Files
appRobotRender/data/evaluations/Scene10/render_g_aruco_detection.json
2026-05-31 17:39:25 +02:00

2012 lines
43 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-05-31T08:49:00Z",
"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\\Scene10\\render_a.npz",
"camera_matrix": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1500.0,
360.0
],
[
0.0,
0.0,
1.0
]
],
"distortion_coefficients": [
0.0,
0.0,
0.0,
0.0,
0.0
]
},
"image": {
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene10\\render_g.png",
"image_sha256": "99c73f58b51aa52a4a25c527e4c8b4be1a92f34cca44226977d2e27b64bc88ce",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 34,
"num_rejected_candidates": 5
},
"detections": [
{
"observation_id": "38bf0228-3ecc-49f1-b632-bace60f205b5",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
"image_points_px": [
[
432.0,
427.0
],
[
409.0,
403.0
],
[
433.0,
391.0
],
[
457.0,
414.0
]
],
"center_px": [
432.75,
408.75
],
"quality": {
"area_px": 869.5,
"perimeter_px": 121.49389839172363,
"sharpness": {
"laplacian_var": 3053.2445141661397
},
"contrast": {
"p05": 24.0,
"p95": 188.0,
"dynamic_range": 164.0,
"mean_gray": 83.61614497528831,
"std_gray": 71.52851716166332
},
"geometry": {
"distance_to_center_norm": 0.28994372487068176,
"distance_to_border_px": 293.0
},
"edge_ratio": 1.2388390405742116,
"edge_lengths_px": [
33.241539001464844,
26.832815170288086,
33.241539001464844,
28.17800521850586
]
},
"confidence": 0.4679112037008348
},
{
"observation_id": "cfe1337a-4a82-4618-8776-5ed5a7a1c75a",
"type": "aruco",
"marker_id": 84,
"marker_size_m": 0.025,
"image_points_px": [
[
86.0,
662.0
],
[
62.0,
682.0
],
[
45.0,
662.0
],
[
68.0,
642.0
]
],
"center_px": [
65.25,
662.0
],
"quality": {
"area_px": 820.0,
"perimeter_px": 114.87655830383301,
"sharpness": {
"laplacian_var": 3817.5463651414566
},
"contrast": {
"p05": 8.0,
"p95": 147.0,
"dynamic_range": 139.0,
"mean_gray": 71.90892531876139,
"std_gray": 59.668352485051884
},
"geometry": {
"distance_to_center_norm": 0.8841893672943115,
"distance_to_border_px": 38.0
},
"edge_ratio": 1.1901872672565836,
"edge_lengths_px": [
31.240999221801758,
26.248809814453125,
30.479501724243164,
26.90724754333496
]
},
"confidence": 0.3490767193505014
},
{
"observation_id": "38ac7fbb-f486-4347-9b1f-313149cfcd74",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
840.0,
647.0
],
[
820.0,
667.0
],
[
799.0,
647.0
],
[
819.0,
627.0
]
],
"center_px": [
819.5,
647.0
],
"quality": {
"area_px": 820.0,
"perimeter_px": 114.56854248046875,
"sharpness": {
"laplacian_var": 3873.3332211093343
},
"contrast": {
"p05": 41.0,
"p95": 183.0,
"dynamic_range": 142.0,
"mean_gray": 94.25871559633028,
"std_gray": 61.80657191832646
},
"geometry": {
"distance_to_center_norm": 0.4609958529472351,
"distance_to_border_px": 53.0
},
"edge_ratio": 1.0253048329824916,
"edge_lengths_px": [
28.284271240234375,
29.0,
28.284271240234375,
29.0
]
},
"confidence": 0.5331747682067169
},
{
"observation_id": "e309518d-80d4-4203-b159-057b941eac79",
"type": "aruco",
"marker_id": 72,
"marker_size_m": 0.025,
"image_points_px": [
[
123.0,
581.0
],
[
99.0,
600.0
],
[
82.0,
581.0
],
[
105.0,
562.0
]
],
"center_px": [
102.25,
581.0
],
"quality": {
"area_px": 779.0,
"perimeter_px": 112.11092758178711,
"sharpness": {
"laplacian_var": 2393.5052151054324
},
"contrast": {
"p05": 8.0,
"p95": 143.0,
"dynamic_range": 135.0,
"mean_gray": 48.78007518796993,
"std_gray": 54.98737498292807
},
"geometry": {
"distance_to_center_norm": 0.7917603254318237,
"distance_to_border_px": 82.0
},
"edge_ratio": 1.2006408576968535,
"edge_lengths_px": [
30.610456466674805,
25.495098114013672,
29.832868576049805,
26.172504425048828
]
},
"confidence": 0.43254677700170213
},
{
"observation_id": "57a9e5b7-61d7-4d02-9622-3f6655e4d0f9",
"type": "aruco",
"marker_id": 53,
"marker_size_m": 0.025,
"image_points_px": [
[
72.0,
559.0
],
[
49.0,
578.0
],
[
32.0,
559.0
],
[
55.0,
540.0
]
],
"center_px": [
52.0,
559.0
],
"quality": {
"area_px": 760.0,
"perimeter_px": 110.65593338012695,
"sharpness": {
"laplacian_var": 3453.3418049352704
},
"contrast": {
"p05": 8.0,
"p95": 149.0,
"dynamic_range": 141.0,
"mean_gray": 82.6842105263158,
"std_gray": 60.84707423058108
},
"geometry": {
"distance_to_center_norm": 0.8453760743141174,
"distance_to_border_px": 32.0
},
"edge_ratio": 1.170141351982161,
"edge_lengths_px": [
29.832868576049805,
25.495098114013672,
29.832868576049805,
25.495098114013672
]
},
"confidence": 0.27711751756945874
},
{
"observation_id": "791c8011-91e5-413c-9f0a-bda966a2d6c7",
"type": "aruco",
"marker_id": 58,
"marker_size_m": 0.025,
"image_points_px": [
[
801.0,
564.0
],
[
782.0,
583.0
],
[
761.0,
564.0
],
[
780.0,
545.0
]
],
"center_px": [
781.0,
564.0
],
"quality": {
"area_px": 760.0,
"perimeter_px": 110.37932586669922,
"sharpness": {
"laplacian_var": 4227.441666073335
},
"contrast": {
"p05": 38.0,
"p95": 183.0,
"dynamic_range": 145.0,
"mean_gray": 90.78679245283018,
"std_gray": 62.43101713917847
},
"geometry": {
"distance_to_center_norm": 0.33771631121635437,
"distance_to_border_px": 137.0
},
"edge_ratio": 1.053946545658541,
"edge_lengths_px": [
26.870058059692383,
28.319604873657227,
26.870058059692383,
28.319604873657227
]
},
"confidence": 0.48073279309443956
},
{
"observation_id": "d6e41bc1-0b8d-41e1-ad28-6f489eeef55e",
"type": "aruco",
"marker_id": 69,
"marker_size_m": 0.025,
"image_points_px": [
[
889.0,
547.0
],
[
871.0,
566.0
],
[
849.0,
548.0
],
[
867.0,
529.0
]
],
"center_px": [
869.0,
547.5
],
"quality": {
"area_px": 742.0,
"perimeter_px": 109.1956901550293,
"sharpness": {
"laplacian_var": 4078.836361579791
},
"contrast": {
"p05": 44.0,
"p95": 185.0,
"dynamic_range": 141.0,
"mean_gray": 96.59805825242718,
"std_gray": 60.50759076280377
},
"geometry": {
"distance_to_center_norm": 0.40306055545806885,
"distance_to_border_px": 154.0
},
"edge_ratio": 1.0860764484296306,
"edge_lengths_px": [
26.172504425048828,
28.42534065246582,
26.172504425048828,
28.42534065246582
]
},
"confidence": 0.45546210617301425
},
{
"observation_id": "25d24261-8919-4e9d-b2c3-38aa5e099ee4",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
728.0,
543.0
],
[
709.0,
562.0
],
[
688.0,
544.0
],
[
707.0,
525.0
]
],
"center_px": [
708.0,
543.5
],
"quality": {
"area_px": 741.0,
"perimeter_px": 109.0573844909668,
"sharpness": {
"laplacian_var": 3813.6832377673663
},
"contrast": {
"p05": 33.0,
"p95": 182.0,
"dynamic_range": 149.0,
"mean_gray": 121.79142300194931,
"std_gray": 65.31875183773633
},
"geometry": {
"distance_to_center_norm": 0.2665036618709564,
"distance_to_border_px": 158.0
},
"edge_ratio": 1.0293477641301256,
"edge_lengths_px": [
26.870058059692383,
27.658634185791016,
26.870058059692383,
27.658634185791016
]
},
"confidence": 0.47991555158957017
},
{
"observation_id": "1b4b83dd-eac9-4f70-9e5c-b5d6ecb6db98",
"type": "aruco",
"marker_id": 51,
"marker_size_m": 0.025,
"image_points_px": [
[
663.0,
507.0
],
[
643.0,
526.0
],
[
623.0,
507.0
],
[
644.0,
489.0
]
],
"center_px": [
643.25,
507.25
],
"quality": {
"area_px": 740.0,
"perimeter_px": 109.00359725952148,
"sharpness": {
"laplacian_var": 4068.0952087821893
},
"contrast": {
"p05": 28.0,
"p95": 181.0,
"dynamic_range": 153.0,
"mean_gray": 83.58284600389864,
"std_gray": 64.7516582768354
},
"geometry": {
"distance_to_center_norm": 0.20057930052280426,
"distance_to_border_px": 194.0
},
"edge_ratio": 1.056782099894111,
"edge_lengths_px": [
27.58622932434082,
27.58622932434082,
27.658634185791016,
26.172504425048828
]
},
"confidence": 0.4668259742313624
},
{
"observation_id": "5348b010-9270-4f2b-84a4-673c7b97228d",
"type": "aruco",
"marker_id": 56,
"marker_size_m": 0.025,
"image_points_px": [
[
104.0,
515.0
],
[
81.0,
533.0
],
[
65.0,
515.0
],
[
87.0,
496.0
]
],
"center_px": [
84.25,
514.75
],
"quality": {
"area_px": 721.5,
"perimeter_px": 107.85333442687988,
"sharpness": {
"laplacian_var": 2730.563113436613
},
"contrast": {
"p05": 8.0,
"p95": 148.0,
"dynamic_range": 140.0,
"mean_gray": 44.42690058479532,
"std_gray": 53.97468016552413
},
"geometry": {
"distance_to_center_norm": 0.7856342196464539,
"distance_to_border_px": 65.0
},
"edge_ratio": 1.2127199347849176,
"edge_lengths_px": [
29.20616340637207,
24.083189010620117,
29.068883895874023,
25.495098114013672
]
},
"confidence": 0.39662908657084783
},
{
"observation_id": "8f1541fd-2e16-4947-aab5-8001d60856f0",
"type": "aruco",
"marker_id": 215,
"marker_size_m": 0.025,
"image_points_px": [
[
503.0,
514.0
],
[
485.0,
495.0
],
[
506.0,
477.0
],
[
524.0,
496.0
]
],
"center_px": [
504.5,
495.5
],
"quality": {
"area_px": 723.0,
"perimeter_px": 107.66227722167969,
"sharpness": {
"laplacian_var": 3427.68222701002
},
"contrast": {
"p05": 23.0,
"p95": 177.0,
"dynamic_range": 154.0,
"mean_gray": 86.77777777777777,
"std_gray": 67.92649775173246
},
"geometry": {
"distance_to_center_norm": 0.2609632611274719,
"distance_to_border_px": 206.0
},
"edge_ratio": 1.056782099894111,
"edge_lengths_px": [
26.172504425048828,
27.658634185791016,
26.172504425048828,
27.658634185791016
]
},
"confidence": 0.4561015937422635
},
{
"observation_id": "b29bb27a-0a06-49a6-935f-7c509c035b10",
"type": "aruco",
"marker_id": 46,
"marker_size_m": 0.025,
"image_points_px": [
[
61.0,
498.0
],
[
38.0,
516.0
],
[
22.0,
498.0
],
[
45.0,
480.0
]
],
"center_px": [
41.5,
498.0
],
"quality": {
"area_px": 702.0,
"perimeter_px": 106.57870483398438,
"sharpness": {
"laplacian_var": 3549.034654479299
},
"contrast": {
"p05": 8.0,
"p95": 148.0,
"dynamic_range": 140.0,
"mean_gray": 77.65731462925852,
"std_gray": 60.48313169837763
},
"geometry": {
"distance_to_center_norm": 0.8364452719688416,
"distance_to_border_px": 22.0
},
"edge_ratio": 1.2127199347849176,
"edge_lengths_px": [
29.20616340637207,
24.083189010620117,
29.20616340637207,
24.083189010620117
]
},
"confidence": 0.1698001278724927
},
{
"observation_id": "eff2ae15-9843-4f70-8330-40b3e0271961",
"type": "aruco",
"marker_id": 68,
"marker_size_m": 0.025,
"image_points_px": [
[
49.0,
458.0
],
[
26.0,
476.0
],
[
10.0,
458.0
],
[
32.0,
440.0
]
],
"center_px": [
29.25,
458.0
],
"quality": {
"area_px": 702.0,
"perimeter_px": 106.47352981567383,
"sharpness": {
"laplacian_var": 3317.9482528976673
},
"contrast": {
"p05": 8.0,
"p95": 148.0,
"dynamic_range": 140.0,
"mean_gray": 56.95975855130785,
"std_gray": 58.07067772993644
},
"geometry": {
"distance_to_center_norm": 0.8423811793327332,
"distance_to_border_px": 10.0
},
"edge_ratio": 1.2127199347849176,
"edge_lengths_px": [
29.20616340637207,
24.083189010620117,
28.42534065246582,
24.75883674621582
]
},
"confidence": 0.07718187630567852
},
{
"observation_id": "d54c2e77-b79c-462d-9b9a-6515f5445667",
"type": "aruco",
"marker_id": 247,
"marker_size_m": 0.025,
"image_points_px": [
[
394.0,
367.0
],
[
371.0,
344.0
],
[
391.0,
342.0
],
[
414.0,
364.0
]
],
"center_px": [
392.5,
354.25
],
"quality": {
"area_px": 507.5,
"perimeter_px": 104.67807388305664,
"sharpness": {
"laplacian_var": 5503.112111172322
},
"contrast": {
"p05": 25.0,
"p95": 188.0,
"dynamic_range": 163.0,
"mean_gray": 113.9025069637883,
"std_gray": 67.60905948227094
},
"geometry": {
"distance_to_center_norm": 0.3371455669403076,
"distance_to_border_px": 342.0
},
"edge_ratio": 1.6182744486697644,
"edge_lengths_px": [
32.526912689208984,
20.099750518798828,
31.827661514282227,
20.2237491607666
]
},
"confidence": 0.20907042906810167
},
{
"observation_id": "ef0c44a2-c00b-4bbf-bb4a-8155921e4c3d",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
"image_points_px": [
[
534.0,
407.0
],
[
514.0,
424.0
],
[
496.0,
407.0
],
[
516.0,
389.0
]
],
"center_px": [
515.0,
406.75
],
"quality": {
"area_px": 665.0,
"perimeter_px": 103.3707389831543,
"sharpness": {
"laplacian_var": 4633.553390189541
},
"contrast": {
"p05": 13.0,
"p95": 170.0,
"dynamic_range": 157.0,
"mean_gray": 92.7489270386266,
"std_gray": 65.64293489997405
},
"geometry": {
"distance_to_center_norm": 0.18174560368061066,
"distance_to_border_px": 296.0
},
"edge_ratio": 1.0867734950208234,
"edge_lengths_px": [
26.248809814453125,
24.75883674621582,
26.90724754333496,
25.45584487915039
]
},
"confidence": 0.40793535669071385
},
{
"observation_id": "cac0c3c3-bd8b-4b1b-807e-50a866b4edef",
"type": "aruco",
"marker_id": 95,
"marker_size_m": 0.025,
"image_points_px": [
[
730.0,
415.0
],
[
711.0,
433.0
],
[
692.0,
415.0
],
[
710.0,
398.0
]
],
"center_px": [
710.75,
415.25
],
"quality": {
"area_px": 665.0,
"perimeter_px": 103.3526554107666,
"sharpness": {
"laplacian_var": 3902.9619585068303
},
"contrast": {
"p05": 30.0,
"p95": 181.0,
"dynamic_range": 151.0,
"mean_gray": 92.9380341880342,
"std_gray": 66.57948150007887
},
"geometry": {
"distance_to_center_norm": 0.1222480833530426,
"distance_to_border_px": 287.0
},
"edge_ratio": 1.0601794455656337,
"edge_lengths_px": [
26.172504425048828,
26.172504425048828,
24.75883674621582,
26.248809814453125
]
},
"confidence": 0.4181682027393045
},
{
"observation_id": "621cc915-a4ca-4e54-ab15-f9fbaabbd28b",
"type": "aruco",
"marker_id": 246,
"marker_size_m": 0.025,
"image_points_px": [
[
357.0,
331.0
],
[
335.0,
310.0
],
[
356.0,
308.0
],
[
378.0,
329.0
]
],
"center_px": [
356.5,
319.5
],
"quality": {
"area_px": 485.0,
"perimeter_px": 103.01766967773438,
"sharpness": {
"laplacian_var": 4471.793414229323
},
"contrast": {
"p05": 23.0,
"p95": 187.0,
"dynamic_range": 164.0,
"mean_gray": 81.81818181818181,
"std_gray": 66.74160632965423
},
"geometry": {
"distance_to_center_norm": 0.39000043272972107,
"distance_to_border_px": 308.0
},
"edge_ratio": 1.4417530518224133,
"edge_lengths_px": [
30.4138126373291,
21.095022201538086,
30.4138126373291,
21.095022201538086
]
},
"confidence": 0.22426401867131932
},
{
"observation_id": "704eb5f0-a179-4693-bbfc-386d112e94d1",
"type": "aruco",
"marker_id": 55,
"marker_size_m": 0.025,
"image_points_px": [
[
641.0,
352.0
],
[
623.0,
369.0
],
[
604.0,
351.0
],
[
623.0,
335.0
]
],
"center_px": [
622.75,
351.75
],
"quality": {
"area_px": 629.0,
"perimeter_px": 100.5296630859375,
"sharpness": {
"laplacian_var": 4339.260978663412
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 90.00688073394495,
"std_gray": 67.33537484078542
},
"geometry": {
"distance_to_center_norm": 0.026040121912956238,
"distance_to_border_px": 335.0
},
"edge_ratio": 1.057097499907748,
"edge_lengths_px": [
24.75883674621582,
26.172504425048828,
24.83948516845703,
24.75883674621582
]
},
"confidence": 0.39668368657567366
},
{
"observation_id": "5576787b-57b6-40b5-83b3-fa990cfe1aa8",
"type": "aruco",
"marker_id": 66,
"marker_size_m": 0.025,
"image_points_px": [
[
780.0,
332.0
],
[
763.0,
349.0
],
[
743.0,
333.0
],
[
760.0,
316.0
]
],
"center_px": [
761.5,
332.5
],
"quality": {
"area_px": 612.0,
"perimeter_px": 99.30825424194336,
"sharpness": {
"laplacian_var": 3987.903634035015
},
"contrast": {
"p05": 30.0,
"p95": 181.0,
"dynamic_range": 151.0,
"mean_gray": 80.58669833729216,
"std_gray": 63.5634623215702
},
"geometry": {
"distance_to_center_norm": 0.16964846849441528,
"distance_to_border_px": 316.0
},
"edge_ratio": 1.0653394779010876,
"edge_lengths_px": [
24.041629791259766,
25.612497329711914,
24.041629791259766,
25.612497329711914
]
},
"confidence": 0.3829765144945479
},
{
"observation_id": "7eab6f74-a05e-42c8-b747-0c41929f4dad",
"type": "aruco",
"marker_id": 217,
"marker_size_m": 0.025,
"image_points_px": [
[
199.0,
218.0
],
[
183.0,
202.0
],
[
204.0,
186.0
],
[
220.0,
202.0
]
],
"center_px": [
201.5,
202.0
],
"quality": {
"area_px": 592.0,
"perimeter_px": 98.05634689331055,
"sharpness": {
"laplacian_var": 3674.987162998374
},
"contrast": {
"p05": 10.0,
"p95": 166.0,
"dynamic_range": 156.0,
"mean_gray": 70.36206896551724,
"std_gray": 63.71228771258805
},
"geometry": {
"distance_to_center_norm": 0.6347478032112122,
"distance_to_border_px": 183.0
},
"edge_ratio": 1.1667596566650227,
"edge_lengths_px": [
22.627416610717773,
26.4007568359375,
22.627416610717773,
26.4007568359375
]
},
"confidence": 0.3382587531306593
},
{
"observation_id": "38148e36-6241-468c-9335-3c1a9d65bd79",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
"image_points_px": [
[
612.0,
293.0
],
[
593.0,
308.0
],
[
576.0,
292.0
],
[
595.0,
276.0
]
],
"center_px": [
594.0,
292.25
],
"quality": {
"area_px": 577.0,
"perimeter_px": 96.43378829956055,
"sharpness": {
"laplacian_var": 3778.118459815214
},
"contrast": {
"p05": 21.0,
"p95": 177.0,
"dynamic_range": 156.0,
"mean_gray": 84.10687022900764,
"std_gray": 66.48992178027454
},
"geometry": {
"distance_to_center_norm": 0.11152156442403793,
"distance_to_border_px": 276.0
},
"edge_ratio": 1.0640066073908951,
"edge_lengths_px": [
24.20743751525879,
23.34523582458496,
24.83948516845703,
24.041629791259766
]
},
"confidence": 0.3615265769917796
},
{
"observation_id": "b3350d0c-2574-4746-af2a-edefdec52199",
"type": "aruco",
"marker_id": 97,
"marker_size_m": 0.025,
"image_points_px": [
[
701.0,
268.0
],
[
683.0,
285.0
],
[
665.0,
269.0
],
[
682.0,
253.0
]
],
"center_px": [
682.75,
268.75
],
"quality": {
"area_px": 576.5,
"perimeter_px": 96.39469909667969,
"sharpness": {
"laplacian_var": 3820.4387494793837
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 108.4311224489796,
"std_gray": 67.32668869761089
},
"geometry": {
"distance_to_center_norm": 0.13722912967205048,
"distance_to_border_px": 253.0
},
"edge_ratio": 1.0605520086518976,
"edge_lengths_px": [
24.75883674621582,
24.083189010620117,
23.34523582458496,
24.20743751525879
]
},
"confidence": 0.3623898971459892
},
{
"observation_id": "6c4e713d-911c-4c9f-a5af-639ba16cb4e4",
"type": "aruco",
"marker_id": 54,
"marker_size_m": 0.025,
"image_points_px": [
[
648.0,
262.0
],
[
631.0,
278.0
],
[
612.0,
263.0
],
[
630.0,
247.0
]
],
"center_px": [
630.25,
262.5
],
"quality": {
"area_px": 558.5,
"perimeter_px": 95.06661224365234,
"sharpness": {
"laplacian_var": 3946.6485610705186
},
"contrast": {
"p05": 22.0,
"p95": 177.14999999999998,
"dynamic_range": 155.14999999999998,
"mean_gray": 59.99470899470899,
"std_gray": 59.08419222556117
},
"geometry": {
"distance_to_center_norm": 0.13344134390354156,
"distance_to_border_px": 247.0
},
"edge_ratio": 1.0369326614283263,
"edge_lengths_px": [
23.34523582458496,
24.20743751525879,
24.083189010620117,
23.430749893188477
]
},
"confidence": 0.3590718541167963
},
{
"observation_id": "6a077991-254a-4f4d-a9c7-053d04bc6a3c",
"type": "aruco",
"marker_id": 205,
"marker_size_m": 0.025,
"image_points_px": [
[
130.0,
150.0
],
[
115.0,
135.0
],
[
136.0,
120.0
],
[
151.0,
135.0
]
],
"center_px": [
133.0,
135.0
],
"quality": {
"area_px": 540.0,
"perimeter_px": 94.04035949707031,
"sharpness": {
"laplacian_var": 3617.165924806137
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 78.21957671957672,
"std_gray": 62.86347799342079
},
"geometry": {
"distance_to_center_norm": 0.7553886771202087,
"distance_to_border_px": 115.0
},
"edge_ratio": 1.216552530753038,
"edge_lengths_px": [
21.21320343017578,
25.806976318359375,
21.21320343017578,
25.806976318359375
]
},
"confidence": 0.29591817114314195
},
{
"observation_id": "e3d47772-e6dd-412c-a090-d3a71c3ef3d1",
"type": "aruco",
"marker_id": 92,
"marker_size_m": 0.025,
"image_points_px": [
[
309.0,
157.0
],
[
289.0,
172.0
],
[
273.0,
157.0
],
[
293.0,
142.0
]
],
"center_px": [
291.0,
157.0
],
"quality": {
"area_px": 540.0,
"perimeter_px": 93.8634262084961,
"sharpness": {
"laplacian_var": 3388.1367822849306
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 63.47883597883598,
"std_gray": 63.52144850213254
},
"geometry": {
"distance_to_center_norm": 0.5498347282409668,
"distance_to_border_px": 142.0
},
"edge_ratio": 1.1399018344425471,
"edge_lengths_px": [
25.0,
21.931713104248047,
25.0,
21.931713104248047
]
},
"confidence": 0.3158166687011719
},
{
"observation_id": "ffa7d90e-a8e1-403e-9031-e0279d78785c",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
"image_points_px": [
[
460.0,
183.0
],
[
441.0,
198.0
],
[
425.0,
182.0
],
[
444.0,
168.0
]
],
"center_px": [
442.5,
182.75
],
"quality": {
"area_px": 526.5,
"perimeter_px": 92.3674144744873,
"sharpness": {
"laplacian_var": 2664.5210283355227
},
"contrast": {
"p05": 14.0,
"p95": 168.0,
"dynamic_range": 154.0,
"mean_gray": 43.778082191780825,
"std_gray": 52.65007316748182
},
"geometry": {
"distance_to_center_norm": 0.36139723658561707,
"distance_to_border_px": 168.0
},
"edge_ratio": 1.1037640972318732,
"edge_lengths_px": [
24.20743751525879,
22.627416610717773,
23.600847244262695,
21.931713104248047
]
},
"confidence": 0.31800273344664126
},
{
"observation_id": "dc4b5bc3-6a3d-4d9e-9f56-0d18d76f7bf7",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
"image_points_px": [
[
511.0,
166.0
],
[
493.0,
181.0
],
[
476.0,
166.0
],
[
496.0,
151.0
]
],
"center_px": [
494.0,
166.0
],
"quality": {
"area_px": 525.0,
"perimeter_px": 92.31552124023438,
"sharpness": {
"laplacian_var": 4301.789146157291
},
"contrast": {
"p05": 16.0,
"p95": 172.0,
"dynamic_range": 156.0,
"mean_gray": 125.22314049586777,
"std_gray": 58.96595005738773
},
"geometry": {
"distance_to_center_norm": 0.33065441250801086,
"distance_to_border_px": 151.0
},
"edge_ratio": 1.1785113022787261,
"edge_lengths_px": [
23.430749893188477,
22.671567916870117,
25.0,
21.21320343017578
]
},
"confidence": 0.2969848480224609
},
{
"observation_id": "a7eda182-76ac-4b95-8a16-b87d5e2b0f7d",
"type": "aruco",
"marker_id": 102,
"marker_size_m": 0.025,
"image_points_px": [
[
336.0,
130.0
],
[
317.0,
145.0
],
[
301.0,
130.0
],
[
320.0,
115.0
]
],
"center_px": [
318.5,
130.0
],
"quality": {
"area_px": 525.0,
"perimeter_px": 92.27830123901367,
"sharpness": {
"laplacian_var": 4081.5450853818734
},
"contrast": {
"p05": 12.0,
"p95": 168.0,
"dynamic_range": 156.0,
"mean_gray": 102.75068493150685,
"std_gray": 63.563544137866366
},
"geometry": {
"distance_to_center_norm": 0.5383343696594238,
"distance_to_border_px": 115.0
},
"edge_ratio": 1.1037640972318732,
"edge_lengths_px": [
24.20743751525879,
21.931713104248047,
24.20743751525879,
21.931713104248047
]
},
"confidence": 0.3170967427530611
},
{
"observation_id": "fffabf96-4254-4c06-9f46-99c2e2d70aab",
"type": "aruco",
"marker_id": 59,
"marker_size_m": 0.025,
"image_points_px": [
[
397.0,
109.0
],
[
379.0,
124.0
],
[
362.0,
109.0
],
[
381.0,
94.0
]
],
"center_px": [
379.75,
109.0
],
"quality": {
"area_px": 525.0,
"perimeter_px": 92.24146842956543,
"sharpness": {
"laplacian_var": 3289.3555263651715
},
"contrast": {
"p05": 12.0,
"p95": 169.0,
"dynamic_range": 157.0,
"mean_gray": 99.71232876712328,
"std_gray": 66.8313927243848
},
"geometry": {
"distance_to_center_norm": 0.49239593744277954,
"distance_to_border_px": 94.0
},
"edge_ratio": 1.1037640972318732,
"edge_lengths_px": [
23.430749893188477,
22.671567916870117,
24.20743751525879,
21.931713104248047
]
},
"confidence": 0.3170967427530611
},
{
"observation_id": "1ed46459-885d-40a6-a8b5-5c57bc5137a2",
"type": "aruco",
"marker_id": 113,
"marker_size_m": 0.025,
"image_points_px": [
[
500.0,
333.0
],
[
485.0,
306.0
],
[
501.0,
304.0
],
[
515.0,
330.0
]
],
"center_px": [
500.25,
318.25
],
"quality": {
"area_px": 447.0,
"perimeter_px": 91.83810997009277,
"sharpness": {
"laplacian_var": 4158.642620939528
},
"contrast": {
"p05": 31.0,
"p95": 191.0,
"dynamic_range": 160.0,
"mean_gray": 74.59752321981424,
"std_gray": 63.02001446340462
},
"geometry": {
"distance_to_center_norm": 0.19862811267375946,
"distance_to_border_px": 304.0
},
"edge_ratio": 2.0191392487640996,
"edge_lengths_px": [
30.886890411376953,
16.124515533447266,
29.529645919799805,
15.29705810546875
]
},
"confidence": 0.14758764170544633
},
{
"observation_id": "3ad4e856-6574-4982-a59a-06b75f8853bc",
"type": "aruco",
"marker_id": 48,
"marker_size_m": 0.025,
"image_points_px": [
[
387.0,
44.0
],
[
368.0,
59.0
],
[
352.0,
44.0
],
[
371.0,
30.0
]
],
"center_px": [
369.5,
44.25
],
"quality": {
"area_px": 507.5,
"perimeter_px": 91.00028991699219,
"sharpness": {
"laplacian_var": 3240.075736535935
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 62.11506849315069,
"std_gray": 61.9975069565779
},
"geometry": {
"distance_to_center_norm": 0.5662168264389038,
"distance_to_border_px": 30.0
},
"edge_ratio": 1.1386220591259189,
"edge_lengths_px": [
24.20743751525879,
21.931713104248047,
23.600847244262695,
21.260292053222656
]
},
"confidence": 0.17828567290874034
},
{
"observation_id": "3909e8ec-b992-4d1f-9cb1-653039e6f892",
"type": "aruco",
"marker_id": 57,
"marker_size_m": 0.025,
"image_points_px": [
[
480.0,
71.0
],
[
462.0,
85.0
],
[
446.0,
70.0
],
[
464.0,
56.0
]
],
"center_px": [
463.0,
70.5
],
"quality": {
"area_px": 494.0,
"perimeter_px": 89.47044372558594,
"sharpness": {
"laplacian_var": 4812.750903925619
},
"contrast": {
"p05": 13.0,
"p95": 170.0,
"dynamic_range": 157.0,
"mean_gray": 84.36363636363636,
"std_gray": 65.11339441490826
},
"geometry": {
"distance_to_center_norm": 0.4621008336544037,
"distance_to_border_px": 56.0
},
"edge_ratio": 1.0397504586236819,
"edge_lengths_px": [
22.803508758544922,
21.931713104248047,
22.803508758544922,
21.931713104248047
]
},
"confidence": 0.3167426670523156
},
{
"observation_id": "fe51ea2d-1d46-4524-9998-971ade65d395",
"type": "aruco",
"marker_id": 63,
"marker_size_m": 0.025,
"image_points_px": [
[
260.0,
42.0
],
[
241.0,
56.0
],
[
226.0,
42.0
],
[
245.0,
28.0
]
],
"center_px": [
243.0,
42.0
],
"quality": {
"area_px": 476.0,
"perimeter_px": 88.23826217651367,
"sharpness": {
"laplacian_var": 3233.871993277546
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 54.19230769230769,
"std_gray": 59.869446228572855
},
"geometry": {
"distance_to_center_norm": 0.6927092671394348,
"distance_to_border_px": 28.0
},
"edge_ratio": 1.1502349525772275,
"edge_lengths_px": [
23.600847244262695,
20.51828384399414,
23.600847244262695,
20.51828384399414
]
},
"confidence": 0.15449597168691093
},
{
"observation_id": "e883a692-58cc-4a09-8f02-b9a19656f113",
"type": "aruco",
"marker_id": 71,
"marker_size_m": 0.025,
"image_points_px": [
[
316.0,
30.0
],
[
297.0,
43.0
],
[
282.0,
29.0
],
[
302.0,
16.0
]
],
"center_px": [
299.25,
29.5
],
"quality": {
"area_px": 461.5,
"perimeter_px": 87.19272422790527,
"sharpness": {
"laplacian_var": 4538.722869989331
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 102.69444444444444,
"std_gray": 63.56208081304411
},
"geometry": {
"distance_to_center_norm": 0.646465003490448,
"distance_to_border_px": 16.0
},
"edge_ratio": 1.2047948566010105,
"edge_lengths_px": [
23.021728515625,
20.51828384399414,
23.853721618652344,
19.79899024963379
]
},
"confidence": 0.08171792300897739
}
],
"rejected_candidates": [
{
"image_points_px": [
[
431.0,
519.0
],
[
406.0,
586.0
],
[
371.0,
625.0
],
[
412.0,
537.0
]
],
"center_px": [
405.0,
566.75
],
"area_px": 1152.0
},
{
"image_points_px": [
[
389.0,
550.0
],
[
368.0,
602.0
],
[
365.0,
587.0
],
[
380.0,
552.0
]
],
"center_px": [
375.5,
572.75
],
"area_px": 378.0
},
{
"image_points_px": [
[
307.0,
600.0
],
[
317.0,
601.0
],
[
334.0,
619.0
],
[
335.0,
627.0
]
],
"center_px": [
323.25,
611.75
],
"area_px": 180.0
},
{
"image_points_px": [
[
536.0,
364.0
],
[
515.0,
378.0
],
[
502.0,
380.0
],
[
521.0,
366.0
]
],
"center_px": [
518.5,
372.0
],
"area_px": 156.0
},
{
"image_points_px": [
[
444.0,
347.0
],
[
449.0,
358.0
],
[
432.0,
361.0
],
[
432.0,
358.0
]
],
"center_px": [
439.25,
356.0
],
"area_px": 119.0
}
]
}