
[
|
|
678.0,
|
|
530.0
|
|
],
|
|
[
|
|
700.0,
|
|
513.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
699.0,
|
|
531.25
|
|
],
|
|
"quality": {
|
|
"area_px": 779.0,
|
|
"perimeter_px": 112.09871864318848,
|
|
"sharpness": {
|
|
"laplacian_var": 1705.5660412958346
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 94.76037735849057,
|
|
"std_gray": 62.80182319076426
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.02527777850627899,
|
|
"distance_to_border_px": 513.0
|
|
},
|
|
"edge_ratio": 1.0304177609146679,
|
|
"edge_lengths_px": [
|
|
28.42534065246582,
|
|
28.284271240234375,
|
|
27.80287742614746,
|
|
27.58622932434082
|
|
]
|
|
},
|
|
"confidence": 0.5040026997131127
|
|
},
|
|
{
|
|
"observation_id": "ae1721f8-8583-4b01-a30d-350771adae7b",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
573.0,
|
|
524.0
|
|
],
|
|
[
|
|
551.0,
|
|
542.0
|
|
],
|
|
[
|
|
531.0,
|
|
523.0
|
|
],
|
|
[
|
|
554.0,
|
|
505.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
552.25,
|
|
523.5
|
|
],
|
|
"quality": {
|
|
"area_px": 778.5,
|
|
"perimeter_px": 112.0877914428711,
|
|
"sharpness": {
|
|
"laplacian_var": 1118.1240057754142
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 93.6831119544592,
|
|
"std_gray": 63.35380127542696
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18728835880756378,
|
|
"distance_to_border_px": 505.0
|
|
},
|
|
"edge_ratio": 1.0869408373249503,
|
|
"edge_lengths_px": [
|
|
28.42534065246582,
|
|
27.58622932434082,
|
|
29.20616340637207,
|
|
26.870058059692383
|
|
]
|
|
},
|
|
"confidence": 0.47748688997397615
|
|
},
|
|
{
|
|
"observation_id": "9a9b35aa-e4d4-48fb-b96c-2d873bd204e3",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
879.0,
|
|
509.0
|
|
],
|
|
[
|
|
858.0,
|
|
528.0
|
|
],
|
|
[
|
|
837.0,
|
|
508.0
|
|
],
|
|
[
|
|
857.0,
|
|
491.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
857.75,
|
|
509.0
|
|
],
|
|
"quality": {
|
|
"area_px": 776.5,
|
|
"perimeter_px": 111.99375534057617,
|
|
"sharpness": {
|
|
"laplacian_var": 1194.8530439336548
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 80.41287878787878,
|
|
"std_gray": 59.81708216709762
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15688347816467285,
|
|
"distance_to_border_px": 491.0
|
|
},
|
|
"edge_ratio": 1.1048119973817638,
|
|
"edge_lengths_px": [
|
|
28.319604873657227,
|
|
29.0,
|
|
26.248809814453125,
|
|
28.42534065246582
|
|
]
|
|
},
|
|
"confidence": 0.46855634071087016
|
|
},
|
|
{
|
|
"observation_id": "c3d65064-c74c-4ed0-a2a7-db3f13a82655",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
539.0,
|
|
717.0
|
|
],
|
|
[
|
|
548.0,
|
|
736.0
|
|
],
|
|
[
|
|
523.0,
|
|
758.0
|
|
],
|
|
[
|
|
512.0,
|
|
739.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
530.5,
|
|
737.5
|
|
],
|
|
"quality": {
|
|
"area_px": 714.0,
|
|
"perimeter_px": 111.10809326171875,
|
|
"sharpness": {
|
|
"laplacian_var": 1028.397608169847
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 63.65983606557377,
|
|
"std_gray": 58.49943135471989
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30412089824676514,
|
|
"distance_to_border_px": 322.0
|
|
},
|
|
"edge_ratio": 1.6566060550197033,
|
|
"edge_lengths_px": [
|
|
21.02379608154297,
|
|
33.30165100097656,
|
|
21.954498291015625,
|
|
34.828147888183594
|
|
]
|
|
},
|
|
"confidence": 0.28733445622612946
|
|
},
|
|
{
|
|
"observation_id": "1d74d89d-48a3-4fe7-896a-08070e6ab375",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
537.0,
|
|
507.0
|
|
],
|
|
[
|
|
517.0,
|
|
526.0
|
|
],
|
|
[
|
|
495.0,
|
|
509.0
|
|
],
|
|
[
|
|
515.0,
|
|
490.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
516.0,
|
|
508.0
|
|
],
|
|
"quality": {
|
|
"area_px": 758.0,
|
|
"perimeter_px": 110.77821350097656,
|
|
"sharpness": {
|
|
"laplacian_var": 917.3892137751787
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 46.17153996101364,
|
|
"std_gray": 50.14297111858531
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2294383943080902,
|
|
"distance_to_border_px": 490.0
|
|
},
|
|
"edge_ratio": 1.0078534873055478,
|
|
"edge_lengths_px": [
|
|
27.58622932434082,
|
|
27.80287742614746,
|
|
27.58622932434082,
|
|
27.80287742614746
|
|
]
|
|
},
|
|
"confidence": 0.5013956291249434
|
|
},
|
|
{
|
|
"observation_id": "2ead4178-d16d-41d6-828e-7c5dfc4312a6",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
226.0,
|
|
383.0
|
|
],
|
|
[
|
|
209.0,
|
|
365.0
|
|
],
|
|
[
|
|
234.0,
|
|
348.0
|
|
],
|
|
[
|
|
250.0,
|
|
366.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
229.75,
|
|
365.5
|
|
],
|
|
"quality": {
|
|
"area_px": 721.5,
|
|
"perimeter_px": 108.48534202575684,
|
|
"sharpness": {
|
|
"laplacian_var": 1810.3519094023864
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 72.81120331950207,
|
|
"std_gray": 58.02953568153973
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5781999230384827,
|
|
"distance_to_border_px": 209.0
|
|
},
|
|
"edge_ratio": 1.2553334737255937,
|
|
"edge_lengths_px": [
|
|
24.75883674621582,
|
|
30.232433319091797,
|
|
24.083189010620117,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.3831651191236719
|
|
},
|
|
{
|
|
"observation_id": "5cc8cf24-91d5-45cc-8ff7-8417098abcc3",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
786.0,
|
|
437.0
|
|
],
|
|
[
|
|
765.0,
|
|
454.0
|
|
],
|
|
[
|
|
745.0,
|
|
436.0
|
|
],
|
|
[
|
|
767.0,
|
|
419.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
765.75,
|
|
436.5
|
|
],
|
|
"quality": {
|
|
"area_px": 718.5,
|
|
"perimeter_px": 107.90114212036133,
|
|
"sharpness": {
|
|
"laplacian_var": 1486.325093684761
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 109.13305613305613,
|
|
"std_gray": 60.54601666421412
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.12573395669460297,
|
|
"distance_to_border_px": 419.0
|
|
},
|
|
"edge_ratio": 1.0622933508624515,
|
|
"edge_lengths_px": [
|
|
27.018512725830078,
|
|
26.90724754333496,
|
|
27.80287742614746,
|
|
26.172504425048828
|
|
]
|
|
},
|
|
"confidence": 0.4509112286273005
|
|
},
|
|
{
|
|
"observation_id": "096a61d9-6d85-44c7-8f5c-6daa667df4e9",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
692.0,
|
|
463.0
|
|
],
|
|
[
|
|
670.0,
|
|
480.0
|
|
],
|
|
[
|
|
651.0,
|
|
462.0
|
|
],
|
|
[
|
|
672.0,
|
|
445.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
671.25,
|
|
462.5
|
|
],
|
|
"quality": {
|
|
"area_px": 718.5,
|
|
"perimeter_px": 107.90114212036133,
|
|
"sharpness": {
|
|
"laplacian_var": 1491.013022938179
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 85.64241164241164,
|
|
"std_gray": 61.03760632826105
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.10173077881336212,
|
|
"distance_to_border_px": 445.0
|
|
},
|
|
"edge_ratio": 1.0622933508624515,
|
|
"edge_lengths_px": [
|
|
27.80287742614746,
|
|
26.172504425048828,
|
|
27.018512725830078,
|
|
26.90724754333496
|
|
]
|
|
},
|
|
"confidence": 0.4509112286273005
|
|
},
|
|
{
|
|
"observation_id": "034389ab-2dff-4dfb-b688-d783af72daab",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
730.0,
|
|
435.0
|
|
],
|
|
[
|
|
708.0,
|
|
452.0
|
|
],
|
|
[
|
|
689.0,
|
|
434.0
|
|
],
|
|
[
|
|
710.0,
|
|
417.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
709.25,
|
|
434.5
|
|
],
|
|
"quality": {
|
|
"area_px": 718.5,
|
|
"perimeter_px": 107.90114212036133,
|
|
"sharpness": {
|
|
"laplacian_var": 1726.6682716620348
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 58.43035343035343,
|
|
"std_gray": 54.94396913174303
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.11782918870449066,
|
|
"distance_to_border_px": 417.0
|
|
},
|
|
"edge_ratio": 1.0622933508624515,
|
|
"edge_lengths_px": [
|
|
27.80287742614746,
|
|
26.172504425048828,
|
|
27.018512725830078,
|
|
26.90724754333496
|
|
]
|
|
},
|
|
"confidence": 0.4509112286273005
|
|
},
|
|
{
|
|
"observation_id": "c8634b3d-d942-4fff-b427-f2ab8046aafc",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
576.0,
|
|
320.0
|
|
],
|
|
[
|
|
550.0,
|
|
337.0
|
|
],
|
|
[
|
|
536.0,
|
|
319.0
|
|
],
|
|
[
|
|
558.0,
|
|
303.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
555.0,
|
|
319.75
|
|
],
|
|
"quality": {
|
|
"area_px": 684.0,
|
|
"perimeter_px": 105.82973670959473,
|
|
"sharpness": {
|
|
"laplacian_var": 2751.5083108272306
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 118.4796573875803,
|
|
"std_gray": 53.464402228625
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30577781796455383,
|
|
"distance_to_border_px": 303.0
|
|
},
|
|
"edge_ratio": 1.362266203821036,
|
|
"edge_lengths_px": [
|
|
31.064449310302734,
|
|
22.803508758544922,
|
|
27.20294189453125,
|
|
24.75883674621582
|
|
]
|
|
},
|
|
"confidence": 0.33473633767097827
|
|
},
|
|
{
|
|
"observation_id": "c7c46a0e-c3a0-4bf2-aff9-2400da66098f",
|
|
"type": "aruco",
|
|
"marker_id": 205,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
146.0,
|
|
302.0
|
|
],
|
|
[
|
|
128.0,
|
|
284.0
|
|
],
|
|
[
|
|
151.0,
|
|
268.0
|
|
],
|
|
[
|
|
168.0,
|
|
285.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
148.25,
|
|
284.75
|
|
],
|
|
"quality": {
|
|
"area_px": 682.5,
|
|
"perimeter_px": 105.31820297241211,
|
|
"sharpness": {
|
|
"laplacian_var": 1269.6151878829924
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 78.61075268817204,
|
|
"std_gray": 55.63561453610272
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6957105398178101,
|
|
"distance_to_border_px": 128.0
|
|
},
|
|
"edge_ratio": 1.1653889989621362,
|
|
"edge_lengths_px": [
|
|
25.45584487915039,
|
|
28.017850875854492,
|
|
24.041629791259766,
|
|
27.80287742614746
|
|
]
|
|
},
|
|
"confidence": 0.3904275743165678
|
|
},
|
|
{
|
|
"observation_id": "cdfe3677-237f-45eb-ae19-ca4220626d96",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
349.0,
|
|
309.0
|
|
],
|
|
[
|
|
327.0,
|
|
326.0
|
|
],
|
|
[
|
|
309.0,
|
|
310.0
|
|
],
|
|
[
|
|
330.0,
|
|
293.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
328.75,
|
|
309.5
|
|
],
|
|
"quality": {
|
|
"area_px": 658.5,
|
|
"perimeter_px": 103.74406433105469,
|
|
"sharpness": {
|
|
"laplacian_var": 1098.3724882317051
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 66.61692650334076,
|
|
"std_gray": 58.31960386150207
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5045555830001831,
|
|
"distance_to_border_px": 293.0
|
|
},
|
|
"edge_ratio": 1.1544516556294537,
|
|
"edge_lengths_px": [
|
|
27.80287742614746,
|
|
24.083189010620117,
|
|
27.018512725830078,
|
|
24.83948516845703
|
|
]
|
|
},
|
|
"confidence": 0.38026711457279644
|
|
},
|
|
{
|
|
"observation_id": "25a5b357-e4db-4248-aab7-09fe25d3f692",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
522.0,
|
|
341.0
|
|
],
|
|
[
|
|
501.0,
|
|
358.0
|
|
],
|
|
[
|
|
482.0,
|
|
342.0
|
|
],
|
|
[
|
|
503.0,
|
|
325.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
502.0,
|
|
341.5
|
|
],
|
|
"quality": {
|
|
"area_px": 659.0,
|
|
"perimeter_px": 103.71599578857422,
|
|
"sharpness": {
|
|
"laplacian_var": 797.6360732337637
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 44.26726057906459,
|
|
"std_gray": 50.290513009231205
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.32759174704551697,
|
|
"distance_to_border_px": 325.0
|
|
},
|
|
"edge_ratio": 1.0877243446309481,
|
|
"edge_lengths_px": [
|
|
27.018512725830078,
|
|
24.83948516845703,
|
|
27.018512725830078,
|
|
24.83948516845703
|
|
]
|
|
},
|
|
"confidence": 0.4039013519389363
|
|
},
|
|
{
|
|
"observation_id": "b0de079f-b488-4cfb-b54c-a10946a8d646",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
378.0,
|
|
281.0
|
|
],
|
|
[
|
|
356.0,
|
|
296.0
|
|
],
|
|
[
|
|
340.0,
|
|
278.0
|
|
],
|
|
[
|
|
362.0,
|
|
263.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
359.0,
|
|
279.5
|
|
],
|
|
"quality": {
|
|
"area_px": 636.0,
|
|
"perimeter_px": 101.42048645019531,
|
|
"sharpness": {
|
|
"laplacian_var": 1481.6895640957391
|
|
},
|
|
"contrast": {
|
|
"p05": 11.05,
|
|
"p95": 159.0,
|
|
"dynamic_range": 147.95,
|
|
"mean_gray": 104.71266968325791,
|
|
"std_gray": 54.110673185622986
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.49463948607444763,
|
|
"distance_to_border_px": 263.0
|
|
},
|
|
"edge_ratio": 1.1056282539133682,
|
|
"edge_lengths_px": [
|
|
26.62705421447754,
|
|
24.083189010620117,
|
|
26.62705421447754,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.3834923705135548
|
|
},
|
|
{
|
|
"observation_id": "d26f6f48-e568-46b5-b8e8-a2bb30d504a8",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
444.0,
|
|
258.0
|
|
],
|
|
[
|
|
425.0,
|
|
275.0
|
|
],
|
|
[
|
|
406.0,
|
|
259.0
|
|
],
|
|
[
|
|
427.0,
|
|
243.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
425.5,
|
|
258.75
|
|
],
|
|
"quality": {
|
|
"area_px": 607.0,
|
|
"perimeter_px": 99.40690803527832,
|
|
"sharpness": {
|
|
"laplacian_var": 1420.520833214666
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 106.13842482100239,
|
|
"std_gray": 57.20085558050442
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.45247167348861694,
|
|
"distance_to_border_px": 243.0
|
|
},
|
|
"edge_ratio": 1.1644874731532113,
|
|
"edge_lengths_px": [
|
|
25.495098114013672,
|
|
24.83948516845703,
|
|
26.4007568359375,
|
|
22.671567916870117
|
|
]
|
|
},
|
|
"confidence": 0.3475062428717297
|
|
},
|
|
{
|
|
"observation_id": "cfb3846b-e4d5-4cf2-8c71-130cb35260ef",
|
|
"type": "aruco",
|
|
"marker_id": 57,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
540.0,
|
|
214.0
|
|
],
|
|
[
|
|
518.0,
|
|
229.0
|
|
],
|
|
[
|
|
502.0,
|
|
212.0
|
|
],
|
|
[
|
|
524.0,
|
|
198.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
521.0,
|
|
213.25
|
|
],
|
|
"quality": {
|
|
"area_px": 595.0,
|
|
"perimeter_px": 98.67651557922363,
|
|
"sharpness": {
|
|
"laplacian_var": 2382.5229925501712
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 87.94088669950739,
|
|
"std_gray": 57.818183285412786
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.425087571144104,
|
|
"distance_to_border_px": 198.0
|
|
},
|
|
"edge_ratio": 1.176760682519333,
|
|
"edge_lengths_px": [
|
|
26.62705421447754,
|
|
23.34523582458496,
|
|
26.07680892944336,
|
|
22.627416610717773
|
|
]
|
|
},
|
|
"confidence": 0.3370835485575886
|
|
},
|
|
{
|
|
"observation_id": "65aaab63-8678-4b00-8a6f-bea2e773327a",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
187.0
|
|
],
|
|
[
|
|
414.0,
|
|
203.0
|
|
],
|
|
[
|
|
397.0,
|
|
188.0
|
|
],
|
|
[
|
|
416.0,
|
|
172.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
415.5,
|
|
187.5
|
|
],
|
|
"quality": {
|
|
"area_px": 588.0,
|
|
"perimeter_px": 98.11924743652344,
|
|
"sharpness": {
|
|
"laplacian_var": 1787.2042818316388
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 66.56403940886699,
|
|
"std_gray": 57.735677535909
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5175637602806091,
|
|
"distance_to_border_px": 172.0
|
|
},
|
|
"edge_ratio": 1.1644874731532113,
|
|
"edge_lengths_px": [
|
|
26.4007568359375,
|
|
22.671567916870117,
|
|
24.83948516845703,
|
|
24.20743751525879
|
|
]
|
|
},
|
|
"confidence": 0.33662878222170856
|
|
},
|
|
{
|
|
"observation_id": "6ab83618-cd91-4336-ac43-df789e1684de",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
295.0,
|
|
182.0
|
|
],
|
|
[
|
|
274.0,
|
|
199.0
|
|
],
|
|
[
|
|
257.0,
|
|
184.0
|
|
],
|
|
[
|
|
277.0,
|
|
168.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
275.75,
|
|
183.25
|
|
],
|
|
"quality": {
|
|
"area_px": 586.0,
|
|
"perimeter_px": 98.10608673095703,
|
|
"sharpness": {
|
|
"laplacian_var": 1006.6024962531329
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 57.3142144638404,
|
|
"std_gray": 54.658596004206075
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6330687999725342,
|
|
"distance_to_border_px": 168.0
|
|
},
|
|
"edge_ratio": 1.1917355175830322,
|
|
"edge_lengths_px": [
|
|
27.018512725830078,
|
|
22.671567916870117,
|
|
25.612497329711914,
|
|
22.803508758544922
|
|
]
|
|
},
|
|
"confidence": 0.32781322776968225
|
|
},
|
|
{
|
|
"observation_id": "b51f476c-689b-4b2d-a4e9-4d1883ddf511",
|
|
"type": "aruco",
|
|
"marker_id": 65,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
330.0,
|
|
124.0
|
|
],
|
|
[
|
|
309.0,
|
|
139.0
|
|
],
|
|
[
|
|
292.0,
|
|
125.0
|
|
],
|
|
[
|
|
312.0,
|
|
109.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
310.75,
|
|
124.25
|
|
],
|
|
"quality": {
|
|
"area_px": 568.5,
|
|
"perimeter_px": 96.87293815612793,
|
|
"sharpness": {
|
|
"laplacian_var": 1318.3130182421228
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 155.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 86.98258706467662,
|
|
"std_gray": 55.68481125273183
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6482013463973999,
|
|
"distance_to_border_px": 109.0
|
|
},
|
|
"edge_ratio": 1.1718344795212643,
|
|
"edge_lengths_px": [
|
|
25.806976318359375,
|
|
22.022714614868164,
|
|
25.612497329711914,
|
|
23.430749893188477
|
|
]
|
|
},
|
|
"confidence": 0.323424516536529
|
|
},
|
|
{
|
|
"observation_id": "e2973535-4d40-4baf-978c-b832fafde653",
|
|
"type": "aruco",
|
|
"marker_id": 71,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
356.0,
|
|
167.0
|
|
],
|
|
[
|
|
333.0,
|
|
181.0
|
|
],
|
|
[
|
|
319.0,
|
|
165.0
|
|
],
|
|
[
|
|
341.0,
|
|
151.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
337.25,
|
|
166.0
|
|
],
|
|
"quality": {
|
|
"area_px": 563.0,
|
|
"perimeter_px": 96.19463729858398,
|
|
"sharpness": {
|
|
"laplacian_var": 1900.1989040217913
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 103.926582278481,
|
|
"std_gray": 53.67107678494897
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5945987105369568,
|
|
"distance_to_border_px": 151.0
|
|
},
|
|
"edge_ratio": 1.266484164199827,
|
|
"edge_lengths_px": [
|
|
26.925823211669922,
|
|
21.260292053222656,
|
|
26.07680892944336,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.2963584890699928
|
|
},
|
|
{
|
|
"observation_id": "f4d4029a-b072-405b-a74d-0c79dc8cb82a",
|
|
"type": "aruco",
|
|
"marker_id": 87,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
180.0,
|
|
65.0
|
|
],
|
|
[
|
|
159.0,
|
|
81.0
|
|
],
|
|
[
|
|
143.0,
|
|
66.0
|
|
],
|
|
[
|
|
164.0,
|
|
52.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
161.5,
|
|
66.0
|
|
],
|
|
"quality": {
|
|
"area_px": 534.0,
|
|
"perimeter_px": 94.18685722351074,
|
|
"sharpness": {
|
|
"laplacian_var": 1428.8355879223636
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 150.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 94.2210796915167,
|
|
"std_gray": 52.30966199628789
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8139207363128662,
|
|
"distance_to_border_px": 52.0
|
|
},
|
|
"edge_ratio": 1.2806248134565528,
|
|
"edge_lengths_px": [
|
|
26.4007568359375,
|
|
21.931713104248047,
|
|
25.238859176635742,
|
|
20.615528106689453
|
|
]
|
|
},
|
|
"confidence": 0.27798930354872264
|
|
},
|
|
{
|
|
"observation_id": "aaa7e176-d97f-4c4c-8329-86709c02b9e4",
|
|
"type": "aruco",
|
|
"marker_id": 80,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
318.0,
|
|
56.0
|
|
],
|
|
[
|
|
297.0,
|
|
71.0
|
|
],
|
|
[
|
|
281.0,
|
|
57.0
|
|
],
|
|
[
|
|
301.0,
|
|
42.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
299.25,
|
|
56.5
|
|
],
|
|
"quality": {
|
|
"area_px": 534.5,
|
|
"perimeter_px": 94.0899829864502,
|
|
"sharpness": {
|
|
"laplacian_var": 844.5425420133358
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 66.706940874036,
|
|
"std_gray": 58.34998983969178
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7121544480323792,
|
|
"distance_to_border_px": 42.0
|
|
},
|
|
"edge_ratio": 1.2138580342054863,
|
|
"edge_lengths_px": [
|
|
25.806976318359375,
|
|
21.260292053222656,
|
|
25.0,
|
|
22.022714614868164
|
|
]
|
|
},
|
|
"confidence": 0.24658567276025462
|
|
},
|
|
{
|
|
"observation_id": "9c8be8a5-1f2e-4ebc-beab-eb1c7c699776",
|
|
"type": "aruco",
|
|
"marker_id": 78,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
352.0,
|
|
82.0
|
|
],
|
|
[
|
|
332.0,
|
|
97.0
|
|
],
|
|
[
|
|
315.0,
|
|
83.0
|
|
],
|
|
[
|
|
336.0,
|
|
68.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
333.75,
|
|
82.5
|
|
],
|
|
"quality": {
|
|
"area_px": 534.5,
|
|
"perimeter_px": 94.0899829864502,
|
|
"sharpness": {
|
|
"laplacian_var": 1487.0345939436318
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 154.39999999999998,
|
|
"dynamic_range": 146.39999999999998,
|
|
"mean_gray": 80.39949109414758,
|
|
"std_gray": 54.70127713173428
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6652719378471375,
|
|
"distance_to_border_px": 68.0
|
|
},
|
|
"edge_ratio": 1.2138580342054863,
|
|
"edge_lengths_px": [
|
|
25.0,
|
|
22.022714614868164,
|
|
25.806976318359375,
|
|
21.260292053222656
|
|
]
|
|
},
|
|
"confidence": 0.29355437233363646
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
562.0,
|
|
775.0
|
|
],
|
|
[
|
|
558.0,
|
|
786.0
|
|
],
|
|
[
|
|
503.0,
|
|
836.0
|
|
],
|
|
[
|
|
503.0,
|
|
824.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
531.5,
|
|
805.25
|
|
],
|
|
"area_px": 556.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
699.0,
|
|
619.0
|
|
],
|
|
[
|
|
645.0,
|
|
672.0
|
|
],
|
|
[
|
|
637.0,
|
|
670.0
|
|
],
|
|
[
|
|
676.0,
|
|
629.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
664.25,
|
|
647.5
|
|
],
|
|
"area_px": 542.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
660.0,
|
|
577.0
|
|
],
|
|
[
|
|
691.0,
|
|
599.0
|
|
],
|
|
[
|
|
704.0,
|
|
617.0
|
|
],
|
|
[
|
|
677.0,
|
|
597.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
683.0,
|
|
597.5
|
|
],
|
|
"area_px": 236.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
716.0,
|
|
632.0
|
|
],
|
|
[
|
|
734.0,
|
|
638.0
|
|
],
|
|
[
|
|
759.0,
|
|
665.0
|
|
],
|
|
[
|
|
756.0,
|
|
671.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
741.25,
|
|
651.5
|
|
],
|
|
"area_px": 346.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
800.0,
|
|
580.0
|
|
],
|
|
[
|
|
824.0,
|
|
598.0
|
|
],
|
|
[
|
|
805.0,
|
|
618.0
|
|
],
|
|
[
|
|
781.0,
|
|
600.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
802.5,
|
|
599.0
|
|
],
|
|
"area_px": 822.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
615.0,
|
|
844.0
|
|
],
|
|
[
|
|
583.0,
|
|
876.0
|
|
],
|
|
[
|
|
577.0,
|
|
878.0
|
|
],
|
|
[
|
|
608.0,
|
|
847.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
595.75,
|
|
861.25
|
|
],
|
|
"area_px": 126.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
618.0,
|
|
563.0
|
|
],
|
|
[
|
|
637.0,
|
|
559.0
|
|
],
|
|
[
|
|
657.0,
|
|
580.0
|
|
],
|
|
[
|
|
640.0,
|
|
585.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
638.0,
|
|
571.75
|
|
],
|
|
"area_px": 481.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
10.0,
|
|
157.0
|
|
],
|
|
[
|
|
15.0,
|
|
155.0
|
|
],
|
|
[
|
|
24.0,
|
|
156.0
|
|
],
|
|
[
|
|
34.0,
|
|
166.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
20.75,
|
|
158.5
|
|
],
|
|
"area_px": 86.5
|
|
},
|
|
{
|
|
"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
|
|
}
|
|
]
|
|
} |