2320 lines
48 KiB
JSON
2320 lines
48 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T08:21:13Z",
|
|
"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\\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_a.png",
|
|
"image_sha256": "cd520e496c2ba52df05dae892d940cc62454b21809c22c07d0d8c7a9d8c1c4da",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 36,
|
|
"num_rejected_candidates": 13
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "24b5ca3a-41db-473f-9635-06b99f7b47a7",
|
|
"type": "aruco",
|
|
"marker_id": 124,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
817.0,
|
|
233.0
|
|
],
|
|
[
|
|
850.0,
|
|
213.0
|
|
],
|
|
[
|
|
870.0,
|
|
246.0
|
|
],
|
|
[
|
|
837.0,
|
|
265.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
843.5,
|
|
239.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1462.5,
|
|
"perimeter_px": 152.9899139404297,
|
|
"sharpness": {
|
|
"laplacian_var": 3141.9905864224097
|
|
},
|
|
"contrast": {
|
|
"p05": 59.0,
|
|
"p95": 194.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 119.87033195020747,
|
|
"std_gray": 61.368105637345245
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3222487270832062,
|
|
"distance_to_border_px": 213.0
|
|
},
|
|
"edge_ratio": 1.0225683833580361,
|
|
"edge_lengths_px": [
|
|
38.587562561035156,
|
|
38.587562561035156,
|
|
38.07886505126953,
|
|
37.735923767089844
|
|
]
|
|
},
|
|
"confidence": 0.9534814647781058
|
|
},
|
|
{
|
|
"observation_id": "ccfd3e28-670a-44cf-8eab-d8c1b5948ecc",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
732.0,
|
|
94.0
|
|
],
|
|
[
|
|
765.0,
|
|
75.0
|
|
],
|
|
[
|
|
784.0,
|
|
106.0
|
|
],
|
|
[
|
|
751.0,
|
|
125.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
758.0,
|
|
100.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1384.0,
|
|
"perimeter_px": 148.8763656616211,
|
|
"sharpness": {
|
|
"laplacian_var": 2856.666514132721
|
|
},
|
|
"contrast": {
|
|
"p05": 50.0,
|
|
"p95": 192.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 93.28199566160521,
|
|
"std_gray": 60.43164225115306
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.38883718848228455,
|
|
"distance_to_border_px": 75.0
|
|
},
|
|
"edge_ratio": 1.0472931665592495,
|
|
"edge_lengths_px": [
|
|
38.07886505126953,
|
|
36.359317779541016,
|
|
38.07886505126953,
|
|
36.359317779541016
|
|
]
|
|
},
|
|
"confidence": 0.8810013242977345
|
|
},
|
|
{
|
|
"observation_id": "ccc4c2f3-7f35-47a7-bbd2-b482d15d45e3",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
828.0,
|
|
404.0
|
|
],
|
|
[
|
|
822.0,
|
|
366.0
|
|
],
|
|
[
|
|
857.0,
|
|
364.0
|
|
],
|
|
[
|
|
862.0,
|
|
401.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
842.25,
|
|
383.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1307.5,
|
|
"perimeter_px": 144.99626541137695,
|
|
"sharpness": {
|
|
"laplacian_var": 2820.027348237219
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 190.0,
|
|
"dynamic_range": 162.0,
|
|
"mean_gray": 86.08599779492833,
|
|
"std_gray": 70.74465545766401
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27732402086257935,
|
|
"distance_to_border_px": 316.0
|
|
},
|
|
"edge_ratio": 1.127114160297307,
|
|
"edge_lengths_px": [
|
|
38.470767974853516,
|
|
35.05709457397461,
|
|
37.336307525634766,
|
|
34.13209533691406
|
|
]
|
|
},
|
|
"confidence": 0.7733614724853967
|
|
},
|
|
{
|
|
"observation_id": "01bf61fa-c207-4fd1-b200-4a42a128b930",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
984.0,
|
|
710.0
|
|
],
|
|
[
|
|
957.0,
|
|
687.0
|
|
],
|
|
[
|
|
985.0,
|
|
672.0
|
|
],
|
|
[
|
|
1011.0,
|
|
694.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
984.25,
|
|
690.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1029.5,
|
|
"perimeter_px": 132.67654037475586,
|
|
"sharpness": {
|
|
"laplacian_var": 4005.44773854394
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 176.0,
|
|
"dynamic_range": 166.0,
|
|
"mean_gray": 69.46338028169014,
|
|
"std_gray": 72.10171363913938
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6501306891441345,
|
|
"distance_to_border_px": 10.0
|
|
},
|
|
"edge_ratio": 1.13011385794403,
|
|
"edge_lengths_px": [
|
|
35.46829605102539,
|
|
31.764760971069336,
|
|
34.058773040771484,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.12146268776527554
|
|
},
|
|
{
|
|
"observation_id": "49ea60f5-dd0f-4fe8-b00f-7672d23422a1",
|
|
"type": "aruco",
|
|
"marker_id": 115,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
760.0,
|
|
209.0
|
|
],
|
|
[
|
|
782.0,
|
|
189.0
|
|
],
|
|
[
|
|
801.0,
|
|
220.0
|
|
],
|
|
[
|
|
778.0,
|
|
240.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
780.25,
|
|
214.5
|
|
],
|
|
"quality": {
|
|
"area_px": 1067.5,
|
|
"perimeter_px": 132.41785430908203,
|
|
"sharpness": {
|
|
"laplacian_var": 2862.540092917175
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 164.0,
|
|
"mean_gray": 55.87374461979914,
|
|
"std_gray": 61.98350881625192
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.27521342039108276,
|
|
"distance_to_border_px": 189.0
|
|
},
|
|
"edge_ratio": 1.2228961863019105,
|
|
"edge_lengths_px": [
|
|
29.73213768005371,
|
|
36.359317779541016,
|
|
30.479501724243164,
|
|
35.84689712524414
|
|
]
|
|
},
|
|
"confidence": 0.5819518243971115
|
|
},
|
|
{
|
|
"observation_id": "1b5d1e79-623e-4eb8-8ad5-061e5e2eae00",
|
|
"type": "aruco",
|
|
"marker_id": 242,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
613.0,
|
|
16.0
|
|
],
|
|
[
|
|
612.0,
|
|
50.0
|
|
],
|
|
[
|
|
582.0,
|
|
60.0
|
|
],
|
|
[
|
|
582.0,
|
|
26.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
597.25,
|
|
38.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1032.0,
|
|
"perimeter_px": 132.2104721069336,
|
|
"sharpness": {
|
|
"laplacian_var": 2710.7811
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 80.75142857142858,
|
|
"std_gray": 68.01181355965645
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.44235923886299133,
|
|
"distance_to_border_px": 16.0
|
|
},
|
|
"edge_ratio": 1.0756393369571786,
|
|
"edge_lengths_px": [
|
|
34.01470184326172,
|
|
31.62277603149414,
|
|
34.0,
|
|
32.572994232177734
|
|
]
|
|
},
|
|
"confidence": 0.20467827127148344
|
|
},
|
|
{
|
|
"observation_id": "718916be-22e9-4b46-87b9-036cb43afa61",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
298.0,
|
|
629.0
|
|
],
|
|
[
|
|
333.0,
|
|
614.0
|
|
],
|
|
[
|
|
350.0,
|
|
635.0
|
|
],
|
|
[
|
|
316.0,
|
|
651.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
324.25,
|
|
632.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1013.0,
|
|
"perimeter_px": 131.09930610656738,
|
|
"sharpness": {
|
|
"laplacian_var": 3838.66948862135
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 73.03591954022988,
|
|
"std_gray": 70.69117007009139
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5677701830863953,
|
|
"distance_to_border_px": 69.0
|
|
},
|
|
"edge_ratio": 1.4093619970008786,
|
|
"edge_lengths_px": [
|
|
38.07886505126953,
|
|
27.018512725830078,
|
|
37.57658767700195,
|
|
28.42534065246582
|
|
]
|
|
},
|
|
"confidence": 0.47917663082333867
|
|
},
|
|
{
|
|
"observation_id": "2c1b7ab5-48e9-4288-ab15-4d167c35ab90",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1186.0,
|
|
628.0
|
|
],
|
|
[
|
|
1158.0,
|
|
607.0
|
|
],
|
|
[
|
|
1181.0,
|
|
593.0
|
|
],
|
|
[
|
|
1210.0,
|
|
613.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1183.75,
|
|
610.25
|
|
],
|
|
"quality": {
|
|
"area_px": 895.0,
|
|
"perimeter_px": 125.45559501647949,
|
|
"sharpness": {
|
|
"laplacian_var": 3873.585984563896
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 172.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 114.31239669421488,
|
|
"std_gray": 68.11591914790033
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8151581883430481,
|
|
"distance_to_border_px": 70.0
|
|
},
|
|
"edge_ratio": 1.3083287631564071,
|
|
"edge_lengths_px": [
|
|
35.0,
|
|
26.925823211669922,
|
|
35.22782897949219,
|
|
28.301942825317383
|
|
]
|
|
},
|
|
"confidence": 0.4560525484643318
|
|
},
|
|
{
|
|
"observation_id": "fae28f38-6ac3-4c58-bc96-6763d4678432",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
812.0,
|
|
616.0
|
|
],
|
|
[
|
|
789.0,
|
|
596.0
|
|
],
|
|
[
|
|
816.0,
|
|
582.0
|
|
],
|
|
[
|
|
839.0,
|
|
602.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
814.0,
|
|
599.0
|
|
],
|
|
"quality": {
|
|
"area_px": 862.0,
|
|
"perimeter_px": 121.78662872314453,
|
|
"sharpness": {
|
|
"laplacian_var": 4504.989241460622
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 99.003367003367,
|
|
"std_gray": 69.84284900894906
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.402599573135376,
|
|
"distance_to_border_px": 104.0
|
|
},
|
|
"edge_ratio": 1.0021598438741428,
|
|
"edge_lengths_px": [
|
|
30.479501724243164,
|
|
30.4138126373291,
|
|
30.479501724243164,
|
|
30.4138126373291
|
|
]
|
|
},
|
|
"confidence": 0.5734281513866332
|
|
},
|
|
{
|
|
"observation_id": "2e319c5c-e8f0-405e-af9f-ebabbc418ae8",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
904.0,
|
|
604.0
|
|
],
|
|
[
|
|
880.0,
|
|
584.0
|
|
],
|
|
[
|
|
907.0,
|
|
571.0
|
|
],
|
|
[
|
|
930.0,
|
|
590.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
905.25,
|
|
587.25
|
|
],
|
|
"quality": {
|
|
"area_px": 834.0,
|
|
"perimeter_px": 120.57016181945801,
|
|
"sharpness": {
|
|
"laplacian_var": 3473.4540448750768
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 174.75,
|
|
"dynamic_range": 163.75,
|
|
"mean_gray": 86.26325088339223,
|
|
"std_gray": 73.1465900219182
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.47566938400268555,
|
|
"distance_to_border_px": 116.0
|
|
},
|
|
"edge_ratio": 1.057953735938787,
|
|
"edge_lengths_px": [
|
|
31.240999221801758,
|
|
29.96664810180664,
|
|
29.832868576049805,
|
|
29.529645919799805
|
|
]
|
|
},
|
|
"confidence": 0.525542829627259
|
|
},
|
|
{
|
|
"observation_id": "6f13836c-7374-4044-9b41-29fcee0f6355",
|
|
"type": "aruco",
|
|
"marker_id": 215,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
654.0,
|
|
546.0
|
|
],
|
|
[
|
|
683.0,
|
|
533.0
|
|
],
|
|
[
|
|
704.0,
|
|
551.0
|
|
],
|
|
[
|
|
674.0,
|
|
565.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
678.75,
|
|
548.75
|
|
],
|
|
"quality": {
|
|
"area_px": 822.5,
|
|
"perimeter_px": 120.13125228881836,
|
|
"sharpness": {
|
|
"laplacian_var": 3826.1772576221033
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 164.0,
|
|
"mean_gray": 82.16157989228007,
|
|
"std_gray": 72.87486456081467
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.26240772008895874,
|
|
"distance_to_border_px": 155.0
|
|
},
|
|
"edge_ratio": 1.2000876158955645,
|
|
"edge_lengths_px": [
|
|
31.78049659729004,
|
|
27.658634185791016,
|
|
33.105892181396484,
|
|
27.58622932434082
|
|
]
|
|
},
|
|
"confidence": 0.456911083882938
|
|
},
|
|
{
|
|
"observation_id": "fba90a1f-5ff4-41e1-93b3-740b72b2bfce",
|
|
"type": "aruco",
|
|
"marker_id": 41,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
882.0,
|
|
331.0
|
|
],
|
|
[
|
|
921.0,
|
|
325.0
|
|
],
|
|
[
|
|
923.0,
|
|
345.0
|
|
],
|
|
[
|
|
884.0,
|
|
351.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
902.5,
|
|
338.0
|
|
],
|
|
"quality": {
|
|
"area_px": 792.0,
|
|
"perimeter_px": 119.11717987060547,
|
|
"sharpness": {
|
|
"laplacian_var": 2098.2697652892566
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 70.73818181818181,
|
|
"std_gray": 53.7731987683932
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.35873544216156006,
|
|
"distance_to_border_px": 325.0
|
|
},
|
|
"edge_ratio": 1.9631507057562219,
|
|
"edge_lengths_px": [
|
|
39.458839416503906,
|
|
20.099750518798828,
|
|
39.458839416503906,
|
|
20.099750518798828
|
|
]
|
|
},
|
|
"confidence": 0.2689554084930072
|
|
},
|
|
{
|
|
"observation_id": "2f1212ae-b62a-4622-9f59-0ef81665ef4a",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
930.0,
|
|
573.0
|
|
],
|
|
[
|
|
906.0,
|
|
555.0
|
|
],
|
|
[
|
|
932.0,
|
|
542.0
|
|
],
|
|
[
|
|
956.0,
|
|
560.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
931.0,
|
|
557.5
|
|
],
|
|
"quality": {
|
|
"area_px": 780.0,
|
|
"perimeter_px": 118.13776779174805,
|
|
"sharpness": {
|
|
"laplacian_var": 2268.9752933795166
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 162.0,
|
|
"mean_gray": 41.70712909441233,
|
|
"std_gray": 54.81876750665462
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.47894710302352905,
|
|
"distance_to_border_px": 147.0
|
|
},
|
|
"edge_ratio": 1.03203136754274,
|
|
"edge_lengths_px": [
|
|
30.0,
|
|
29.068883895874023,
|
|
30.0,
|
|
29.068883895874023
|
|
]
|
|
},
|
|
"confidence": 0.5038606541951498
|
|
},
|
|
{
|
|
"observation_id": "0d7562d6-6e9d-4415-a761-480b186f70a8",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1151.0,
|
|
576.0
|
|
],
|
|
[
|
|
1125.0,
|
|
557.0
|
|
],
|
|
[
|
|
1150.0,
|
|
545.0
|
|
],
|
|
[
|
|
1175.0,
|
|
563.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1150.25,
|
|
560.25
|
|
],
|
|
"quality": {
|
|
"area_px": 772.0,
|
|
"perimeter_px": 118.03386306762695,
|
|
"sharpness": {
|
|
"laplacian_var": 2167.6912184604626
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 38.06488549618321,
|
|
"std_gray": 54.11614231054054
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7464743256568909,
|
|
"distance_to_border_px": 105.0
|
|
},
|
|
"edge_ratio": 1.1798077703177934,
|
|
"edge_lengths_px": [
|
|
32.202484130859375,
|
|
27.73084831237793,
|
|
30.805843353271484,
|
|
27.294687271118164
|
|
]
|
|
},
|
|
"confidence": 0.43622925667631085
|
|
},
|
|
{
|
|
"observation_id": "9eb6c6c8-c14b-4d82-9f47-498d70b94aee",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
769.0,
|
|
490.0
|
|
],
|
|
[
|
|
796.0,
|
|
478.0
|
|
],
|
|
[
|
|
817.0,
|
|
495.0
|
|
],
|
|
[
|
|
790.0,
|
|
508.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
793.0,
|
|
492.75
|
|
],
|
|
"quality": {
|
|
"area_px": 735.0,
|
|
"perimeter_px": 114.19036865234375,
|
|
"sharpness": {
|
|
"laplacian_var": 3171.854623514855
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 170.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 69.47876447876448,
|
|
"std_gray": 67.69878874048698
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2758570611476898,
|
|
"distance_to_border_px": 212.0
|
|
},
|
|
"edge_ratio": 1.1091153834370056,
|
|
"edge_lengths_px": [
|
|
29.546573638916016,
|
|
27.018512725830078,
|
|
29.96664810180664,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.4417935296159658
|
|
},
|
|
{
|
|
"observation_id": "b3b2db73-623f-4ec6-b74b-e67265a14542",
|
|
"type": "aruco",
|
|
"marker_id": 211,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
586.0,
|
|
485.0
|
|
],
|
|
[
|
|
614.0,
|
|
472.0
|
|
],
|
|
[
|
|
633.0,
|
|
490.0
|
|
],
|
|
[
|
|
605.0,
|
|
502.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
609.5,
|
|
487.25
|
|
],
|
|
"quality": {
|
|
"area_px": 727.5,
|
|
"perimeter_px": 113.00139427185059,
|
|
"sharpness": {
|
|
"laplacian_var": 2784.894987381329
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 166.0,
|
|
"mean_gray": 80.98238747553816,
|
|
"std_gray": 72.27925895390865
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.17820203304290771,
|
|
"distance_to_border_px": 218.0
|
|
},
|
|
"edge_ratio": 1.2108484066536922,
|
|
"edge_lengths_px": [
|
|
30.870698928833008,
|
|
26.172504425048828,
|
|
30.463092803955078,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.40054559871813256
|
|
},
|
|
{
|
|
"observation_id": "52af0eaf-75c1-4fe0-9e44-4a1085b09b96",
|
|
"type": "aruco",
|
|
"marker_id": 42,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
923.0,
|
|
395.0
|
|
],
|
|
[
|
|
937.0,
|
|
374.0
|
|
],
|
|
[
|
|
941.0,
|
|
405.0
|
|
],
|
|
[
|
|
927.0,
|
|
426.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
932.0,
|
|
400.0
|
|
],
|
|
"quality": {
|
|
"area_px": 518.0,
|
|
"perimeter_px": 112.99171829223633,
|
|
"sharpness": {
|
|
"laplacian_var": 2820.184726291233
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 61.833333333333336,
|
|
"std_gray": 54.487606898776114
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4013700783252716,
|
|
"distance_to_border_px": 294.0
|
|
},
|
|
"edge_ratio": 1.2384474175606885,
|
|
"edge_lengths_px": [
|
|
25.238859176635742,
|
|
31.256999969482422,
|
|
25.238859176635742,
|
|
31.256999969482422
|
|
]
|
|
},
|
|
"confidence": 0.27884375907821757
|
|
},
|
|
{
|
|
"observation_id": "68bc15ba-c1fa-4a7d-947f-712d33307f17",
|
|
"type": "aruco",
|
|
"marker_id": 75,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
119.0,
|
|
530.0
|
|
],
|
|
[
|
|
106.0,
|
|
512.0
|
|
],
|
|
[
|
|
138.0,
|
|
500.0
|
|
],
|
|
[
|
|
151.0,
|
|
517.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
128.5,
|
|
514.75
|
|
],
|
|
"quality": {
|
|
"area_px": 722.5,
|
|
"perimeter_px": 112.32038497924805,
|
|
"sharpness": {
|
|
"laplacian_var": 3770.8553279090283
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 163.0,
|
|
"mean_gray": 102.98415841584159,
|
|
"std_gray": 67.30200699149927
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7277610301971436,
|
|
"distance_to_border_px": 106.0
|
|
},
|
|
"edge_ratio": 1.6139404343199748,
|
|
"edge_lengths_px": [
|
|
22.203603744506836,
|
|
34.1760139465332,
|
|
21.40093421936035,
|
|
34.539833068847656
|
|
]
|
|
},
|
|
"confidence": 0.29844141482805986
|
|
},
|
|
{
|
|
"observation_id": "bc05e208-dc75-4054-93f6-b1e7dcace557",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1220.0,
|
|
475.0
|
|
],
|
|
[
|
|
1194.0,
|
|
459.0
|
|
],
|
|
[
|
|
1216.0,
|
|
448.0
|
|
],
|
|
[
|
|
1241.0,
|
|
464.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1217.75,
|
|
461.5
|
|
],
|
|
"quality": {
|
|
"area_px": 624.5,
|
|
"perimeter_px": 108.51360702514648,
|
|
"sharpness": {
|
|
"laplacian_var": 2962.623975896982
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 100.85011185682326,
|
|
"std_gray": 63.69100037737091
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7988508939743042,
|
|
"distance_to_border_px": 39.0
|
|
},
|
|
"edge_ratio": 1.2877744356086955,
|
|
"edge_lengths_px": [
|
|
30.528675079345703,
|
|
24.59674835205078,
|
|
29.681644439697266,
|
|
23.706539154052734
|
|
]
|
|
},
|
|
"confidence": 0.2521714913889437
|
|
},
|
|
{
|
|
"observation_id": "1e49e9a2-cd08-40a1-9e25-89b13f5e9b3c",
|
|
"type": "aruco",
|
|
"marker_id": 214,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
699.0,
|
|
433.0
|
|
],
|
|
[
|
|
725.0,
|
|
422.0
|
|
],
|
|
[
|
|
745.0,
|
|
437.0
|
|
],
|
|
[
|
|
718.0,
|
|
449.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
721.75,
|
|
435.25
|
|
],
|
|
"quality": {
|
|
"area_px": 635.0,
|
|
"perimeter_px": 107.61724662780762,
|
|
"sharpness": {
|
|
"laplacian_var": 3875.6299438288706
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 92.53947368421052,
|
|
"std_gray": 68.86853878811944
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1513148695230484,
|
|
"distance_to_border_px": 271.0
|
|
},
|
|
"edge_ratio": 1.1895002428003776,
|
|
"edge_lengths_px": [
|
|
28.23118782043457,
|
|
25.0,
|
|
29.546573638916016,
|
|
24.83948516845703
|
|
]
|
|
},
|
|
"confidence": 0.35589175865715006
|
|
},
|
|
{
|
|
"observation_id": "5c0e3145-d909-4b52-8e57-764f90fc102b",
|
|
"type": "aruco",
|
|
"marker_id": 74,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
304.0,
|
|
502.0
|
|
],
|
|
[
|
|
290.0,
|
|
485.0
|
|
],
|
|
[
|
|
319.0,
|
|
474.0
|
|
],
|
|
[
|
|
334.0,
|
|
489.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
311.75,
|
|
487.5
|
|
],
|
|
"quality": {
|
|
"area_px": 646.0,
|
|
"perimeter_px": 106.94760704040527,
|
|
"sharpness": {
|
|
"laplacian_var": 2688.968858131488
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 91.29847494553377,
|
|
"std_gray": 69.40685689589021
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4795605540275574,
|
|
"distance_to_border_px": 218.0
|
|
},
|
|
"edge_ratio": 1.5412836810639403,
|
|
"edge_lengths_px": [
|
|
22.022714614868164,
|
|
31.016124725341797,
|
|
21.21320343017578,
|
|
32.69556427001953
|
|
]
|
|
},
|
|
"confidence": 0.27942076592245474
|
|
},
|
|
{
|
|
"observation_id": "eb06e749-ad89-48c5-a364-c67b6faa7e30",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1174.0,
|
|
451.0
|
|
],
|
|
[
|
|
1151.0,
|
|
435.0
|
|
],
|
|
[
|
|
1172.0,
|
|
425.0
|
|
],
|
|
[
|
|
1196.0,
|
|
440.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.25,
|
|
437.75
|
|
],
|
|
"quality": {
|
|
"area_px": 580.0,
|
|
"perimeter_px": 104.17594909667969,
|
|
"sharpness": {
|
|
"laplacian_var": 2393.9573521039283
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 64.28776978417267,
|
|
"std_gray": 62.665942154070514
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.733877956867218,
|
|
"distance_to_border_px": 84.0
|
|
},
|
|
"edge_ratio": 1.2167955430866773,
|
|
"edge_lengths_px": [
|
|
28.017850875854492,
|
|
23.25940704345703,
|
|
28.301942825317383,
|
|
24.59674835205078
|
|
]
|
|
},
|
|
"confidence": 0.31777455864589965
|
|
},
|
|
{
|
|
"observation_id": "cdf5958f-7743-49e9-85d3-451ffcdc9f57",
|
|
"type": "aruco",
|
|
"marker_id": 81,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
335.0,
|
|
465.0
|
|
],
|
|
[
|
|
321.0,
|
|
449.0
|
|
],
|
|
[
|
|
349.0,
|
|
438.0
|
|
],
|
|
[
|
|
364.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
342.25,
|
|
451.25
|
|
],
|
|
"quality": {
|
|
"area_px": 608.5,
|
|
"perimeter_px": 103.9414234161377,
|
|
"sharpness": {
|
|
"laplacian_var": 2473.1050331724305
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 169.75,
|
|
"dynamic_range": 160.75,
|
|
"mean_gray": 71.1056338028169,
|
|
"std_gray": 67.74330600263298
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.42410150170326233,
|
|
"distance_to_border_px": 255.0
|
|
},
|
|
"edge_ratio": 1.4794894328522255,
|
|
"edge_lengths_px": [
|
|
21.260292053222656,
|
|
30.08321762084961,
|
|
21.21320343017578,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.2741936898356918
|
|
},
|
|
{
|
|
"observation_id": "57eaf3f2-99b1-4c47-abf8-0ade458ed6f8",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1066.0,
|
|
345.0
|
|
],
|
|
[
|
|
1087.0,
|
|
335.0
|
|
],
|
|
[
|
|
1110.0,
|
|
349.0
|
|
],
|
|
[
|
|
1088.0,
|
|
359.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1087.75,
|
|
347.0
|
|
],
|
|
"quality": {
|
|
"area_px": 526.0,
|
|
"perimeter_px": 100.42813110351562,
|
|
"sharpness": {
|
|
"laplacian_var": 2730.0446970865373
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 71.02168021680217,
|
|
"std_gray": 60.67876736636128
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6100193858146667,
|
|
"distance_to_border_px": 170.0
|
|
},
|
|
"edge_ratio": 1.1576315407079247,
|
|
"edge_lengths_px": [
|
|
23.25940704345703,
|
|
26.925823211669922,
|
|
24.166091918945312,
|
|
26.07680892944336
|
|
]
|
|
},
|
|
"confidence": 0.3029173397022545
|
|
},
|
|
{
|
|
"observation_id": "2c8c1bf1-83ea-4a2a-afee-8371e0f1515d",
|
|
"type": "aruco",
|
|
"marker_id": 61,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
49.0,
|
|
428.0
|
|
],
|
|
[
|
|
38.0,
|
|
414.0
|
|
],
|
|
[
|
|
68.0,
|
|
403.0
|
|
],
|
|
[
|
|
79.0,
|
|
417.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
58.5,
|
|
415.5
|
|
],
|
|
"quality": {
|
|
"area_px": 541.0,
|
|
"perimeter_px": 99.51516723632812,
|
|
"sharpness": {
|
|
"laplacian_var": 3914.6540857324544
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 100.2258064516129,
|
|
"std_gray": 64.43023717990889
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7955067753791809,
|
|
"distance_to_border_px": 38.0
|
|
},
|
|
"edge_ratio": 1.7946644567002925,
|
|
"edge_lengths_px": [
|
|
17.804492950439453,
|
|
31.95309066772461,
|
|
17.804492950439453,
|
|
31.95309066772461
|
|
]
|
|
},
|
|
"confidence": 0.1527342148240039
|
|
},
|
|
{
|
|
"observation_id": "877b5c22-5df9-4685-8467-9b47739d7a67",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
265.0,
|
|
456.0
|
|
],
|
|
[
|
|
255.0,
|
|
440.0
|
|
],
|
|
[
|
|
280.0,
|
|
430.0
|
|
],
|
|
[
|
|
295.0,
|
|
445.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
273.75,
|
|
442.75
|
|
],
|
|
"quality": {
|
|
"area_px": 557.5,
|
|
"perimeter_px": 98.96007919311523,
|
|
"sharpness": {
|
|
"laplacian_var": 3088.0864417641133
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 161.0,
|
|
"mean_gray": 77.93198992443325,
|
|
"std_gray": 65.87911920268678
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5113449692726135,
|
|
"distance_to_border_px": 255.0
|
|
},
|
|
"edge_ratio": 1.6935104525301938,
|
|
"edge_lengths_px": [
|
|
18.867961883544922,
|
|
26.925823211669922,
|
|
21.21320343017578,
|
|
31.95309066772461
|
|
]
|
|
},
|
|
"confidence": 0.21946523336267398
|
|
},
|
|
{
|
|
"observation_id": "16daedea-a8a5-4028-b89b-bcb78db188a9",
|
|
"type": "aruco",
|
|
"marker_id": 83,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
130.0,
|
|
395.0
|
|
],
|
|
[
|
|
119.0,
|
|
381.0
|
|
],
|
|
[
|
|
147.0,
|
|
371.0
|
|
],
|
|
[
|
|
160.0,
|
|
385.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
139.0,
|
|
383.0
|
|
],
|
|
"quality": {
|
|
"area_px": 526.0,
|
|
"perimeter_px": 98.26437950134277,
|
|
"sharpness": {
|
|
"laplacian_var": 3515.7748070987655
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 100.19166666666666,
|
|
"std_gray": 60.8551964137456
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6829988360404968,
|
|
"distance_to_border_px": 119.0
|
|
},
|
|
"edge_ratio": 1.7761121375104154,
|
|
"edge_lengths_px": [
|
|
17.804492950439453,
|
|
29.73213768005371,
|
|
19.10497283935547,
|
|
31.62277603149414
|
|
]
|
|
},
|
|
"confidence": 0.19743498130596515
|
|
},
|
|
{
|
|
"observation_id": "700e5483-d144-4b28-a834-5bef3ee0c2f1",
|
|
"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
|
|
],
|
|
[
|
|
1013.0,
|
|
312.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1013.0,
|
|
301.0
|
|
],
|
|
"quality": {
|
|
"area_px": 462.0,
|
|
"perimeter_px": 95.09099197387695,
|
|
"sharpness": {
|
|
"laplacian_var": 2247.395639721198
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 74.9873417721519,
|
|
"std_gray": 57.3340188124554
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5142804980278015,
|
|
"distance_to_border_px": 246.0
|
|
},
|
|
"edge_ratio": 1.0810098864013458,
|
|
"edge_lengths_px": [
|
|
22.847318649291992,
|
|
24.698177337646484,
|
|
22.847318649291992,
|
|
24.698177337646484
|
|
]
|
|
},
|
|
"confidence": 0.2849187633475991
|
|
},
|
|
{
|
|
"observation_id": "45fe6f65-c879-4fb3-b44d-32b07a9f4bb0",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
356.0,
|
|
344.0
|
|
],
|
|
[
|
|
343.0,
|
|
331.0
|
|
],
|
|
[
|
|
368.0,
|
|
322.0
|
|
],
|
|
[
|
|
381.0,
|
|
335.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
362.0,
|
|
333.0
|
|
],
|
|
"quality": {
|
|
"area_px": 442.0,
|
|
"perimeter_px": 89.91087341308594,
|
|
"sharpness": {
|
|
"laplacian_var": 1759.2243692462375
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 86.68608414239482,
|
|
"std_gray": 60.39568958884412
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.380372017621994,
|
|
"distance_to_border_px": 322.0
|
|
},
|
|
"edge_ratio": 1.4452532950275123,
|
|
"edge_lengths_px": [
|
|
18.384777069091797,
|
|
26.570659637451172,
|
|
18.384777069091797,
|
|
26.570659637451172
|
|
]
|
|
},
|
|
"confidence": 0.20388582934250105
|
|
},
|
|
{
|
|
"observation_id": "2ec17798-a730-44e3-b6b6-909dafd58094",
|
|
"type": "aruco",
|
|
"marker_id": 207,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1078.0,
|
|
260.0
|
|
],
|
|
[
|
|
1098.0,
|
|
252.0
|
|
],
|
|
[
|
|
1118.0,
|
|
264.0
|
|
],
|
|
[
|
|
1098.0,
|
|
272.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1098.0,
|
|
262.0
|
|
],
|
|
"quality": {
|
|
"area_px": 400.0,
|
|
"perimeter_px": 89.72893142700195,
|
|
"sharpness": {
|
|
"laplacian_var": 1963.7816358024693
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 75.97916666666667,
|
|
"std_gray": 56.77825639543324
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6378399133682251,
|
|
"distance_to_border_px": 162.0
|
|
},
|
|
"edge_ratio": 1.0827805600544524,
|
|
"edge_lengths_px": [
|
|
21.540658950805664,
|
|
23.323806762695312,
|
|
21.540658950805664,
|
|
23.323806762695312
|
|
]
|
|
},
|
|
"confidence": 0.24627951083020566
|
|
},
|
|
{
|
|
"observation_id": "bcd5cc51-3714-4432-b493-5c4231fc11f8",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
652.0,
|
|
311.0
|
|
],
|
|
[
|
|
636.0,
|
|
298.0
|
|
],
|
|
[
|
|
658.0,
|
|
290.0
|
|
],
|
|
[
|
|
675.0,
|
|
302.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
655.25,
|
|
300.25
|
|
],
|
|
"quality": {
|
|
"area_px": 421.5,
|
|
"perimeter_px": 89.53175735473633,
|
|
"sharpness": {
|
|
"laplacian_var": 1499.4291285469737
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 130.2,
|
|
"dynamic_range": 122.19999999999999,
|
|
"mean_gray": 49.5993265993266,
|
|
"std_gray": 45.84137927046464
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.08397825062274933,
|
|
"distance_to_border_px": 290.0
|
|
},
|
|
"edge_ratio": 1.1980375768124158,
|
|
"edge_lengths_px": [
|
|
20.615528106689453,
|
|
23.409399032592773,
|
|
20.808652877807617,
|
|
24.698177337646484
|
|
]
|
|
},
|
|
"confidence": 0.2345502390230936
|
|
},
|
|
{
|
|
"observation_id": "2689d9c1-9a2d-4199-aa68-92f9c4d7f65d",
|
|
"type": "aruco",
|
|
"marker_id": 73,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
337.0,
|
|
322.0
|
|
],
|
|
[
|
|
325.0,
|
|
310.0
|
|
],
|
|
[
|
|
350.0,
|
|
301.0
|
|
],
|
|
[
|
|
363.0,
|
|
313.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
343.75,
|
|
311.5
|
|
],
|
|
"quality": {
|
|
"area_px": 418.5,
|
|
"perimeter_px": 88.74666213989258,
|
|
"sharpness": {
|
|
"laplacian_var": 3545.7231833910037
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 101.04498269896193,
|
|
"std_gray": 52.39226597170826
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.408814936876297,
|
|
"distance_to_border_px": 301.0
|
|
},
|
|
"edge_ratio": 1.6212564886481111,
|
|
"edge_lengths_px": [
|
|
16.970561981201172,
|
|
26.570659637451172,
|
|
17.69180679321289,
|
|
27.513633728027344
|
|
]
|
|
},
|
|
"confidence": 0.17208874842045807
|
|
},
|
|
{
|
|
"observation_id": "53fe06a9-0ffe-413c-aaef-ba42cab2372d",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
683.0,
|
|
284.0
|
|
],
|
|
[
|
|
667.0,
|
|
272.0
|
|
],
|
|
[
|
|
689.0,
|
|
265.0
|
|
],
|
|
[
|
|
705.0,
|
|
275.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
686.0,
|
|
274.0
|
|
],
|
|
"quality": {
|
|
"area_px": 370.0,
|
|
"perimeter_px": 85.7244815826416,
|
|
"sharpness": {
|
|
"laplacian_var": 1153.2910310864881
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 134.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 81.4421052631579,
|
|
"std_gray": 44.501696980726
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13281923532485962,
|
|
"distance_to_border_px": 265.0
|
|
},
|
|
"edge_ratio": 1.259793074292734,
|
|
"edge_lengths_px": [
|
|
20.0,
|
|
23.0867919921875,
|
|
18.867961883544922,
|
|
23.76972770690918
|
|
]
|
|
},
|
|
"confidence": 0.19579935125865724
|
|
},
|
|
{
|
|
"observation_id": "799b654f-8cf0-4d85-ad7e-597eee275e27",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
725.0,
|
|
302.0
|
|
],
|
|
[
|
|
710.0,
|
|
289.0
|
|
],
|
|
[
|
|
732.0,
|
|
282.0
|
|
],
|
|
[
|
|
747.0,
|
|
294.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
728.5,
|
|
291.75
|
|
],
|
|
"quality": {
|
|
"area_px": 387.5,
|
|
"perimeter_px": 85.55499839782715,
|
|
"sharpness": {
|
|
"laplacian_var": 1352.496847257426
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 136.89999999999998,
|
|
"dynamic_range": 127.89999999999998,
|
|
"mean_gray": 49.83745583038869,
|
|
"std_gray": 45.40748070279336
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15219897031784058,
|
|
"distance_to_border_px": 282.0
|
|
},
|
|
"edge_ratio": 1.2186445884937351,
|
|
"edge_lengths_px": [
|
|
19.84943389892578,
|
|
23.0867919921875,
|
|
19.209373474121094,
|
|
23.409399032592773
|
|
]
|
|
},
|
|
"confidence": 0.2119841467910161
|
|
},
|
|
{
|
|
"observation_id": "9fcdd3f8-ddc7-44d6-af39-cdc55729a972",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
748.0,
|
|
278.0
|
|
],
|
|
[
|
|
732.0,
|
|
267.0
|
|
],
|
|
[
|
|
754.0,
|
|
260.0
|
|
],
|
|
[
|
|
770.0,
|
|
270.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
751.0,
|
|
268.75
|
|
],
|
|
"quality": {
|
|
"area_px": 351.0,
|
|
"perimeter_px": 84.78064155578613,
|
|
"sharpness": {
|
|
"laplacian_var": 1637.1454595336074
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 143.0,
|
|
"dynamic_range": 133.0,
|
|
"mean_gray": 85.44814814814815,
|
|
"std_gray": 48.267033994691644
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19568586349487305,
|
|
"distance_to_border_px": 260.0
|
|
},
|
|
"edge_ratio": 1.2406956923634935,
|
|
"edge_lengths_px": [
|
|
19.416488647460938,
|
|
23.0867919921875,
|
|
18.867961883544922,
|
|
23.409399032592773
|
|
]
|
|
},
|
|
"confidence": 0.18860386268790535
|
|
},
|
|
{
|
|
"observation_id": "cf9baaf3-c327-465e-9217-84b5579c8f23",
|
|
"type": "aruco",
|
|
"marker_id": 93,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1103.0,
|
|
162.0
|
|
],
|
|
[
|
|
1088.0,
|
|
153.0
|
|
],
|
|
[
|
|
1105.0,
|
|
147.0
|
|
],
|
|
[
|
|
1121.0,
|
|
156.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1104.25,
|
|
154.5
|
|
],
|
|
"quality": {
|
|
"area_px": 250.5,
|
|
"perimeter_px": 72.85183525085449,
|
|
"sharpness": {
|
|
"laplacian_var": 2767.719724716446
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 142.09999999999997,
|
|
"dynamic_range": 129.09999999999997,
|
|
"mean_gray": 71.81521739130434,
|
|
"std_gray": 45.527327996687426
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6914032101631165,
|
|
"distance_to_border_px": 147.0
|
|
},
|
|
"edge_ratio": 1.0846522857079928,
|
|
"edge_lengths_px": [
|
|
17.492855072021484,
|
|
18.027755737304688,
|
|
18.357559204101562,
|
|
18.973665237426758
|
|
]
|
|
},
|
|
"confidence": 0.15396639291733288
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
631.0,
|
|
568.0
|
|
],
|
|
[
|
|
450.0,
|
|
676.0
|
|
],
|
|
[
|
|
394.0,
|
|
662.0
|
|
],
|
|
[
|
|
578.0,
|
|
568.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
513.25,
|
|
618.5
|
|
],
|
|
"area_px": 6782.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
262.0,
|
|
532.0
|
|
],
|
|
[
|
|
263.0,
|
|
546.0
|
|
],
|
|
[
|
|
234.0,
|
|
559.0
|
|
],
|
|
[
|
|
224.0,
|
|
547.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
245.75,
|
|
546.0
|
|
],
|
|
"area_px": 512.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1152.0,
|
|
303.0
|
|
],
|
|
[
|
|
1172.0,
|
|
294.0
|
|
],
|
|
[
|
|
1194.0,
|
|
307.0
|
|
],
|
|
[
|
|
1174.0,
|
|
316.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.0,
|
|
305.0
|
|
],
|
|
"area_px": 458.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
508.0,
|
|
496.0
|
|
],
|
|
[
|
|
481.0,
|
|
511.0
|
|
],
|
|
[
|
|
470.0,
|
|
504.0
|
|
],
|
|
[
|
|
501.0,
|
|
490.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
490.0,
|
|
500.25
|
|
],
|
|
"area_px": 319.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
663.0,
|
|
231.0
|
|
],
|
|
[
|
|
686.0,
|
|
225.0
|
|
],
|
|
[
|
|
699.0,
|
|
235.0
|
|
],
|
|
[
|
|
677.0,
|
|
242.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
681.25,
|
|
233.25
|
|
],
|
|
"area_px": 324.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
965.0,
|
|
181.0
|
|
],
|
|
[
|
|
986.0,
|
|
175.0
|
|
],
|
|
[
|
|
1001.0,
|
|
185.0
|
|
],
|
|
[
|
|
983.0,
|
|
192.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
983.75,
|
|
183.25
|
|
],
|
|
"area_px": 312.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
712.0,
|
|
195.0
|
|
],
|
|
[
|
|
692.0,
|
|
202.0
|
|
],
|
|
[
|
|
678.0,
|
|
192.0
|
|
],
|
|
[
|
|
698.0,
|
|
186.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
695.0,
|
|
193.75
|
|
],
|
|
"area_px": 281.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1020.0,
|
|
158.0
|
|
],
|
|
[
|
|
1037.0,
|
|
152.0
|
|
],
|
|
[
|
|
1054.0,
|
|
161.0
|
|
],
|
|
[
|
|
1037.0,
|
|
168.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1037.0,
|
|
159.75
|
|
],
|
|
"area_px": 272.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
935.0,
|
|
146.0
|
|
],
|
|
[
|
|
953.0,
|
|
140.0
|
|
],
|
|
[
|
|
968.0,
|
|
149.0
|
|
],
|
|
[
|
|
951.0,
|
|
156.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
951.75,
|
|
147.75
|
|
],
|
|
"area_px": 267.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
306.0,
|
|
480.0
|
|
],
|
|
[
|
|
318.0,
|
|
474.0
|
|
],
|
|
[
|
|
328.0,
|
|
485.0
|
|
],
|
|
[
|
|
312.0,
|
|
485.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
316.0,
|
|
481.0
|
|
],
|
|
"area_px": 136.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1009.0,
|
|
294.0
|
|
],
|
|
[
|
|
1014.0,
|
|
292.0
|
|
],
|
|
[
|
|
1031.0,
|
|
303.0
|
|
],
|
|
[
|
|
1024.0,
|
|
305.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1019.5,
|
|
298.5
|
|
],
|
|
"area_px": 98.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
688.0,
|
|
539.0
|
|
],
|
|
[
|
|
677.0,
|
|
543.0
|
|
],
|
|
[
|
|
667.0,
|
|
541.0
|
|
],
|
|
[
|
|
681.0,
|
|
534.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
678.25,
|
|
539.25
|
|
],
|
|
"area_px": 90.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
920.0,
|
|
402.0
|
|
],
|
|
[
|
|
921.0,
|
|
415.0
|
|
],
|
|
[
|
|
918.0,
|
|
419.0
|
|
],
|
|
[
|
|
916.0,
|
|
402.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
918.75,
|
|
409.5
|
|
],
|
|
"area_px": 55.5
|
|
}
|
|
]
|
|
} |