2353 lines
49 KiB
JSON
2353 lines
49 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-05-31T08:21:16Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "g",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\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_g.png",
|
|
"image_sha256": "338a477d85dcc67bddd5cb04a10dbbc096fb5bed49ea1af5d5f9f91479510bc8",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 38,
|
|
"num_rejected_candidates": 10
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "4fe9c897-0f72-4ed9-8a06-f554c33da25e",
|
|
"type": "aruco",
|
|
"marker_id": 243,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
217.0,
|
|
473.0
|
|
],
|
|
[
|
|
194.0,
|
|
449.0
|
|
],
|
|
[
|
|
224.0,
|
|
425.0
|
|
],
|
|
[
|
|
248.0,
|
|
450.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
220.75,
|
|
449.25
|
|
],
|
|
"quality": {
|
|
"area_px": 1299.5,
|
|
"perimeter_px": 144.9162483215332,
|
|
"sharpness": {
|
|
"laplacian_var": 2059.6506781453845
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 174.0,
|
|
"dynamic_range": 159.0,
|
|
"mean_gray": 70.93757094211124,
|
|
"std_gray": 69.52079826970159
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5837439298629761,
|
|
"distance_to_border_px": 194.0
|
|
},
|
|
"edge_ratio": 1.1612133021653488,
|
|
"edge_lengths_px": [
|
|
33.241539001464844,
|
|
38.41874694824219,
|
|
34.65544509887695,
|
|
38.60051727294922
|
|
]
|
|
},
|
|
"confidence": 0.7460587402140983
|
|
},
|
|
{
|
|
"observation_id": "e5cb4b7f-15b7-4db9-b823-461ad8df1ec4",
|
|
"type": "aruco",
|
|
"marker_id": 247,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
189.0,
|
|
400.0
|
|
],
|
|
[
|
|
166.0,
|
|
376.0
|
|
],
|
|
[
|
|
195.0,
|
|
365.0
|
|
],
|
|
[
|
|
218.0,
|
|
389.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
192.0,
|
|
382.5
|
|
],
|
|
"quality": {
|
|
"area_px": 949.0,
|
|
"perimeter_px": 128.51532745361328,
|
|
"sharpness": {
|
|
"laplacian_var": 3938.169818324745
|
|
},
|
|
"contrast": {
|
|
"p05": 20.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 104.21495327102804,
|
|
"std_gray": 72.61038794026528
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6108718514442444,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.0717502362345341,
|
|
"edge_lengths_px": [
|
|
33.241539001464844,
|
|
31.016124725341797,
|
|
33.241539001464844,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.5903116652341175
|
|
},
|
|
{
|
|
"observation_id": "5a8a5328-1d2f-4bcf-b4bc-90b9fc8707a3",
|
|
"type": "aruco",
|
|
"marker_id": 246,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
153.0,
|
|
363.0
|
|
],
|
|
[
|
|
131.0,
|
|
339.0
|
|
],
|
|
[
|
|
160.0,
|
|
330.0
|
|
],
|
|
[
|
|
182.0,
|
|
352.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
156.5,
|
|
346.0
|
|
],
|
|
"quality": {
|
|
"area_px": 887.0,
|
|
"perimeter_px": 125.0509147644043,
|
|
"sharpness": {
|
|
"laplacian_var": 3211.3021565695763
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 73.91722972972973,
|
|
"std_gray": 69.91359223221254
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6587240695953369,
|
|
"distance_to_border_px": 131.0
|
|
},
|
|
"edge_ratio": 1.072228791992421,
|
|
"edge_lengths_px": [
|
|
32.557640075683594,
|
|
30.364452362060547,
|
|
31.11269760131836,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.5514992115017867
|
|
},
|
|
{
|
|
"observation_id": "80d1d66c-d5d9-4cdf-8ff5-9a19ec953b89",
|
|
"type": "aruco",
|
|
"marker_id": 122,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
291.0,
|
|
341.0
|
|
],
|
|
[
|
|
276.0,
|
|
310.0
|
|
],
|
|
[
|
|
301.0,
|
|
300.0
|
|
],
|
|
[
|
|
315.0,
|
|
332.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
295.75,
|
|
320.75
|
|
],
|
|
"quality": {
|
|
"area_px": 909.5,
|
|
"perimeter_px": 121.9246826171875,
|
|
"sharpness": {
|
|
"laplacian_var": 3133.4426148654065
|
|
},
|
|
"contrast": {
|
|
"p05": 61.0,
|
|
"p95": 193.0,
|
|
"dynamic_range": 132.0,
|
|
"mean_gray": 101.01898734177215,
|
|
"std_gray": 55.242242312232264
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4718496799468994,
|
|
"distance_to_border_px": 276.0
|
|
},
|
|
"edge_ratio": 1.3626904557305115,
|
|
"edge_lengths_px": [
|
|
34.438350677490234,
|
|
26.925823211669922,
|
|
34.928497314453125,
|
|
25.63201141357422
|
|
]
|
|
},
|
|
"confidence": 0.4449530931867355
|
|
},
|
|
{
|
|
"observation_id": "70dc62be-6fa3-4c81-a8a9-c6a9f40b6546",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
86.0,
|
|
662.0
|
|
],
|
|
[
|
|
62.0,
|
|
682.0
|
|
],
|
|
[
|
|
45.0,
|
|
662.0
|
|
],
|
|
[
|
|
68.0,
|
|
642.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
65.25,
|
|
662.0
|
|
],
|
|
"quality": {
|
|
"area_px": 820.0,
|
|
"perimeter_px": 114.87655830383301,
|
|
"sharpness": {
|
|
"laplacian_var": 2935.293917405715
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 130.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 62.15664845173042,
|
|
"std_gray": 52.903777798402224
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8841893672943115,
|
|
"distance_to_border_px": 38.0
|
|
},
|
|
"edge_ratio": 1.1901872672565836,
|
|
"edge_lengths_px": [
|
|
31.240999221801758,
|
|
26.248809814453125,
|
|
30.479501724243164,
|
|
26.90724754333496
|
|
]
|
|
},
|
|
"confidence": 0.3490767193505014
|
|
},
|
|
{
|
|
"observation_id": "a69ea2d1-caf4-46ac-af18-51caf50a756c",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
840.0,
|
|
647.0
|
|
],
|
|
[
|
|
821.0,
|
|
667.0
|
|
],
|
|
[
|
|
799.0,
|
|
647.0
|
|
],
|
|
[
|
|
819.0,
|
|
627.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
819.75,
|
|
647.0
|
|
],
|
|
"quality": {
|
|
"area_px": 820.0,
|
|
"perimeter_px": 114.6026382446289,
|
|
"sharpness": {
|
|
"laplacian_var": 3802.883790202471
|
|
},
|
|
"contrast": {
|
|
"p05": 41.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 142.0,
|
|
"mean_gray": 93.93772893772893,
|
|
"std_gray": 61.638938664430626
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.46117648482322693,
|
|
"distance_to_border_px": 53.0
|
|
},
|
|
"edge_ratio": 1.07778911465147,
|
|
"edge_lengths_px": [
|
|
27.58622932434082,
|
|
29.73213768005371,
|
|
28.284271240234375,
|
|
29.0
|
|
]
|
|
},
|
|
"confidence": 0.5072111596185911
|
|
},
|
|
{
|
|
"observation_id": "749b13dc-615f-472e-a2cc-095cf055c7ab",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
123.0,
|
|
581.0
|
|
],
|
|
[
|
|
99.0,
|
|
600.0
|
|
],
|
|
[
|
|
82.0,
|
|
581.0
|
|
],
|
|
[
|
|
105.0,
|
|
562.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
102.25,
|
|
581.0
|
|
],
|
|
"quality": {
|
|
"area_px": 779.0,
|
|
"perimeter_px": 112.11092758178711,
|
|
"sharpness": {
|
|
"laplacian_var": 2042.5335059924248
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 135.0,
|
|
"dynamic_range": 129.0,
|
|
"mean_gray": 44.31954887218045,
|
|
"std_gray": 51.63065907179048
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7917603254318237,
|
|
"distance_to_border_px": 82.0
|
|
},
|
|
"edge_ratio": 1.2006408576968535,
|
|
"edge_lengths_px": [
|
|
30.610456466674805,
|
|
25.495098114013672,
|
|
29.832868576049805,
|
|
26.172504425048828
|
|
]
|
|
},
|
|
"confidence": 0.43254677700170213
|
|
},
|
|
{
|
|
"observation_id": "e429fd7b-9579-411b-aa8c-0f83dd9e1409",
|
|
"type": "aruco",
|
|
"marker_id": 124,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
396.0,
|
|
300.0
|
|
],
|
|
[
|
|
383.0,
|
|
270.0
|
|
],
|
|
[
|
|
405.0,
|
|
262.0
|
|
],
|
|
[
|
|
418.0,
|
|
291.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
400.5,
|
|
280.75
|
|
],
|
|
"quality": {
|
|
"area_px": 759.5,
|
|
"perimeter_px": 111.65518760681152,
|
|
"sharpness": {
|
|
"laplacian_var": 4026.3943132625623
|
|
},
|
|
"contrast": {
|
|
"p05": 55.0,
|
|
"p95": 193.0,
|
|
"dynamic_range": 138.0,
|
|
"mean_gray": 115.37338262476895,
|
|
"std_gray": 61.484900039929656
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3435523509979248,
|
|
"distance_to_border_px": 262.0
|
|
},
|
|
"edge_ratio": 1.3966853324383801,
|
|
"edge_lengths_px": [
|
|
32.69556427001953,
|
|
23.409399032592773,
|
|
31.78049659729004,
|
|
23.76972770690918
|
|
]
|
|
},
|
|
"confidence": 0.36252498796515575
|
|
},
|
|
{
|
|
"observation_id": "ca06212d-c408-4df1-8d5f-ebaedaafb7e8",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
72.0,
|
|
559.0
|
|
],
|
|
[
|
|
49.0,
|
|
578.0
|
|
],
|
|
[
|
|
32.0,
|
|
559.0
|
|
],
|
|
[
|
|
55.0,
|
|
540.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
52.0,
|
|
559.0
|
|
],
|
|
"quality": {
|
|
"area_px": 760.0,
|
|
"perimeter_px": 110.65593338012695,
|
|
"sharpness": {
|
|
"laplacian_var": 2844.89490643903
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 137.0,
|
|
"dynamic_range": 130.0,
|
|
"mean_gray": 74.52255639097744,
|
|
"std_gray": 56.11221184623625
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8453760743141174,
|
|
"distance_to_border_px": 32.0
|
|
},
|
|
"edge_ratio": 1.170141351982161,
|
|
"edge_lengths_px": [
|
|
29.832868576049805,
|
|
25.495098114013672,
|
|
29.832868576049805,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.27711751756945874
|
|
},
|
|
{
|
|
"observation_id": "5896905d-4691-44bd-a3ce-e907ba8960a7",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
801.0,
|
|
564.0
|
|
],
|
|
[
|
|
782.0,
|
|
583.0
|
|
],
|
|
[
|
|
761.0,
|
|
564.0
|
|
],
|
|
[
|
|
780.0,
|
|
545.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
781.0,
|
|
564.0
|
|
],
|
|
"quality": {
|
|
"area_px": 760.0,
|
|
"perimeter_px": 110.37932586669922,
|
|
"sharpness": {
|
|
"laplacian_var": 4214.154503381986
|
|
},
|
|
"contrast": {
|
|
"p05": 38.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 144.0,
|
|
"mean_gray": 90.56792452830189,
|
|
"std_gray": 62.293463340367424
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33771631121635437,
|
|
"distance_to_border_px": 137.0
|
|
},
|
|
"edge_ratio": 1.053946545658541,
|
|
"edge_lengths_px": [
|
|
26.870058059692383,
|
|
28.319604873657227,
|
|
26.870058059692383,
|
|
28.319604873657227
|
|
]
|
|
},
|
|
"confidence": 0.48073279309443956
|
|
},
|
|
{
|
|
"observation_id": "811a8c6f-5f41-4983-af75-a010a5357641",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
889.0,
|
|
547.0
|
|
],
|
|
[
|
|
871.0,
|
|
566.0
|
|
],
|
|
[
|
|
849.0,
|
|
548.0
|
|
],
|
|
[
|
|
867.0,
|
|
529.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
869.0,
|
|
547.5
|
|
],
|
|
"quality": {
|
|
"area_px": 742.0,
|
|
"perimeter_px": 109.1956901550293,
|
|
"sharpness": {
|
|
"laplacian_var": 4078.6228070506177
|
|
},
|
|
"contrast": {
|
|
"p05": 44.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 96.52815533980582,
|
|
"std_gray": 60.4606321686128
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.40306055545806885,
|
|
"distance_to_border_px": 154.0
|
|
},
|
|
"edge_ratio": 1.0860764484296306,
|
|
"edge_lengths_px": [
|
|
26.172504425048828,
|
|
28.42534065246582,
|
|
26.172504425048828,
|
|
28.42534065246582
|
|
]
|
|
},
|
|
"confidence": 0.45546210617301425
|
|
},
|
|
{
|
|
"observation_id": "cee68598-3fd8-4bef-864a-5e13793c1c23",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
728.0,
|
|
543.0
|
|
],
|
|
[
|
|
709.0,
|
|
562.0
|
|
],
|
|
[
|
|
688.0,
|
|
544.0
|
|
],
|
|
[
|
|
708.0,
|
|
525.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
708.25,
|
|
543.5
|
|
],
|
|
"quality": {
|
|
"area_px": 740.5,
|
|
"perimeter_px": 109.02216911315918,
|
|
"sharpness": {
|
|
"laplacian_var": 3805.031025690716
|
|
},
|
|
"contrast": {
|
|
"p05": 33.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 121.37426900584795,
|
|
"std_gray": 65.14323908990492
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2666221559047699,
|
|
"distance_to_border_px": 158.0
|
|
},
|
|
"edge_ratio": 1.0293477641301256,
|
|
"edge_lengths_px": [
|
|
26.870058059692383,
|
|
27.658634185791016,
|
|
27.58622932434082,
|
|
26.90724754333496
|
|
]
|
|
},
|
|
"confidence": 0.4795917219326271
|
|
},
|
|
{
|
|
"observation_id": "81b84eca-b0fc-4075-b3bc-fb56ecba370e",
|
|
"type": "aruco",
|
|
"marker_id": 51,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
663.0,
|
|
507.0
|
|
],
|
|
[
|
|
643.0,
|
|
526.0
|
|
],
|
|
[
|
|
623.0,
|
|
507.0
|
|
],
|
|
[
|
|
644.0,
|
|
489.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
643.25,
|
|
507.25
|
|
],
|
|
"quality": {
|
|
"area_px": 740.0,
|
|
"perimeter_px": 109.00359725952148,
|
|
"sharpness": {
|
|
"laplacian_var": 4068.301502076613
|
|
},
|
|
"contrast": {
|
|
"p05": 28.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 83.06432748538012,
|
|
"std_gray": 64.65579695818629
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.20057930052280426,
|
|
"distance_to_border_px": 194.0
|
|
},
|
|
"edge_ratio": 1.056782099894111,
|
|
"edge_lengths_px": [
|
|
27.58622932434082,
|
|
27.58622932434082,
|
|
27.658634185791016,
|
|
26.172504425048828
|
|
]
|
|
},
|
|
"confidence": 0.4668259742313624
|
|
},
|
|
{
|
|
"observation_id": "de8cd73d-3cf0-4a93-bb69-df03b22e4952",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
104.0,
|
|
515.0
|
|
],
|
|
[
|
|
81.0,
|
|
533.0
|
|
],
|
|
[
|
|
65.0,
|
|
515.0
|
|
],
|
|
[
|
|
87.0,
|
|
496.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
84.25,
|
|
514.75
|
|
],
|
|
"quality": {
|
|
"area_px": 721.5,
|
|
"perimeter_px": 107.85333442687988,
|
|
"sharpness": {
|
|
"laplacian_var": 2408.8424776474435
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 142.0,
|
|
"dynamic_range": 135.0,
|
|
"mean_gray": 41.96491228070175,
|
|
"std_gray": 51.652070536274856
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7856342196464539,
|
|
"distance_to_border_px": 65.0
|
|
},
|
|
"edge_ratio": 1.2127199347849176,
|
|
"edge_lengths_px": [
|
|
29.20616340637207,
|
|
24.083189010620117,
|
|
29.068883895874023,
|
|
25.495098114013672
|
|
]
|
|
},
|
|
"confidence": 0.39662908657084783
|
|
},
|
|
{
|
|
"observation_id": "5a74b66a-157e-42c6-93d6-6bcc27969a51",
|
|
"type": "aruco",
|
|
"marker_id": 215,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
503.0,
|
|
514.0
|
|
],
|
|
[
|
|
485.0,
|
|
495.0
|
|
],
|
|
[
|
|
506.0,
|
|
477.0
|
|
],
|
|
[
|
|
524.0,
|
|
496.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
504.5,
|
|
495.5
|
|
],
|
|
"quality": {
|
|
"area_px": 723.0,
|
|
"perimeter_px": 107.66227722167969,
|
|
"sharpness": {
|
|
"laplacian_var": 3501.83960876851
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 86.31384015594541,
|
|
"std_gray": 68.77576740916156
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2609632611274719,
|
|
"distance_to_border_px": 206.0
|
|
},
|
|
"edge_ratio": 1.056782099894111,
|
|
"edge_lengths_px": [
|
|
26.172504425048828,
|
|
27.658634185791016,
|
|
26.172504425048828,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.4561015937422635
|
|
},
|
|
{
|
|
"observation_id": "3df74bbc-66e1-4221-b673-47f7c82df41d",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
61.0,
|
|
498.0
|
|
],
|
|
[
|
|
38.0,
|
|
516.0
|
|
],
|
|
[
|
|
22.0,
|
|
498.0
|
|
],
|
|
[
|
|
45.0,
|
|
480.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
41.5,
|
|
498.0
|
|
],
|
|
"quality": {
|
|
"area_px": 702.0,
|
|
"perimeter_px": 106.57870483398438,
|
|
"sharpness": {
|
|
"laplacian_var": 3386.5467849526713
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 146.09999999999997,
|
|
"dynamic_range": 138.09999999999997,
|
|
"mean_gray": 76.37675350701403,
|
|
"std_gray": 59.820794005699284
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8364452719688416,
|
|
"distance_to_border_px": 22.0
|
|
},
|
|
"edge_ratio": 1.2127199347849176,
|
|
"edge_lengths_px": [
|
|
29.20616340637207,
|
|
24.083189010620117,
|
|
29.20616340637207,
|
|
24.083189010620117
|
|
]
|
|
},
|
|
"confidence": 0.1698001278724927
|
|
},
|
|
{
|
|
"observation_id": "b47310cf-ceb2-4aaa-9d5d-f9d546b7f955",
|
|
"type": "aruco",
|
|
"marker_id": 68,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
49.0,
|
|
458.0
|
|
],
|
|
[
|
|
26.0,
|
|
476.0
|
|
],
|
|
[
|
|
10.0,
|
|
458.0
|
|
],
|
|
[
|
|
32.0,
|
|
440.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
29.25,
|
|
458.0
|
|
],
|
|
"quality": {
|
|
"area_px": 702.0,
|
|
"perimeter_px": 106.47352981567383,
|
|
"sharpness": {
|
|
"laplacian_var": 3078.0648640332943
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 146.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 55.88933601609658,
|
|
"std_gray": 57.114360083328776
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8423811793327332,
|
|
"distance_to_border_px": 10.0
|
|
},
|
|
"edge_ratio": 1.2127199347849176,
|
|
"edge_lengths_px": [
|
|
29.20616340637207,
|
|
24.083189010620117,
|
|
28.42534065246582,
|
|
24.75883674621582
|
|
]
|
|
},
|
|
"confidence": 0.07718187630567852
|
|
},
|
|
{
|
|
"observation_id": "760c36b2-e124-4f30-a7e1-62647eb2cf26",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
423.0,
|
|
436.0
|
|
],
|
|
[
|
|
405.0,
|
|
417.0
|
|
],
|
|
[
|
|
426.0,
|
|
400.0
|
|
],
|
|
[
|
|
444.0,
|
|
418.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
424.5,
|
|
417.75
|
|
],
|
|
"quality": {
|
|
"area_px": 703.5,
|
|
"perimeter_px": 106.30549621582031,
|
|
"sharpness": {
|
|
"laplacian_var": 3718.766854649021
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 71.81287726358148,
|
|
"std_gray": 66.0538405718911
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3038310110569,
|
|
"distance_to_border_px": 284.0
|
|
},
|
|
"edge_ratio": 1.0865337338869794,
|
|
"edge_lengths_px": [
|
|
26.172504425048828,
|
|
27.018512725830078,
|
|
25.45584487915039,
|
|
27.658634185791016
|
|
]
|
|
},
|
|
"confidence": 0.4316478958478293
|
|
},
|
|
{
|
|
"observation_id": "0dd3cb1e-4e09-4dbb-b8ee-5bc9da27d73a",
|
|
"type": "aruco",
|
|
"marker_id": 115,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
358.0,
|
|
348.0
|
|
],
|
|
[
|
|
362.0,
|
|
320.0
|
|
],
|
|
[
|
|
385.0,
|
|
311.0
|
|
],
|
|
[
|
|
381.0,
|
|
338.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
371.5,
|
|
329.25
|
|
],
|
|
"quality": {
|
|
"area_px": 594.5,
|
|
"perimeter_px": 105.35700798034668,
|
|
"sharpness": {
|
|
"laplacian_var": 2914.65317582111
|
|
},
|
|
"contrast": {
|
|
"p05": 29.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 61.035714285714285,
|
|
"std_gray": 53.62242810539605
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36804333329200745,
|
|
"distance_to_border_px": 311.0
|
|
},
|
|
"edge_ratio": 1.1451967023138079,
|
|
"edge_lengths_px": [
|
|
28.284271240234375,
|
|
24.698177337646484,
|
|
27.294687271118164,
|
|
25.079872131347656
|
|
]
|
|
},
|
|
"confidence": 0.34608319473201704
|
|
},
|
|
{
|
|
"observation_id": "e75c5ba0-8988-4ee9-abf3-4de81afc4cf0",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
534.0,
|
|
407.0
|
|
],
|
|
[
|
|
514.0,
|
|
424.0
|
|
],
|
|
[
|
|
496.0,
|
|
407.0
|
|
],
|
|
[
|
|
516.0,
|
|
389.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
515.0,
|
|
406.75
|
|
],
|
|
"quality": {
|
|
"area_px": 665.0,
|
|
"perimeter_px": 103.3707389831543,
|
|
"sharpness": {
|
|
"laplacian_var": 5339.576267752215
|
|
},
|
|
"contrast": {
|
|
"p05": 21.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 102.51716738197425,
|
|
"std_gray": 67.13234578952044
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18174560368061066,
|
|
"distance_to_border_px": 296.0
|
|
},
|
|
"edge_ratio": 1.0867734950208234,
|
|
"edge_lengths_px": [
|
|
26.248809814453125,
|
|
24.75883674621582,
|
|
26.90724754333496,
|
|
25.45584487915039
|
|
]
|
|
},
|
|
"confidence": 0.40793535669071385
|
|
},
|
|
{
|
|
"observation_id": "2b5f838b-d458-4e89-865d-a1a722955e1c",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
730.0,
|
|
415.0
|
|
],
|
|
[
|
|
711.0,
|
|
433.0
|
|
],
|
|
[
|
|
692.0,
|
|
415.0
|
|
],
|
|
[
|
|
710.0,
|
|
398.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
710.75,
|
|
415.25
|
|
],
|
|
"quality": {
|
|
"area_px": 665.0,
|
|
"perimeter_px": 103.3526554107666,
|
|
"sharpness": {
|
|
"laplacian_var": 3868.6829753816933
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 92.6431623931624,
|
|
"std_gray": 66.38941399691649
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1222480833530426,
|
|
"distance_to_border_px": 287.0
|
|
},
|
|
"edge_ratio": 1.0601794455656337,
|
|
"edge_lengths_px": [
|
|
26.172504425048828,
|
|
26.172504425048828,
|
|
24.75883674621582,
|
|
26.248809814453125
|
|
]
|
|
},
|
|
"confidence": 0.4181682027393045
|
|
},
|
|
{
|
|
"observation_id": "b4844ee9-6c7f-4fd7-a7c8-c1e2e361d9d0",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
641.0,
|
|
352.0
|
|
],
|
|
[
|
|
623.0,
|
|
369.0
|
|
],
|
|
[
|
|
604.0,
|
|
351.0
|
|
],
|
|
[
|
|
623.0,
|
|
335.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
622.75,
|
|
351.75
|
|
],
|
|
"quality": {
|
|
"area_px": 629.0,
|
|
"perimeter_px": 100.5296630859375,
|
|
"sharpness": {
|
|
"laplacian_var": 4389.915474286676
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 89.67660550458716,
|
|
"std_gray": 67.20496857615096
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.026040121912956238,
|
|
"distance_to_border_px": 335.0
|
|
},
|
|
"edge_ratio": 1.057097499907748,
|
|
"edge_lengths_px": [
|
|
24.75883674621582,
|
|
26.172504425048828,
|
|
24.83948516845703,
|
|
24.75883674621582
|
|
]
|
|
},
|
|
"confidence": 0.39668368657567366
|
|
},
|
|
{
|
|
"observation_id": "f9d98aee-a33b-4ec2-a927-54893f8d8977",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
512.0,
|
|
345.0
|
|
],
|
|
[
|
|
493.0,
|
|
362.0
|
|
],
|
|
[
|
|
475.0,
|
|
344.0
|
|
],
|
|
[
|
|
496.0,
|
|
329.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
494.0,
|
|
345.0
|
|
],
|
|
"quality": {
|
|
"area_px": 612.0,
|
|
"perimeter_px": 99.38533592224121,
|
|
"sharpness": {
|
|
"laplacian_var": 3642.2904977426383
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 93.64454976303317,
|
|
"std_gray": 69.49187075210072
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19987477362155914,
|
|
"distance_to_border_px": 329.0
|
|
},
|
|
"edge_ratio": 1.1405180168086693,
|
|
"edge_lengths_px": [
|
|
25.495098114013672,
|
|
25.45584487915039,
|
|
25.806976318359375,
|
|
22.627416610717773
|
|
]
|
|
},
|
|
"confidence": 0.3577321830843512
|
|
},
|
|
{
|
|
"observation_id": "084e2a6b-0a51-4725-9e1c-4f4654a03566",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
780.0,
|
|
332.0
|
|
],
|
|
[
|
|
763.0,
|
|
349.0
|
|
],
|
|
[
|
|
743.0,
|
|
333.0
|
|
],
|
|
[
|
|
760.0,
|
|
316.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
761.5,
|
|
332.5
|
|
],
|
|
"quality": {
|
|
"area_px": 612.0,
|
|
"perimeter_px": 99.30825424194336,
|
|
"sharpness": {
|
|
"laplacian_var": 3975.95976100338
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 181.0,
|
|
"dynamic_range": 151.0,
|
|
"mean_gray": 80.44655581947744,
|
|
"std_gray": 63.52686692006138
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16964846849441528,
|
|
"distance_to_border_px": 316.0
|
|
},
|
|
"edge_ratio": 1.0653394779010876,
|
|
"edge_lengths_px": [
|
|
24.041629791259766,
|
|
25.612497329711914,
|
|
24.041629791259766,
|
|
25.612497329711914
|
|
]
|
|
},
|
|
"confidence": 0.3829765144945479
|
|
},
|
|
{
|
|
"observation_id": "255faa60-7211-41b5-a2e9-cd14315fb057",
|
|
"type": "aruco",
|
|
"marker_id": 217,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
199.0,
|
|
218.0
|
|
],
|
|
[
|
|
183.0,
|
|
202.0
|
|
],
|
|
[
|
|
204.0,
|
|
186.0
|
|
],
|
|
[
|
|
220.0,
|
|
202.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
201.5,
|
|
202.0
|
|
],
|
|
"quality": {
|
|
"area_px": 592.0,
|
|
"perimeter_px": 98.05634689331055,
|
|
"sharpness": {
|
|
"laplacian_var": 3649.878837147225
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 70.39901477832512,
|
|
"std_gray": 63.65271693662081
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6347478032112122,
|
|
"distance_to_border_px": 183.0
|
|
},
|
|
"edge_ratio": 1.1667596566650227,
|
|
"edge_lengths_px": [
|
|
22.627416610717773,
|
|
26.4007568359375,
|
|
22.627416610717773,
|
|
26.4007568359375
|
|
]
|
|
},
|
|
"confidence": 0.3382587531306593
|
|
},
|
|
{
|
|
"observation_id": "668da36f-a13f-40cb-b9bb-545cc52074ac",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
701.0,
|
|
268.0
|
|
],
|
|
[
|
|
683.0,
|
|
285.0
|
|
],
|
|
[
|
|
665.0,
|
|
269.0
|
|
],
|
|
[
|
|
682.0,
|
|
253.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
682.75,
|
|
268.75
|
|
],
|
|
"quality": {
|
|
"area_px": 576.5,
|
|
"perimeter_px": 96.39469909667969,
|
|
"sharpness": {
|
|
"laplacian_var": 3807.774573094544
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 108.1811224489796,
|
|
"std_gray": 67.16428496046328
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13722912967205048,
|
|
"distance_to_border_px": 253.0
|
|
},
|
|
"edge_ratio": 1.0605520086518976,
|
|
"edge_lengths_px": [
|
|
24.75883674621582,
|
|
24.083189010620117,
|
|
23.34523582458496,
|
|
24.20743751525879
|
|
]
|
|
},
|
|
"confidence": 0.3623898971459892
|
|
},
|
|
{
|
|
"observation_id": "5afbce54-d68b-49b0-b40b-e6465bc2ef80",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
648.0,
|
|
262.0
|
|
],
|
|
[
|
|
631.0,
|
|
278.0
|
|
],
|
|
[
|
|
612.0,
|
|
263.0
|
|
],
|
|
[
|
|
630.0,
|
|
247.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
630.25,
|
|
262.5
|
|
],
|
|
"quality": {
|
|
"area_px": 558.5,
|
|
"perimeter_px": 95.06661224365234,
|
|
"sharpness": {
|
|
"laplacian_var": 3963.855855099241
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 59.804232804232804,
|
|
"std_gray": 58.9601585780066
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.13344134390354156,
|
|
"distance_to_border_px": 247.0
|
|
},
|
|
"edge_ratio": 1.0369326614283263,
|
|
"edge_lengths_px": [
|
|
23.34523582458496,
|
|
24.20743751525879,
|
|
24.083189010620117,
|
|
23.430749893188477
|
|
]
|
|
},
|
|
"confidence": 0.3590718541167963
|
|
},
|
|
{
|
|
"observation_id": "7ed4ec9f-51b5-40ae-a067-ab36a05bf225",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
494.0,
|
|
328.0
|
|
],
|
|
[
|
|
471.0,
|
|
326.0
|
|
],
|
|
[
|
|
460.0,
|
|
304.0
|
|
],
|
|
[
|
|
482.0,
|
|
307.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
476.75,
|
|
316.25
|
|
],
|
|
"quality": {
|
|
"area_px": 455.0,
|
|
"perimeter_px": 94.07391738891602,
|
|
"sharpness": {
|
|
"laplacian_var": 5922.921351066918
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 190.0,
|
|
"dynamic_range": 165.0,
|
|
"mean_gray": 90.87349397590361,
|
|
"std_gray": 69.25887109346738
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.230165034532547,
|
|
"distance_to_border_px": 304.0
|
|
},
|
|
"edge_ratio": 1.1077818103350006,
|
|
"edge_lengths_px": [
|
|
23.0867919921875,
|
|
24.59674835205078,
|
|
22.203603744506836,
|
|
24.1867733001709
|
|
]
|
|
},
|
|
"confidence": 0.2738204676258435
|
|
},
|
|
{
|
|
"observation_id": "53816cbb-9b88-4619-9c40-f09dd844b152",
|
|
"type": "aruco",
|
|
"marker_id": 205,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
130.0,
|
|
150.0
|
|
],
|
|
[
|
|
115.0,
|
|
135.0
|
|
],
|
|
[
|
|
136.0,
|
|
120.0
|
|
],
|
|
[
|
|
151.0,
|
|
135.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
133.0,
|
|
135.0
|
|
],
|
|
"quality": {
|
|
"area_px": 540.0,
|
|
"perimeter_px": 94.04035949707031,
|
|
"sharpness": {
|
|
"laplacian_var": 3595.469107807732
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 78.20899470899471,
|
|
"std_gray": 62.84836225926599
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7553886771202087,
|
|
"distance_to_border_px": 115.0
|
|
},
|
|
"edge_ratio": 1.216552530753038,
|
|
"edge_lengths_px": [
|
|
21.21320343017578,
|
|
25.806976318359375,
|
|
21.21320343017578,
|
|
25.806976318359375
|
|
]
|
|
},
|
|
"confidence": 0.29591817114314195
|
|
},
|
|
{
|
|
"observation_id": "a9ecaed3-6bca-4ad7-9412-80419abc1f8a",
|
|
"type": "aruco",
|
|
"marker_id": 92,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
309.0,
|
|
157.0
|
|
],
|
|
[
|
|
289.0,
|
|
172.0
|
|
],
|
|
[
|
|
273.0,
|
|
157.0
|
|
],
|
|
[
|
|
293.0,
|
|
142.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
291.0,
|
|
157.0
|
|
],
|
|
"quality": {
|
|
"area_px": 540.0,
|
|
"perimeter_px": 93.8634262084961,
|
|
"sharpness": {
|
|
"laplacian_var": 3404.0195403264183
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.14999999999998,
|
|
"dynamic_range": 156.14999999999998,
|
|
"mean_gray": 63.54761904761905,
|
|
"std_gray": 63.56685525431991
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5498347282409668,
|
|
"distance_to_border_px": 142.0
|
|
},
|
|
"edge_ratio": 1.1399018344425471,
|
|
"edge_lengths_px": [
|
|
25.0,
|
|
21.931713104248047,
|
|
25.0,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.3158166687011719
|
|
},
|
|
{
|
|
"observation_id": "7206b372-c278-4f9c-ba5f-0fb5a1d25196",
|
|
"type": "aruco",
|
|
"marker_id": 105,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
460.0,
|
|
183.0
|
|
],
|
|
[
|
|
441.0,
|
|
198.0
|
|
],
|
|
[
|
|
425.0,
|
|
182.0
|
|
],
|
|
[
|
|
444.0,
|
|
168.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
442.5,
|
|
182.75
|
|
],
|
|
"quality": {
|
|
"area_px": 526.5,
|
|
"perimeter_px": 92.3674144744873,
|
|
"sharpness": {
|
|
"laplacian_var": 2486.5767986489027
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 43.78630136986301,
|
|
"std_gray": 52.558886257951656
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36139723658561707,
|
|
"distance_to_border_px": 168.0
|
|
},
|
|
"edge_ratio": 1.1037640972318732,
|
|
"edge_lengths_px": [
|
|
24.20743751525879,
|
|
22.627416610717773,
|
|
23.600847244262695,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.31800273344664126
|
|
},
|
|
{
|
|
"observation_id": "803f0004-a415-4131-b75c-397c3372bf5f",
|
|
"type": "aruco",
|
|
"marker_id": 85,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
511.0,
|
|
166.0
|
|
],
|
|
[
|
|
493.0,
|
|
181.0
|
|
],
|
|
[
|
|
476.0,
|
|
166.0
|
|
],
|
|
[
|
|
496.0,
|
|
151.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
494.0,
|
|
166.0
|
|
],
|
|
"quality": {
|
|
"area_px": 525.0,
|
|
"perimeter_px": 92.31552124023438,
|
|
"sharpness": {
|
|
"laplacian_var": 4208.821346447191
|
|
},
|
|
"contrast": {
|
|
"p05": 16.0,
|
|
"p95": 173.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 125.23691460055096,
|
|
"std_gray": 59.01957524971371
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33065441250801086,
|
|
"distance_to_border_px": 151.0
|
|
},
|
|
"edge_ratio": 1.1785113022787261,
|
|
"edge_lengths_px": [
|
|
23.430749893188477,
|
|
22.671567916870117,
|
|
25.0,
|
|
21.21320343017578
|
|
]
|
|
},
|
|
"confidence": 0.2969848480224609
|
|
},
|
|
{
|
|
"observation_id": "8e3b2080-b4d7-4c1a-8bd8-62a3d70c9a0a",
|
|
"type": "aruco",
|
|
"marker_id": 102,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
336.0,
|
|
130.0
|
|
],
|
|
[
|
|
317.0,
|
|
145.0
|
|
],
|
|
[
|
|
301.0,
|
|
130.0
|
|
],
|
|
[
|
|
320.0,
|
|
115.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
318.5,
|
|
130.0
|
|
],
|
|
"quality": {
|
|
"area_px": 525.0,
|
|
"perimeter_px": 92.27830123901367,
|
|
"sharpness": {
|
|
"laplacian_var": 4066.0537136423345
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 102.85753424657534,
|
|
"std_gray": 63.5566534413179
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5383343696594238,
|
|
"distance_to_border_px": 115.0
|
|
},
|
|
"edge_ratio": 1.1037640972318732,
|
|
"edge_lengths_px": [
|
|
24.20743751525879,
|
|
21.931713104248047,
|
|
24.20743751525879,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.3170967427530611
|
|
},
|
|
{
|
|
"observation_id": "e17eee5c-f43e-4c24-8f05-91b066e9c678",
|
|
"type": "aruco",
|
|
"marker_id": 59,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
397.0,
|
|
109.0
|
|
],
|
|
[
|
|
379.0,
|
|
124.0
|
|
],
|
|
[
|
|
362.0,
|
|
109.0
|
|
],
|
|
[
|
|
381.0,
|
|
94.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
379.75,
|
|
109.0
|
|
],
|
|
"quality": {
|
|
"area_px": 525.0,
|
|
"perimeter_px": 92.24146842956543,
|
|
"sharpness": {
|
|
"laplacian_var": 3288.138487521111
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 99.72054794520548,
|
|
"std_gray": 66.83025924223763
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.49239593744277954,
|
|
"distance_to_border_px": 94.0
|
|
},
|
|
"edge_ratio": 1.1037640972318732,
|
|
"edge_lengths_px": [
|
|
23.430749893188477,
|
|
22.671567916870117,
|
|
24.20743751525879,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.3170967427530611
|
|
},
|
|
{
|
|
"observation_id": "6483bd61-d1a9-4317-9e3a-6d9841b82c9b",
|
|
"type": "aruco",
|
|
"marker_id": 48,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
387.0,
|
|
44.0
|
|
],
|
|
[
|
|
368.0,
|
|
59.0
|
|
],
|
|
[
|
|
352.0,
|
|
44.0
|
|
],
|
|
[
|
|
371.0,
|
|
30.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
369.5,
|
|
44.25
|
|
],
|
|
"quality": {
|
|
"area_px": 507.5,
|
|
"perimeter_px": 91.00028991699219,
|
|
"sharpness": {
|
|
"laplacian_var": 3199.9650666166262
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 62.14794520547945,
|
|
"std_gray": 61.99133856775198
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5662168264389038,
|
|
"distance_to_border_px": 30.0
|
|
},
|
|
"edge_ratio": 1.1386220591259189,
|
|
"edge_lengths_px": [
|
|
24.20743751525879,
|
|
21.931713104248047,
|
|
23.600847244262695,
|
|
21.260292053222656
|
|
]
|
|
},
|
|
"confidence": 0.17828567290874034
|
|
},
|
|
{
|
|
"observation_id": "05ddf5d6-1889-4604-a5c4-1e7960adb5b5",
|
|
"type": "aruco",
|
|
"marker_id": 57,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
480.0,
|
|
71.0
|
|
],
|
|
[
|
|
462.0,
|
|
85.0
|
|
],
|
|
[
|
|
446.0,
|
|
70.0
|
|
],
|
|
[
|
|
464.0,
|
|
56.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
463.0,
|
|
70.5
|
|
],
|
|
"quality": {
|
|
"area_px": 494.0,
|
|
"perimeter_px": 89.47044372558594,
|
|
"sharpness": {
|
|
"laplacian_var": 4679.898986311983
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 84.4659090909091,
|
|
"std_gray": 65.0342914552211
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4621008336544037,
|
|
"distance_to_border_px": 56.0
|
|
},
|
|
"edge_ratio": 1.0397504586236819,
|
|
"edge_lengths_px": [
|
|
22.803508758544922,
|
|
21.931713104248047,
|
|
22.803508758544922,
|
|
21.931713104248047
|
|
]
|
|
},
|
|
"confidence": 0.3167426670523156
|
|
},
|
|
{
|
|
"observation_id": "9a9b9c50-c029-42fb-82c8-fe72f30f5dc2",
|
|
"type": "aruco",
|
|
"marker_id": 63,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
260.0,
|
|
42.0
|
|
],
|
|
[
|
|
241.0,
|
|
56.0
|
|
],
|
|
[
|
|
226.0,
|
|
42.0
|
|
],
|
|
[
|
|
245.0,
|
|
28.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
243.0,
|
|
42.0
|
|
],
|
|
"quality": {
|
|
"area_px": 476.0,
|
|
"perimeter_px": 88.23826217651367,
|
|
"sharpness": {
|
|
"laplacian_var": 3117.856876509926
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 54.18639053254438,
|
|
"std_gray": 59.916886650648465
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6927092671394348,
|
|
"distance_to_border_px": 28.0
|
|
},
|
|
"edge_ratio": 1.1502349525772275,
|
|
"edge_lengths_px": [
|
|
23.600847244262695,
|
|
20.51828384399414,
|
|
23.600847244262695,
|
|
20.51828384399414
|
|
]
|
|
},
|
|
"confidence": 0.15449597168691093
|
|
},
|
|
{
|
|
"observation_id": "a2cb5bb9-b055-40ee-afb8-79a8e5e14ecc",
|
|
"type": "aruco",
|
|
"marker_id": 71,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
316.0,
|
|
30.0
|
|
],
|
|
[
|
|
297.0,
|
|
43.0
|
|
],
|
|
[
|
|
282.0,
|
|
29.0
|
|
],
|
|
[
|
|
302.0,
|
|
16.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
299.25,
|
|
29.5
|
|
],
|
|
"quality": {
|
|
"area_px": 461.5,
|
|
"perimeter_px": 87.19272422790527,
|
|
"sharpness": {
|
|
"laplacian_var": 4511.57120675202
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 102.75,
|
|
"std_gray": 63.562129370588714
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.646465003490448,
|
|
"distance_to_border_px": 16.0
|
|
},
|
|
"edge_ratio": 1.2047948566010105,
|
|
"edge_lengths_px": [
|
|
23.021728515625,
|
|
20.51828384399414,
|
|
23.853721618652344,
|
|
19.79899024963379
|
|
]
|
|
},
|
|
"confidence": 0.08171792300897739
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
259.0,
|
|
544.0
|
|
],
|
|
[
|
|
280.0,
|
|
597.0
|
|
],
|
|
[
|
|
270.0,
|
|
607.0
|
|
],
|
|
[
|
|
254.0,
|
|
571.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
265.75,
|
|
579.75
|
|
],
|
|
"area_px": 676.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
255.0,
|
|
416.0
|
|
],
|
|
[
|
|
283.0,
|
|
443.0
|
|
],
|
|
[
|
|
287.0,
|
|
462.0
|
|
],
|
|
[
|
|
260.0,
|
|
435.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
271.25,
|
|
439.0
|
|
],
|
|
"area_px": 401.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
595.0,
|
|
276.0
|
|
],
|
|
[
|
|
612.0,
|
|
293.0
|
|
],
|
|
[
|
|
594.0,
|
|
308.0
|
|
],
|
|
[
|
|
576.0,
|
|
292.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
594.25,
|
|
292.25
|
|
],
|
|
"area_px": 576.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
195.0,
|
|
540.0
|
|
],
|
|
[
|
|
217.0,
|
|
562.0
|
|
],
|
|
[
|
|
223.0,
|
|
575.0
|
|
],
|
|
[
|
|
201.0,
|
|
552.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
209.0,
|
|
557.25
|
|
],
|
|
"area_px": 140.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
304.0,
|
|
386.0
|
|
],
|
|
[
|
|
274.0,
|
|
391.0
|
|
],
|
|
[
|
|
296.0,
|
|
379.0
|
|
],
|
|
[
|
|
300.0,
|
|
379.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
293.5,
|
|
383.75
|
|
],
|
|
"area_px": 139.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
323.0,
|
|
361.0
|
|
],
|
|
[
|
|
318.0,
|
|
368.0
|
|
],
|
|
[
|
|
304.0,
|
|
373.0
|
|
],
|
|
[
|
|
294.0,
|
|
373.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
309.75,
|
|
368.75
|
|
],
|
|
"area_px": 96.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
463.0,
|
|
260.0
|
|
],
|
|
[
|
|
480.0,
|
|
264.0
|
|
],
|
|
[
|
|
489.0,
|
|
269.0
|
|
],
|
|
[
|
|
464.0,
|
|
266.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
474.0,
|
|
264.75
|
|
],
|
|
"area_px": 98.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
438.0,
|
|
514.0
|
|
],
|
|
[
|
|
454.0,
|
|
520.0
|
|
],
|
|
[
|
|
460.0,
|
|
527.0
|
|
],
|
|
[
|
|
456.0,
|
|
532.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
452.0,
|
|
523.25
|
|
],
|
|
"area_px": 119.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
183.0,
|
|
592.0
|
|
],
|
|
[
|
|
187.0,
|
|
593.0
|
|
],
|
|
[
|
|
195.0,
|
|
600.0
|
|
],
|
|
[
|
|
201.0,
|
|
609.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
191.5,
|
|
598.5
|
|
],
|
|
"area_px": 40.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
469.0,
|
|
334.0
|
|
],
|
|
[
|
|
458.0,
|
|
344.0
|
|
],
|
|
[
|
|
451.0,
|
|
340.0
|
|
],
|
|
[
|
|
451.0,
|
|
336.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
457.25,
|
|
338.5
|
|
],
|
|
"area_px": 93.0
|
|
}
|
|
]
|
|
} |