[photon-lib] Fix incorrect tag visualization transforms

[amquake]

Description

Fixes #1239

Tag image corners used in VideoSimUtil did not match the expected corner order returned by the detection pipeline of [BL, BR, TR, TL], causing the tag image to appear flipped.

Meta

Merge checklist:

• Pull Request title is short, imperative summary of proposed changes
• The description documents the what and why
• If this PR changes behavior or adds a feature, user documentation is updated
• If this PR addresses a bug, a regression test for it is added

[mcm001]

Can we get some WAS/SHOULD BE/IS screenshots?

[samfreund]

Do we have tests for this? If we don't, we should probably write them, and if we do I'm guessing they need to be updated.

[mcm001]

I can now detect tags with my iphone, seems vaguely legit 👍 And my tag corners didnt change, just the image.

OLD

    PhotonPipelineResult [metadata=PhotonPipelineMetadata [captureTimestampMicros=325917, publishTimestampMicros=325917, sequenceID=1, timeSinceLastPong=976], targets=[PhotonTrackedTarget [yaw=-0.8951797020245975, pitch=10.529540329891427, area=0.8225680236274558, skew=0.0, fiducialId=18, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 1.66, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(-0.004197867305465619, -1.1983705590634663E-6, -1.86582444494654E-8, 0.9999911889155071))), altCameraToTarget=Transform3d(Translation3d(X: 1.66, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(0.015360224759433938, 0.18271968179269105, -1.8414937130728504E-8, -0.9830450556210113))), poseAmbiguity=0.09300779551267624, minAreaRectCorners=[(582.2899551391602,240.58821868896484), (582.2899551391602,153.5469741821289), (669.3841171264648,153.5469741821289), (669.3841171264648,240.58821868896484)], detectedCorners=[(582.2900390625,240.5882568359375), (669.3842163085938,240.5882568359375), (669.3842163085938,153.5469970703125), (582.2900390625,153.5469970703125)]], PhotonTrackedTarget [yaw=18.47921641818692, pitch=8.537024655495838, area=0.11078741344181253, skew=-2.010118503262598E-16, fiducialId=17, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 2.07, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.4999997682866508, 4.0433896356106835E-8, -4.569271006005238E-8, -0.8660255375641598))), altCameraToTarget=Transform3d(Translation3d(X: 2.06, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.7415636403028464, -0.12082015986159203, -0.0697555110167265, 0.6562164467876477))), poseAmbiguity=1.6974514664980234E-6, minAreaRectCorners=[(924.3960266113281,189.0120620727539), (939.0549011230469,189.0120620727539), (939.0549011230469,267.62508392333984), (924.3960266113281,267.62508392333984)], detectedCorners=[(924.39599609375,261.0648498535156), (939.0548706054688,267.6250915527344), (939.0548706054688,200.37429809570312), (924.39599609375,189.01206970214844)]], PhotonTrackedTarget [yaw=-19.758223143830467, pitch=8.53702465549584, area=0.09939412147650728, skew=4.020237006525196E-16, fiducialId=19, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 2.07, Y: 0.75, Z: 0.31), Rotation3d(Quaternion(0.4999996650483592, -3.099303781672891E-8, -3.663813419318984E-8, 0.866025597168771))), altCameraToTarget=Transform3d(Translation3d(X: 2.06, Y: 0.74, Z: 0.31), Rotation3d(Quaternion(0.7561197823567539, 0.11990725499348533, -0.06922842242073479, -0.639619066677846))), poseAmbiguity=1.1425056527514243E-6, minAreaRectCorners=[(318.8323974609375,189.0120620727539), (331.9837646484375,189.0120620727539), (331.9837646484375,267.62508392333984), (318.8323974609375,267.62508392333984)], detectedCorners=[(318.8323974609375,267.6250915527344), (331.9837646484375,261.0648498535156), (331.9837646484375,189.01206970214844), 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[yaw=-18.82484947725959, pitch=16.588438958105282, area=0.058311465816384744, skew=0.0, fiducialId=14, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 6.27, Y: 2.14, Z: 1.87), Rotation3d(Quaternion(-6.891400826825043E-6, -0.2588179358294953, -5.199719194104445E-8, 0.9659261234926122))), altCameraToTarget=Transform3d(Translation3d(X: 6.27, Y: 2.14, Z: 1.87), Rotation3d(Quaternion(0.29991256795491517, 0.02627425524377147, -0.08036096854753694, -0.9502127287235081))), poseAmbiguity=8.445871062576771E-4, minAreaRectCorners=[(327.92856002484416,87.49986054651912), (350.5087122204135,83.85287234265728), (354.8686201509371,110.84703276402776), (332.28846795536776,114.4940209678896)], detectedCorners=[(332.0023498535156,110.84705352783203), (354.86859130859375,110.84705352783203), (351.09771728515625,87.49988555908203), (327.92852783203125,87.49988555908203)]], PhotonTrackedTarget [yaw=-0.14509719846595645, pitch=1.7255368230536097, area=0.02160764135987847, skew=0.0, fiducialId=10, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 10.23, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(-1.0295761621148538E-5, -8.084222760995631E-6, -2.04782545920601E-8, 0.9999999999143211))), altCameraToTarget=Transform3d(Translation3d(X: 10.23, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(0.0025319181695904747, 0.03010358563854676, -2.0468299721798644E-8, -0.999543577600339))), poseAmbiguity=0.0015105970669537783, minAreaRectCorners=[(630.2276611328125,326.12001037597656), (644.343505859375,326.12001037597656), (644.343505859375,340.22727966308594), (630.2276611328125,340.22727966308594)], detectedCorners=[(630.2276611328125,340.2272644042969), (644.343505859375,340.2272644042969), (644.343505859375,326.1199951171875), (630.2276611328125,326.1199951171875)]], PhotonTrackedTarget [yaw=-22.987755655196672, pitch=7.758182508261173, area=0.010489831527239504, skew=0.0, fiducialId=3, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 9.56, Y: 4.06, Z: 1.30), Rotation3d(Quaternion(0.7071067657322373, 5.466843644441611E-9, -2.2102775165677713E-9, -0.7071067966408575))), altCameraToTarget=Transform3d(Translation3d(X: 9.56, Y: 4.06, Z: 1.30), Rotation3d(Quaternion(0.3719193487778984, -0.0879433890093539, -0.08794338319612836, 0.9198956026018346))), poseAmbiguity=5.406138006947003E-5, minAreaRectCorners=[(265.3467559814453,231.86805725097656), (271.7524871826172,231.86805725097656), (271.7524871826172,249.0147247314453), (265.3467559814453,249.0147247314453)], detectedCorners=[(265.34674072265625,247.0902099609375), (271.7524719238281,249.0147247314453), (271.7524719238281,234.05319213867188), (265.34674072265625,231.86805725097656)]], PhotonTrackedTarget [yaw=3.7276660345183603, pitch=1.6611816588978607, area=0.00885040869434306, skew=0.0, fiducialId=11, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.4999994585717251, -1.817670065573651E-7, 1.2135625904186043E-7, -0.8660257163779457))), altCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.5550332119109648, -0.025006233306798645, -0.014437336545705781, 0.8313268823303323))), poseAmbiguity=4.6016182750463486E-5, minAreaRectCorners=[(693.4620971679688,327.2079162597656), (699.4788208007812,327.2079162597656), (699.4788208007812,341.1042175292969), (693.4620971679688,341.1042175292969)], detectedCorners=[(693.4620971679688,340.85540771484375), (699.4788208007812,341.1042175292969), (699.4788208007812,327.6388244628906), (693.4620971679688,327.2079162597656)]], PhotonTrackedTarget [yaw=-4.00525859514957, pitch=1.6611816588978607, area=0.008766284113335132, skew=0.0, fiducialId=9, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: 0.75, Z: 0.31), Rotation3d(Quaternion(0.500000181239727, 1.7044840458502186E-7, 1.1499737195830306E-7, 0.8660252991455839))), altCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: 0.74, Z: 0.31), Rotation3d(Quaternion(0.5590550326950174, 0.02499802948839558, -0.014432626508002366, -0.8286279431881058))), poseAmbiguity=4.647707464755513E-5, minAreaRectCorners=[(575.2939147949219,327.2079162597656), (581.2534484863281,327.2079162597656), (581.2534484863281,341.1042175292969), (575.2939147949219,341.1042175292969)], detectedCorners=[(575.2938842773438,341.1042175292969), (581.25341796875,340.85540771484375), (581.25341796875,327.2079162597656), (575.2938842773438,327.6388244628906)]], PhotonTrackedTarget [yaw=-13.013527549234418, pitch=5.774606115869813, area=0.00810662413641694, skew=0.0, fiducialId=2, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: 3.40, Z: 1.49), Rotation3d(Quaternion(0.45399169396254485, 8.99380585062115E-7, -2.2403447691443645E-7, -0.891005915699868))), altCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: 3.40, Z: 1.49), Rotation3d(Quaternion(0.24054809417232706, -0.08734474597081779, -0.044504520999287145, 0.9656743019009975))), poseAmbiguity=1.7114615184254944E-4, minAreaRectCorners=[(433.60072326660156,265.81459045410156), (441.21104431152344,265.81459045410156), (441.21104431152344,276.43455505371094), (433.60072326660156,276.43455505371094)], detectedCorners=[(433.6007080078125,275.6762390136719), (441.2110290527344,276.4345703125), (441.2110290527344,266.66217041015625), (433.6007080078125,265.8146057128906)]], PhotonTrackedTarget [yaw=12.821680417572855, pitch=5.774606115869813, area=0.0080768145150311, skew=9.989928269962555E-17, fiducialId=1, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: -3.34, Z: 1.49), Rotation3d(Quaternion(0.45398946342152463, -6.778445957866807E-7, -1.712608610482391E-7, 0.8910070522177405))), altCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: -3.34, Z: 1.49), Rotation3d(Quaternion(0.2437759529135235, 0.08741151548352954, -0.04453826421187679, -0.964856908957473))), poseAmbiguity=1.8220607307739556E-4, minAreaRectCorners=[(834.7210388183594,265.81459045410156), (842.3033752441406,265.81459045410156), (842.3033752441406,276.43455505371094), (834.7210388183594,276.43455505371094)], detectedCorners=[(834.7210083007812,276.4345703125), (842.3033447265625,275.6762390136719), (842.3033447265625,265.8146057128906), (834.7210083007812,266.66217041015625)]]], multitagResult=Optional[MultiTargetPNPResult [estimatedPose=PnpResult [best=Transform3d(Translation3d(X: 2.00, Y: 4.00, Z: -0.00), Rotation3d(Quaternion(1.0, -0.0, -0.0, -0.0))), bestReprojErr=2.1567513613263145E-5, alt=Transform3d(Translation3d(X: 2.00, Y: 4.00, Z: -0.00), Rotation3d(Quaternion(1.0, -0.0, -0.0, -0.0))), altReprojErr=2.1567513613263145E-5, ambiguity=0.0], fiducialIDsUsed=[1, 2, 3, 9, 10, 11, 14, 15, 17, 18, 19]]]]

NEW

    PhotonPipelineResult [metadata=PhotonPipelineMetadata [captureTimestampMicros=304084, publishTimestampMicros=304084, sequenceID=1, timeSinceLastPong=1024], targets=[PhotonTrackedTarget [yaw=-0.8951797020245975, pitch=10.529540329891427, area=0.8225680236274558, skew=0.0, fiducialId=18, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 1.66, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(-0.004197867305465619, -1.1983705590634663E-6, -1.86582444494654E-8, 0.9999911889155071))), altCameraToTarget=Transform3d(Translation3d(X: 1.66, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(0.015360224759433938, 0.18271968179269105, -1.8414937130728504E-8, -0.9830450556210113))), poseAmbiguity=0.09300779551267624, minAreaRectCorners=[(582.2899551391602,240.58821868896484), (582.2899551391602,153.5469741821289), (669.3841171264648,153.5469741821289), (669.3841171264648,240.58821868896484)], detectedCorners=[(582.2900390625,240.5882568359375), (669.3842163085938,240.5882568359375), (669.3842163085938,153.5469970703125), (582.2900390625,153.5469970703125)]], PhotonTrackedTarget [yaw=18.47921641818692, pitch=8.537024655495838, area=0.11078741344181253, skew=-2.010118503262598E-16, fiducialId=17, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 2.07, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.4999997682866508, 4.0433896356106835E-8, -4.569271006005238E-8, -0.8660255375641598))), altCameraToTarget=Transform3d(Translation3d(X: 2.06, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.7415636403028464, -0.12082015986159203, -0.0697555110167265, 0.6562164467876477))), poseAmbiguity=1.6974514664980234E-6, minAreaRectCorners=[(924.3960266113281,189.0120620727539), (939.0549011230469,189.0120620727539), (939.0549011230469,267.62508392333984), (924.3960266113281,267.62508392333984)], detectedCorners=[(924.39599609375,261.0648498535156), (939.0548706054688,267.6250915527344), 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(318.8323974609375,200.37429809570312)]], PhotonTrackedTarget [yaw=18.393596724148683, pitch=16.588438039221547, area=0.05831158178302252, skew=-4.148346689679228E-16, fiducialId=15, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 6.27, Y: -2.09, Z: 1.87), Rotation3d(Quaternion(6.703658756909703E-5, 0.25882047821907606, -9.663752909006007E-9, -0.9659254399592883))), altCameraToTarget=Transform3d(Translation3d(X: 6.27, Y: -2.08, Z: 1.87), Rotation3d(Quaternion(0.29322390531751374, -0.026333488848543418, -0.07856957352479588, 0.9524458571654041))), poseAmbiguity=0.0065136984921991825, minAreaRectCorners=[(916.8517155342199,110.84704564453403), (921.0861688502309,83.94157738856524), (943.6954036064051,87.49987818359097), (939.4609502903941,114.40534643955976)], detectedCorners=[(916.8515625,110.84705352783203), (939.7178344726562,110.84705352783203), (943.6952514648438,87.49988555908203), (920.5260009765625,87.49988555908203)]], PhotonTrackedTarget [yaw=-18.82484947725959, pitch=16.588438958105282, area=0.058311465816384744, skew=0.0, fiducialId=14, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 6.27, Y: 2.14, Z: 1.87), Rotation3d(Quaternion(-6.891400826825043E-6, -0.2588179358294953, -5.199719194104445E-8, 0.9659261234926122))), altCameraToTarget=Transform3d(Translation3d(X: 6.27, Y: 2.14, Z: 1.87), Rotation3d(Quaternion(0.29991256795491517, 0.02627425524377147, -0.08036096854753694, -0.9502127287235081))), poseAmbiguity=8.445871062576771E-4, minAreaRectCorners=[(327.92856002484416,87.49986054651912), (350.5087122204135,83.85287234265728), (354.8686201509371,110.84703276402776), (332.28846795536776,114.4940209678896)], detectedCorners=[(332.0023498535156,110.84705352783203), (354.86859130859375,110.84705352783203), (351.09771728515625,87.49988555908203), (327.92852783203125,87.49988555908203)]], PhotonTrackedTarget [yaw=-0.14509719846595645, pitch=1.7255368230536097, area=0.02160764135987847, skew=0.0, fiducialId=10, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 10.23, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(-1.0295761621148538E-5, -8.084222760995631E-6, -2.04782545920601E-8, 0.9999999999143211))), altCameraToTarget=Transform3d(Translation3d(X: 10.23, Y: 0.03, Z: 0.31), Rotation3d(Quaternion(0.0025319181695904747, 0.03010358563854676, -2.0468299721798644E-8, -0.999543577600339))), poseAmbiguity=0.0015105970669537783, minAreaRectCorners=[(630.2276611328125,326.12001037597656), (644.343505859375,326.12001037597656), (644.343505859375,340.22727966308594), (630.2276611328125,340.22727966308594)], detectedCorners=[(630.2276611328125,340.2272644042969), (644.343505859375,340.2272644042969), (644.343505859375,326.1199951171875), (630.2276611328125,326.1199951171875)]], PhotonTrackedTarget [yaw=-22.987755655196672, pitch=7.758182508261173, area=0.010489831527239504, skew=0.0, fiducialId=3, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 9.56, Y: 4.06, Z: 1.30), Rotation3d(Quaternion(0.7071067657322373, 5.466843644441611E-9, -2.2102775165677713E-9, -0.7071067966408575))), altCameraToTarget=Transform3d(Translation3d(X: 9.56, Y: 4.06, Z: 1.30), Rotation3d(Quaternion(0.3719193487778984, -0.0879433890093539, -0.08794338319612836, 0.9198956026018346))), poseAmbiguity=5.406138006947003E-5, minAreaRectCorners=[(265.3467559814453,231.86805725097656), (271.7524871826172,231.86805725097656), (271.7524871826172,249.0147247314453), (265.3467559814453,249.0147247314453)], detectedCorners=[(265.34674072265625,247.0902099609375), (271.7524719238281,249.0147247314453), (271.7524719238281,234.05319213867188), (265.34674072265625,231.86805725097656)]], PhotonTrackedTarget [yaw=3.7276660345183603, pitch=1.6611816588978607, area=0.00885040869434306, skew=0.0, fiducialId=11, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.4999994585717251, -1.817670065573651E-7, 1.2135625904186043E-7, -0.8660257163779457))), altCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: -0.69, Z: 0.31), Rotation3d(Quaternion(0.5550332119109648, -0.025006233306798645, -0.014437336545705781, 0.8313268823303323))), poseAmbiguity=4.6016182750463486E-5, minAreaRectCorners=[(693.4620971679688,327.2079162597656), (699.4788208007812,327.2079162597656), (699.4788208007812,341.1042175292969), (693.4620971679688,341.1042175292969)], detectedCorners=[(693.4620971679688,340.85540771484375), (699.4788208007812,341.1042175292969), (699.4788208007812,327.6388244628906), (693.4620971679688,327.2079162597656)]], PhotonTrackedTarget [yaw=-4.00525859514957, pitch=1.6611816588978607, area=0.008766284113335132, skew=0.0, fiducialId=9, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: 0.75, Z: 0.31), Rotation3d(Quaternion(0.500000181239727, 1.7044840458502186E-7, 1.1499737195830306E-7, 0.8660252991455839))), altCameraToTarget=Transform3d(Translation3d(X: 10.64, Y: 0.74, Z: 0.31), Rotation3d(Quaternion(0.5590550326950174, 0.02499802948839558, -0.014432626508002366, -0.8286279431881058))), poseAmbiguity=4.647707464755513E-5, minAreaRectCorners=[(575.2939147949219,327.2079162597656), (581.2534484863281,327.2079162597656), (581.2534484863281,341.1042175292969), (575.2939147949219,341.1042175292969)], detectedCorners=[(575.2938842773438,341.1042175292969), (581.25341796875,340.85540771484375), (581.25341796875,327.2079162597656), (575.2938842773438,327.6388244628906)]], PhotonTrackedTarget [yaw=-13.013527549234418, pitch=5.774606115869813, area=0.00810662413641694, skew=0.0, fiducialId=2, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: 3.40, Z: 1.49), Rotation3d(Quaternion(0.45399169396254485, 8.99380585062115E-7, -2.2403447691443645E-7, -0.891005915699868))), altCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: 3.40, Z: 1.49), Rotation3d(Quaternion(0.24054809417232706, -0.08734474597081779, -0.044504520999287145, 0.9656743019009975))), poseAmbiguity=1.7114615184254944E-4, minAreaRectCorners=[(433.60072326660156,265.81459045410156), (441.21104431152344,265.81459045410156), (441.21104431152344,276.43455505371094), (433.60072326660156,276.43455505371094)], detectedCorners=[(433.6007080078125,275.6762390136719), (441.2110290527344,276.4345703125), (441.2110290527344,266.66217041015625), (433.6007080078125,265.8146057128906)]], PhotonTrackedTarget [yaw=12.821680417572855, pitch=5.774606115869813, area=0.0080768145150311, skew=9.989928269962555E-17, fiducialId=1, objDetectId=-1, objDetectConf=-1.0, bestCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: -3.34, Z: 1.49), Rotation3d(Quaternion(0.45398946342152463, -6.778445957866807E-7, -1.712608610482391E-7, 0.8910070522177405))), altCameraToTarget=Transform3d(Translation3d(X: 14.70, Y: -3.34, Z: 1.49), Rotation3d(Quaternion(0.2437759529135235, 0.08741151548352954, -0.04453826421187679, -0.964856908957473))), poseAmbiguity=1.8220607307739556E-4, minAreaRectCorners=[(834.7210388183594,265.81459045410156), (842.3033752441406,265.81459045410156), (842.3033752441406,276.43455505371094), (834.7210388183594,276.43455505371094)], detectedCorners=[(834.7210083007812,276.4345703125), (842.3033447265625,275.6762390136719), (842.3033447265625,265.8146057128906), (834.7210083007812,266.66217041015625)]]], multitagResult=Optional[MultiTargetPNPResult [estimatedPose=PnpResult [best=Transform3d(Translation3d(X: 2.00, Y: 4.00, Z: -0.00), Rotation3d(Quaternion(1.0, -0.0, -0.0, -0.0))), bestReprojErr=2.1567513613263145E-5, alt=Transform3d(Translation3d(X: 2.00, Y: 4.00, Z: -0.00), Rotation3d(Quaternion(1.0, -0.0, -0.0, -0.0))), altReprojErr=2.1567513613263145E-5, ambiguity=0.0], fiducialIDsUsed=[1, 2, 3, 9, 10, 11, 14, 15, 17, 18, 19]]]]