2137 lines
44 KiB
JSON
2137 lines
44 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T08:42:45Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene5\\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\\Scene5\\render_f.png",
|
|
"image_sha256": "e2776914a789f8fe85a5cfd278ee5913382dfd9841118b653b7c6b2dbf49c853",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 34,
|
|
"num_rejected_candidates": 10
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "c18cec63-a094-4791-a70a-20031af5cf70",
|
|
"type": "aruco",
|
|
"marker_id": 246,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1165.0,
|
|
403.0
|
|
],
|
|
[
|
|
1180.0,
|
|
440.0
|
|
],
|
|
[
|
|
1143.0,
|
|
454.0
|
|
],
|
|
[
|
|
1128.0,
|
|
418.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1154.0,
|
|
428.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1568.0,
|
|
"perimeter_px": 158.40994262695312,
|
|
"sharpness": {
|
|
"laplacian_var": 2010.8882181000238
|
|
},
|
|
"contrast": {
|
|
"p05": 55.0,
|
|
"p95": 186.0,
|
|
"dynamic_range": 131.0,
|
|
"mean_gray": 96.9208211143695,
|
|
"std_gray": 55.19093833237553
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.706217885017395,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.0237161685258915,
|
|
"edge_lengths_px": [
|
|
39.924930572509766,
|
|
39.560081481933594,
|
|
39.0,
|
|
39.924930572509766
|
|
]
|
|
},
|
|
"confidence": 0.9768332578354781
|
|
},
|
|
{
|
|
"observation_id": "dc78f01c-8180-4506-9e4c-b7a4f66ac6b0",
|
|
"type": "aruco",
|
|
"marker_id": 247,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1141.0,
|
|
347.0
|
|
],
|
|
[
|
|
1156.0,
|
|
383.0
|
|
],
|
|
[
|
|
1120.0,
|
|
398.0
|
|
],
|
|
[
|
|
1105.0,
|
|
362.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1130.5,
|
|
372.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1521.0,
|
|
"perimeter_px": 156.0,
|
|
"sharpness": {
|
|
"laplacian_var": 2466.71968460924
|
|
},
|
|
"contrast": {
|
|
"p05": 60.0,
|
|
"p95": 187.0,
|
|
"dynamic_range": 127.0,
|
|
"mean_gray": 125.46802030456853,
|
|
"std_gray": 57.384492171370525
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6681978106498718,
|
|
"distance_to_border_px": 124.0
|
|
},
|
|
"edge_ratio": 1.0,
|
|
"edge_lengths_px": [
|
|
39.0,
|
|
39.0,
|
|
39.0,
|
|
39.0
|
|
]
|
|
},
|
|
"confidence": 1.0
|
|
},
|
|
{
|
|
"observation_id": "62075a0a-1f58-4270-b029-028a08b639f1",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1138.0,
|
|
260.0
|
|
],
|
|
[
|
|
1152.0,
|
|
295.0
|
|
],
|
|
[
|
|
1116.0,
|
|
308.0
|
|
],
|
|
[
|
|
1101.0,
|
|
272.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1126.75,
|
|
283.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1477.0,
|
|
"perimeter_px": 153.8687744140625,
|
|
"sharpness": {
|
|
"laplacian_var": 1781.0227099394042
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 71.35015136226035,
|
|
"std_gray": 69.07104151860956
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6709581017494202,
|
|
"distance_to_border_px": 128.0
|
|
},
|
|
"edge_ratio": 1.0345882606050039,
|
|
"edge_lengths_px": [
|
|
37.6961555480957,
|
|
38.27531814575195,
|
|
39.0,
|
|
38.897300720214844
|
|
]
|
|
},
|
|
"confidence": 0.9517473802485018
|
|
},
|
|
{
|
|
"observation_id": "694e007e-304b-4b69-8242-c48ab5cbaad8",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
999.0,
|
|
447.0
|
|
],
|
|
[
|
|
1004.0,
|
|
477.0
|
|
],
|
|
[
|
|
971.0,
|
|
491.0
|
|
],
|
|
[
|
|
966.0,
|
|
461.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
985.0,
|
|
469.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1060.0,
|
|
"perimeter_px": 132.52141952514648,
|
|
"sharpness": {
|
|
"laplacian_var": 2261.5099427349937
|
|
},
|
|
"contrast": {
|
|
"p05": 52.0,
|
|
"p95": 192.0,
|
|
"dynamic_range": 140.0,
|
|
"mean_gray": 93.90374331550802,
|
|
"std_gray": 58.882088620557106
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.49272531270980835,
|
|
"distance_to_border_px": 229.0
|
|
},
|
|
"edge_ratio": 1.1786387176347175,
|
|
"edge_lengths_px": [
|
|
30.4138126373291,
|
|
35.84689712524414,
|
|
30.4138126373291,
|
|
35.84689712524414
|
|
]
|
|
},
|
|
"confidence": 0.5995617283681293
|
|
},
|
|
{
|
|
"observation_id": "a6bb6030-d055-41a2-948e-95347c1951b3",
|
|
"type": "aruco",
|
|
"marker_id": 124,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
859.0,
|
|
506.0
|
|
],
|
|
[
|
|
862.0,
|
|
536.0
|
|
],
|
|
[
|
|
831.0,
|
|
548.0
|
|
],
|
|
[
|
|
829.0,
|
|
518.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
845.25,
|
|
527.0
|
|
],
|
|
"quality": {
|
|
"area_px": 945.0,
|
|
"perimeter_px": 125.76874923706055,
|
|
"sharpness": {
|
|
"laplacian_var": 3287.8222083993155
|
|
},
|
|
"contrast": {
|
|
"p05": 51.0,
|
|
"p95": 193.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 114.71340523882897,
|
|
"std_gray": 63.471681726281986
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36035075783729553,
|
|
"distance_to_border_px": 172.0
|
|
},
|
|
"edge_ratio": 1.105597126130313,
|
|
"edge_lengths_px": [
|
|
30.149627685546875,
|
|
33.241539001464844,
|
|
30.066593170166016,
|
|
32.31098937988281
|
|
]
|
|
},
|
|
"confidence": 0.569827819836196
|
|
},
|
|
{
|
|
"observation_id": "fe289c19-f3b8-49a6-9ddc-f2f41456d9a7",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1214.0,
|
|
656.0
|
|
],
|
|
[
|
|
1242.0,
|
|
647.0
|
|
],
|
|
[
|
|
1254.0,
|
|
676.0
|
|
],
|
|
[
|
|
1226.0,
|
|
685.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1234.0,
|
|
666.0
|
|
],
|
|
"quality": {
|
|
"area_px": 920.0,
|
|
"perimeter_px": 121.5911865234375,
|
|
"sharpness": {
|
|
"laplacian_var": 2341.7190191091295
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 146.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 72.82098765432099,
|
|
"std_gray": 60.542216096610936
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.9099597334861755,
|
|
"distance_to_border_px": 26.0
|
|
},
|
|
"edge_ratio": 1.0671121423123415,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
31.38471031188965,
|
|
29.4108829498291,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.2988751797371847
|
|
},
|
|
{
|
|
"observation_id": "9ba72aa4-9e67-4e44-aab8-c82d3e9236da",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1176.0,
|
|
617.0
|
|
],
|
|
[
|
|
1204.0,
|
|
608.0
|
|
],
|
|
[
|
|
1216.0,
|
|
636.0
|
|
],
|
|
[
|
|
1188.0,
|
|
646.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1196.0,
|
|
626.75
|
|
],
|
|
"quality": {
|
|
"area_px": 912.0,
|
|
"perimeter_px": 120.99082374572754,
|
|
"sharpness": {
|
|
"laplacian_var": 1732.0757863702179
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 142.0,
|
|
"dynamic_range": 134.0,
|
|
"mean_gray": 40.398148148148145,
|
|
"std_gray": 50.751501798885215
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8398146033287048,
|
|
"distance_to_border_px": 64.0
|
|
},
|
|
"edge_ratio": 1.0671121423123415,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
30.463092803955078,
|
|
29.73213768005371,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.5697620483284124
|
|
},
|
|
{
|
|
"observation_id": "7a0f80a2-ba38-4c47-a5ac-7cf04100cc93",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
575.0,
|
|
614.0
|
|
],
|
|
[
|
|
603.0,
|
|
605.0
|
|
],
|
|
[
|
|
613.0,
|
|
633.0
|
|
],
|
|
[
|
|
584.0,
|
|
643.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
593.75,
|
|
623.75
|
|
],
|
|
"quality": {
|
|
"area_px": 902.5,
|
|
"perimeter_px": 120.18319702148438,
|
|
"sharpness": {
|
|
"laplacian_var": 2728.1647078992423
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 80.51293759512937,
|
|
"std_gray": 61.62574404267633
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3646650016307831,
|
|
"distance_to_border_px": 77.0
|
|
},
|
|
"edge_ratio": 1.043005886014016,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
29.73213768005371,
|
|
30.675724029541016,
|
|
30.364452362060547
|
|
]
|
|
},
|
|
"confidence": 0.5768583617164568
|
|
},
|
|
{
|
|
"observation_id": "16847af8-d13b-4d36-a410-c869021b102d",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
732.0,
|
|
642.0
|
|
],
|
|
[
|
|
760.0,
|
|
633.0
|
|
],
|
|
[
|
|
770.0,
|
|
661.0
|
|
],
|
|
[
|
|
742.0,
|
|
671.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
751.0,
|
|
651.75
|
|
],
|
|
"quality": {
|
|
"area_px": 893.0,
|
|
"perimeter_px": 119.55088233947754,
|
|
"sharpness": {
|
|
"laplacian_var": 1862.0109739369
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 48.52160493827161,
|
|
"std_gray": 48.71458348726543
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.42510050535202026,
|
|
"distance_to_border_px": 49.0
|
|
},
|
|
"edge_ratio": 1.043005886014016,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
29.73213768005371,
|
|
29.73213768005371,
|
|
30.675724029541016
|
|
]
|
|
},
|
|
"confidence": 0.5593704450665263
|
|
},
|
|
{
|
|
"observation_id": "7f5916a3-afe2-4090-944d-fe50b32f3a14",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
522.0,
|
|
629.0
|
|
],
|
|
[
|
|
550.0,
|
|
620.0
|
|
],
|
|
[
|
|
559.0,
|
|
649.0
|
|
],
|
|
[
|
|
531.0,
|
|
658.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
540.5,
|
|
639.0
|
|
],
|
|
"quality": {
|
|
"area_px": 893.0,
|
|
"perimeter_px": 119.5506706237793,
|
|
"sharpness": {
|
|
"laplacian_var": 2055.512491451296
|
|
},
|
|
"contrast": {
|
|
"p05": 35.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 64.54758190327613,
|
|
"std_gray": 51.93757201206563
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4033917188644409,
|
|
"distance_to_border_px": 62.0
|
|
},
|
|
"edge_ratio": 1.032422332027845,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
30.364452362060547,
|
|
29.4108829498291,
|
|
30.364452362060547
|
|
]
|
|
},
|
|
"confidence": 0.5766374039623903
|
|
},
|
|
{
|
|
"observation_id": "6a8bfd89-66d3-47ce-8545-901f04d04a8c",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1221.0,
|
|
585.0
|
|
],
|
|
[
|
|
1248.0,
|
|
576.0
|
|
],
|
|
[
|
|
1260.0,
|
|
604.0
|
|
],
|
|
[
|
|
1233.0,
|
|
614.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1240.5,
|
|
594.75
|
|
],
|
|
"quality": {
|
|
"area_px": 883.5,
|
|
"perimeter_px": 119.10066223144531,
|
|
"sharpness": {
|
|
"laplacian_var": 2015.329409949525
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 136.0,
|
|
"dynamic_range": 129.0,
|
|
"mean_gray": 71.0829420970266,
|
|
"std_gray": 56.46875968302347
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8780498504638672,
|
|
"distance_to_border_px": 20.0
|
|
},
|
|
"edge_ratio": 1.102746319437901,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
30.463092803955078,
|
|
28.792360305786133,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.21364841201201337
|
|
},
|
|
{
|
|
"observation_id": "7d4224fd-b358-4131-9223-016886ea9f8e",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
752.0,
|
|
504.0
|
|
],
|
|
[
|
|
778.0,
|
|
504.0
|
|
],
|
|
[
|
|
778.0,
|
|
537.0
|
|
],
|
|
[
|
|
752.0,
|
|
538.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
765.0,
|
|
520.75
|
|
],
|
|
"quality": {
|
|
"area_px": 871.0,
|
|
"perimeter_px": 119.01922416687012,
|
|
"sharpness": {
|
|
"laplacian_var": 3099.7110743801654
|
|
},
|
|
"contrast": {
|
|
"p05": 47.2,
|
|
"p95": 191.0,
|
|
"dynamic_range": 143.8,
|
|
"mean_gray": 99.64628099173554,
|
|
"std_gray": 62.22813671134362
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27731212973594666,
|
|
"distance_to_border_px": 182.0
|
|
},
|
|
"edge_ratio": 1.3076923076923077,
|
|
"edge_lengths_px": [
|
|
26.0,
|
|
33.0,
|
|
26.019224166870117,
|
|
34.0
|
|
]
|
|
},
|
|
"confidence": 0.44403921568627447
|
|
},
|
|
{
|
|
"observation_id": "70940107-9231-4606-814c-b40e29869a3f",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
473.0,
|
|
596.0
|
|
],
|
|
[
|
|
501.0,
|
|
586.0
|
|
],
|
|
[
|
|
510.0,
|
|
615.0
|
|
],
|
|
[
|
|
482.0,
|
|
624.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
491.5,
|
|
605.25
|
|
],
|
|
"quality": {
|
|
"area_px": 883.5,
|
|
"perimeter_px": 118.91835594177246,
|
|
"sharpness": {
|
|
"laplacian_var": 2669.0315200751556
|
|
},
|
|
"contrast": {
|
|
"p05": 38.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 104.21528861154447,
|
|
"std_gray": 63.8886547289566
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3904455602169037,
|
|
"distance_to_border_px": 96.0
|
|
},
|
|
"edge_ratio": 1.032422332027845,
|
|
"edge_lengths_px": [
|
|
29.73213768005371,
|
|
30.364452362060547,
|
|
29.4108829498291,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.5705029634947052
|
|
},
|
|
{
|
|
"observation_id": "cf8f995e-abee-4f4d-a5f4-1f3f2b94c8d2",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1178.0,
|
|
539.0
|
|
],
|
|
[
|
|
1206.0,
|
|
530.0
|
|
],
|
|
[
|
|
1217.0,
|
|
558.0
|
|
],
|
|
[
|
|
1190.0,
|
|
567.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1197.75,
|
|
548.5
|
|
],
|
|
"quality": {
|
|
"area_px": 873.5,
|
|
"perimeter_px": 118.41769218444824,
|
|
"sharpness": {
|
|
"laplacian_var": 1477.045386162884
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 134.5,
|
|
"dynamic_range": 128.5,
|
|
"mean_gray": 42.353407290015845,
|
|
"std_gray": 50.5564627656654
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8017706871032715,
|
|
"distance_to_border_px": 63.0
|
|
},
|
|
"edge_ratio": 1.0703639808818122,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
30.08321762084961,
|
|
28.460498809814453,
|
|
30.463092803955078
|
|
]
|
|
},
|
|
"confidence": 0.5440516905787338
|
|
},
|
|
{
|
|
"observation_id": "f1df1cdb-1bea-4acb-9e20-f93319a963ca",
|
|
"type": "aruco",
|
|
"marker_id": 215,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
798.0,
|
|
413.0
|
|
],
|
|
[
|
|
808.0,
|
|
440.0
|
|
],
|
|
[
|
|
780.0,
|
|
449.0
|
|
],
|
|
[
|
|
770.0,
|
|
421.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
789.0,
|
|
430.75
|
|
],
|
|
"quality": {
|
|
"area_px": 855.0,
|
|
"perimeter_px": 117.05582046508789,
|
|
"sharpness": {
|
|
"laplacian_var": 2485.4410919843144
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 84.50324675324676,
|
|
"std_gray": 67.1883859773236
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22462697327136993,
|
|
"distance_to_border_px": 271.0
|
|
},
|
|
"edge_ratio": 1.032639817100327,
|
|
"edge_lengths_px": [
|
|
28.792360305786133,
|
|
29.4108829498291,
|
|
29.73213768005371,
|
|
29.120439529418945
|
|
]
|
|
},
|
|
"confidence": 0.551983363957988
|
|
},
|
|
{
|
|
"observation_id": "26d1092b-3ffa-44af-833b-2296cf3e9c34",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
580.0,
|
|
534.0
|
|
],
|
|
[
|
|
608.0,
|
|
524.0
|
|
],
|
|
[
|
|
617.0,
|
|
552.0
|
|
],
|
|
[
|
|
589.0,
|
|
561.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
598.5,
|
|
542.75
|
|
],
|
|
"quality": {
|
|
"area_px": 855.5,
|
|
"perimeter_px": 117.01440238952637,
|
|
"sharpness": {
|
|
"laplacian_var": 2662.6055231435635
|
|
},
|
|
"contrast": {
|
|
"p05": 33.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 90.0,
|
|
"std_gray": 63.71988436026015
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.25521203875541687,
|
|
"distance_to_border_px": 159.0
|
|
},
|
|
"edge_ratio": 1.0446808356640869,
|
|
"edge_lengths_px": [
|
|
29.73213768005371,
|
|
29.4108829498291,
|
|
29.4108829498291,
|
|
28.460498809814453
|
|
]
|
|
},
|
|
"confidence": 0.5459402660246769
|
|
},
|
|
{
|
|
"observation_id": "a0f8200c-6831-4ce6-b86a-c7def9956675",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1235.0,
|
|
476.0
|
|
],
|
|
[
|
|
1262.0,
|
|
467.0
|
|
],
|
|
[
|
|
1274.0,
|
|
494.0
|
|
],
|
|
[
|
|
1246.0,
|
|
503.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1254.25,
|
|
485.0
|
|
],
|
|
"quality": {
|
|
"area_px": 846.0,
|
|
"perimeter_px": 116.57271575927734,
|
|
"sharpness": {
|
|
"laplacian_var": 1938.4282003750861
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 128.69999999999993,
|
|
"dynamic_range": 122.69999999999993,
|
|
"mean_gray": 57.75617792421746,
|
|
"std_gray": 51.70646326347517
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8536534309387207,
|
|
"distance_to_border_px": 6.0
|
|
},
|
|
"edge_ratio": 1.0381607798359118,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
29.546573638916016,
|
|
29.4108829498291,
|
|
29.154760360717773
|
|
]
|
|
},
|
|
"confidence": 0.06519221426443914
|
|
},
|
|
{
|
|
"observation_id": "aab66f46-28ae-47f3-8afd-d568b7bb8405",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
486.0
|
|
],
|
|
[
|
|
463.0,
|
|
478.0
|
|
],
|
|
[
|
|
471.0,
|
|
505.0
|
|
],
|
|
[
|
|
443.0,
|
|
514.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
453.0,
|
|
495.75
|
|
],
|
|
"quality": {
|
|
"area_px": 838.0,
|
|
"perimeter_px": 115.8120174407959,
|
|
"sharpness": {
|
|
"laplacian_var": 2200.7190848103946
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 85.17310924369748,
|
|
"std_gray": 57.59144967099329
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.31469058990478516,
|
|
"distance_to_border_px": 206.0
|
|
},
|
|
"edge_ratio": 1.0444110857131401,
|
|
"edge_lengths_px": [
|
|
29.120439529418945,
|
|
28.160255432128906,
|
|
29.4108829498291,
|
|
29.120439529418945
|
|
]
|
|
},
|
|
"confidence": 0.5349107016469481
|
|
},
|
|
{
|
|
"observation_id": "2edd0ed2-186a-4dd2-9d4a-6b1ce173d0bc",
|
|
"type": "aruco",
|
|
"marker_id": 113,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
932.0,
|
|
555.0
|
|
],
|
|
[
|
|
950.0,
|
|
570.0
|
|
],
|
|
[
|
|
918.0,
|
|
582.0
|
|
],
|
|
[
|
|
900.0,
|
|
567.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
925.0,
|
|
568.5
|
|
],
|
|
"quality": {
|
|
"area_px": 696.0,
|
|
"perimeter_px": 115.21352767944336,
|
|
"sharpness": {
|
|
"laplacian_var": 835.1728592438365
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 103.0,
|
|
"dynamic_range": 88.0,
|
|
"mean_gray": 35.666666666666664,
|
|
"std_gray": 32.54506985421476
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.48089858889579773,
|
|
"distance_to_border_px": 138.0
|
|
},
|
|
"edge_ratio": 1.4585966775424661,
|
|
"edge_lengths_px": [
|
|
23.430749893188477,
|
|
34.1760139465332,
|
|
23.430749893188477,
|
|
34.1760139465332
|
|
]
|
|
},
|
|
"confidence": 0.31811398390251094
|
|
},
|
|
{
|
|
"observation_id": "9f1aac2d-1482-4410-a05d-235c5aaa3b5a",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
531.0,
|
|
426.0
|
|
],
|
|
[
|
|
558.0,
|
|
417.0
|
|
],
|
|
[
|
|
567.0,
|
|
444.0
|
|
],
|
|
[
|
|
539.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
548.75,
|
|
435.0
|
|
],
|
|
"quality": {
|
|
"area_px": 819.0,
|
|
"perimeter_px": 114.49213600158691,
|
|
"sharpness": {
|
|
"laplacian_var": 2468.920084739572
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 180.79999999999995,
|
|
"dynamic_range": 143.79999999999995,
|
|
"mean_gray": 93.28205128205128,
|
|
"std_gray": 63.249343249027234
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1608557105064392,
|
|
"distance_to_border_px": 267.0
|
|
},
|
|
"edge_ratio": 1.0444110857131401,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
28.460498809814453,
|
|
29.4108829498291,
|
|
28.160255432128906
|
|
]
|
|
},
|
|
"confidence": 0.5227826547122322
|
|
},
|
|
{
|
|
"observation_id": "ef377148-e90e-4feb-be16-e092bf11cac6",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
641.0,
|
|
367.0
|
|
],
|
|
[
|
|
668.0,
|
|
359.0
|
|
],
|
|
[
|
|
678.0,
|
|
385.0
|
|
],
|
|
[
|
|
650.0,
|
|
394.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
659.25,
|
|
376.25
|
|
],
|
|
"quality": {
|
|
"area_px": 809.5,
|
|
"perimeter_px": 113.88841438293457,
|
|
"sharpness": {
|
|
"laplacian_var": 2709.2126770512805
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 83.48615916955018,
|
|
"std_gray": 63.03385685065983
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.034307073801755905,
|
|
"distance_to_border_px": 326.0
|
|
},
|
|
"edge_ratio": 1.0557891441641731,
|
|
"edge_lengths_px": [
|
|
28.160255432128906,
|
|
27.85677719116211,
|
|
29.4108829498291,
|
|
28.460498809814453
|
|
]
|
|
},
|
|
"confidence": 0.5111500432161571
|
|
},
|
|
{
|
|
"observation_id": "c3b5ff89-5183-4afb-8636-99b2fe696748",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
600.0,
|
|
305.0
|
|
],
|
|
[
|
|
627.0,
|
|
296.0
|
|
],
|
|
[
|
|
636.0,
|
|
322.0
|
|
],
|
|
[
|
|
609.0,
|
|
331.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
618.0,
|
|
313.5
|
|
],
|
|
"quality": {
|
|
"area_px": 783.0,
|
|
"perimeter_px": 111.9482650756836,
|
|
"sharpness": {
|
|
"laplacian_var": 2565.4273062251436
|
|
},
|
|
"contrast": {
|
|
"p05": 33.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 117.67387387387387,
|
|
"std_gray": 65.11043938897613
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.07005522400140762,
|
|
"distance_to_border_px": 296.0
|
|
},
|
|
"edge_ratio": 1.0344143958281513,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
27.513633728027344,
|
|
28.460498809814453,
|
|
27.513633728027344
|
|
]
|
|
},
|
|
"confidence": 0.5046333482067283
|
|
},
|
|
{
|
|
"observation_id": "915f6c2f-bbf2-4816-9aa9-270d271d58f5",
|
|
"type": "aruco",
|
|
"marker_id": 73,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1229.0,
|
|
243.0
|
|
],
|
|
[
|
|
1255.0,
|
|
234.0
|
|
],
|
|
[
|
|
1266.0,
|
|
260.0
|
|
],
|
|
[
|
|
1240.0,
|
|
268.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1247.5,
|
|
251.25
|
|
],
|
|
"quality": {
|
|
"area_px": 756.5,
|
|
"perimeter_px": 110.26076316833496,
|
|
"sharpness": {
|
|
"laplacian_var": 3113.9513362824355
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 88.71052631578948,
|
|
"std_gray": 63.80417381303196
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8404671549797058,
|
|
"distance_to_border_px": 14.0
|
|
},
|
|
"edge_ratio": 1.0377990707729312,
|
|
"edge_lengths_px": [
|
|
27.513633728027344,
|
|
28.23118782043457,
|
|
27.20294189453125,
|
|
27.312999725341797
|
|
]
|
|
},
|
|
"confidence": 0.13607001327160623
|
|
},
|
|
{
|
|
"observation_id": "4d729cfb-9bf3-4304-8959-63919bdffd88",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
784.0,
|
|
134.0
|
|
],
|
|
[
|
|
793.0,
|
|
159.0
|
|
],
|
|
[
|
|
766.0,
|
|
167.0
|
|
],
|
|
[
|
|
757.0,
|
|
142.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
775.0,
|
|
150.5
|
|
],
|
|
"quality": {
|
|
"area_px": 747.0,
|
|
"perimeter_px": 109.46183013916016,
|
|
"sharpness": {
|
|
"laplacian_var": 2996.099050875392
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 81.39923954372624,
|
|
"std_gray": 65.10042198317524
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33940964937210083,
|
|
"distance_to_border_px": 134.0
|
|
},
|
|
"edge_ratio": 1.0598252288940997,
|
|
"edge_lengths_px": [
|
|
26.570659637451172,
|
|
28.160255432128906,
|
|
26.570659637451172,
|
|
28.160255432128906
|
|
]
|
|
},
|
|
"confidence": 0.46988879526830113
|
|
},
|
|
{
|
|
"observation_id": "71997848-bcbf-4cf2-a6d4-d96c9d7e42ba",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
545.0,
|
|
256.0
|
|
],
|
|
[
|
|
572.0,
|
|
247.0
|
|
],
|
|
[
|
|
580.0,
|
|
273.0
|
|
],
|
|
[
|
|
554.0,
|
|
281.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
562.75,
|
|
264.25
|
|
],
|
|
"quality": {
|
|
"area_px": 748.0,
|
|
"perimeter_px": 109.43704223632812,
|
|
"sharpness": {
|
|
"laplacian_var": 2700.359268602987
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 90.54182509505704,
|
|
"std_gray": 61.903496892077975
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16754259169101715,
|
|
"distance_to_border_px": 247.0
|
|
},
|
|
"edge_ratio": 1.071125037848122,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
27.20294189453125,
|
|
27.20294189453125,
|
|
26.570659637451172
|
|
]
|
|
},
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"observation_id": "7435797c-2233-48c7-b35e-186faf659d40",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
459.0,
|
|
232.0
|
|
],
|
|
[
|
|
485.0,
|
|
224.0
|
|
],
|
|
[
|
|
494.0,
|
|
249.0
|
|
],
|
|
[
|
|
467.0,
|
|
258.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
476.25,
|
|
240.75
|
|
],
|
|
"quality": {
|
|
"area_px": 748.0,
|
|
"perimeter_px": 109.43704223632812,
|
|
"sharpness": {
|
|
"laplacian_var": 2599.383233295767
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 184.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 95.12333965844402,
|
|
"std_gray": 60.01079888465554
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2758673429489136,
|
|
"distance_to_border_px": 224.0
|
|
},
|
|
"edge_ratio": 1.071125037848122,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
26.570659637451172,
|
|
28.460498809814453,
|
|
27.20294189453125
|
|
]
|
|
},
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"observation_id": "df7e2358-01d3-4ab0-ad95-17492c02cf94",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1189.0,
|
|
253.0
|
|
],
|
|
[
|
|
1215.0,
|
|
245.0
|
|
],
|
|
[
|
|
1226.0,
|
|
270.0
|
|
],
|
|
[
|
|
1200.0,
|
|
278.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1207.5,
|
|
261.5
|
|
],
|
|
"quality": {
|
|
"area_px": 738.0,
|
|
"perimeter_px": 109.0318832397461,
|
|
"sharpness": {
|
|
"laplacian_var": 2321.1104500931433
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 79.95348837209302,
|
|
"std_gray": 65.721294375133
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.784397304058075,
|
|
"distance_to_border_px": 54.0
|
|
},
|
|
"edge_ratio": 1.0040458061939497,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
27.312999725341797,
|
|
27.20294189453125,
|
|
27.312999725341797
|
|
]
|
|
},
|
|
"confidence": 0.49001748422717006
|
|
},
|
|
{
|
|
"observation_id": "1e81fe90-ec7c-4d87-9665-d51c5340f873",
|
|
"type": "aruco",
|
|
"marker_id": 101,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1144.0,
|
|
145.0
|
|
],
|
|
[
|
|
1170.0,
|
|
137.0
|
|
],
|
|
[
|
|
1180.0,
|
|
162.0
|
|
],
|
|
[
|
|
1155.0,
|
|
170.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1162.25,
|
|
153.5
|
|
],
|
|
"quality": {
|
|
"area_px": 721.5,
|
|
"perimeter_px": 107.6905746459961,
|
|
"sharpness": {
|
|
"laplacian_var": 3080.2482835726887
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 85.53373015873017,
|
|
"std_gray": 66.70474249856753
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7647988200187683,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.0405424062428426,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
26.925823211669922,
|
|
26.248809814453125,
|
|
27.312999725341797
|
|
]
|
|
},
|
|
"confidence": 0.46225891142368675
|
|
},
|
|
{
|
|
"observation_id": "59e9f6c4-1345-4730-95d6-c047a79976fe",
|
|
"type": "aruco",
|
|
"marker_id": 74,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
966.0,
|
|
174.0
|
|
],
|
|
[
|
|
992.0,
|
|
166.0
|
|
],
|
|
[
|
|
1002.0,
|
|
190.0
|
|
],
|
|
[
|
|
976.0,
|
|
199.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
984.0,
|
|
182.25
|
|
],
|
|
"quality": {
|
|
"area_px": 722.0,
|
|
"perimeter_px": 107.64239883422852,
|
|
"sharpness": {
|
|
"laplacian_var": 2237.600314613314
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 91.66600397614314,
|
|
"std_gray": 68.44617232759035
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5273159146308899,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.0582166818472056,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
26.0,
|
|
27.513633728027344,
|
|
26.925823211669922
|
|
]
|
|
},
|
|
"confidence": 0.4548532843889077
|
|
},
|
|
{
|
|
"observation_id": "e0d31f97-08f9-47c0-a926-606c29069161",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
553.0,
|
|
169.0
|
|
],
|
|
[
|
|
580.0,
|
|
162.0
|
|
],
|
|
[
|
|
588.0,
|
|
186.0
|
|
],
|
|
[
|
|
561.0,
|
|
194.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
570.5,
|
|
177.75
|
|
],
|
|
"quality": {
|
|
"area_px": 721.5,
|
|
"perimeter_px": 107.59993743896484,
|
|
"sharpness": {
|
|
"laplacian_var": 2640.5631447897267
|
|
},
|
|
"contrast": {
|
|
"p05": 35.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 90.15049504950495,
|
|
"std_gray": 63.09588118512336
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2656291127204895,
|
|
"distance_to_border_px": 162.0
|
|
},
|
|
"edge_ratio": 1.1131318197219238,
|
|
"edge_lengths_px": [
|
|
27.892650604248047,
|
|
25.298221588134766,
|
|
28.160255432128906,
|
|
26.248809814453125
|
|
]
|
|
},
|
|
"confidence": 0.43211414091114625
|
|
},
|
|
{
|
|
"observation_id": "1dc06cab-7395-47e6-a8d1-86788068cb33",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1037.0,
|
|
152.0
|
|
],
|
|
[
|
|
1062.0,
|
|
144.0
|
|
],
|
|
[
|
|
1072.0,
|
|
169.0
|
|
],
|
|
[
|
|
1047.0,
|
|
177.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1054.5,
|
|
160.5
|
|
],
|
|
"quality": {
|
|
"area_px": 705.0,
|
|
"perimeter_px": 106.3492660522461,
|
|
"sharpness": {
|
|
"laplacian_var": 2948.3179729091125
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 74.11247443762781,
|
|
"std_gray": 66.11025700757199
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6264604926109314,
|
|
"distance_to_border_px": 144.0
|
|
},
|
|
"edge_ratio": 1.0257921559873553,
|
|
"edge_lengths_px": [
|
|
26.248809814453125,
|
|
26.925823211669922,
|
|
26.248809814453125,
|
|
26.925823211669922
|
|
]
|
|
},
|
|
"confidence": 0.45818248585417487
|
|
},
|
|
{
|
|
"observation_id": "139aa570-7cef-4ee1-90be-54cd72ca05af",
|
|
"type": "aruco",
|
|
"marker_id": 77,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
985.0,
|
|
80.0
|
|
],
|
|
[
|
|
1011.0,
|
|
71.0
|
|
],
|
|
[
|
|
1021.0,
|
|
95.0
|
|
],
|
|
[
|
|
995.0,
|
|
103.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1003.0,
|
|
87.25
|
|
],
|
|
"quality": {
|
|
"area_px": 696.0,
|
|
"perimeter_px": 105.79644775390625,
|
|
"sharpness": {
|
|
"laplacian_var": 2393.668768720744
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 70.75883575883576,
|
|
"std_gray": 63.94023367348939
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6183422207832336,
|
|
"distance_to_border_px": 71.0
|
|
},
|
|
"edge_ratio": 1.0970404308257098,
|
|
"edge_lengths_px": [
|
|
27.513633728027344,
|
|
26.0,
|
|
27.20294189453125,
|
|
25.079872131347656
|
|
]
|
|
},
|
|
"confidence": 0.422956152719696
|
|
},
|
|
{
|
|
"observation_id": "8201b8e1-9cbc-47dc-af62-5a877ba4c381",
|
|
"type": "aruco",
|
|
"marker_id": 83,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1155.0,
|
|
56.0
|
|
],
|
|
[
|
|
1180.0,
|
|
48.0
|
|
],
|
|
[
|
|
1191.0,
|
|
72.0
|
|
],
|
|
[
|
|
1166.0,
|
|
80.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.0,
|
|
64.0
|
|
],
|
|
"quality": {
|
|
"area_px": 688.0,
|
|
"perimeter_px": 105.29913330078125,
|
|
"sharpness": {
|
|
"laplacian_var": 3405.7621463796754
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 95.19409282700423,
|
|
"std_gray": 65.43789762911065
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8302794098854065,
|
|
"distance_to_border_px": 48.0
|
|
},
|
|
"edge_ratio": 1.0057887204242193,
|
|
"edge_lengths_px": [
|
|
26.248809814453125,
|
|
26.4007568359375,
|
|
26.248809814453125,
|
|
26.4007568359375
|
|
]
|
|
},
|
|
"confidence": 0.4377857805109236
|
|
},
|
|
{
|
|
"observation_id": "052e70d7-fd4b-4d2a-bb4f-718b21000a90",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
970.0,
|
|
34.0
|
|
],
|
|
[
|
|
996.0,
|
|
26.0
|
|
],
|
|
[
|
|
1005.0,
|
|
50.0
|
|
],
|
|
[
|
|
980.0,
|
|
58.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
987.75,
|
|
42.0
|
|
],
|
|
"quality": {
|
|
"area_px": 688.0,
|
|
"perimeter_px": 105.0837631225586,
|
|
"sharpness": {
|
|
"laplacian_var": 3444.3560129934326
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 106.5126050420168,
|
|
"std_gray": 65.25848610855252
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6417331099510193,
|
|
"distance_to_border_px": 26.0
|
|
},
|
|
"edge_ratio": 1.061287834794155,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
25.63201141357422,
|
|
26.248809814453125,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.22473325223116958
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
938.0,
|
|
342.0
|
|
],
|
|
[
|
|
939.0,
|
|
348.0
|
|
],
|
|
[
|
|
889.0,
|
|
361.0
|
|
],
|
|
[
|
|
890.0,
|
|
355.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
914.0,
|
|
351.5
|
|
],
|
|
"area_px": 294.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
851.0,
|
|
221.0
|
|
],
|
|
[
|
|
859.0,
|
|
230.0
|
|
],
|
|
[
|
|
868.0,
|
|
261.0
|
|
],
|
|
[
|
|
863.0,
|
|
259.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
860.25,
|
|
242.75
|
|
],
|
|
"area_px": 166.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
990.0,
|
|
433.0
|
|
],
|
|
[
|
|
955.0,
|
|
450.0
|
|
],
|
|
[
|
|
951.0,
|
|
447.0
|
|
],
|
|
[
|
|
956.0,
|
|
442.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
963.0,
|
|
443.0
|
|
],
|
|
"area_px": 149.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1060.0,
|
|
301.0
|
|
],
|
|
[
|
|
1070.0,
|
|
326.0
|
|
],
|
|
[
|
|
1067.0,
|
|
331.0
|
|
],
|
|
[
|
|
1056.0,
|
|
307.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1063.25,
|
|
316.25
|
|
],
|
|
"area_px": 143.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
792.0,
|
|
516.0
|
|
],
|
|
[
|
|
790.0,
|
|
525.0
|
|
],
|
|
[
|
|
781.0,
|
|
534.0
|
|
],
|
|
[
|
|
782.0,
|
|
516.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
786.25,
|
|
522.75
|
|
],
|
|
"area_px": 121.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1199.0,
|
|
436.0
|
|
],
|
|
[
|
|
1192.0,
|
|
441.0
|
|
],
|
|
[
|
|
1176.0,
|
|
445.0
|
|
],
|
|
[
|
|
1190.0,
|
|
438.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1189.25,
|
|
440.0
|
|
],
|
|
"area_px": 43.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
663.0,
|
|
108.0
|
|
],
|
|
[
|
|
672.0,
|
|
123.0
|
|
],
|
|
[
|
|
673.0,
|
|
130.0
|
|
],
|
|
[
|
|
670.0,
|
|
128.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
669.5,
|
|
122.25
|
|
],
|
|
"area_px": 47.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1090.0,
|
|
211.0
|
|
],
|
|
[
|
|
1098.0,
|
|
222.0
|
|
],
|
|
[
|
|
1099.0,
|
|
229.0
|
|
],
|
|
[
|
|
1096.0,
|
|
228.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1095.75,
|
|
222.5
|
|
],
|
|
"area_px": 45.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
626.0,
|
|
425.0
|
|
],
|
|
[
|
|
632.0,
|
|
439.0
|
|
],
|
|
[
|
|
632.0,
|
|
443.0
|
|
],
|
|
[
|
|
625.0,
|
|
427.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
628.75,
|
|
433.5
|
|
],
|
|
"area_px": 27.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
764.0,
|
|
508.0
|
|
],
|
|
[
|
|
775.0,
|
|
508.0
|
|
],
|
|
[
|
|
775.0,
|
|
516.0
|
|
],
|
|
[
|
|
764.0,
|
|
516.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
769.5,
|
|
512.0
|
|
],
|
|
"area_px": 88.0
|
|
}
|
|
]
|
|
} |