1790 lines
32 KiB
JSON
1790 lines
32 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T16:36:36Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "a",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_a.npz",
|
|
"camera_matrix": [
|
|
[
|
|
1768.8695068359375,
|
|
0.0,
|
|
639.249267578125
|
|
],
|
|
[
|
|
0.0,
|
|
1774.5469970703125,
|
|
357.7935485839844
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"distortion_coefficients": [
|
|
0.019999999552965164,
|
|
-0.009999999776482582,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
"image": {
|
|
"image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_a.png",
|
|
"image_sha256": "fadfa1a1f268eceeda071832c7d3795ca12a1d18d1f79f6237bb437f678c3278",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 16,
|
|
"num_rejected_candidates": 35
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "39971b67-e11c-499d-ae4c-4f034366f292",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
632.0,
|
|
583.0
|
|
],
|
|
[
|
|
665.0,
|
|
568.0
|
|
],
|
|
[
|
|
665.0,
|
|
599.0
|
|
],
|
|
[
|
|
633.0,
|
|
614.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
648.75,
|
|
591.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1015.0,
|
|
"perimeter_px": 133.6064567565918,
|
|
"sharpness": {
|
|
"laplacian_var": 531.1333657678174
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 81.34244604316547,
|
|
"std_gray": 59.12801011050839
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3148099184036255,
|
|
"distance_to_border_px": 106.0
|
|
},
|
|
"edge_ratio": 1.1693270283360635,
|
|
"edge_lengths_px": [
|
|
36.24913787841797,
|
|
31.0,
|
|
35.34119415283203,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.5786804292290704
|
|
},
|
|
{
|
|
"observation_id": "2ddc8c8d-2f99-4fcc-8a21-d6554b8bc6fe",
|
|
"type": "aruco",
|
|
"marker_id": 245,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
737.0,
|
|
442.0
|
|
],
|
|
[
|
|
761.0,
|
|
460.0
|
|
],
|
|
[
|
|
729.0,
|
|
474.0
|
|
],
|
|
[
|
|
705.0,
|
|
454.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
733.0,
|
|
457.5
|
|
],
|
|
"quality": {
|
|
"area_px": 920.0,
|
|
"perimeter_px": 130.3455104827881,
|
|
"sharpness": {
|
|
"laplacian_var": 873.608593024324
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 78.629392971246,
|
|
"std_gray": 63.29483748574737
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18349583446979523,
|
|
"distance_to_border_px": 246.0
|
|
},
|
|
"edge_ratio": 1.164283243815104,
|
|
"edge_lengths_px": [
|
|
30.0,
|
|
34.928497314453125,
|
|
31.240999221801758,
|
|
34.1760139465332
|
|
]
|
|
},
|
|
"confidence": 0.5267904838375692
|
|
},
|
|
{
|
|
"observation_id": "64c062a0-5843-4ed0-bbdf-dc8559248190",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
579.0,
|
|
509.0
|
|
],
|
|
[
|
|
611.0,
|
|
496.0
|
|
],
|
|
[
|
|
634.0,
|
|
513.0
|
|
],
|
|
[
|
|
600.0,
|
|
528.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
606.0,
|
|
511.5
|
|
],
|
|
"quality": {
|
|
"area_px": 902.0,
|
|
"perimeter_px": 128.62194442749023,
|
|
"sharpness": {
|
|
"laplacian_var": 896.2795236207842
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 65.69458128078817,
|
|
"std_gray": 61.34576146818972
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.21145009994506836,
|
|
"distance_to_border_px": 192.0
|
|
},
|
|
"edge_ratio": 1.312229043438518,
|
|
"edge_lengths_px": [
|
|
34.539833068847656,
|
|
28.600698471069336,
|
|
37.161808013916016,
|
|
28.319604873657227
|
|
]
|
|
},
|
|
"confidence": 0.45825333339492397
|
|
},
|
|
{
|
|
"observation_id": "9878a8ac-885f-4822-b7e0-05cfd333e383",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
986.0,
|
|
712.0
|
|
],
|
|
[
|
|
959.0,
|
|
690.0
|
|
],
|
|
[
|
|
983.0,
|
|
676.0
|
|
],
|
|
[
|
|
1012.0,
|
|
696.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
985.0,
|
|
693.5
|
|
],
|
|
"quality": {
|
|
"area_px": 945.0,
|
|
"perimeter_px": 128.36953926086426,
|
|
"sharpness": {
|
|
"laplacian_var": 1016.6634831071476
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 75.68006182380216,
|
|
"std_gray": 62.073332171879116
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6534649133682251,
|
|
"distance_to_border_px": 8.0
|
|
},
|
|
"edge_ratio": 1.267877338553799,
|
|
"edge_lengths_px": [
|
|
34.828147888183594,
|
|
27.784887313842773,
|
|
35.22782897949219,
|
|
30.528675079345703
|
|
]
|
|
},
|
|
"confidence": 0.07950295894946531
|
|
},
|
|
{
|
|
"observation_id": "b64cc4df-0b18-4e8f-97d2-7412ca3bcf59",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
302.0,
|
|
629.0
|
|
],
|
|
[
|
|
336.0,
|
|
614.0
|
|
],
|
|
[
|
|
354.0,
|
|
634.0
|
|
],
|
|
[
|
|
320.0,
|
|
649.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
328.0,
|
|
631.5
|
|
],
|
|
"quality": {
|
|
"area_px": 950.0,
|
|
"perimeter_px": 128.13811111450195,
|
|
"sharpness": {
|
|
"laplacian_var": 1245.2218462747653
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 83.42105263157895,
|
|
"std_gray": 58.7699965795743
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5632413625717163,
|
|
"distance_to_border_px": 71.0
|
|
},
|
|
"edge_ratio": 1.3811077463075985,
|
|
"edge_lengths_px": [
|
|
37.161808013916016,
|
|
26.90724754333496,
|
|
37.161808013916016,
|
|
26.90724754333496
|
|
]
|
|
},
|
|
"confidence": 0.45856909790460193
|
|
},
|
|
{
|
|
"observation_id": "c0f1dbb1-5556-4ab2-9df2-1d9189ebe0e1",
|
|
"type": "aruco",
|
|
"marker_id": 40,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
564.0,
|
|
249.0
|
|
],
|
|
[
|
|
534.0,
|
|
248.0
|
|
],
|
|
[
|
|
534.0,
|
|
216.0
|
|
],
|
|
[
|
|
564.0,
|
|
218.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
549.0,
|
|
232.75
|
|
],
|
|
"quality": {
|
|
"area_px": 945.0,
|
|
"perimeter_px": 123.08325576782227,
|
|
"sharpness": {
|
|
"laplacian_var": 926.826700591716
|
|
},
|
|
"contrast": {
|
|
"p05": 23.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 80.3923076923077,
|
|
"std_gray": 59.83046511780614
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.213046133518219,
|
|
"distance_to_border_px": 216.0
|
|
},
|
|
"edge_ratio": 1.066074547624712,
|
|
"edge_lengths_px": [
|
|
30.01666259765625,
|
|
32.0,
|
|
30.066593170166016,
|
|
31.0
|
|
]
|
|
},
|
|
"confidence": 0.5909530448913575
|
|
},
|
|
{
|
|
"observation_id": "1b8315c3-0fab-425a-9f27-ea1f193e579f",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1188.0,
|
|
627.0
|
|
],
|
|
[
|
|
1161.0,
|
|
607.0
|
|
],
|
|
[
|
|
1186.0,
|
|
595.0
|
|
],
|
|
[
|
|
1213.0,
|
|
614.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1187.0,
|
|
610.75
|
|
],
|
|
"quality": {
|
|
"area_px": 825.0,
|
|
"perimeter_px": 122.52459526062012,
|
|
"sharpness": {
|
|
"laplacian_var": 922.0692090212722
|
|
},
|
|
"contrast": {
|
|
"p05": 19.75,
|
|
"p95": 157.0,
|
|
"dynamic_range": 137.25,
|
|
"mean_gray": 118.68705035971223,
|
|
"std_gray": 45.62467200557357
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.819464385509491,
|
|
"distance_to_border_px": 67.0
|
|
},
|
|
"edge_ratio": 1.2116684346759268,
|
|
"edge_lengths_px": [
|
|
33.60059356689453,
|
|
27.73084831237793,
|
|
33.0151481628418,
|
|
28.17800521850586
|
|
]
|
|
},
|
|
"confidence": 0.4539195577436192
|
|
},
|
|
{
|
|
"observation_id": "d07a17b8-d15e-42ee-9b3e-3e973dc4db26",
|
|
"type": "aruco",
|
|
"marker_id": 45,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
480.0,
|
|
237.0
|
|
],
|
|
[
|
|
467.0,
|
|
213.0
|
|
],
|
|
[
|
|
492.0,
|
|
195.0
|
|
],
|
|
[
|
|
508.0,
|
|
218.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
486.75,
|
|
215.75
|
|
],
|
|
"quality": {
|
|
"area_px": 891.0,
|
|
"perimeter_px": 119.95623016357422,
|
|
"sharpness": {
|
|
"laplacian_var": 1446.5597276195035
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 109.55887230514097,
|
|
"std_gray": 61.7821919099881
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.286612868309021,
|
|
"distance_to_border_px": 195.0
|
|
},
|
|
"edge_ratio": 1.2397228928552535,
|
|
"edge_lengths_px": [
|
|
27.294687271118164,
|
|
30.805843353271484,
|
|
28.017850875854492,
|
|
33.83784866333008
|
|
]
|
|
},
|
|
"confidence": 0.4791393330100856
|
|
},
|
|
{
|
|
"observation_id": "afdc7f99-c388-4d2b-b7b8-435b6d65b4f7",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
504.0,
|
|
440.0
|
|
],
|
|
[
|
|
536.0,
|
|
428.0
|
|
],
|
|
[
|
|
554.0,
|
|
444.0
|
|
],
|
|
[
|
|
522.0,
|
|
457.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
529.0,
|
|
442.25
|
|
],
|
|
"quality": {
|
|
"area_px": 753.0,
|
|
"perimeter_px": 117.5578727722168,
|
|
"sharpness": {
|
|
"laplacian_var": 1412.3487133953372
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 83.01486988847584,
|
|
"std_gray": 55.61193676926226
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18814091384410858,
|
|
"distance_to_border_px": 263.0
|
|
},
|
|
"edge_ratio": 1.4341885143872104,
|
|
"edge_lengths_px": [
|
|
34.1760139465332,
|
|
24.083189010620117,
|
|
34.539833068847656,
|
|
24.75883674621582
|
|
]
|
|
},
|
|
"confidence": 0.3500237207062636
|
|
},
|
|
{
|
|
"observation_id": "fdc8628a-90d0-48bc-8494-f906e63dd480",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
902.0,
|
|
600.0
|
|
],
|
|
[
|
|
881.0,
|
|
581.0
|
|
],
|
|
[
|
|
907.0,
|
|
569.0
|
|
],
|
|
[
|
|
929.0,
|
|
587.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
904.75,
|
|
584.25
|
|
],
|
|
"quality": {
|
|
"area_px": 759.0,
|
|
"perimeter_px": 115.34723663330078,
|
|
"sharpness": {
|
|
"laplacian_var": 971.478809200817
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 90.55212355212355,
|
|
"std_gray": 59.843523318194705
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4725016951560974,
|
|
"distance_to_border_px": 120.0
|
|
},
|
|
"edge_ratio": 1.0581591175264413,
|
|
"edge_lengths_px": [
|
|
28.319604873657227,
|
|
28.635643005371094,
|
|
28.42534065246582,
|
|
29.96664810180664
|
|
]
|
|
},
|
|
"confidence": 0.47818895251106325
|
|
},
|
|
{
|
|
"observation_id": "83ca6351-9176-4690-9753-37112fb86483",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
117.0,
|
|
531.0
|
|
],
|
|
[
|
|
107.0,
|
|
513.0
|
|
],
|
|
[
|
|
140.0,
|
|
503.0
|
|
],
|
|
[
|
|
150.0,
|
|
520.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
128.5,
|
|
516.75
|
|
],
|
|
"quality": {
|
|
"area_px": 682.5,
|
|
"perimeter_px": 109.58127784729004,
|
|
"sharpness": {
|
|
"laplacian_var": 1658.672347566503
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 104.89733059548254,
|
|
"std_gray": 49.088255317567956
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7285544276237488,
|
|
"distance_to_border_px": 107.0
|
|
},
|
|
"edge_ratio": 1.7636721590750843,
|
|
"edge_lengths_px": [
|
|
20.59126091003418,
|
|
34.48188018798828,
|
|
19.72308349609375,
|
|
34.78505325317383
|
|
]
|
|
},
|
|
"confidence": 0.25798445457040825
|
|
},
|
|
{
|
|
"observation_id": "3e4076ae-12d0-4347-b95a-9d878f1fbeb9",
|
|
"type": "aruco",
|
|
"marker_id": 124,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
510.0,
|
|
339.0
|
|
],
|
|
[
|
|
501.0,
|
|
368.0
|
|
],
|
|
[
|
|
484.0,
|
|
353.0
|
|
],
|
|
[
|
|
492.0,
|
|
323.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
496.75,
|
|
345.75
|
|
],
|
|
"quality": {
|
|
"area_px": 648.0,
|
|
"perimeter_px": 108.16755867004395,
|
|
"sharpness": {
|
|
"laplacian_var": 1355.1469976218787
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 137.0,
|
|
"mean_gray": 94.26077586206897,
|
|
"std_gray": 46.47694659629954
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19604597985744476,
|
|
"distance_to_border_px": 323.0
|
|
},
|
|
"edge_ratio": 1.3694839939759882,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
22.671567916870117,
|
|
31.048349380493164,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.3154472793404363
|
|
},
|
|
{
|
|
"observation_id": "f851fa3e-ef9d-446e-84b0-c98315190948",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1221.0,
|
|
475.0
|
|
],
|
|
[
|
|
1198.0,
|
|
458.0
|
|
],
|
|
[
|
|
1219.0,
|
|
448.0
|
|
],
|
|
[
|
|
1243.0,
|
|
464.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1220.25,
|
|
461.25
|
|
],
|
|
"quality": {
|
|
"area_px": 601.5,
|
|
"perimeter_px": 105.3012638092041,
|
|
"sharpness": {
|
|
"laplacian_var": 1302.7839556084027
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 150.29999999999995,
|
|
"dynamic_range": 133.29999999999995,
|
|
"mean_gray": 99.50804597701149,
|
|
"std_gray": 45.543883646007885
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8021457195281982,
|
|
"distance_to_border_px": 37.0
|
|
},
|
|
"edge_ratio": 1.2401180257405147,
|
|
"edge_lengths_px": [
|
|
28.600698471069336,
|
|
23.25940704345703,
|
|
28.844409942626953,
|
|
24.59674835205078
|
|
]
|
|
},
|
|
"confidence": 0.23928367610236692
|
|
},
|
|
{
|
|
"observation_id": "496c20a9-71c9-4d24-95c5-7bbe8a858aff",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1177.0,
|
|
451.0
|
|
],
|
|
[
|
|
1155.0,
|
|
436.0
|
|
],
|
|
[
|
|
1175.0,
|
|
426.0
|
|
],
|
|
[
|
|
1199.0,
|
|
441.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1176.5,
|
|
438.5
|
|
],
|
|
"quality": {
|
|
"area_px": 545.0,
|
|
"perimeter_px": 101.45576858520508,
|
|
"sharpness": {
|
|
"laplacian_var": 1030.5416620498615
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 146.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 66.63157894736842,
|
|
"std_gray": 52.183240429446805
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7384050488471985,
|
|
"distance_to_border_px": 81.0
|
|
},
|
|
"edge_ratio": 1.2657013694619905,
|
|
"edge_lengths_px": [
|
|
26.62705421447754,
|
|
22.360679626464844,
|
|
28.301942825317383,
|
|
24.166091918945312
|
|
]
|
|
},
|
|
"confidence": 0.28706086767352934
|
|
},
|
|
{
|
|
"observation_id": "317df3bb-e97d-4088-843e-93038c0af50e",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1062.0,
|
|
346.0
|
|
],
|
|
[
|
|
1085.0,
|
|
337.0
|
|
],
|
|
[
|
|
1106.0,
|
|
351.0
|
|
],
|
|
[
|
|
1083.0,
|
|
360.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1084.0,
|
|
348.5
|
|
],
|
|
"quality": {
|
|
"area_px": 511.0,
|
|
"perimeter_px": 99.87407302856445,
|
|
"sharpness": {
|
|
"laplacian_var": 1383.3018160807005
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 143.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 73.58356940509915,
|
|
"std_gray": 46.64311446115191
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6048583388328552,
|
|
"distance_to_border_px": 174.0
|
|
},
|
|
"edge_ratio": 1.021891568418092,
|
|
"edge_lengths_px": [
|
|
24.698177337646484,
|
|
25.238859176635742,
|
|
24.698177337646484,
|
|
25.238859176635742
|
|
]
|
|
},
|
|
"confidence": 0.333368702898709
|
|
},
|
|
{
|
|
"observation_id": "ebaa21e9-fb48-4771-9504-a010232a6bef",
|
|
"type": "aruco",
|
|
"marker_id": 206,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
992.0,
|
|
299.0
|
|
],
|
|
[
|
|
1013.0,
|
|
290.0
|
|
],
|
|
[
|
|
1034.0,
|
|
303.0
|
|
],
|
|
[
|
|
1014.0,
|
|
312.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1013.25,
|
|
301.0
|
|
],
|
|
"quality": {
|
|
"area_px": 460.0,
|
|
"perimeter_px": 95.03107452392578,
|
|
"sharpness": {
|
|
"laplacian_var": 1498.2850905303635
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 139.0,
|
|
"dynamic_range": 128.0,
|
|
"mean_gray": 73.81012658227849,
|
|
"std_gray": 43.29851517592344
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5146167874336243,
|
|
"distance_to_border_px": 246.0
|
|
},
|
|
"edge_ratio": 1.165155923355099,
|
|
"edge_lengths_px": [
|
|
22.847318649291992,
|
|
24.698177337646484,
|
|
21.931713104248047,
|
|
25.553865432739258
|
|
]
|
|
},
|
|
"confidence": 0.26319796391165523
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1023.0,
|
|
381.0
|
|
],
|
|
[
|
|
885.0,
|
|
459.0
|
|
],
|
|
[
|
|
828.0,
|
|
442.0
|
|
],
|
|
[
|
|
963.0,
|
|
382.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
924.75,
|
|
416.0
|
|
],
|
|
"area_px": 5128.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
761.0,
|
|
467.0
|
|
],
|
|
[
|
|
777.0,
|
|
503.0
|
|
],
|
|
[
|
|
747.0,
|
|
515.0
|
|
],
|
|
[
|
|
731.0,
|
|
479.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
754.0,
|
|
491.0
|
|
],
|
|
"area_px": 1272.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
660.0,
|
|
475.0
|
|
],
|
|
[
|
|
690.0,
|
|
462.0
|
|
],
|
|
[
|
|
717.0,
|
|
480.0
|
|
],
|
|
[
|
|
684.0,
|
|
494.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
687.75,
|
|
477.75
|
|
],
|
|
"area_px": 927.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
816.0,
|
|
584.0
|
|
],
|
|
[
|
|
839.0,
|
|
603.0
|
|
],
|
|
[
|
|
810.0,
|
|
616.0
|
|
],
|
|
[
|
|
789.0,
|
|
597.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
813.5,
|
|
600.0
|
|
],
|
|
"area_px": 818.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
552.0,
|
|
566.0
|
|
],
|
|
[
|
|
571.0,
|
|
557.0
|
|
],
|
|
[
|
|
588.0,
|
|
592.0
|
|
],
|
|
[
|
|
563.0,
|
|
598.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
568.5,
|
|
578.25
|
|
],
|
|
"area_px": 842.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
548.0,
|
|
317.0
|
|
],
|
|
[
|
|
565.0,
|
|
333.0
|
|
],
|
|
[
|
|
537.0,
|
|
354.0
|
|
],
|
|
[
|
|
520.0,
|
|
337.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
542.5,
|
|
335.25
|
|
],
|
|
"area_px": 810.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
579.0,
|
|
397.0
|
|
],
|
|
[
|
|
599.0,
|
|
413.0
|
|
],
|
|
[
|
|
591.0,
|
|
444.0
|
|
],
|
|
[
|
|
570.0,
|
|
428.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
584.75,
|
|
420.5
|
|
],
|
|
"area_px": 771.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
902.0,
|
|
556.0
|
|
],
|
|
[
|
|
926.0,
|
|
543.0
|
|
],
|
|
[
|
|
950.0,
|
|
559.0
|
|
],
|
|
[
|
|
925.0,
|
|
573.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
925.75,
|
|
557.75
|
|
],
|
|
"area_px": 721.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1126.0,
|
|
561.0
|
|
],
|
|
[
|
|
1147.0,
|
|
548.0
|
|
],
|
|
[
|
|
1173.0,
|
|
566.0
|
|
],
|
|
[
|
|
1151.0,
|
|
579.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1149.25,
|
|
563.5
|
|
],
|
|
"area_px": 718.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
499.0,
|
|
259.0
|
|
],
|
|
[
|
|
528.0,
|
|
260.0
|
|
],
|
|
[
|
|
553.0,
|
|
269.0
|
|
],
|
|
[
|
|
533.0,
|
|
270.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
528.25,
|
|
264.5
|
|
],
|
|
"area_px": 245.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
82.0,
|
|
417.0
|
|
],
|
|
[
|
|
52.0,
|
|
429.0
|
|
],
|
|
[
|
|
41.0,
|
|
414.0
|
|
],
|
|
[
|
|
70.0,
|
|
404.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
61.25,
|
|
416.0
|
|
],
|
|
"area_px": 539.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
161.0,
|
|
382.0
|
|
],
|
|
[
|
|
132.0,
|
|
393.0
|
|
],
|
|
[
|
|
121.0,
|
|
378.0
|
|
],
|
|
[
|
|
149.0,
|
|
369.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
140.75,
|
|
380.5
|
|
],
|
|
"area_px": 514.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1154.0,
|
|
302.0
|
|
],
|
|
[
|
|
1176.0,
|
|
294.0
|
|
],
|
|
[
|
|
1197.0,
|
|
306.0
|
|
],
|
|
[
|
|
1177.0,
|
|
315.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1176.0,
|
|
304.25
|
|
],
|
|
"area_px": 449.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1081.0,
|
|
260.0
|
|
],
|
|
[
|
|
1102.0,
|
|
252.0
|
|
],
|
|
[
|
|
1121.0,
|
|
263.0
|
|
],
|
|
[
|
|
1102.0,
|
|
271.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1101.5,
|
|
261.5
|
|
],
|
|
"area_px": 380.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
637.0,
|
|
299.0
|
|
],
|
|
[
|
|
660.0,
|
|
291.0
|
|
],
|
|
[
|
|
676.0,
|
|
301.0
|
|
],
|
|
[
|
|
654.0,
|
|
311.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
656.75,
|
|
300.5
|
|
],
|
|
"area_px": 396.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
713.0,
|
|
291.0
|
|
],
|
|
[
|
|
735.0,
|
|
283.0
|
|
],
|
|
[
|
|
751.0,
|
|
295.0
|
|
],
|
|
[
|
|
730.0,
|
|
303.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
732.25,
|
|
293.0
|
|
],
|
|
"area_px": 390.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
342.0,
|
|
571.0
|
|
],
|
|
[
|
|
316.0,
|
|
585.0
|
|
],
|
|
[
|
|
305.0,
|
|
578.0
|
|
],
|
|
[
|
|
335.0,
|
|
564.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
324.5,
|
|
574.5
|
|
],
|
|
"area_px": 322.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
733.0,
|
|
269.0
|
|
],
|
|
[
|
|
755.0,
|
|
261.0
|
|
],
|
|
[
|
|
770.0,
|
|
272.0
|
|
],
|
|
[
|
|
749.0,
|
|
281.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
751.75,
|
|
270.75
|
|
],
|
|
"area_px": 379.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
667.0,
|
|
270.0
|
|
],
|
|
[
|
|
690.0,
|
|
262.0
|
|
],
|
|
[
|
|
704.0,
|
|
273.0
|
|
],
|
|
[
|
|
681.0,
|
|
281.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
685.5,
|
|
271.5
|
|
],
|
|
"area_px": 365.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
776.0,
|
|
258.0
|
|
],
|
|
[
|
|
796.0,
|
|
251.0
|
|
],
|
|
[
|
|
813.0,
|
|
261.0
|
|
],
|
|
[
|
|
792.0,
|
|
270.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
794.25,
|
|
260.0
|
|
],
|
|
"area_px": 357.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
744.0,
|
|
241.0
|
|
],
|
|
[
|
|
766.0,
|
|
235.0
|
|
],
|
|
[
|
|
781.0,
|
|
244.0
|
|
],
|
|
[
|
|
759.0,
|
|
252.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
762.5,
|
|
243.0
|
|
],
|
|
"area_px": 325.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
665.0,
|
|
231.0
|
|
],
|
|
[
|
|
686.0,
|
|
224.0
|
|
],
|
|
[
|
|
700.0,
|
|
234.0
|
|
],
|
|
[
|
|
680.0,
|
|
242.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
682.75,
|
|
232.75
|
|
],
|
|
"area_px": 324.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
875.0,
|
|
222.0
|
|
],
|
|
[
|
|
893.0,
|
|
214.0
|
|
],
|
|
[
|
|
910.0,
|
|
225.0
|
|
],
|
|
[
|
|
889.0,
|
|
232.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
891.75,
|
|
223.25
|
|
],
|
|
"area_px": 321.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1017.0,
|
|
158.0
|
|
],
|
|
[
|
|
1033.0,
|
|
152.0
|
|
],
|
|
[
|
|
1052.0,
|
|
161.0
|
|
],
|
|
[
|
|
1032.0,
|
|
167.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1033.5,
|
|
159.5
|
|
],
|
|
"area_px": 264.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
733.0,
|
|
169.0
|
|
],
|
|
[
|
|
754.0,
|
|
163.0
|
|
],
|
|
[
|
|
767.0,
|
|
172.0
|
|
],
|
|
[
|
|
747.0,
|
|
179.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
750.25,
|
|
170.75
|
|
],
|
|
"area_px": 282.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
791.0,
|
|
141.0
|
|
],
|
|
[
|
|
812.0,
|
|
135.0
|
|
],
|
|
[
|
|
825.0,
|
|
142.0
|
|
],
|
|
[
|
|
806.0,
|
|
150.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
808.5,
|
|
142.0
|
|
],
|
|
"area_px": 258.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
935.0,
|
|
144.0
|
|
],
|
|
[
|
|
953.0,
|
|
138.0
|
|
],
|
|
[
|
|
968.0,
|
|
147.0
|
|
],
|
|
[
|
|
950.0,
|
|
153.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
951.5,
|
|
145.5
|
|
],
|
|
"area_px": 252.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1091.0,
|
|
154.0
|
|
],
|
|
[
|
|
1106.0,
|
|
148.0
|
|
],
|
|
[
|
|
1123.0,
|
|
158.0
|
|
],
|
|
[
|
|
1108.0,
|
|
164.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1107.0,
|
|
156.0
|
|
],
|
|
"area_px": 252.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
831.0,
|
|
133.0
|
|
],
|
|
[
|
|
849.0,
|
|
127.0
|
|
],
|
|
[
|
|
863.0,
|
|
136.0
|
|
],
|
|
[
|
|
846.0,
|
|
142.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
847.25,
|
|
134.5
|
|
],
|
|
"area_px": 244.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
970.0,
|
|
351.0
|
|
],
|
|
[
|
|
997.0,
|
|
349.0
|
|
],
|
|
[
|
|
1003.0,
|
|
351.0
|
|
],
|
|
[
|
|
1000.0,
|
|
353.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
992.5,
|
|
351.0
|
|
],
|
|
"area_px": 66.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
241.0,
|
|
541.0
|
|
],
|
|
[
|
|
245.0,
|
|
553.0
|
|
],
|
|
[
|
|
232.0,
|
|
558.0
|
|
],
|
|
[
|
|
223.0,
|
|
547.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
235.25,
|
|
549.75
|
|
],
|
|
"area_px": 214.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1006.0,
|
|
295.0
|
|
],
|
|
[
|
|
1013.0,
|
|
292.0
|
|
],
|
|
[
|
|
1031.0,
|
|
302.0
|
|
],
|
|
[
|
|
1023.0,
|
|
305.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1018.25,
|
|
298.5
|
|
],
|
|
"area_px": 127.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
675.0,
|
|
484.0
|
|
],
|
|
[
|
|
690.0,
|
|
483.0
|
|
],
|
|
[
|
|
699.0,
|
|
486.0
|
|
],
|
|
[
|
|
684.0,
|
|
490.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
687.0,
|
|
485.75
|
|
],
|
|
"area_px": 90.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
753.0,
|
|
247.0
|
|
],
|
|
[
|
|
757.0,
|
|
244.0
|
|
],
|
|
[
|
|
776.0,
|
|
245.0
|
|
],
|
|
[
|
|
760.0,
|
|
250.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
761.5,
|
|
246.5
|
|
],
|
|
"area_px": 72.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
627.0,
|
|
613.0
|
|
],
|
|
[
|
|
626.0,
|
|
616.0
|
|
],
|
|
[
|
|
613.0,
|
|
621.0
|
|
],
|
|
[
|
|
606.0,
|
|
621.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
618.0,
|
|
617.75
|
|
],
|
|
"area_px": 45.0
|
|
}
|
|
]
|
|
} |