2595 lines
51 KiB
JSON
2595 lines
51 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T10:49:45Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "b",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene10\\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\\Scene10\\render_b.png",
|
|
"image_sha256": "e6ef391892a91ad270a430486b0fe75974cef5735243cbacb7d275cbec67d403",
|
|
"width_px": 1440,
|
|
"height_px": 1080
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 36,
|
|
"num_rejected_candidates": 24
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "d1e12445-bc94-4cf8-9917-75e687c84b7a",
|
|
"type": "aruco",
|
|
"marker_id": 247,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
653.0,
|
|
351.0
|
|
],
|
|
[
|
|
692.0,
|
|
348.0
|
|
],
|
|
[
|
|
694.0,
|
|
387.0
|
|
],
|
|
[
|
|
656.0,
|
|
389.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
673.75,
|
|
368.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1488.5,
|
|
"perimeter_px": 154.33729553222656,
|
|
"sharpness": {
|
|
"laplacian_var": 627.2587318502058
|
|
},
|
|
"contrast": {
|
|
"p05": 46.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 122.44723618090453,
|
|
"std_gray": 56.17987962136313
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19709503650665283,
|
|
"distance_to_border_px": 348.0
|
|
},
|
|
"edge_ratio": 1.0279249864163942,
|
|
"edge_lengths_px": [
|
|
39.11521530151367,
|
|
39.051246643066406,
|
|
38.05259704589844,
|
|
38.11823654174805
|
|
]
|
|
},
|
|
"confidence": 0.9653752427916531
|
|
},
|
|
{
|
|
"observation_id": "0c290687-5d32-4da7-b78c-e7662b858746",
|
|
"type": "aruco",
|
|
"marker_id": 246,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
716.0,
|
|
360.0
|
|
],
|
|
[
|
|
754.0,
|
|
359.0
|
|
],
|
|
[
|
|
756.0,
|
|
397.0
|
|
],
|
|
[
|
|
717.0,
|
|
395.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
735.75,
|
|
377.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1404.5,
|
|
"perimeter_px": 150.13128280639648,
|
|
"sharpness": {
|
|
"laplacian_var": 716.6409220891561
|
|
},
|
|
"contrast": {
|
|
"p05": 42.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 91.52459016393442,
|
|
"std_gray": 57.68748310334962
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18112516403198242,
|
|
"distance_to_border_px": 359.0
|
|
},
|
|
"edge_ratio": 1.115294792861451,
|
|
"edge_lengths_px": [
|
|
38.01315689086914,
|
|
38.05259704589844,
|
|
39.051246643066406,
|
|
35.0142822265625
|
|
]
|
|
},
|
|
"confidence": 0.8395388728849295
|
|
},
|
|
{
|
|
"observation_id": "1dfa81b3-43c9-45a6-99cf-bb97cd3de8ab",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
572.0,
|
|
342.0
|
|
],
|
|
[
|
|
610.0,
|
|
342.0
|
|
],
|
|
[
|
|
609.0,
|
|
379.0
|
|
],
|
|
[
|
|
571.0,
|
|
379.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
590.5,
|
|
360.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1406.0,
|
|
"perimeter_px": 150.0270233154297,
|
|
"sharpness": {
|
|
"laplacian_var": 530.848957810413
|
|
},
|
|
"contrast": {
|
|
"p05": 36.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 91.75730110775427,
|
|
"std_gray": 62.10930258698661
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.24593108892440796,
|
|
"distance_to_border_px": 342.0
|
|
},
|
|
"edge_ratio": 1.0266521142713445,
|
|
"edge_lengths_px": [
|
|
38.0,
|
|
37.013511657714844,
|
|
38.0,
|
|
37.013511657714844
|
|
]
|
|
},
|
|
"confidence": 0.9129999542236328
|
|
},
|
|
{
|
|
"observation_id": "2d624022-c5f3-4375-ab11-f49d2592a681",
|
|
"type": "aruco",
|
|
"marker_id": 113,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
703.0,
|
|
635.0
|
|
],
|
|
[
|
|
738.0,
|
|
637.0
|
|
],
|
|
[
|
|
739.0,
|
|
674.0
|
|
],
|
|
[
|
|
704.0,
|
|
671.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
721.0,
|
|
654.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1275.0,
|
|
"perimeter_px": 143.21282958984375,
|
|
"sharpness": {
|
|
"laplacian_var": 696.0272365007073
|
|
},
|
|
"contrast": {
|
|
"p05": 57.0,
|
|
"p95": 187.0,
|
|
"dynamic_range": 130.0,
|
|
"mean_gray": 94.33182332955832,
|
|
"std_gray": 50.71412757664344
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.12694931030273438,
|
|
"distance_to_border_px": 406.0
|
|
},
|
|
"edge_ratio": 1.0558065951418754,
|
|
"edge_lengths_px": [
|
|
35.05709457397461,
|
|
37.013511657714844,
|
|
35.12833786010742,
|
|
36.013885498046875
|
|
]
|
|
},
|
|
"confidence": 0.8050716901287969
|
|
},
|
|
{
|
|
"observation_id": "14655f41-17a3-4149-bd48-cd359ccc662a",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1279.0,
|
|
1028.0
|
|
],
|
|
[
|
|
1272.0,
|
|
995.0
|
|
],
|
|
[
|
|
1307.0,
|
|
995.0
|
|
],
|
|
[
|
|
1315.0,
|
|
1026.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1293.25,
|
|
1011.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1143.5,
|
|
"perimeter_px": 136.80538940429688,
|
|
"sharpness": {
|
|
"laplacian_var": 482.7013250030427
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 63.35286624203822,
|
|
"std_gray": 59.78071665797713
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8243640065193176,
|
|
"distance_to_border_px": 52.0
|
|
},
|
|
"edge_ratio": 1.1261849728269904,
|
|
"edge_lengths_px": [
|
|
33.734256744384766,
|
|
35.0,
|
|
32.015621185302734,
|
|
36.055511474609375
|
|
]
|
|
},
|
|
"confidence": 0.6769166271324829
|
|
},
|
|
{
|
|
"observation_id": "97a53264-ba42-4b6e-9ee6-c35f6282959a",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1003.0,
|
|
1024.0
|
|
],
|
|
[
|
|
1001.0,
|
|
991.0
|
|
],
|
|
[
|
|
1036.0,
|
|
992.0
|
|
],
|
|
[
|
|
1039.0,
|
|
1024.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1019.75,
|
|
1007.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1152.5,
|
|
"perimeter_px": 136.21514892578125,
|
|
"sharpness": {
|
|
"laplacian_var": 488.69427061730175
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 120.69270166453265,
|
|
"std_gray": 51.94121872671304
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6172820925712585,
|
|
"distance_to_border_px": 56.0
|
|
},
|
|
"edge_ratio": 1.1200885513799894,
|
|
"edge_lengths_px": [
|
|
33.060550689697266,
|
|
35.0142822265625,
|
|
32.140316009521484,
|
|
36.0
|
|
]
|
|
},
|
|
"confidence": 0.6859576703883983
|
|
},
|
|
{
|
|
"observation_id": "f46f565f-f8b8-427f-9270-326c9b72d294",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
751.0,
|
|
1046.0
|
|
],
|
|
[
|
|
751.0,
|
|
1014.0
|
|
],
|
|
[
|
|
786.0,
|
|
1013.0
|
|
],
|
|
[
|
|
787.0,
|
|
1046.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
768.75,
|
|
1029.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1154.0,
|
|
"perimeter_px": 136.0294303894043,
|
|
"sharpness": {
|
|
"laplacian_var": 552.3687835636869
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 167.94999999999993,
|
|
"dynamic_range": 154.94999999999993,
|
|
"mean_gray": 53.32480818414322,
|
|
"std_gray": 57.69375782057683
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5468559265136719,
|
|
"distance_to_border_px": 34.0
|
|
},
|
|
"edge_ratio": 1.125,
|
|
"edge_lengths_px": [
|
|
32.0,
|
|
35.0142822265625,
|
|
33.0151481628418,
|
|
36.0
|
|
]
|
|
},
|
|
"confidence": 0.4650192592592593
|
|
},
|
|
{
|
|
"observation_id": "ce43f699-0a87-44a5-8dea-4c626d396282",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
250.0,
|
|
983.0
|
|
],
|
|
[
|
|
256.0,
|
|
951.0
|
|
],
|
|
[
|
|
290.0,
|
|
951.0
|
|
],
|
|
[
|
|
285.0,
|
|
983.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
270.25,
|
|
967.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1104.0,
|
|
"perimeter_px": 133.9459114074707,
|
|
"sharpness": {
|
|
"laplacian_var": 666.2167537940885
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 85.58355437665783,
|
|
"std_gray": 64.81855143535743
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6890717148780823,
|
|
"distance_to_border_px": 97.0
|
|
},
|
|
"edge_ratio": 1.0806381001770118,
|
|
"edge_lengths_px": [
|
|
32.557640075683594,
|
|
34.0,
|
|
32.38827133178711,
|
|
35.0
|
|
]
|
|
},
|
|
"confidence": 0.6810790771484375
|
|
},
|
|
{
|
|
"observation_id": "088e0df0-82af-4d0f-a002-7d486e24225e",
|
|
"type": "aruco",
|
|
"marker_id": 71,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1365.0,
|
|
980.0
|
|
],
|
|
[
|
|
1359.0,
|
|
949.0
|
|
],
|
|
[
|
|
1393.0,
|
|
949.0
|
|
],
|
|
[
|
|
1400.0,
|
|
981.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1379.25,
|
|
964.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1083.5,
|
|
"perimeter_px": 133.3462677001953,
|
|
"sharpness": {
|
|
"laplacian_var": 578.8078550341886
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 101.4297520661157,
|
|
"std_gray": 56.70546294703625
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8713712692260742,
|
|
"distance_to_border_px": 40.0
|
|
},
|
|
"edge_ratio": 1.1089134748057845,
|
|
"edge_lengths_px": [
|
|
31.575305938720703,
|
|
34.0,
|
|
32.75667953491211,
|
|
35.0142822265625
|
|
]
|
|
},
|
|
"confidence": 0.5211106905954719
|
|
},
|
|
{
|
|
"observation_id": "ab2c4b75-3e08-48a6-83f9-161239e9786a",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
756.0,
|
|
991.0
|
|
],
|
|
[
|
|
755.0,
|
|
960.0
|
|
],
|
|
[
|
|
790.0,
|
|
960.0
|
|
],
|
|
[
|
|
791.0,
|
|
991.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
773.0,
|
|
975.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1085.0,
|
|
"perimeter_px": 132.0322494506836,
|
|
"sharpness": {
|
|
"laplacian_var": 654.4104095045117
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 80.51101928374656,
|
|
"std_gray": 64.00787025306312
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.48745906352996826,
|
|
"distance_to_border_px": 89.0
|
|
},
|
|
"edge_ratio": 1.1284452945020294,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
35.0,
|
|
31.016124725341797,
|
|
35.0
|
|
]
|
|
},
|
|
"confidence": 0.6409999109903972
|
|
},
|
|
{
|
|
"observation_id": "ca6e9d7a-ff4d-45d5-8d3f-981b6f0c10b5",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1179.0,
|
|
971.0
|
|
],
|
|
[
|
|
1173.0,
|
|
940.0
|
|
],
|
|
[
|
|
1206.0,
|
|
938.0
|
|
],
|
|
[
|
|
1214.0,
|
|
969.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1193.0,
|
|
954.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1068.0,
|
|
"perimeter_px": 131.7085723876953,
|
|
"sharpness": {
|
|
"laplacian_var": 555.2434537092699
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 100.69577080491132,
|
|
"std_gray": 60.94337000638089
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6987990140914917,
|
|
"distance_to_border_px": 109.0
|
|
},
|
|
"edge_ratio": 1.110269355489734,
|
|
"edge_lengths_px": [
|
|
31.575305938720703,
|
|
33.060550689697266,
|
|
32.015621185302734,
|
|
35.05709457397461
|
|
]
|
|
},
|
|
"confidence": 0.6412858253535606
|
|
},
|
|
{
|
|
"observation_id": "79b11d87-76c0-4728-adb1-5e3dc583e147",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
522.0,
|
|
979.0
|
|
],
|
|
[
|
|
522.0,
|
|
948.0
|
|
],
|
|
[
|
|
557.0,
|
|
947.0
|
|
],
|
|
[
|
|
557.0,
|
|
977.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
539.5,
|
|
962.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1067.5,
|
|
"perimeter_px": 131.0713768005371,
|
|
"sharpness": {
|
|
"laplacian_var": 637.2158856829803
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 88.06486486486486,
|
|
"std_gray": 66.73690666691276
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5107460021972656,
|
|
"distance_to_border_px": 101.0
|
|
},
|
|
"edge_ratio": 1.168569819132487,
|
|
"edge_lengths_px": [
|
|
31.0,
|
|
35.0142822265625,
|
|
30.0,
|
|
35.05709457397461
|
|
]
|
|
},
|
|
"confidence": 0.6090065437382148
|
|
},
|
|
{
|
|
"observation_id": "6df612fe-a2dd-42e3-b642-58a75247937f",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
667.0,
|
|
955.0
|
|
],
|
|
[
|
|
668.0,
|
|
924.0
|
|
],
|
|
[
|
|
702.0,
|
|
924.0
|
|
],
|
|
[
|
|
702.0,
|
|
954.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
684.75,
|
|
939.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1052.0,
|
|
"perimeter_px": 130.0304069519043,
|
|
"sharpness": {
|
|
"laplacian_var": 619.6327746184367
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 170.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 89.47545582047685,
|
|
"std_gray": 64.51221461995324
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.44533678889274597,
|
|
"distance_to_border_px": 125.0
|
|
},
|
|
"edge_ratio": 1.1671427408854167,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
34.0,
|
|
30.0,
|
|
35.0142822265625
|
|
]
|
|
},
|
|
"confidence": 0.6008976526738182
|
|
},
|
|
{
|
|
"observation_id": "289fd308-9233-499f-9e61-aa7318f5bd78",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1386.0,
|
|
915.0
|
|
],
|
|
[
|
|
1377.0,
|
|
886.0
|
|
],
|
|
[
|
|
1410.0,
|
|
884.0
|
|
],
|
|
[
|
|
1419.0,
|
|
913.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1398.0,
|
|
899.5
|
|
],
|
|
"quality": {
|
|
"area_px": 975.0,
|
|
"perimeter_px": 126.85000610351562,
|
|
"sharpness": {
|
|
"laplacian_var": 500.1546623157159
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 153.29999999999995,
|
|
"dynamic_range": 147.29999999999995,
|
|
"mean_gray": 55.78320610687023,
|
|
"std_gray": 56.73965205138042
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8526822328567505,
|
|
"distance_to_border_px": 21.0
|
|
},
|
|
"edge_ratio": 1.08879127130267,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
33.060550689697266,
|
|
30.364452362060547,
|
|
33.060550689697266
|
|
]
|
|
},
|
|
"confidence": 0.2507367639652114
|
|
},
|
|
{
|
|
"observation_id": "8632755d-ddfc-4882-9dc9-2006c85aa00d",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1200.0,
|
|
899.0
|
|
],
|
|
[
|
|
1196.0,
|
|
870.0
|
|
],
|
|
[
|
|
1229.0,
|
|
870.0
|
|
],
|
|
[
|
|
1234.0,
|
|
900.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1214.75,
|
|
884.75
|
|
],
|
|
"quality": {
|
|
"area_px": 986.0,
|
|
"perimeter_px": 126.70307731628418,
|
|
"sharpness": {
|
|
"laplacian_var": 632.2150447863675
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 98.17178770949721,
|
|
"std_gray": 58.41005440387222
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6700194478034973,
|
|
"distance_to_border_px": 180.0
|
|
},
|
|
"edge_ratio": 1.1619200612549845,
|
|
"edge_lengths_px": [
|
|
29.27456283569336,
|
|
33.0,
|
|
30.4138126373291,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.5657302556798534
|
|
},
|
|
{
|
|
"observation_id": "77daea2a-6d21-4e52-8da7-c1b22da966f7",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
410.0,
|
|
867.0
|
|
],
|
|
[
|
|
412.0,
|
|
838.0
|
|
],
|
|
[
|
|
446.0,
|
|
837.0
|
|
],
|
|
[
|
|
444.0,
|
|
866.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
428.0,
|
|
852.0
|
|
],
|
|
"quality": {
|
|
"area_px": 984.0,
|
|
"perimeter_px": 126.16717147827148,
|
|
"sharpness": {
|
|
"laplacian_var": 547.238914057918
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 117.0801749271137,
|
|
"std_gray": 61.23203717536912
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4748072922229767,
|
|
"distance_to_border_px": 213.0
|
|
},
|
|
"edge_ratio": 1.1701413086619983,
|
|
"edge_lengths_px": [
|
|
29.068883895874023,
|
|
34.01470184326172,
|
|
29.068883895874023,
|
|
34.01470184326172
|
|
]
|
|
},
|
|
"confidence": 0.560616051364006
|
|
},
|
|
{
|
|
"observation_id": "5044dd6f-0c2d-4584-b1fb-4c5c89cde0fb",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
231.0,
|
|
866.0
|
|
],
|
|
[
|
|
237.0,
|
|
837.0
|
|
],
|
|
[
|
|
270.0,
|
|
838.0
|
|
],
|
|
[
|
|
265.0,
|
|
866.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
250.75,
|
|
851.75
|
|
],
|
|
"quality": {
|
|
"area_px": 957.5,
|
|
"perimeter_px": 125.07225799560547,
|
|
"sharpness": {
|
|
"laplacian_var": 691.273823211593
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 80.68188302425106,
|
|
"std_gray": 65.10261909260412
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6259645819664001,
|
|
"distance_to_border_px": 214.0
|
|
},
|
|
"edge_ratio": 1.1953763756108722,
|
|
"edge_lengths_px": [
|
|
29.614185333251953,
|
|
33.0151481628418,
|
|
28.44292449951172,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.5340019648682838
|
|
},
|
|
{
|
|
"observation_id": "4a4cd90e-c2be-43ca-9e71-562382d1bcb7",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1186.0,
|
|
853.0
|
|
],
|
|
[
|
|
1181.0,
|
|
824.0
|
|
],
|
|
[
|
|
1214.0,
|
|
824.0
|
|
],
|
|
[
|
|
1219.0,
|
|
852.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1200.0,
|
|
838.25
|
|
],
|
|
"quality": {
|
|
"area_px": 943.0,
|
|
"perimeter_px": 123.88595008850098,
|
|
"sharpness": {
|
|
"laplacian_var": 491.23257508926696
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 60.53623188405797,
|
|
"std_gray": 58.98636042540754
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6279036998748779,
|
|
"distance_to_border_px": 221.0
|
|
},
|
|
"edge_ratio": 1.160750827975111,
|
|
"edge_lengths_px": [
|
|
29.42787742614746,
|
|
33.0,
|
|
28.44292449951172,
|
|
33.0151481628418
|
|
]
|
|
},
|
|
"confidence": 0.5416034617553136
|
|
},
|
|
{
|
|
"observation_id": "cd626dad-b653-4854-af23-2c47383a4080",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
792.0,
|
|
853.0
|
|
],
|
|
[
|
|
791.0,
|
|
825.0
|
|
],
|
|
[
|
|
823.0,
|
|
824.0
|
|
],
|
|
[
|
|
826.0,
|
|
853.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
808.0,
|
|
838.75
|
|
],
|
|
"quality": {
|
|
"area_px": 941.5,
|
|
"perimeter_px": 123.188232421875,
|
|
"sharpness": {
|
|
"laplacian_var": 396.06224375122804
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 152.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 76.31352154531946,
|
|
"std_gray": 58.92341274082118
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.34604567289352417,
|
|
"distance_to_border_px": 227.0
|
|
},
|
|
"edge_ratio": 1.2135120623866573,
|
|
"edge_lengths_px": [
|
|
28.017850875854492,
|
|
32.015621185302734,
|
|
29.154760360717773,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.5172315019532747
|
|
},
|
|
{
|
|
"observation_id": "1e31205d-ae6d-4f25-b77e-881f9f57030f",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
502.0,
|
|
843.0
|
|
],
|
|
[
|
|
504.0,
|
|
815.0
|
|
],
|
|
[
|
|
537.0,
|
|
815.0
|
|
],
|
|
[
|
|
535.0,
|
|
844.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
519.5,
|
|
829.25
|
|
],
|
|
"quality": {
|
|
"area_px": 941.5,
|
|
"perimeter_px": 123.15536880493164,
|
|
"sharpness": {
|
|
"laplacian_var": 581.165350604797
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 170.89999999999998,
|
|
"dynamic_range": 155.89999999999998,
|
|
"mean_gray": 83.15384615384616,
|
|
"std_gray": 61.86954488885959
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3910508155822754,
|
|
"distance_to_border_px": 236.0
|
|
},
|
|
"edge_ratio": 1.1761159955196088,
|
|
"edge_lengths_px": [
|
|
28.07133674621582,
|
|
33.0,
|
|
29.068883895874023,
|
|
33.0151481628418
|
|
]
|
|
},
|
|
"confidence": 0.5336775191033459
|
|
},
|
|
{
|
|
"observation_id": "3a79ee50-d43b-4d76-9ac9-71a55ef327f3",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
835.0,
|
|
839.0
|
|
],
|
|
[
|
|
833.0,
|
|
812.0
|
|
],
|
|
[
|
|
865.0,
|
|
810.0
|
|
],
|
|
[
|
|
868.0,
|
|
838.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
850.25,
|
|
824.75
|
|
],
|
|
"quality": {
|
|
"area_px": 897.5,
|
|
"perimeter_px": 120.31181526184082,
|
|
"sharpness": {
|
|
"laplacian_var": 448.16548579514745
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 147.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 37.44514106583072,
|
|
"std_gray": 47.8311355020211
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3479173183441162,
|
|
"distance_to_border_px": 241.0
|
|
},
|
|
"edge_ratio": 1.2194423229351472,
|
|
"edge_lengths_px": [
|
|
27.073972702026367,
|
|
32.06243896484375,
|
|
28.160255432128906,
|
|
33.0151481628418
|
|
]
|
|
},
|
|
"confidence": 0.49066144587566046
|
|
},
|
|
{
|
|
"observation_id": "7fd35c19-6b7a-4472-898d-012c456697f2",
|
|
"type": "aruco",
|
|
"marker_id": 205,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1313.0,
|
|
687.0
|
|
],
|
|
[
|
|
1344.0,
|
|
686.0
|
|
],
|
|
[
|
|
1352.0,
|
|
713.0
|
|
],
|
|
[
|
|
1319.0,
|
|
714.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1332.0,
|
|
700.0
|
|
],
|
|
"quality": {
|
|
"area_px": 871.0,
|
|
"perimeter_px": 119.85016250610352,
|
|
"sharpness": {
|
|
"laplacian_var": 688.5231158220329
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 153.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 74.04784688995215,
|
|
"std_gray": 55.97342962435624
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7028548121452332,
|
|
"distance_to_border_px": 88.0
|
|
},
|
|
"edge_ratio": 1.1936651658599458,
|
|
"edge_lengths_px": [
|
|
31.016124725341797,
|
|
28.160255432128906,
|
|
33.0151481628418,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.48645690874990066
|
|
},
|
|
{
|
|
"observation_id": "b135b804-4844-480c-80f1-b1a60e528166",
|
|
"type": "aruco",
|
|
"marker_id": 215,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
622.0,
|
|
692.0
|
|
],
|
|
[
|
|
654.0,
|
|
693.0
|
|
],
|
|
[
|
|
653.0,
|
|
720.0
|
|
],
|
|
[
|
|
620.0,
|
|
719.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
637.25,
|
|
706.0
|
|
],
|
|
"quality": {
|
|
"area_px": 879.0,
|
|
"perimeter_px": 119.12325477600098,
|
|
"sharpness": {
|
|
"laplacian_var": 563.6648407134878
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 83.77905073649754,
|
|
"std_gray": 64.69689079830626
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20609109103679657,
|
|
"distance_to_border_px": 360.0
|
|
},
|
|
"edge_ratio": 1.2219454304484663,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
27.018512725830078,
|
|
33.0151481628418,
|
|
27.073972702026367
|
|
]
|
|
},
|
|
"confidence": 0.4795631502013408
|
|
},
|
|
{
|
|
"observation_id": "8808ba10-7132-41a5-9a7d-224a9d83b677",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
316.0,
|
|
621.0
|
|
],
|
|
[
|
|
348.0,
|
|
620.0
|
|
],
|
|
[
|
|
346.0,
|
|
644.0
|
|
],
|
|
[
|
|
313.0,
|
|
646.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
330.75,
|
|
632.75
|
|
],
|
|
"quality": {
|
|
"area_px": 792.5,
|
|
"perimeter_px": 114.33871841430664,
|
|
"sharpness": {
|
|
"laplacian_var": 1166.6046949779482
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 83.14519056261344,
|
|
"std_gray": 61.52697584280528
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4446084797382355,
|
|
"distance_to_border_px": 313.0
|
|
},
|
|
"edge_ratio": 1.3727646565045162,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
24.083189010620117,
|
|
33.060550689697266,
|
|
25.179357528686523
|
|
]
|
|
},
|
|
"confidence": 0.38486810600050964
|
|
},
|
|
{
|
|
"observation_id": "d272a9e8-9bac-4986-86bd-35b8fcc0ef81",
|
|
"type": "aruco",
|
|
"marker_id": 211,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
627.0,
|
|
605.0
|
|
],
|
|
[
|
|
659.0,
|
|
606.0
|
|
],
|
|
[
|
|
658.0,
|
|
630.0
|
|
],
|
|
[
|
|
625.0,
|
|
630.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
642.25,
|
|
617.75
|
|
],
|
|
"quality": {
|
|
"area_px": 797.0,
|
|
"perimeter_px": 114.11631774902344,
|
|
"sharpness": {
|
|
"laplacian_var": 850.2550492382796
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 82.48440366972477,
|
|
"std_gray": 65.11886263223545
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.12217233330011368,
|
|
"distance_to_border_px": 450.0
|
|
},
|
|
"edge_ratio": 1.3738079678699808,
|
|
"edge_lengths_px": [
|
|
32.015621185302734,
|
|
24.020824432373047,
|
|
33.0,
|
|
25.079872131347656
|
|
]
|
|
},
|
|
"confidence": 0.3867595368202286
|
|
},
|
|
{
|
|
"observation_id": "dd096ba5-8774-41ea-83ed-7440e5870f75",
|
|
"type": "aruco",
|
|
"marker_id": 206,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1155.0,
|
|
600.0
|
|
],
|
|
[
|
|
1186.0,
|
|
600.0
|
|
],
|
|
[
|
|
1191.0,
|
|
625.0
|
|
],
|
|
[
|
|
1160.0,
|
|
626.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.0,
|
|
612.75
|
|
],
|
|
"quality": {
|
|
"area_px": 793.0,
|
|
"perimeter_px": 113.98762702941895,
|
|
"sharpness": {
|
|
"laplacian_var": 558.309283460589
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 154.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 69.15508021390374,
|
|
"std_gray": 55.27096609833018
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5097827911376953,
|
|
"distance_to_border_px": 249.0
|
|
},
|
|
"edge_ratio": 1.2165524755636625,
|
|
"edge_lengths_px": [
|
|
31.0,
|
|
25.495098114013672,
|
|
31.016124725341797,
|
|
26.476404190063477
|
|
]
|
|
},
|
|
"confidence": 0.43456133400387903
|
|
},
|
|
{
|
|
"observation_id": "adfa4054-a330-456b-9633-16a43dcb3153",
|
|
"type": "aruco",
|
|
"marker_id": 207,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1292.0,
|
|
601.0
|
|
],
|
|
[
|
|
1322.0,
|
|
599.0
|
|
],
|
|
[
|
|
1330.0,
|
|
624.0
|
|
],
|
|
[
|
|
1299.0,
|
|
626.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1310.75,
|
|
612.5
|
|
],
|
|
"quality": {
|
|
"area_px": 777.5,
|
|
"perimeter_px": 113.34136199951172,
|
|
"sharpness": {
|
|
"laplacian_var": 650.3193287348083
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 151.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 67.10200364298726,
|
|
"std_gray": 56.74835461848448
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.661313533782959,
|
|
"distance_to_border_px": 110.0
|
|
},
|
|
"edge_ratio": 1.1965578914238073,
|
|
"edge_lengths_px": [
|
|
30.066593170166016,
|
|
26.248809814453125,
|
|
31.064449310302734,
|
|
25.961509704589844
|
|
]
|
|
},
|
|
"confidence": 0.4331870083749633
|
|
},
|
|
{
|
|
"observation_id": "94fbe247-9e75-40a6-a074-1515169e7e33",
|
|
"type": "aruco",
|
|
"marker_id": 218,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
781.0,
|
|
529.0
|
|
],
|
|
[
|
|
792.0,
|
|
523.0
|
|
],
|
|
[
|
|
792.0,
|
|
559.0
|
|
],
|
|
[
|
|
782.0,
|
|
568.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
786.75,
|
|
544.75
|
|
],
|
|
"quality": {
|
|
"area_px": 397.5,
|
|
"perimeter_px": 100.99640560150146,
|
|
"sharpness": {
|
|
"laplacian_var": 539.9916753381895
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 82.0,
|
|
"dynamic_range": 60.0,
|
|
"mean_gray": 45.75268817204301,
|
|
"std_gray": 20.732459916937568
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.07435421645641327,
|
|
"distance_to_border_px": 512.0
|
|
},
|
|
"edge_ratio": 3.113561698260548,
|
|
"edge_lengths_px": [
|
|
12.529964447021484,
|
|
36.0,
|
|
13.45362377166748,
|
|
39.0128173828125
|
|
]
|
|
},
|
|
"confidence": 0.06383364752689358
|
|
},
|
|
{
|
|
"observation_id": "bbeeb352-4846-4649-8771-756f39ea8023",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
288.0,
|
|
452.0
|
|
],
|
|
[
|
|
293.0,
|
|
432.0
|
|
],
|
|
[
|
|
320.0,
|
|
433.0
|
|
],
|
|
[
|
|
316.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
304.25,
|
|
442.5
|
|
],
|
|
"quality": {
|
|
"area_px": 554.5,
|
|
"perimeter_px": 96.04796981811523,
|
|
"sharpness": {
|
|
"laplacian_var": 1668.4565626581211
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 164.0,
|
|
"dynamic_range": 136.0,
|
|
"mean_gray": 117.69350649350649,
|
|
"std_gray": 45.27072485904047
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4744773805141449,
|
|
"distance_to_border_px": 288.0
|
|
},
|
|
"edge_ratio": 1.3736881534334342,
|
|
"edge_lengths_px": [
|
|
20.615528106689453,
|
|
27.018512725830078,
|
|
20.39607810974121,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.269105230137358
|
|
},
|
|
{
|
|
"observation_id": "cebd7418-b925-4d27-86aa-ca5e841c3761",
|
|
"type": "aruco",
|
|
"marker_id": 100,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1310.0,
|
|
464.0
|
|
],
|
|
[
|
|
1303.0,
|
|
443.0
|
|
],
|
|
[
|
|
1331.0,
|
|
442.0
|
|
],
|
|
[
|
|
1337.0,
|
|
463.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1320.25,
|
|
453.0
|
|
],
|
|
"quality": {
|
|
"area_px": 584.0,
|
|
"perimeter_px": 99.01263809204102,
|
|
"sharpness": {
|
|
"laplacian_var": 576.4519158169901
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 143.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 88.7984886649874,
|
|
"std_gray": 48.17453258367343
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6739134192466736,
|
|
"distance_to_border_px": 103.0
|
|
},
|
|
"edge_ratio": 1.282849238858008,
|
|
"edge_lengths_px": [
|
|
22.135944366455078,
|
|
28.017850875854492,
|
|
21.840330123901367,
|
|
27.018512725830078
|
|
]
|
|
},
|
|
"confidence": 0.3034911052213101
|
|
},
|
|
{
|
|
"observation_id": "a866b532-6d68-4329-b153-4cc8ef454e8b",
|
|
"type": "aruco",
|
|
"marker_id": 76,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1165.0,
|
|
466.0
|
|
],
|
|
[
|
|
1162.0,
|
|
445.0
|
|
],
|
|
[
|
|
1190.0,
|
|
445.0
|
|
],
|
|
[
|
|
1193.0,
|
|
466.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1177.5,
|
|
455.5
|
|
],
|
|
"quality": {
|
|
"area_px": 588.0,
|
|
"perimeter_px": 98.42640686035156,
|
|
"sharpness": {
|
|
"laplacian_var": 910.631095054031
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 142.39999999999998,
|
|
"dynamic_range": 136.39999999999998,
|
|
"mean_gray": 81.48346055979644,
|
|
"std_gray": 49.85904157423577
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5169312357902527,
|
|
"distance_to_border_px": 247.0
|
|
},
|
|
"edge_ratio": 1.3199326585521733,
|
|
"edge_lengths_px": [
|
|
21.21320343017578,
|
|
28.0,
|
|
21.21320343017578,
|
|
28.0
|
|
]
|
|
},
|
|
"confidence": 0.29698484802246095
|
|
},
|
|
{
|
|
"observation_id": "d3b256d5-c45a-4c8d-bf8f-fbf1981d7b95",
|
|
"type": "aruco",
|
|
"marker_id": 94,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1395.0,
|
|
458.0
|
|
],
|
|
[
|
|
1389.0,
|
|
437.0
|
|
],
|
|
[
|
|
1416.0,
|
|
437.0
|
|
],
|
|
[
|
|
1422.0,
|
|
458.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1405.5,
|
|
447.5
|
|
],
|
|
"quality": {
|
|
"area_px": 567.0,
|
|
"perimeter_px": 97.68066024780273,
|
|
"sharpness": {
|
|
"laplacian_var": 850.0735999999999
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 138.3,
|
|
"dynamic_range": 132.3,
|
|
"mean_gray": 70.056,
|
|
"std_gray": 49.32963474423868
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7685696482658386,
|
|
"distance_to_border_px": 18.0
|
|
},
|
|
"edge_ratio": 1.2362450497234954,
|
|
"edge_lengths_px": [
|
|
21.840330123901367,
|
|
27.0,
|
|
21.840330123901367,
|
|
27.0
|
|
]
|
|
},
|
|
"confidence": 0.1100752638244629
|
|
},
|
|
{
|
|
"observation_id": "b3590cb7-94e8-4193-944a-629f2f338296",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
863.0,
|
|
447.0
|
|
],
|
|
[
|
|
861.0,
|
|
426.0
|
|
],
|
|
[
|
|
888.0,
|
|
426.0
|
|
],
|
|
[
|
|
891.0,
|
|
446.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
875.75,
|
|
436.25
|
|
],
|
|
"quality": {
|
|
"area_px": 565.0,
|
|
"perimeter_px": 96.33662223815918,
|
|
"sharpness": {
|
|
"laplacian_var": 515.4831433029673
|
|
},
|
|
"contrast": {
|
|
"p05": 5.0,
|
|
"p95": 128.0,
|
|
"dynamic_range": 123.0,
|
|
"mean_gray": 52.57251908396947,
|
|
"std_gray": 45.98960451200636
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20793555676937103,
|
|
"distance_to_border_px": 426.0
|
|
},
|
|
"edge_ratio": 1.385393512010532,
|
|
"edge_lengths_px": [
|
|
21.095022201538086,
|
|
27.0,
|
|
20.2237491607666,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.27188424328625205
|
|
},
|
|
{
|
|
"observation_id": "ae863fb3-8831-4076-9273-9a1793f40a80",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
918.0,
|
|
427.0
|
|
],
|
|
[
|
|
916.0,
|
|
406.0
|
|
],
|
|
[
|
|
943.0,
|
|
406.0
|
|
],
|
|
[
|
|
946.0,
|
|
426.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
930.75,
|
|
416.25
|
|
],
|
|
"quality": {
|
|
"area_px": 565.0,
|
|
"perimeter_px": 96.33662223815918,
|
|
"sharpness": {
|
|
"laplacian_var": 499.21597420507743
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 136.0,
|
|
"dynamic_range": 125.0,
|
|
"mean_gray": 88.66666666666667,
|
|
"std_gray": 41.40359701320516
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27155160903930664,
|
|
"distance_to_border_px": 406.0
|
|
},
|
|
"edge_ratio": 1.385393512010532,
|
|
"edge_lengths_px": [
|
|
21.095022201538086,
|
|
27.0,
|
|
20.2237491607666,
|
|
28.017850875854492
|
|
]
|
|
},
|
|
"confidence": 0.27188424328625205
|
|
},
|
|
{
|
|
"observation_id": "848b864a-fe2e-4f1e-bf10-86d62dc3a771",
|
|
"type": "aruco",
|
|
"marker_id": 50,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1019.0,
|
|
429.0
|
|
],
|
|
[
|
|
1015.0,
|
|
408.0
|
|
],
|
|
[
|
|
1042.0,
|
|
408.0
|
|
],
|
|
[
|
|
1046.0,
|
|
428.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1030.5,
|
|
418.25
|
|
],
|
|
"quality": {
|
|
"area_px": 555.5,
|
|
"perimeter_px": 95.79214859008789,
|
|
"sharpness": {
|
|
"laplacian_var": 521.0030648888888
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 130.3,
|
|
"dynamic_range": 124.30000000000001,
|
|
"mean_gray": 62.21333333333333,
|
|
"std_gray": 44.287754013446595
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3705739676952362,
|
|
"distance_to_border_px": 394.0
|
|
},
|
|
"edge_ratio": 1.3246915696467145,
|
|
"edge_lengths_px": [
|
|
21.3775577545166,
|
|
27.0,
|
|
20.39607810974121,
|
|
27.018512725830078
|
|
]
|
|
},
|
|
"confidence": 0.2795619311083096
|
|
},
|
|
{
|
|
"observation_id": "c2f30f1a-c79f-4fd1-a7b2-3772a6ae947f",
|
|
"type": "aruco",
|
|
"marker_id": 91,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1179.0,
|
|
325.0
|
|
],
|
|
[
|
|
1176.0,
|
|
307.0
|
|
],
|
|
[
|
|
1202.0,
|
|
307.0
|
|
],
|
|
[
|
|
1205.0,
|
|
326.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1190.5,
|
|
316.25
|
|
],
|
|
"quality": {
|
|
"area_px": 479.5,
|
|
"perimeter_px": 89.50289535522461,
|
|
"sharpness": {
|
|
"laplacian_var": 713.5335994017277
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 141.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 68.0828729281768,
|
|
"std_gray": 51.55422810929457
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5788817405700684,
|
|
"distance_to_border_px": 235.0
|
|
},
|
|
"edge_ratio": 1.425844731638557,
|
|
"edge_lengths_px": [
|
|
18.248287200927734,
|
|
26.0,
|
|
19.235383987426758,
|
|
26.019224166870117
|
|
]
|
|
},
|
|
"confidence": 0.22419458414613705
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1093.0,
|
|
700.0
|
|
],
|
|
[
|
|
885.0,
|
|
715.0
|
|
],
|
|
[
|
|
855.0,
|
|
682.0
|
|
],
|
|
[
|
|
1058.0,
|
|
669.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
972.75,
|
|
691.5
|
|
],
|
|
"area_px": 7031.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
716.0,
|
|
312.0
|
|
],
|
|
[
|
|
753.0,
|
|
311.0
|
|
],
|
|
[
|
|
756.0,
|
|
340.0
|
|
],
|
|
[
|
|
717.0,
|
|
341.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
735.5,
|
|
326.0
|
|
],
|
|
"area_px": 1104.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1051.0,
|
|
929.0
|
|
],
|
|
[
|
|
1055.0,
|
|
960.0
|
|
],
|
|
[
|
|
1021.0,
|
|
961.0
|
|
],
|
|
[
|
|
1017.0,
|
|
930.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1036.0,
|
|
945.0
|
|
],
|
|
"area_px": 1058.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
360.0,
|
|
870.0
|
|
],
|
|
[
|
|
357.0,
|
|
900.0
|
|
],
|
|
[
|
|
323.0,
|
|
901.0
|
|
],
|
|
[
|
|
326.0,
|
|
871.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
341.5,
|
|
885.5
|
|
],
|
|
"area_px": 1017.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1166.0,
|
|
688.0
|
|
],
|
|
[
|
|
1199.0,
|
|
687.0
|
|
],
|
|
[
|
|
1204.0,
|
|
714.0
|
|
],
|
|
[
|
|
1170.0,
|
|
714.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1184.75,
|
|
700.75
|
|
],
|
|
"area_px": 890.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
544.0,
|
|
483.0
|
|
],
|
|
[
|
|
538.0,
|
|
532.0
|
|
],
|
|
[
|
|
534.0,
|
|
528.0
|
|
],
|
|
[
|
|
536.0,
|
|
484.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
538.0,
|
|
506.75
|
|
],
|
|
"area_px": 285.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
794.0,
|
|
684.0
|
|
],
|
|
[
|
|
795.0,
|
|
716.0
|
|
],
|
|
[
|
|
783.0,
|
|
728.0
|
|
],
|
|
[
|
|
783.0,
|
|
691.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
788.75,
|
|
704.75
|
|
],
|
|
"area_px": 401.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1025.0,
|
|
442.0
|
|
],
|
|
[
|
|
1053.0,
|
|
442.0
|
|
],
|
|
[
|
|
1057.0,
|
|
462.0
|
|
],
|
|
[
|
|
1029.0,
|
|
464.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1041.0,
|
|
452.5
|
|
],
|
|
"area_px": 592.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
975.0,
|
|
434.0
|
|
],
|
|
[
|
|
1002.0,
|
|
434.0
|
|
],
|
|
[
|
|
1006.0,
|
|
455.0
|
|
],
|
|
[
|
|
978.0,
|
|
456.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
990.25,
|
|
444.75
|
|
],
|
|
"area_px": 593.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
343.0,
|
|
434.0
|
|
],
|
|
[
|
|
371.0,
|
|
434.0
|
|
],
|
|
[
|
|
368.0,
|
|
454.0
|
|
],
|
|
[
|
|
340.0,
|
|
455.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
355.5,
|
|
444.25
|
|
],
|
|
"area_px": 572.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
935.0,
|
|
451.0
|
|
],
|
|
[
|
|
962.0,
|
|
451.0
|
|
],
|
|
[
|
|
965.0,
|
|
472.0
|
|
],
|
|
[
|
|
937.0,
|
|
472.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
949.75,
|
|
461.5
|
|
],
|
|
"area_px": 577.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1318.0,
|
|
379.0
|
|
],
|
|
[
|
|
1345.0,
|
|
378.0
|
|
],
|
|
[
|
|
1352.0,
|
|
398.0
|
|
],
|
|
[
|
|
1324.0,
|
|
399.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1334.75,
|
|
388.5
|
|
],
|
|
"area_px": 556.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
953.0,
|
|
361.0
|
|
],
|
|
[
|
|
980.0,
|
|
360.0
|
|
],
|
|
[
|
|
984.0,
|
|
379.0
|
|
],
|
|
[
|
|
956.0,
|
|
380.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
968.25,
|
|
370.0
|
|
],
|
|
"area_px": 526.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1085.0,
|
|
316.0
|
|
],
|
|
[
|
|
1110.0,
|
|
315.0
|
|
],
|
|
[
|
|
1115.0,
|
|
335.0
|
|
],
|
|
[
|
|
1089.0,
|
|
336.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1099.75,
|
|
325.5
|
|
],
|
|
"area_px": 514.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1225.0,
|
|
316.0
|
|
],
|
|
[
|
|
1250.0,
|
|
315.0
|
|
],
|
|
[
|
|
1257.0,
|
|
334.0
|
|
],
|
|
[
|
|
1230.0,
|
|
335.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1240.5,
|
|
325.0
|
|
],
|
|
"area_px": 500.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
397.0,
|
|
304.0
|
|
],
|
|
[
|
|
423.0,
|
|
303.0
|
|
],
|
|
[
|
|
422.0,
|
|
322.0
|
|
],
|
|
[
|
|
394.0,
|
|
322.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
409.0,
|
|
312.75
|
|
],
|
|
"area_px": 498.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
317.0,
|
|
311.0
|
|
],
|
|
[
|
|
344.0,
|
|
310.0
|
|
],
|
|
[
|
|
343.0,
|
|
328.0
|
|
],
|
|
[
|
|
316.0,
|
|
330.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
330.0,
|
|
319.75
|
|
],
|
|
"area_px": 498.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
798.0,
|
|
809.0
|
|
],
|
|
[
|
|
781.0,
|
|
838.0
|
|
],
|
|
[
|
|
771.0,
|
|
838.0
|
|
],
|
|
[
|
|
792.0,
|
|
807.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
785.5,
|
|
823.0
|
|
],
|
|
"area_px": 259.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
722.0,
|
|
452.0
|
|
],
|
|
[
|
|
722.0,
|
|
474.0
|
|
],
|
|
[
|
|
707.0,
|
|
479.0
|
|
],
|
|
[
|
|
706.0,
|
|
451.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
714.25,
|
|
464.0
|
|
],
|
|
"area_px": 388.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
535.0,
|
|
348.0
|
|
],
|
|
[
|
|
535.0,
|
|
352.0
|
|
],
|
|
[
|
|
502.0,
|
|
352.0
|
|
],
|
|
[
|
|
508.0,
|
|
348.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
520.0,
|
|
350.0
|
|
],
|
|
"area_px": 120.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
345.0,
|
|
417.0
|
|
],
|
|
[
|
|
348.0,
|
|
415.0
|
|
],
|
|
[
|
|
372.0,
|
|
415.0
|
|
],
|
|
[
|
|
357.0,
|
|
418.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
355.5,
|
|
416.25
|
|
],
|
|
"area_px": 49.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
331.0,
|
|
583.0
|
|
],
|
|
[
|
|
328.0,
|
|
588.0
|
|
],
|
|
[
|
|
310.0,
|
|
587.0
|
|
],
|
|
[
|
|
312.0,
|
|
583.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
320.25,
|
|
585.25
|
|
],
|
|
"area_px": 84.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
35.0,
|
|
1033.0
|
|
],
|
|
[
|
|
21.0,
|
|
1037.0
|
|
],
|
|
[
|
|
13.0,
|
|
1036.0
|
|
],
|
|
[
|
|
20.0,
|
|
1033.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
22.25,
|
|
1034.75
|
|
],
|
|
"area_px": 45.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
525.0,
|
|
875.0
|
|
],
|
|
[
|
|
544.0,
|
|
875.0
|
|
],
|
|
[
|
|
546.0,
|
|
877.0
|
|
],
|
|
[
|
|
529.0,
|
|
878.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
536.0,
|
|
876.25
|
|
],
|
|
"area_px": 46.5
|
|
}
|
|
]
|
|
} |