Files
appRobotRender/data/evaluations/Scene6/render_g_aruco_detection.json
2026-06-02 06:24:08 +02:00

1958 lines
42 KiB
JSON

{
"schema_version": "1.0",
"created_utc": "2026-06-02T04:19:03Z",
"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\\Scene6\\render_a.npz",
"camera_matrix": [
[
1777.77783203125,
0.0,
640.0
],
[
0.0,
1777.77783203125,
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\\Scene6\\render_g.png",
"image_sha256": "9d14a615b0c9a9782e85304ca4f4cabbbc371f297ffc43cce4fda8eb9013e9e4",
"width_px": 1280,
"height_px": 720
},
"aruco": {
"dictionary": "DICT_4X4_250",
"num_detected_markers": 33,
"num_rejected_candidates": 5
},
"detections": [
{
"observation_id": "801dae24-eca0-4f64-a281-19b4bdc5590a",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
"image_points_px": [
[
568.0,
465.0
],
[
546.0,
444.0
],
[
567.0,
419.0
],
[
590.0,
440.0
]
],
"center_px": [
567.75,
442.0
],
"quality": {
"area_px": 1014.0,
"perimeter_px": 127.50994110107422,
"sharpness": {
"laplacian_var": 2679.560300753786
},
"contrast": {
"p05": 12.0,
"p95": 162.0,
"dynamic_range": 150.0,
"mean_gray": 56.64244186046512,
"std_gray": 62.18941481448069
},
"geometry": {
"distance_to_center_norm": 0.14883364737033844,
"distance_to_border_px": 255.0
},
"edge_ratio": 1.0949515405412542,
"edge_lengths_px": [
30.4138126373291,
32.649654388427734,
31.14482307434082,
33.30165100097656
]
},
"confidence": 0.6173789204094284
},
{
"observation_id": "6e621fb4-ebfa-493f-91b5-69ad7f695028",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
"image_points_px": [
[
488.0,
555.0
],
[
466.0,
534.0
],
[
487.0,
510.0
],
[
509.0,
531.0
]
],
"center_px": [
487.5,
532.5
],
"quality": {
"area_px": 969.0,
"perimeter_px": 124.60850143432617,
"sharpness": {
"laplacian_var": 3981.2152867633267
},
"contrast": {
"p05": 8.0,
"p95": 157.0,
"dynamic_range": 149.0,
"mean_gray": 69.89060092449922,
"std_gray": 64.83625496496803
},
"geometry": {
"distance_to_center_norm": 0.3135553300380707,
"distance_to_border_px": 165.0
},
"edge_ratio": 1.0485511454980332,
"edge_lengths_px": [
30.4138126373291,
31.890438079833984,
30.4138126373291,
31.890438079833984
]
},
"confidence": 0.6160882115990324
},
{
"observation_id": "404afbc8-d578-4d14-b31e-d36cd851e034",
"type": "aruco",
"marker_id": 42,
"marker_size_m": 0.025,
"image_points_px": [
[
419.0,
224.0
],
[
449.0,
239.0
],
[
458.0,
263.0
],
[
427.0,
247.0
]
],
"center_px": [
438.25,
243.25
],
"quality": {
"area_px": 585.0,
"perimeter_px": 118.4101505279541,
"sharpness": {
"laplacian_var": 2710.6619421323826
},
"contrast": {
"p05": 27.0,
"p95": 192.0,
"dynamic_range": 165.0,
"mean_gray": 86.7264367816092,
"std_gray": 67.1257602705636
},
"geometry": {
"distance_to_center_norm": 0.31743836402893066,
"distance_to_border_px": 224.0
},
"edge_ratio": 1.4325769682375535,
"edge_lengths_px": [
33.541019439697266,
25.63201141357422,
34.885528564453125,
24.351591110229492
]
},
"confidence": 0.2722366816212343
},
{
"observation_id": "0e6e538f-dc1b-49ec-9520-acd290dceacd",
"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": 4196.858238691975
},
"contrast": {
"p05": 9.0,
"p95": 153.0,
"dynamic_range": 144.0,
"mean_gray": 75.88706739526411,
"std_gray": 62.13984754100919
},
"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": "2f5f5e90-df1d-4f25-89e0-8f18143c2cbf",
"type": "aruco",
"marker_id": 64,
"marker_size_m": 0.025,
"image_points_px": [
[
840.0,
647.0
],
[
820.0,
667.0
],
[
799.0,
647.0
],
[
819.0,
627.0
]
],
"center_px": [
819.5,
647.0
],
"quality": {
"area_px": 820.0,
"perimeter_px": 114.56854248046875,
"sharpness": {
"laplacian_var": 3858.143503072132
},
"contrast": {
"p05": 41.0,
"p95": 183.0,
"dynamic_range": 142.0,
"mean_gray": 94.3302752293578,
"std_gray": 61.73638170908426
},
"geometry": {
"distance_to_center_norm": 0.4609958529472351,
"distance_to_border_px": 53.0
},
"edge_ratio": 1.0253048329824916,
"edge_lengths_px": [
28.284271240234375,
29.0,
28.284271240234375,
29.0
]
},
"confidence": 0.5331747682067169
},
{
"observation_id": "386aa194-4567-4a4a-af5c-fa7427cad67d",
"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": 2823.9994064107636
},
"contrast": {
"p05": 9.0,
"p95": 153.0,
"dynamic_range": 144.0,
"mean_gray": 53.078947368421055,
"std_gray": 58.940659023377165
},
"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": "2f48c702-6d77-4e5b-846b-8d3acb2c9ee5",
"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": 3796.3907053818753
},
"contrast": {
"p05": 9.0,
"p95": 154.0,
"dynamic_range": 145.0,
"mean_gray": 86.72556390977444,
"std_gray": 63.361594062378316
},
"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": "a1a6b513-2f80-4e5b-ad03-407b00e040c3",
"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": 4208.742983268067
},
"contrast": {
"p05": 38.0,
"p95": 183.0,
"dynamic_range": 145.0,
"mean_gray": 90.93962264150943,
"std_gray": 62.3285886118735
},
"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": "9b3e5d74-9666-44fd-83fe-6e13bd1bb61d",
"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": 4108.041346026957
},
"contrast": {
"p05": 44.0,
"p95": 185.0,
"dynamic_range": 141.0,
"mean_gray": 96.59029126213592,
"std_gray": 60.54549042327412
},
"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": "d5444b21-401e-43fa-a621-96317d60b88f",
"type": "aruco",
"marker_id": 103,
"marker_size_m": 0.025,
"image_points_px": [
[
728.0,
543.0
],
[
709.0,
562.0
],
[
688.0,
544.0
],
[
707.0,
525.0
]
],
"center_px": [
708.0,
543.5
],
"quality": {
"area_px": 741.0,
"perimeter_px": 109.0573844909668,
"sharpness": {
"laplacian_var": 3824.326558219243
},
"contrast": {
"p05": 33.0,
"p95": 182.0,
"dynamic_range": 149.0,
"mean_gray": 121.57504873294347,
"std_gray": 65.22597338143089
},
"geometry": {
"distance_to_center_norm": 0.2665036618709564,
"distance_to_border_px": 158.0
},
"edge_ratio": 1.0293477641301256,
"edge_lengths_px": [
26.870058059692383,
27.658634185791016,
26.870058059692383,
27.658634185791016
]
},
"confidence": 0.47991555158957017
},
{
"observation_id": "464ae28a-ba16-4ff1-b85e-f4f25304d449",
"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": 4049.955845863304
},
"contrast": {
"p05": 28.0,
"p95": 180.0,
"dynamic_range": 152.0,
"mean_gray": 83.046783625731,
"std_gray": 64.50807824041048
},
"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": "1b92eb2a-1f6f-46ba-b9e3-d8b643da089a",
"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": 2863.4885339838656
},
"contrast": {
"p05": 8.0,
"p95": 152.0,
"dynamic_range": 144.0,
"mean_gray": 46.21832358674464,
"std_gray": 55.68036648590285
},
"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": "f83c3fc5-0f79-49a3-af5c-d949478d54b3",
"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": 3739.394998413661
},
"contrast": {
"p05": 8.0,
"p95": 151.0,
"dynamic_range": 143.0,
"mean_gray": 79.83366733466934,
"std_gray": 61.85893180184156
},
"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": "351cfab7-e57c-474e-ab68-727b0de62879",
"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": 3499.6889425081677
},
"contrast": {
"p05": 8.0,
"p95": 151.0,
"dynamic_range": 143.0,
"mean_gray": 58.16901408450704,
"std_gray": 59.26039463136398
},
"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": "76b479cf-a987-4c75-93f0-5e50f1a0cfbb",
"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": 3417.4647158605558
},
"contrast": {
"p05": 14.0,
"p95": 163.2,
"dynamic_range": 149.2,
"mean_gray": 67.53722334004024,
"std_gray": 62.84248715548856
},
"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": "1f02d8c5-8788-447b-a5c0-38062287889b",
"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": 3858.0529257067715
},
"contrast": {
"p05": 30.0,
"p95": 180.0,
"dynamic_range": 150.0,
"mean_gray": 92.75854700854701,
"std_gray": 66.41947305803939
},
"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": "b15d0752-e8fa-498a-9086-8aa06b89bd82",
"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": 4328.355062705159
},
"contrast": {
"p05": 24.0,
"p95": 178.0,
"dynamic_range": 154.0,
"mean_gray": 89.78669724770643,
"std_gray": 67.28331109180901
},
"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": "0bf527a4-daa4-4adb-8e50-428ea5aacfb8",
"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": 4003.4312264092396
},
"contrast": {
"p05": 30.0,
"p95": 182.0,
"dynamic_range": 152.0,
"mean_gray": 80.6769596199525,
"std_gray": 63.700346346961375
},
"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": "cff3ac21-fff9-4e5f-b729-1fed9f88532f",
"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": 3688.795044771773
},
"contrast": {
"p05": 10.0,
"p95": 166.0,
"dynamic_range": 156.0,
"mean_gray": 70.38669950738917,
"std_gray": 63.73139230370554
},
"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": "b972d254-112f-4784-9510-fec1a06096b2",
"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": 3847.1325489379424
},
"contrast": {
"p05": 24.0,
"p95": 179.0,
"dynamic_range": 155.0,
"mean_gray": 108.45408163265306,
"std_gray": 67.36780656137837
},
"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": "a39a82b6-ac31-4016-a2c0-a9f1ad19c92d",
"type": "aruco",
"marker_id": 114,
"marker_size_m": 0.025,
"image_points_px": [
[
503.0,
306.0
],
[
485.0,
335.0
],
[
479.0,
323.0
],
[
497.0,
294.0
]
],
"center_px": [
491.0,
314.5
],
"quality": {
"area_px": 390.0,
"perimeter_px": 95.09700584411621,
"sharpness": {
"laplacian_var": 5529.72342692738
},
"contrast": {
"p05": 43.0,
"p95": 183.0,
"dynamic_range": 140.0,
"mean_gray": 95.06934306569343,
"std_gray": 55.465307184115474
},
"geometry": {
"distance_to_center_norm": 0.21216373145580292,
"distance_to_border_px": 294.0
},
"edge_ratio": 2.5440562326615996,
"edge_lengths_px": [
34.13209533691406,
13.416407585144043,
34.13209533691406,
13.416407585144043
]
},
"confidence": 0.10219899885152585
},
{
"observation_id": "c08f1936-5c7d-464c-863d-c0c9bde3d6d4",
"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": 3981.867108983511
},
"contrast": {
"p05": 22.0,
"p95": 178.0,
"dynamic_range": 156.0,
"mean_gray": 59.91005291005291,
"std_gray": 59.10395607577148
},
"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": "119bec63-e3f6-427c-87ec-409980ed561b",
"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": 3619.068342151675
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 78.18253968253968,
"std_gray": 62.8967913474446
},
"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": "58958334-67a2-4b5b-b984-b265e5db834a",
"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": 3408.722488172223
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 63.50529100529101,
"std_gray": 63.551222714541055
},
"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": "1e24c907-30da-4ca6-8296-85910a0b43a6",
"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": 2194.03344717583
},
"contrast": {
"p05": 14.0,
"p95": 170.0,
"dynamic_range": 156.0,
"mean_gray": 43.868493150684934,
"std_gray": 52.32458464243531
},
"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": "01f58ea5-e990-465e-a73d-5c2325599196",
"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": 3915.0293619895424
},
"contrast": {
"p05": 17.0,
"p95": 173.0,
"dynamic_range": 156.0,
"mean_gray": 125.35812672176309,
"std_gray": 58.91501661942979
},
"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": "7366e5d4-1519-408a-b318-062a608840bd",
"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": 4102.712358791518
},
"contrast": {
"p05": 12.0,
"p95": 168.0,
"dynamic_range": 156.0,
"mean_gray": 102.73698630136987,
"std_gray": 63.661449393355994
},
"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": "9684ba88-3a03-40d0-82d2-169d9d0680ce",
"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": 3304.565464439857
},
"contrast": {
"p05": 12.0,
"p95": 169.0,
"dynamic_range": 157.0,
"mean_gray": 99.74794520547945,
"std_gray": 66.86704884922929
},
"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": "f1d1139b-0bec-49c7-80b7-f5a12a8fd143",
"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": 3177.851874648152
},
"contrast": {
"p05": 11.0,
"p95": 167.0,
"dynamic_range": 156.0,
"mean_gray": 62.1945205479452,
"std_gray": 62.00188218621383
},
"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": "64212fb9-3941-47f9-acdc-f857211a0e39",
"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": 4715.327213003615
},
"contrast": {
"p05": 13.0,
"p95": 171.0,
"dynamic_range": 158.0,
"mean_gray": 84.39772727272727,
"std_gray": 65.09670075649123
},
"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": "684c4901-7c16-4dc3-82ac-73648d3b95bc",
"type": "aruco",
"marker_id": 120,
"marker_size_m": 0.025,
"image_points_px": [
[
522.0,
339.0
],
[
505.0,
366.0
],
[
499.0,
356.0
],
[
517.0,
328.0
]
],
"center_px": [
510.75,
347.25
],
"quality": {
"area_px": 335.0,
"perimeter_px": 88.93769454956055,
"sharpness": {
"laplacian_var": 10197.116788438896
},
"contrast": {
"p05": 46.0,
"p95": 181.0,
"dynamic_range": 135.0,
"mean_gray": 91.33734939759036,
"std_gray": 49.32148707156152
},
"geometry": {
"distance_to_center_norm": 0.17687176167964935,
"distance_to_border_px": 328.0
},
"edge_ratio": 2.8543052921430716,
"edge_lengths_px": [
31.906112670898438,
11.661903381347656,
33.2866325378418,
12.083045959472656
]
},
"confidence": 0.07824437489153448
},
{
"observation_id": "1aa8ff92-3b88-41bc-80f8-aff3a2e6c497",
"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": 3144.8539004236545
},
"contrast": {
"p05": 9.0,
"p95": 163.0,
"dynamic_range": 154.0,
"mean_gray": 54.17751479289941,
"std_gray": 59.91822210788057
},
"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": "485230be-d487-4871-a79a-d9e09185c901",
"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": 4505.05177373876
},
"contrast": {
"p05": 10.0,
"p95": 165.0,
"dynamic_range": 155.0,
"mean_gray": 102.72839506172839,
"std_gray": 63.53268087684859
},
"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": [
[
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": [
[
515.0,
464.0
],
[
501.0,
485.0
],
[
497.0,
483.0
],
[
508.0,
467.0
]
],
"center_px": [
505.25,
474.75
],
"area_px": 95.5
},
{
"image_points_px": [
[
515.0,
333.0
],
[
514.0,
344.0
],
[
505.0,
358.0
],
[
503.0,
355.0
]
],
"center_px": [
509.25,
347.5
],
"area_px": 82.5
},
{
"image_points_px": [
[
423.0,
273.0
],
[
428.0,
271.0
],
[
445.0,
272.0
],
[
441.0,
275.0
]
],
"center_px": [
434.25,
272.75
],
"area_px": 50.5
},
{
"image_points_px": [
[
496.0,
302.0
],
[
499.0,
308.0
],
[
486.0,
319.0
],
[
486.0,
313.0
]
],
"center_px": [
491.75,
310.5
],
"area_px": 85.5
}
]
}