2037 lines
43 KiB
JSON
2037 lines
43 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"created_utc": "2026-06-01T18:36:46Z",
|
|
"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\\Scene8\\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\\Scene8\\render_g.png",
|
|
"image_sha256": "57b85bb1078eb0ae084482f8b5ba3b0f2aa886d0f6e5f6cc75ecffb77fdecd3d",
|
|
"width_px": 1280,
|
|
"height_px": 720
|
|
},
|
|
"aruco": {
|
|
"dictionary": "DICT_4X4_250",
|
|
"num_detected_markers": 34,
|
|
"num_rejected_candidates": 6
|
|
},
|
|
"detections": [
|
|
{
|
|
"observation_id": "ae887c4d-f084-4ba1-91a8-3e60c6a664ac",
|
|
"type": "aruco",
|
|
"marker_id": 43,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
586.0,
|
|
226.0
|
|
],
|
|
[
|
|
574.0,
|
|
261.0
|
|
],
|
|
[
|
|
546.0,
|
|
247.0
|
|
],
|
|
[
|
|
558.0,
|
|
214.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
566.0,
|
|
237.0
|
|
],
|
|
"quality": {
|
|
"area_px": 1108.0,
|
|
"perimeter_px": 133.88214683532715,
|
|
"sharpness": {
|
|
"laplacian_var": 1414.0144799008929
|
|
},
|
|
"contrast": {
|
|
"p05": 7.0,
|
|
"p95": 131.0,
|
|
"dynamic_range": 124.0,
|
|
"mean_gray": 48.32941176470588,
|
|
"std_gray": 51.19248551161189
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.19548407196998596,
|
|
"distance_to_border_px": 214.0
|
|
},
|
|
"edge_ratio": 1.2145844887816586,
|
|
"edge_lengths_px": [
|
|
37.0,
|
|
31.30495262145996,
|
|
35.11410140991211,
|
|
30.463092803955078
|
|
]
|
|
},
|
|
"confidence": 0.6081640869690491
|
|
},
|
|
{
|
|
"observation_id": "83a0699d-8158-48af-9f51-184f355f78c0",
|
|
"type": "aruco",
|
|
"marker_id": 198,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
541.0,
|
|
585.0
|
|
],
|
|
[
|
|
520.0,
|
|
563.0
|
|
],
|
|
[
|
|
542.0,
|
|
543.0
|
|
],
|
|
[
|
|
563.0,
|
|
564.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
541.5,
|
|
563.75
|
|
],
|
|
"quality": {
|
|
"area_px": 903.5,
|
|
"perimeter_px": 120.25824737548828,
|
|
"sharpness": {
|
|
"laplacian_var": 5103.143214269628
|
|
},
|
|
"contrast": {
|
|
"p05": 27.0,
|
|
"p95": 180.0,
|
|
"dynamic_range": 153.0,
|
|
"mean_gray": 92.83892617449665,
|
|
"std_gray": 67.03690930812036
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.30819758772850037,
|
|
"distance_to_border_px": 135.0
|
|
},
|
|
"edge_ratio": 1.0240863542535628,
|
|
"edge_lengths_px": [
|
|
30.4138126373291,
|
|
29.73213768005371,
|
|
29.698484420776367,
|
|
30.4138126373291
|
|
]
|
|
},
|
|
"confidence": 0.5881665455569544
|
|
},
|
|
{
|
|
"observation_id": "7dae8ead-207a-4069-affb-d3f45cdb69ba",
|
|
"type": "aruco",
|
|
"marker_id": 229,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
624.0,
|
|
508.0
|
|
],
|
|
[
|
|
603.0,
|
|
487.0
|
|
],
|
|
[
|
|
625.0,
|
|
468.0
|
|
],
|
|
[
|
|
646.0,
|
|
488.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
624.5,
|
|
487.75
|
|
],
|
|
"quality": {
|
|
"area_px": 860.5,
|
|
"perimeter_px": 117.4995059967041,
|
|
"sharpness": {
|
|
"laplacian_var": 3645.4879206302335
|
|
},
|
|
"contrast": {
|
|
"p05": 32.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 78.27115716753022,
|
|
"std_gray": 63.61048930355877
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.17525053024291992,
|
|
"distance_to_border_px": 212.0
|
|
},
|
|
"edge_ratio": 1.0252461268984039,
|
|
"edge_lengths_px": [
|
|
29.698484420776367,
|
|
29.068883895874023,
|
|
29.0,
|
|
29.73213768005371
|
|
]
|
|
},
|
|
"confidence": 0.5595404377699383
|
|
},
|
|
{
|
|
"observation_id": "45f5d0e6-014c-4e1c-bd98-07487b318446",
|
|
"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": 4622.010696713017
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 80.29326047358835,
|
|
"std_gray": 64.80880926122214
|
|
},
|
|
"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": "fd4ce98c-b37f-404c-a7f6-8ad633d3d57e",
|
|
"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": 3878.055503745476
|
|
},
|
|
"contrast": {
|
|
"p05": 41.0,
|
|
"p95": 184.0,
|
|
"dynamic_range": 143.0,
|
|
"mean_gray": 94.43302752293577,
|
|
"std_gray": 61.879874831666626
|
|
},
|
|
"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": "718b1530-953b-4f1a-a6e6-48d3175820c1",
|
|
"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": 3159.2503815930804
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 56.17669172932331,
|
|
"std_gray": 61.66842867969203
|
|
},
|
|
"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": "50473352-4974-44cc-8b28-1ee90828fec1",
|
|
"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": 4106.049055910453
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 160.0,
|
|
"dynamic_range": 150.0,
|
|
"mean_gray": 90.30639097744361,
|
|
"std_gray": 65.45711243385217
|
|
},
|
|
"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": "069bc891-0c1d-4796-8041-483cf43b4bd5",
|
|
"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": 4240.313421146316
|
|
},
|
|
"contrast": {
|
|
"p05": 38.0,
|
|
"p95": 184.0,
|
|
"dynamic_range": 146.0,
|
|
"mean_gray": 91.30943396226415,
|
|
"std_gray": 62.58861269673776
|
|
},
|
|
"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": "31cbfbb4-3b38-4d24-bbe5-76e3ebcd2342",
|
|
"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": 4113.315773399943
|
|
},
|
|
"contrast": {
|
|
"p05": 44.0,
|
|
"p95": 185.29999999999995,
|
|
"dynamic_range": 141.29999999999995,
|
|
"mean_gray": 96.88543689320389,
|
|
"std_gray": 60.64802545672378
|
|
},
|
|
"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": "43be8184-5d86-494e-8455-2e1de0158509",
|
|
"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": 3703.9558686623423
|
|
},
|
|
"contrast": {
|
|
"p05": 34.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 122.44054580896686,
|
|
"std_gray": 65.20366109632847
|
|
},
|
|
"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": "27ed2049-3429-4cc9-995a-c884469fdc63",
|
|
"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": 3116.4511549612603
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 157.0,
|
|
"dynamic_range": 148.0,
|
|
"mean_gray": 48.32553606237817,
|
|
"std_gray": 57.67284615975553
|
|
},
|
|
"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": "07a21cf9-b4e7-4aaa-94fa-fba58b18f852",
|
|
"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": 582.9357029133371
|
|
},
|
|
"contrast": {
|
|
"p05": 2.0,
|
|
"p95": 71.0,
|
|
"dynamic_range": 69.0,
|
|
"mean_gray": 27.84990253411306,
|
|
"std_gray": 28.254394420763433
|
|
},
|
|
"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": 0.39338762460270227
|
|
},
|
|
{
|
|
"observation_id": "b6c8eeac-c98f-4888-ae24-8693039aa7e3",
|
|
"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": 3995.4965160782485
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 156.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 82.92585170340682,
|
|
"std_gray": 63.90737687202768
|
|
},
|
|
"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": "3e5c27a2-ab64-4ee0-aa2d-d67fb6a0d612",
|
|
"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": 3711.328518394066
|
|
},
|
|
"contrast": {
|
|
"p05": 8.0,
|
|
"p95": 155.0,
|
|
"dynamic_range": 147.0,
|
|
"mean_gray": 60.0,
|
|
"std_gray": 60.87411558031966
|
|
},
|
|
"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": "bfb2b60b-91be-4600-a455-d241059d97b2",
|
|
"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": 2826.766498386699
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 151.2,
|
|
"dynamic_range": 137.2,
|
|
"mean_gray": 61.40643863179074,
|
|
"std_gray": 57.4109738491046
|
|
},
|
|
"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": "78212b6e-1c4a-40aa-b372-6ec39b06ddd5",
|
|
"type": "aruco",
|
|
"marker_id": 42,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
527.0,
|
|
198.0
|
|
],
|
|
[
|
|
508.0,
|
|
211.0
|
|
],
|
|
[
|
|
520.0,
|
|
186.0
|
|
],
|
|
[
|
|
539.0,
|
|
171.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
523.5,
|
|
191.5
|
|
],
|
|
"quality": {
|
|
"area_px": 326.0,
|
|
"perimeter_px": 104.50658798217773,
|
|
"sharpness": {
|
|
"laplacian_var": 1613.9235894698782
|
|
},
|
|
"contrast": {
|
|
"p05": 19.0,
|
|
"p95": 81.0,
|
|
"dynamic_range": 62.0,
|
|
"mean_gray": 37.55601659751037,
|
|
"std_gray": 22.897887504796095
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.2789755165576935,
|
|
"distance_to_border_px": 171.0
|
|
},
|
|
"edge_ratio": 1.2834211653074858,
|
|
"edge_lengths_px": [
|
|
23.021728515625,
|
|
27.73084831237793,
|
|
24.20743751525879,
|
|
29.546573638916016
|
|
]
|
|
},
|
|
"confidence": 0.13123777126815542
|
|
},
|
|
{
|
|
"observation_id": "e8528f6e-83b0-4d0c-82b3-543813673e73",
|
|
"type": "aruco",
|
|
"marker_id": 41,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
528.0,
|
|
266.0
|
|
],
|
|
[
|
|
495.0,
|
|
254.0
|
|
],
|
|
[
|
|
504.0,
|
|
240.0
|
|
],
|
|
[
|
|
537.0,
|
|
252.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
516.0,
|
|
253.0
|
|
],
|
|
"quality": {
|
|
"area_px": 570.0,
|
|
"perimeter_px": 103.51483535766602,
|
|
"sharpness": {
|
|
"laplacian_var": 3325.5749954907365
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 185.0,
|
|
"dynamic_range": 160.0,
|
|
"mean_gray": 73.52030456852792,
|
|
"std_gray": 61.639906019724236
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.22304624319076538,
|
|
"distance_to_border_px": 240.0
|
|
},
|
|
"edge_ratio": 2.1098019675010837,
|
|
"edge_lengths_px": [
|
|
35.11410140991211,
|
|
16.6433162689209,
|
|
35.11410140991211,
|
|
16.6433162689209
|
|
]
|
|
},
|
|
"confidence": 0.1801116909802127
|
|
},
|
|
{
|
|
"observation_id": "f3eb45b1-dd31-4d9b-879a-528c91637014",
|
|
"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": 3879.2134925852874
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 93.47008547008546,
|
|
"std_gray": 66.77066537554909
|
|
},
|
|
"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": "fdd51327-b1bc-4bf0-84bb-5bdcc185ca80",
|
|
"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": 4175.852684959178
|
|
},
|
|
"contrast": {
|
|
"p05": 24.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 90.11467889908256,
|
|
"std_gray": 67.32224754037642
|
|
},
|
|
"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": "8c0b3594-6716-47eb-b2ef-bd9194bdd836",
|
|
"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": 4010.7918145350113
|
|
},
|
|
"contrast": {
|
|
"p05": 30.0,
|
|
"p95": 182.0,
|
|
"dynamic_range": 152.0,
|
|
"mean_gray": 80.78384798099762,
|
|
"std_gray": 63.73451710202778
|
|
},
|
|
"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": "8ccee9fb-eff5-460d-887a-db981f1e6267",
|
|
"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": 3645.144319202116
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 70.0960591133005,
|
|
"std_gray": 63.48420643930294
|
|
},
|
|
"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": "186dbe67-bf7a-49ce-9308-01108929bba3",
|
|
"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": 3862.863279623074
|
|
},
|
|
"contrast": {
|
|
"p05": 25.0,
|
|
"p95": 179.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 108.67091836734694,
|
|
"std_gray": 67.36237952052174
|
|
},
|
|
"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": "b8d38328-1d07-42c8-b91a-a7a8cc35f3cc",
|
|
"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": 3569.1988256207833
|
|
},
|
|
"contrast": {
|
|
"p05": 22.0,
|
|
"p95": 177.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 59.98941798941799,
|
|
"std_gray": 58.87121532498847
|
|
},
|
|
"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": "9fa962b4-251e-4879-a12a-f90e54dbce8a",
|
|
"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": 3633.0481789423593
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 78.17989417989418,
|
|
"std_gray": 62.911791931322114
|
|
},
|
|
"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": "8b182704-9e9e-4a36-ac00-c39745027753",
|
|
"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": 3374.5356512975563
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 63.473544973544975,
|
|
"std_gray": 63.53947728103725
|
|
},
|
|
"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": "adc4586c-3e2d-4546-acd1-44e89a09bc38",
|
|
"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": 2584.1210283355226
|
|
},
|
|
"contrast": {
|
|
"p05": 14.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 43.797260273972604,
|
|
"std_gray": 52.64934393847121
|
|
},
|
|
"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": "f4ce4955-ed6c-46fd-bc5d-10699583a141",
|
|
"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": 3988.960863329007
|
|
},
|
|
"contrast": {
|
|
"p05": 17.0,
|
|
"p95": 172.89999999999998,
|
|
"dynamic_range": 155.89999999999998,
|
|
"mean_gray": 125.2892561983471,
|
|
"std_gray": 58.87060630547796
|
|
},
|
|
"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": "4fba6bdb-916d-4ed7-8689-4fd3a0d0ae97",
|
|
"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": 4094.997830737474
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 168.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 102.7068493150685,
|
|
"std_gray": 63.62690119616552
|
|
},
|
|
"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": "af0d7507-a881-4563-8287-772400f0cc42",
|
|
"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": 3375.194925877275
|
|
},
|
|
"contrast": {
|
|
"p05": 12.0,
|
|
"p95": 169.0,
|
|
"dynamic_range": 157.0,
|
|
"mean_gray": 99.71506849315068,
|
|
"std_gray": 66.8933390857147
|
|
},
|
|
"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": "10c76166-3fc9-4980-9109-338dbdc4e802",
|
|
"type": "aruco",
|
|
"marker_id": 113,
|
|
"marker_size_m": 0.025,
|
|
"image_points_px": [
|
|
[
|
|
523.0,
|
|
392.0
|
|
],
|
|
[
|
|
494.0,
|
|
380.0
|
|
],
|
|
[
|
|
489.0,
|
|
367.0
|
|
],
|
|
[
|
|
519.0,
|
|
379.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
506.25,
|
|
379.5
|
|
],
|
|
"quality": {
|
|
"area_px": 329.5,
|
|
"perimeter_px": 91.22555923461914,
|
|
"sharpness": {
|
|
"laplacian_var": 960.690516374605
|
|
},
|
|
"contrast": {
|
|
"p05": 18.0,
|
|
"p95": 87.0,
|
|
"dynamic_range": 69.0,
|
|
"mean_gray": 35.29237288135593,
|
|
"std_gray": 23.67441820658496
|
|
},
|
|
"geometry": {
|
|
"distance_to_center_norm": 0.18407133221626282,
|
|
"distance_to_border_px": 328.0
|
|
},
|
|
"edge_ratio": 2.375551108049711,
|
|
"edge_lengths_px": [
|
|
31.38471031188965,
|
|
13.928388595581055,
|
|
32.31098937988281,
|
|
13.601470947265625
|
|
]
|
|
},
|
|
"confidence": 0.07975517738094284
|
|
},
|
|
{
|
|
"observation_id": "28060a2c-5c51-460a-b704-bc555cf4c689",
|
|
"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": 3261.5671683242635
|
|
},
|
|
"contrast": {
|
|
"p05": 11.0,
|
|
"p95": 167.0,
|
|
"dynamic_range": 156.0,
|
|
"mean_gray": 62.131506849315066,
|
|
"std_gray": 62.01987502187831
|
|
},
|
|
"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": "03fa5394-a5fb-4441-8a32-f20f622a3ab7",
|
|
"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": 4670.437491929235
|
|
},
|
|
"contrast": {
|
|
"p05": 13.0,
|
|
"p95": 171.0,
|
|
"dynamic_range": 158.0,
|
|
"mean_gray": 84.45170454545455,
|
|
"std_gray": 65.03327773535342
|
|
},
|
|
"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": "1f56f17a-56fe-4e30-96bc-7138bfddeeb2",
|
|
"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": 3207.674136059662
|
|
},
|
|
"contrast": {
|
|
"p05": 9.0,
|
|
"p95": 163.0,
|
|
"dynamic_range": 154.0,
|
|
"mean_gray": 54.16568047337278,
|
|
"std_gray": 59.906799455376174
|
|
},
|
|
"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": "ad23479c-f3bd-4090-a23f-afede230b015",
|
|
"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": 4543.295715211096
|
|
},
|
|
"contrast": {
|
|
"p05": 10.0,
|
|
"p95": 165.0,
|
|
"dynamic_range": 155.0,
|
|
"mean_gray": 102.7746913580247,
|
|
"std_gray": 63.54507859617162
|
|
},
|
|
"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": [
|
|
[
|
|
477.0,
|
|
441.0
|
|
],
|
|
[
|
|
513.0,
|
|
473.0
|
|
],
|
|
[
|
|
495.0,
|
|
467.0
|
|
],
|
|
[
|
|
482.0,
|
|
453.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
491.75,
|
|
458.5
|
|
],
|
|
"area_px": 223.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
492.0,
|
|
291.0
|
|
],
|
|
[
|
|
496.0,
|
|
304.0
|
|
],
|
|
[
|
|
480.0,
|
|
333.0
|
|
],
|
|
[
|
|
478.0,
|
|
317.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
486.5,
|
|
311.25
|
|
],
|
|
"area_px": 300.0
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
587.0,
|
|
506.0
|
|
],
|
|
[
|
|
598.0,
|
|
521.0
|
|
],
|
|
[
|
|
580.0,
|
|
536.0
|
|
],
|
|
[
|
|
566.0,
|
|
524.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
582.75,
|
|
521.75
|
|
],
|
|
"area_px": 469.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
552.0,
|
|
443.0
|
|
],
|
|
[
|
|
537.0,
|
|
440.0
|
|
],
|
|
[
|
|
529.0,
|
|
435.0
|
|
],
|
|
[
|
|
550.0,
|
|
433.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
542.0,
|
|
437.75
|
|
],
|
|
"area_px": 132.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
569.0,
|
|
312.0
|
|
],
|
|
[
|
|
569.0,
|
|
317.0
|
|
],
|
|
[
|
|
559.0,
|
|
333.0
|
|
],
|
|
[
|
|
562.0,
|
|
320.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
564.75,
|
|
320.5
|
|
],
|
|
"area_px": 58.5
|
|
},
|
|
{
|
|
"image_points_px": [
|
|
[
|
|
273.0,
|
|
678.0
|
|
],
|
|
[
|
|
275.0,
|
|
678.0
|
|
],
|
|
[
|
|
290.0,
|
|
692.0
|
|
],
|
|
[
|
|
281.0,
|
|
687.0
|
|
]
|
|
],
|
|
"center_px": [
|
|
279.75,
|
|
683.75
|
|
],
|
|
"area_px": 34.5
|
|
}
|
|
]
|
|
} |