1763 lines
37 KiB
JSON
1763 lines
37 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-02T04:19:39Z",
|
|
"vision_config": {
|
|
"MarkerType": "DICT_4X4_250",
|
|
"MarkerSize": 0.025
|
|
},
|
|
"camera": {
|
|
"camera_id": "f",
|
|
"intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene7\\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\\Scene7\\render_f.png",
|
|
"image_sha256": "71a84b0a707c6ebfe88cbaa8f377f03d826a915727276e14547fc4b8e6b5d97e",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 28,
|
|
"num_rejected_candidates": 8
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "8389ff58-8f35-4cce-b2a6-dfc627e87a0d",
|
|
"type": "aruco",
|
|
"marker_id": 41,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
790.0,
|
|
276.0
|
|
],
|
|
[
|
|
820.0,
|
|
300.0
|
|
],
|
|
[
|
|
794.0,
|
|
328.0
|
|
],
|
|
[
|
|
764.0,
|
|
303.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
792.0,
|
|
301.75
|
|
],
|
|
"quality": {
|
|
"area_px": 1462.0,
|
|
"perimeter_px": 153.16326904296875,
|
|
"sharpness": {
|
|
"laplacian_var": 2036.1834901112702
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 59.522142121524205,
|
|
"std_gray": 57.04036074399183
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2216786891222,
|
|
"distance_to_border_px": 276.0
|
|
},
|
|
"edge_ratio": 1.0418297114908055,
|
|
"edge_lengths_px": [
|
|
38.41874694824219,
|
|
38.20994567871094,
|
|
39.051246643066406,
|
|
37.48332977294922
|
|
]
|
|
},
|
|
"confidence": 0.9355335674502584
|
|
},
|
|
{
|
|
"observation_id": "33aff547-bdf4-4902-8bf2-afad06dff56d",
|
|
"type": "aruco",
|
|
"marker_id": 46,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1214.0,
|
|
656.0
|
|
],
|
|
[
|
|
1242.0,
|
|
647.0
|
|
],
|
|
[
|
|
1254.0,
|
|
676.0
|
|
],
|
|
[
|
|
1226.0,
|
|
685.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1234.0,
|
|
666.0
|
|
],
|
|
"quality": {
|
|
"area_px": 920.0,
|
|
"perimeter_px": 121.5911865234375,
|
|
"sharpness": {
|
|
"laplacian_var": 2712.699578951379
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 79.70216049382717,
|
|
"std_gray": 64.66732909377339
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.9099597334861755,
|
|
"distance_to_border_px": 26.0
|
|
},
|
|
"edge_ratio": 1.0671121423123415,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
31.38471031188965,
|
|
29.4108829498291,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.2988751797371847
|
|
},
|
|
{
|
|
"observation_id": "675929e2-b9fe-4df8-a430-1b32f4e3e3f4",
|
|
"type": "aruco",
|
|
"marker_id": 56,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1176.0,
|
|
617.0
|
|
],
|
|
[
|
|
1204.0,
|
|
608.0
|
|
],
|
|
[
|
|
1216.0,
|
|
636.0
|
|
],
|
|
[
|
|
1188.0,
|
|
646.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1196.0,
|
|
626.75
|
|
],
|
|
"quality": {
|
|
"area_px": 912.0,
|
|
"perimeter_px": 120.99082374572754,
|
|
"sharpness": {
|
|
"laplacian_var": 2078.757827979729
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 155.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 45.83179012345679,
|
|
"std_gray": 55.36891795771165
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8398146033287048,
|
|
"distance_to_border_px": 64.0
|
|
},
|
|
"edge_ratio": 1.0671121423123415,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
30.463092803955078,
|
|
29.73213768005371,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.5697620483284124
|
|
},
|
|
{
|
|
"observation_id": "19c3cb59-1883-4b79-9a7c-1a0154fc172f",
|
|
"type": "aruco",
|
|
"marker_id": 208,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
840.0,
|
|
529.0
|
|
],
|
|
[
|
|
851.0,
|
|
557.0
|
|
],
|
|
[
|
|
822.0,
|
|
567.0
|
|
],
|
|
[
|
|
812.0,
|
|
538.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
831.25,
|
|
547.75
|
|
],
|
|
"quality": {
|
|
"area_px": 912.0,
|
|
"perimeter_px": 120.84554862976074,
|
|
"sharpness": {
|
|
"laplacian_var": 2272.522318188416
|
|
},
|
|
"contrast": {
|
|
"p05": 15.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 63.71686746987952,
|
|
"std_gray": 60.34050931908058
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3649789094924927,
|
|
"distance_to_border_px": 153.0
|
|
},
|
|
"edge_ratio": 1.043005886014016,
|
|
"edge_lengths_px": [
|
|
30.08321762084961,
|
|
30.675724029541016,
|
|
30.675724029541016,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.5829305549976826
|
|
},
|
|
{
|
|
"observation_id": "6f95114b-bcbf-47d3-9bb6-58010542e61d",
|
|
"type": "aruco",
|
|
"marker_id": 62,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
731.0,
|
|
642.0
|
|
],
|
|
[
|
|
760.0,
|
|
633.0
|
|
],
|
|
[
|
|
770.0,
|
|
661.0
|
|
],
|
|
[
|
|
742.0,
|
|
671.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
750.75,
|
|
651.75
|
|
],
|
|
"quality": {
|
|
"area_px": 912.0,
|
|
"perimeter_px": 120.84485244750977,
|
|
"sharpness": {
|
|
"laplacian_var": 1921.2818361693705
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 172.79999999999995,
|
|
"dynamic_range": 148.79999999999995,
|
|
"mean_gray": 47.42255639097744,
|
|
"std_gray": 48.390924732561004
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.424979567527771,
|
|
"distance_to_border_px": 49.0
|
|
},
|
|
"edge_ratio": 1.0431851573911375,
|
|
"edge_lengths_px": [
|
|
30.364452362060547,
|
|
29.73213768005371,
|
|
29.73213768005371,
|
|
31.016124725341797
|
|
]
|
|
},
|
|
"confidence": 0.5711737708098855
|
|
},
|
|
{
|
|
"observation_id": "8d1756d9-c76f-489b-9ae0-15f9004fdbcf",
|
|
"type": "aruco",
|
|
"marker_id": 47,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
575.0,
|
|
614.0
|
|
],
|
|
[
|
|
603.0,
|
|
605.0
|
|
],
|
|
[
|
|
613.0,
|
|
633.0
|
|
],
|
|
[
|
|
584.0,
|
|
643.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
593.75,
|
|
623.75
|
|
],
|
|
"quality": {
|
|
"area_px": 902.5,
|
|
"perimeter_px": 120.18319702148438,
|
|
"sharpness": {
|
|
"laplacian_var": 2741.576489230833
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 80.64535768645358,
|
|
"std_gray": 61.62527758685918
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3646650016307831,
|
|
"distance_to_border_px": 77.0
|
|
},
|
|
"edge_ratio": 1.043005886014016,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
29.73213768005371,
|
|
30.675724029541016,
|
|
30.364452362060547
|
|
]
|
|
},
|
|
"confidence": 0.5768583617164568
|
|
},
|
|
{
|
|
"observation_id": "1e24d55b-2c55-4aa6-b7d9-e371db48d50c",
|
|
"type": "aruco",
|
|
"marker_id": 54,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
522.0,
|
|
629.0
|
|
],
|
|
[
|
|
550.0,
|
|
620.0
|
|
],
|
|
[
|
|
559.0,
|
|
649.0
|
|
],
|
|
[
|
|
531.0,
|
|
658.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
540.5,
|
|
639.0
|
|
],
|
|
"quality": {
|
|
"area_px": 893.0,
|
|
"perimeter_px": 119.5506706237793,
|
|
"sharpness": {
|
|
"laplacian_var": 2051.2691655248113
|
|
},
|
|
"contrast": {
|
|
"p05": 35.0,
|
|
"p95": 178.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 64.74726989079564,
|
|
"std_gray": 51.98537322370563
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.4033917188644409,
|
|
"distance_to_border_px": 62.0
|
|
},
|
|
"edge_ratio": 1.032422332027845,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
30.364452362060547,
|
|
29.4108829498291,
|
|
30.364452362060547
|
|
]
|
|
},
|
|
"confidence": 0.5766374039623903
|
|
},
|
|
{
|
|
"observation_id": "4645a720-7328-4682-b132-c38e30bd3746",
|
|
"type": "aruco",
|
|
"marker_id": 53,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1221.0,
|
|
585.0
|
|
],
|
|
[
|
|
1248.0,
|
|
576.0
|
|
],
|
|
[
|
|
1260.0,
|
|
604.0
|
|
],
|
|
[
|
|
1233.0,
|
|
614.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1240.5,
|
|
594.75
|
|
],
|
|
"quality": {
|
|
"area_px": 883.5,
|
|
"perimeter_px": 119.10066223144531,
|
|
"sharpness": {
|
|
"laplacian_var": 2905.0537199899104
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 86.57433489827856,
|
|
"std_gray": 66.09243561503772
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8780498504638672,
|
|
"distance_to_border_px": 20.0
|
|
},
|
|
"edge_ratio": 1.102746319437901,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
30.463092803955078,
|
|
28.792360305786133,
|
|
31.38471031188965
|
|
]
|
|
},
|
|
"confidence": 0.21364841201201337
|
|
},
|
|
{
|
|
"observation_id": "f5b4e7b7-4cfb-410e-910a-e0cd22824882",
|
|
"type": "aruco",
|
|
"marker_id": 97,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
473.0,
|
|
596.0
|
|
],
|
|
[
|
|
501.0,
|
|
586.0
|
|
],
|
|
[
|
|
510.0,
|
|
615.0
|
|
],
|
|
[
|
|
482.0,
|
|
624.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
491.5,
|
|
605.25
|
|
],
|
|
"quality": {
|
|
"area_px": 883.5,
|
|
"perimeter_px": 118.91835594177246,
|
|
"sharpness": {
|
|
"laplacian_var": 2658.3630248174045
|
|
},
|
|
"contrast": {
|
|
"p05": 39.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 104.42589703588143,
|
|
"std_gray": 63.90804541292981
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.3904455602169037,
|
|
"distance_to_border_px": 96.0
|
|
},
|
|
"edge_ratio": 1.032422332027845,
|
|
"edge_lengths_px": [
|
|
29.73213768005371,
|
|
30.364452362060547,
|
|
29.4108829498291,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.5705029634947052
|
|
},
|
|
{
|
|
"observation_id": "e0c64019-7502-4230-af0f-d1c843c44913",
|
|
"type": "aruco",
|
|
"marker_id": 72,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1178.0,
|
|
539.0
|
|
],
|
|
[
|
|
1206.0,
|
|
530.0
|
|
],
|
|
[
|
|
1217.0,
|
|
558.0
|
|
],
|
|
[
|
|
1190.0,
|
|
567.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1197.75,
|
|
548.5
|
|
],
|
|
"quality": {
|
|
"area_px": 873.5,
|
|
"perimeter_px": 118.41769218444824,
|
|
"sharpness": {
|
|
"laplacian_var": 2225.3235952290656
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 53.87480190174326,
|
|
"std_gray": 60.29154089823134
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8017706871032715,
|
|
"distance_to_border_px": 63.0
|
|
},
|
|
"edge_ratio": 1.0703639808818122,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
30.08321762084961,
|
|
28.460498809814453,
|
|
30.463092803955078
|
|
]
|
|
},
|
|
"confidence": 0.5440516905787338
|
|
},
|
|
{
|
|
"observation_id": "524aa11d-8764-45c7-8c1a-58ad9696d28d",
|
|
"type": "aruco",
|
|
"marker_id": 55,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
580.0,
|
|
534.0
|
|
],
|
|
[
|
|
608.0,
|
|
524.0
|
|
],
|
|
[
|
|
618.0,
|
|
552.0
|
|
],
|
|
[
|
|
589.0,
|
|
561.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
598.75,
|
|
542.75
|
|
],
|
|
"quality": {
|
|
"area_px": 874.0,
|
|
"perimeter_px": 118.28922653198242,
|
|
"sharpness": {
|
|
"laplacian_var": 2681.121792712054
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 89.1563981042654,
|
|
"std_gray": 63.47134936726854
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2551368772983551,
|
|
"distance_to_border_px": 159.0
|
|
},
|
|
"edge_ratio": 1.0668981090236382,
|
|
"edge_lengths_px": [
|
|
29.73213768005371,
|
|
29.73213768005371,
|
|
30.364452362060547,
|
|
28.460498809814453
|
|
]
|
|
},
|
|
"confidence": 0.5461315019106076
|
|
},
|
|
{
|
|
"observation_id": "7e33c616-10b7-49a6-9fe4-fa8d3af55b4f",
|
|
"type": "aruco",
|
|
"marker_id": 96,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
704.0,
|
|
605.0
|
|
],
|
|
[
|
|
732.0,
|
|
596.0
|
|
],
|
|
[
|
|
742.0,
|
|
624.0
|
|
],
|
|
[
|
|
714.0,
|
|
633.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
723.0,
|
|
614.5
|
|
],
|
|
"quality": {
|
|
"area_px": 874.0,
|
|
"perimeter_px": 118.28604125976562,
|
|
"sharpness": {
|
|
"laplacian_var": 2521.974721098382
|
|
},
|
|
"contrast": {
|
|
"p05": 26.0,
|
|
"p95": 175.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 89.5886075949367,
|
|
"std_gray": 67.26368664516674
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.36455342173576355,
|
|
"distance_to_border_px": 87.0
|
|
},
|
|
"edge_ratio": 1.0109229882956123,
|
|
"edge_lengths_px": [
|
|
29.4108829498291,
|
|
29.73213768005371,
|
|
29.4108829498291,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.5763709732716893
|
|
},
|
|
{
|
|
"observation_id": "f6f05430-1ec1-43a6-b636-a7644093ac71",
|
|
"type": "aruco",
|
|
"marker_id": 84,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1235.0,
|
|
476.0
|
|
],
|
|
[
|
|
1262.0,
|
|
467.0
|
|
],
|
|
[
|
|
1274.0,
|
|
494.0
|
|
],
|
|
[
|
|
1246.0,
|
|
503.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1254.25,
|
|
485.0
|
|
],
|
|
"quality": {
|
|
"area_px": 846.0,
|
|
"perimeter_px": 116.57271575927734,
|
|
"sharpness": {
|
|
"laplacian_var": 3185.370192346838
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 159.0,
|
|
"dynamic_range": 149.0,
|
|
"mean_gray": 75.2322899505766,
|
|
"std_gray": 64.28317510445991
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8536534309387207,
|
|
"distance_to_border_px": 6.0
|
|
},
|
|
"edge_ratio": 1.0381607798359118,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
29.546573638916016,
|
|
29.4108829498291,
|
|
29.154760360717773
|
|
]
|
|
},
|
|
"confidence": 0.06519221426443914
|
|
},
|
|
{
|
|
"observation_id": "716e1234-ef06-4eda-bb5b-3fa03388b051",
|
|
"type": "aruco",
|
|
"marker_id": 79,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
713.0,
|
|
526.0
|
|
],
|
|
[
|
|
741.0,
|
|
518.0
|
|
],
|
|
[
|
|
750.0,
|
|
545.0
|
|
],
|
|
[
|
|
722.0,
|
|
554.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
731.5,
|
|
535.75
|
|
],
|
|
"quality": {
|
|
"area_px": 846.5,
|
|
"perimeter_px": 116.4027042388916,
|
|
"sharpness": {
|
|
"laplacian_var": 3334.91236272551
|
|
},
|
|
"contrast": {
|
|
"p05": 26.400000000000002,
|
|
"p95": 176.0,
|
|
"dynamic_range": 149.6,
|
|
"mean_gray": 100.36124794745484,
|
|
"std_gray": 65.04590428400601
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.26983729004859924,
|
|
"distance_to_border_px": 166.0
|
|
},
|
|
"edge_ratio": 1.0333930949828227,
|
|
"edge_lengths_px": [
|
|
29.120439529418945,
|
|
28.460498809814453,
|
|
29.4108829498291,
|
|
29.4108829498291
|
|
]
|
|
},
|
|
"confidence": 0.5460974493377216
|
|
},
|
|
{
|
|
"observation_id": "ed348f0e-90d5-4f3b-a49e-e3c2f56cbafe",
|
|
"type": "aruco",
|
|
"marker_id": 66,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
435.0,
|
|
486.0
|
|
],
|
|
[
|
|
463.0,
|
|
478.0
|
|
],
|
|
[
|
|
471.0,
|
|
505.0
|
|
],
|
|
[
|
|
443.0,
|
|
514.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
453.0,
|
|
495.75
|
|
],
|
|
"quality": {
|
|
"area_px": 838.0,
|
|
"perimeter_px": 115.8120174407959,
|
|
"sharpness": {
|
|
"laplacian_var": 2231.8786526375256
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 139.0,
|
|
"mean_gray": 85.51596638655462,
|
|
"std_gray": 57.830854466000915
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.31469058990478516,
|
|
"distance_to_border_px": 206.0
|
|
},
|
|
"edge_ratio": 1.0444110857131401,
|
|
"edge_lengths_px": [
|
|
29.120439529418945,
|
|
28.160255432128906,
|
|
29.4108829498291,
|
|
29.120439529418945
|
|
]
|
|
},
|
|
"confidence": 0.5349107016469481
|
|
},
|
|
{
|
|
"observation_id": "739b0383-f120-4c44-a356-dadaf8a7864b",
|
|
"type": "aruco",
|
|
"marker_id": 95,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
531.0,
|
|
426.0
|
|
],
|
|
[
|
|
558.0,
|
|
417.0
|
|
],
|
|
[
|
|
567.0,
|
|
444.0
|
|
],
|
|
[
|
|
539.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
548.75,
|
|
435.0
|
|
],
|
|
"quality": {
|
|
"area_px": 819.0,
|
|
"perimeter_px": 114.49213600158691,
|
|
"sharpness": {
|
|
"laplacian_var": 2533.282472057857
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 145.0,
|
|
"mean_gray": 94.08034188034188,
|
|
"std_gray": 63.55105927461676
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.1608557105064392,
|
|
"distance_to_border_px": 267.0
|
|
},
|
|
"edge_ratio": 1.0444110857131401,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
28.460498809814453,
|
|
29.4108829498291,
|
|
28.160255432128906
|
|
]
|
|
},
|
|
"confidence": 0.5227826547122322
|
|
},
|
|
{
|
|
"observation_id": "5a34cb96-6367-48ff-bb74-2b56f3f0c0bb",
|
|
"type": "aruco",
|
|
"marker_id": 103,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
600.0,
|
|
305.0
|
|
],
|
|
[
|
|
627.0,
|
|
296.0
|
|
],
|
|
[
|
|
636.0,
|
|
322.0
|
|
],
|
|
[
|
|
609.0,
|
|
331.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
618.0,
|
|
313.5
|
|
],
|
|
"quality": {
|
|
"area_px": 783.0,
|
|
"perimeter_px": 111.9482650756836,
|
|
"sharpness": {
|
|
"laplacian_var": 2573.8392662933206
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 118.74954954954956,
|
|
"std_gray": 65.35251861241679
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.07005522400140762,
|
|
"distance_to_border_px": 296.0
|
|
},
|
|
"edge_ratio": 1.0344143958281513,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
27.513633728027344,
|
|
28.460498809814453,
|
|
27.513633728027344
|
|
]
|
|
},
|
|
"confidence": 0.5046333482067283
|
|
},
|
|
{
|
|
"observation_id": "cdcb4e0f-2e5e-4d5f-99e6-3733b7f6e876",
|
|
"type": "aruco",
|
|
"marker_id": 73,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1229.0,
|
|
243.0
|
|
],
|
|
[
|
|
1255.0,
|
|
234.0
|
|
],
|
|
[
|
|
1266.0,
|
|
260.0
|
|
],
|
|
[
|
|
1240.0,
|
|
268.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1247.5,
|
|
251.25
|
|
],
|
|
"quality": {
|
|
"area_px": 756.5,
|
|
"perimeter_px": 110.26076316833496,
|
|
"sharpness": {
|
|
"laplacian_var": 3090.448202272599
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 161.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 87.25,
|
|
"std_gray": 63.30573490157563
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8404671549797058,
|
|
"distance_to_border_px": 14.0
|
|
},
|
|
"edge_ratio": 1.0377990707729312,
|
|
"edge_lengths_px": [
|
|
27.513633728027344,
|
|
28.23118782043457,
|
|
27.20294189453125,
|
|
27.312999725341797
|
|
]
|
|
},
|
|
"confidence": 0.13607001327160623
|
|
},
|
|
{
|
|
"observation_id": "381f5f65-6f0f-4666-8fd4-e8c77b6c70b4",
|
|
"type": "aruco",
|
|
"marker_id": 210,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
784.0,
|
|
134.0
|
|
],
|
|
[
|
|
793.0,
|
|
159.0
|
|
],
|
|
[
|
|
766.0,
|
|
167.0
|
|
],
|
|
[
|
|
757.0,
|
|
142.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
775.0,
|
|
150.5
|
|
],
|
|
"quality": {
|
|
"area_px": 747.0,
|
|
"perimeter_px": 109.46183013916016,
|
|
"sharpness": {
|
|
"laplacian_var": 3157.141410892163
|
|
},
|
|
"contrast": {
|
|
"p05": 27.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 84.0361216730038,
|
|
"std_gray": 65.79595018117567
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.33940964937210083,
|
|
"distance_to_border_px": 134.0
|
|
},
|
|
"edge_ratio": 1.0598252288940997,
|
|
"edge_lengths_px": [
|
|
26.570659637451172,
|
|
28.160255432128906,
|
|
26.570659637451172,
|
|
28.160255432128906
|
|
]
|
|
},
|
|
"confidence": 0.46988879526830113
|
|
},
|
|
{
|
|
"observation_id": "0b8e453f-7fd9-4425-8cd3-4d5352d4da43",
|
|
"type": "aruco",
|
|
"marker_id": 58,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
545.0,
|
|
256.0
|
|
],
|
|
[
|
|
572.0,
|
|
247.0
|
|
],
|
|
[
|
|
580.0,
|
|
273.0
|
|
],
|
|
[
|
|
554.0,
|
|
281.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
562.75,
|
|
264.25
|
|
],
|
|
"quality": {
|
|
"area_px": 748.0,
|
|
"perimeter_px": 109.43704223632812,
|
|
"sharpness": {
|
|
"laplacian_var": 2770.4630976304416
|
|
},
|
|
"contrast": {
|
|
"p05": 37.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 91.24714828897338,
|
|
"std_gray": 62.30441443756348
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.16754259169101715,
|
|
"distance_to_border_px": 247.0
|
|
},
|
|
"edge_ratio": 1.071125037848122,
|
|
"edge_lengths_px": [
|
|
28.460498809814453,
|
|
27.20294189453125,
|
|
27.20294189453125,
|
|
26.570659637451172
|
|
]
|
|
},
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"observation_id": "b640af40-3d31-442c-ab83-dbe5fede8353",
|
|
"type": "aruco",
|
|
"marker_id": 69,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
459.0,
|
|
232.0
|
|
],
|
|
[
|
|
485.0,
|
|
224.0
|
|
],
|
|
[
|
|
494.0,
|
|
249.0
|
|
],
|
|
[
|
|
467.0,
|
|
258.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
476.25,
|
|
240.75
|
|
],
|
|
"quality": {
|
|
"area_px": 748.0,
|
|
"perimeter_px": 109.43704223632812,
|
|
"sharpness": {
|
|
"laplacian_var": 2613.853857537383
|
|
},
|
|
"contrast": {
|
|
"p05": 43.0,
|
|
"p95": 184.0,
|
|
"dynamic_range": 141.0,
|
|
"mean_gray": 95.39848197343454,
|
|
"std_gray": 60.17265353123222
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2758673429489136,
|
|
"distance_to_border_px": 224.0
|
|
},
|
|
"edge_ratio": 1.071125037848122,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
26.570659637451172,
|
|
28.460498809814453,
|
|
27.20294189453125
|
|
]
|
|
},
|
|
"confidence": 0.4655541127751829
|
|
},
|
|
{
|
|
"observation_id": "4a25c198-b68d-43a3-9810-7e249f020e91",
|
|
"type": "aruco",
|
|
"marker_id": 82,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1189.0,
|
|
253.0
|
|
],
|
|
[
|
|
1215.0,
|
|
245.0
|
|
],
|
|
[
|
|
1226.0,
|
|
270.0
|
|
],
|
|
[
|
|
1200.0,
|
|
278.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1207.5,
|
|
261.5
|
|
],
|
|
"quality": {
|
|
"area_px": 738.0,
|
|
"perimeter_px": 109.0318832397461,
|
|
"sharpness": {
|
|
"laplacian_var": 2198.4106123430083
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 158.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 77.70736434108527,
|
|
"std_gray": 64.62405910753301
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.784397304058075,
|
|
"distance_to_border_px": 54.0
|
|
},
|
|
"edge_ratio": 1.0040458061939497,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
27.312999725341797,
|
|
27.20294189453125,
|
|
27.312999725341797
|
|
]
|
|
},
|
|
"confidence": 0.49001748422717006
|
|
},
|
|
{
|
|
"observation_id": "8b1dd46e-9abd-43ff-9a8e-8325e15da7b2",
|
|
"type": "aruco",
|
|
"marker_id": 101,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1144.0,
|
|
145.0
|
|
],
|
|
[
|
|
1170.0,
|
|
137.0
|
|
],
|
|
[
|
|
1180.0,
|
|
162.0
|
|
],
|
|
[
|
|
1155.0,
|
|
170.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1162.25,
|
|
153.5
|
|
],
|
|
"quality": {
|
|
"area_px": 721.5,
|
|
"perimeter_px": 107.6905746459961,
|
|
"sharpness": {
|
|
"laplacian_var": 2592.0619173595364
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 78.13888888888889,
|
|
"std_gray": 61.98166455995333
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.7647988200187683,
|
|
"distance_to_border_px": 100.0
|
|
},
|
|
"edge_ratio": 1.0405424062428426,
|
|
"edge_lengths_px": [
|
|
27.20294189453125,
|
|
26.925823211669922,
|
|
26.248809814453125,
|
|
27.312999725341797
|
|
]
|
|
},
|
|
"confidence": 0.46225891142368675
|
|
},
|
|
{
|
|
"observation_id": "70a80df2-0c48-42f4-ba32-7f308a30f169",
|
|
"type": "aruco",
|
|
"marker_id": 81,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1009.0,
|
|
206.0
|
|
],
|
|
[
|
|
1035.0,
|
|
197.0
|
|
],
|
|
[
|
|
1045.0,
|
|
222.0
|
|
],
|
|
[
|
|
1019.0,
|
|
230.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1027.0,
|
|
213.75
|
|
],
|
|
"quality": {
|
|
"area_px": 722.0,
|
|
"perimeter_px": 107.64239883422852,
|
|
"sharpness": {
|
|
"laplacian_var": 668.2052654253406
|
|
},
|
|
"contrast": {
|
|
"p05": 4.0,
|
|
"p95": 91.0,
|
|
"dynamic_range": 87.0,
|
|
"mean_gray": 33.6520874751491,
|
|
"std_gray": 35.7467932999441
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.5634089708328247,
|
|
"distance_to_border_px": 197.0
|
|
},
|
|
"edge_ratio": 1.0582166818472056,
|
|
"edge_lengths_px": [
|
|
27.513633728027344,
|
|
26.925823211669922,
|
|
27.20294189453125,
|
|
26.0
|
|
]
|
|
},
|
|
"confidence": 0.4548532843889077
|
|
},
|
|
{
|
|
"observation_id": "949f1399-e48c-42f6-b35c-ebf9e9b6a4dc",
|
|
"type": "aruco",
|
|
"marker_id": 64,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
553.0,
|
|
169.0
|
|
],
|
|
[
|
|
580.0,
|
|
162.0
|
|
],
|
|
[
|
|
588.0,
|
|
186.0
|
|
],
|
|
[
|
|
561.0,
|
|
194.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
570.5,
|
|
177.75
|
|
],
|
|
"quality": {
|
|
"area_px": 721.5,
|
|
"perimeter_px": 107.59993743896484,
|
|
"sharpness": {
|
|
"laplacian_var": 2674.714149593177
|
|
},
|
|
"contrast": {
|
|
"p05": 36.0,
|
|
"p95": 183.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 90.5049504950495,
|
|
"std_gray": 63.307769964427244
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2656291127204895,
|
|
"distance_to_border_px": 162.0
|
|
},
|
|
"edge_ratio": 1.1131318197219238,
|
|
"edge_lengths_px": [
|
|
27.892650604248047,
|
|
25.298221588134766,
|
|
28.160255432128906,
|
|
26.248809814453125
|
|
]
|
|
},
|
|
"confidence": 0.43211414091114625
|
|
},
|
|
{
|
|
"observation_id": "d83dd1ae-0291-4980-86ff-d2e7cb6e1585",
|
|
"type": "aruco",
|
|
"marker_id": 52,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1037.0,
|
|
152.0
|
|
],
|
|
[
|
|
1062.0,
|
|
144.0
|
|
],
|
|
[
|
|
1072.0,
|
|
169.0
|
|
],
|
|
[
|
|
1047.0,
|
|
177.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1054.5,
|
|
160.5
|
|
],
|
|
"quality": {
|
|
"area_px": 705.0,
|
|
"perimeter_px": 106.3492660522461,
|
|
"sharpness": {
|
|
"laplacian_var": 1260.5802083464018
|
|
},
|
|
"contrast": {
|
|
"p05": 6.0,
|
|
"p95": 121.59999999999997,
|
|
"dynamic_range": 115.59999999999997,
|
|
"mean_gray": 45.93456032719836,
|
|
"std_gray": 45.56928938251218
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.6264604926109314,
|
|
"distance_to_border_px": 144.0
|
|
},
|
|
"edge_ratio": 1.0257921559873553,
|
|
"edge_lengths_px": [
|
|
26.248809814453125,
|
|
26.925823211669922,
|
|
26.248809814453125,
|
|
26.925823211669922
|
|
]
|
|
},
|
|
"confidence": 0.45818248585417487
|
|
},
|
|
{
|
|
"observation_id": "afa96f4a-1b72-4901-bfc6-479a1a2b9ab9",
|
|
"type": "aruco",
|
|
"marker_id": 83,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
1155.0,
|
|
56.0
|
|
],
|
|
[
|
|
1180.0,
|
|
48.0
|
|
],
|
|
[
|
|
1191.0,
|
|
72.0
|
|
],
|
|
[
|
|
1166.0,
|
|
80.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1173.0,
|
|
64.0
|
|
],
|
|
"quality": {
|
|
"area_px": 688.0,
|
|
"perimeter_px": 105.29913330078125,
|
|
"sharpness": {
|
|
"laplacian_var": 3336.15054567466
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 166.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 93.4620253164557,
|
|
"std_gray": 64.6656088116914
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.8302794098854065,
|
|
"distance_to_border_px": 48.0
|
|
},
|
|
"edge_ratio": 1.0057887204242193,
|
|
"edge_lengths_px": [
|
|
26.248809814453125,
|
|
26.4007568359375,
|
|
26.248809814453125,
|
|
26.4007568359375
|
|
]
|
|
},
|
|
"confidence": 0.4377857805109236
|
|
},
|
|
{
|
|
"observation_id": "041e33c3-5445-4b18-85f2-e244fe7cbbe3",
|
|
"type": "aruco",
|
|
"marker_id": 120,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
748.0,
|
|
430.0
|
|
],
|
|
[
|
|
714.0,
|
|
426.0
|
|
],
|
|
[
|
|
716.0,
|
|
418.0
|
|
],
|
|
[
|
|
751.0,
|
|
422.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
732.25,
|
|
424.0
|
|
],
|
|
"quality": {
|
|
"area_px": 286.0,
|
|
"perimeter_px": 86.25252914428711,
|
|
"sharpness": {
|
|
"laplacian_var": 3876.824614821089
|
|
},
|
|
"contrast": {
|
|
"p05": 31.0,
|
|
"p95": 100.0,
|
|
"dynamic_range": 69.0,
|
|
"mean_gray": 53.86124401913876,
|
|
"std_gray": 24.46958624668581
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.15290257334709167,
|
|
"distance_to_border_px": 290.0
|
|
},
|
|
"edge_ratio": 4.272001863352816,
|
|
"edge_lengths_px": [
|
|
34.2344856262207,
|
|
8.246211051940918,
|
|
35.22782897949219,
|
|
8.5440034866333
|
|
]
|
|
},
|
|
"confidence": 0.038494833396662875
|
|
}
|
|
],
|
|
"rejected_candidates": [
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
769.0,
|
|
432.0
|
|
],
|
|
[
|
|
781.0,
|
|
458.0
|
|
],
|
|
[
|
|
785.0,
|
|
487.0
|
|
],
|
|
[
|
|
767.0,
|
|
443.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
775.5,
|
|
455.0
|
|
],
|
|
"area_px": 265.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
868.0,
|
|
162.0
|
|
],
|
|
[
|
|
870.0,
|
|
169.0
|
|
],
|
|
[
|
|
821.0,
|
|
181.0
|
|
],
|
|
[
|
|
821.0,
|
|
175.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
845.0,
|
|
171.75
|
|
],
|
|
"area_px": 324.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
931.0,
|
|
499.0
|
|
],
|
|
[
|
|
942.0,
|
|
527.0
|
|
],
|
|
[
|
|
917.0,
|
|
535.0
|
|
],
|
|
[
|
|
907.0,
|
|
507.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
924.25,
|
|
517.0
|
|
],
|
|
"area_px": 770.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
887.0,
|
|
383.0
|
|
],
|
|
[
|
|
897.0,
|
|
410.0
|
|
],
|
|
[
|
|
873.0,
|
|
418.0
|
|
],
|
|
[
|
|
863.0,
|
|
391.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
880.0,
|
|
400.5
|
|
],
|
|
"area_px": 728.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
1133.0,
|
|
364.0
|
|
],
|
|
[
|
|
1139.0,
|
|
371.0
|
|
],
|
|
[
|
|
1147.0,
|
|
393.0
|
|
],
|
|
[
|
|
1141.0,
|
|
386.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
1140.0,
|
|
378.5
|
|
],
|
|
"area_px": 76.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
802.0,
|
|
292.0
|
|
],
|
|
[
|
|
807.0,
|
|
297.0
|
|
],
|
|
[
|
|
792.0,
|
|
312.0
|
|
],
|
|
[
|
|
787.0,
|
|
306.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
797.0,
|
|
301.75
|
|
],
|
|
"area_px": 155.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
853.0,
|
|
199.0
|
|
],
|
|
[
|
|
843.0,
|
|
206.0
|
|
],
|
|
[
|
|
830.0,
|
|
208.0
|
|
],
|
|
[
|
|
843.0,
|
|
201.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
842.25,
|
|
203.5
|
|
],
|
|
"area_px": 57.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
626.0,
|
|
425.0
|
|
],
|
|
[
|
|
632.0,
|
|
439.0
|
|
],
|
|
[
|
|
632.0,
|
|
443.0
|
|
],
|
|
[
|
|
625.0,
|
|
427.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
628.75,
|
|
433.5
|
|
],
|
|
"area_px": 27.0
|
|
}
|
|
]
|
|
} |