{
  "schema_version": "1.0",
  "created_utc": "2026-06-12T19:00:29Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "cam1",
    "intrinsics_file": "/app/data/calibration/20260610_092149/cam1_calibration.npz",
    "camera_matrix": [
      [
        1367.5723876953125,
        0.0,
        672.1165771484375
      ],
      [
        0.0,
        1372.3011474609375,
        445.8396911621094
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.01016925647854805,
      0.7656787633895874,
      -0.0031530377455055714,
      -0.00288817984983325,
      -2.490830183029175
    ]
  },
  "image": {
    "image_file": "/app/data/board/20260612_190019/cam1.jpg",
    "image_sha256": "be095cad81577bccecf5ff90a82caea1168b03e1c5cc62b733c070c0c9a236e7",
    "width_px": 1280,
    "height_px": 960
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 21,
    "num_rejected_candidates": 38
  },
  "detections": [
    {
      "observation_id": "adefc8f1-faf0-4903-b333-b86166429103",
      "type": "aruco",
      "marker_id": 196,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          307.0,
          684.0
        ],
        [
          295.0,
          645.0
        ],
        [
          332.0,
          639.0
        ],
        [
          344.0,
          678.0
        ]
      ],
      "center_px": [
        319.5,
        661.5
      ],
      "quality": {
        "area_px": 1515.0,
        "perimeter_px": 156.5754852294922,
        "sharpness": {
          "laplacian_var": 3729.707413397387
        },
        "contrast": {
          "p05": 9.0,
          "p95": 222.0,
          "dynamic_range": 213.0,
          "mean_gray": 91.7485604606526,
          "std_gray": 84.67478783926455
        },
        "geometry": {
          "distance_to_center_norm": 0.4604049026966095,
          "distance_to_border_px": 276.0
        },
        "edge_ratio": 1.0886016020712332,
        "edge_lengths_px": [
          40.804412841796875,
          37.48332977294922,
          40.804412841796875,
          37.48332977294922
        ]
      },
      "confidence": 0.9186097081773029
    },
    {
      "observation_id": "bd11e8da-5423-41cc-b90d-27b40624010f",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          434.0,
          620.0
        ],
        [
          425.0,
          646.0
        ],
        [
          398.0,
          664.0
        ],
        [
          406.0,
          640.0
        ]
      ],
      "center_px": [
        415.75,
        642.5
      ],
      "quality": {
        "area_px": 526.0,
        "perimeter_px": 119.6711196899414,
        "sharpness": {
          "laplacian_var": 2687.282802775227
        },
        "contrast": {
          "p05": 6.0,
          "p95": 137.5,
          "dynamic_range": 131.5,
          "mean_gray": 55.69191919191919,
          "std_gray": 45.35339390542834
        },
        "geometry": {
          "distance_to_center_norm": 0.3461717367172241,
          "distance_to_border_px": 296.0
        },
        "edge_ratio": 1.3601470616397384,
        "edge_lengths_px": [
          27.513633728027344,
          32.4499626159668,
          25.298221588134766,
          34.4093017578125
        ]
      },
      "confidence": 0.25781525877350137
    },
    {
      "observation_id": "4623c0d5-ba3e-423d-bae5-8bad03bf47e0",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          684.0,
          552.0
        ],
        [
          656.0,
          542.0
        ],
        [
          653.0,
          514.0
        ],
        [
          683.0,
          525.0
        ]
      ],
      "center_px": [
        669.0,
        533.25
      ],
      "quality": {
        "area_px": 776.5,
        "perimeter_px": 116.8639965057373,
        "sharpness": {
          "laplacian_var": 3418.3054397368633
        },
        "contrast": {
          "p05": 18.0,
          "p95": 228.0,
          "dynamic_range": 210.0,
          "mean_gray": 93.8,
          "std_gray": 80.09375479725072
        },
        "geometry": {
          "distance_to_center_norm": 0.0757933259010315,
          "distance_to_border_px": 408.0
        },
        "edge_ratio": 1.1826369198026583,
        "edge_lengths_px": [
          29.73213768005371,
          28.160255432128906,
          31.95309066772461,
          27.018512725830078
        ]
      },
      "confidence": 0.43772239645033884
    },
    {
      "observation_id": "57903c91-9a8f-49db-af4d-7f50dc1e9eb8",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          757.0,
          70.0
        ],
        [
          733.0,
          65.0
        ],
        [
          727.0,
          33.0
        ],
        [
          755.0,
          40.0
        ]
      ],
      "center_px": [
        743.0,
        52.0
      ],
      "quality": {
        "area_px": 782.0,
        "perimeter_px": 116.00127410888672,
        "sharpness": {
          "laplacian_var": 3452.410706537152
        },
        "contrast": {
          "p05": 9.0,
          "p95": 197.0,
          "dynamic_range": 188.0,
          "mean_gray": 84.52495378927911,
          "std_gray": 73.560981192601
        },
        "geometry": {
          "distance_to_center_norm": 0.5502740740776062,
          "distance_to_border_px": 33.0
        },
        "edge_ratio": 1.3280538716095864,
        "edge_lengths_px": [
          24.515300750732422,
          32.557640075683594,
          28.861740112304688,
          30.066593170166016
        ]
      },
      "confidence": 0.25908587547203854
    },
    {
      "observation_id": "13f8b507-2282-469c-b25b-93c26da186e4",
      "type": "aruco",
      "marker_id": 242,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          702.0,
          478.0
        ],
        [
          672.0,
          469.0
        ],
        [
          690.0,
          452.0
        ],
        [
          721.0,
          461.0
        ]
      ],
      "center_px": [
        696.25,
        465.0
      ],
      "quality": {
        "area_px": 685.0,
        "perimeter_px": 113.85487937927246,
        "sharpness": {
          "laplacian_var": 4005.6921772975816
        },
        "contrast": {
          "p05": 27.0,
          "p95": 221.0,
          "dynamic_range": 194.0,
          "mean_gray": 100.27180527383368,
          "std_gray": 72.17709202209055
        },
        "geometry": {
          "distance_to_center_norm": 0.07276956737041473,
          "distance_to_border_px": 452.0
        },
        "edge_ratio": 1.303777952617724,
        "edge_lengths_px": [
          31.320919036865234,
          24.75883674621582,
          32.280025482177734,
          25.495098114013672
        ]
      },
      "confidence": 0.350264142563365
    },
    {
      "observation_id": "d309d76a-c6d5-4583-91ef-48ba969cd01b",
      "type": "aruco",
      "marker_id": 201,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          958.0,
          369.0
        ],
        [
          958.0,
          341.0
        ],
        [
          973.0,
          326.0
        ],
        [
          974.0,
          352.0
        ]
      ],
      "center_px": [
        965.75,
        347.0
      ],
      "quality": {
        "area_px": 426.5,
        "perimeter_px": 98.57766342163086,
        "sharpness": {
          "laplacian_var": 1612.6098335067638
        },
        "contrast": {
          "p05": 21.0,
          "p95": 134.55,
          "dynamic_range": 113.55000000000001,
          "mean_gray": 63.95483870967742,
          "std_gray": 36.59337890674616
        },
        "geometry": {
          "distance_to_center_norm": 0.43981894850730896,
          "distance_to_border_px": 306.0
        },
        "edge_ratio": 1.3199326585521733,
        "edge_lengths_px": [
          28.0,
          21.21320343017578,
          26.019224166870117,
          23.34523582458496
        ]
      },
      "confidence": 0.21541503007071358
    },
    {
      "observation_id": "bdf5ac2a-7f68-4c22-81d1-3d995955b8eb",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1164.0,
          441.0
        ],
        [
          1162.0,
          463.0
        ],
        [
          1132.0,
          454.0
        ],
        [
          1135.0,
          432.0
        ]
      ],
      "center_px": [
        1148.25,
        447.5
      ],
      "quality": {
        "area_px": 671.5,
        "perimeter_px": 105.97969627380371,
        "sharpness": {
          "laplacian_var": 3865.8488306350514
        },
        "contrast": {
          "p05": 5.0,
          "p95": 189.0,
          "dynamic_range": 184.0,
          "mean_gray": 107.84478935698448,
          "std_gray": 68.68632927907619
        },
        "geometry": {
          "distance_to_center_norm": 0.6366100907325745,
          "distance_to_border_px": 116.0
        },
        "edge_ratio": 1.4178314438908988,
        "edge_lengths_px": [
          22.090721130371094,
          31.320919036865234,
          22.203603744506836,
          30.364452362060547
        ]
      },
      "confidence": 0.3157403996050142
    },
    {
      "observation_id": "26f20ecb-9b6c-475c-b7ec-d9396fd6ebd5",
      "type": "aruco",
      "marker_id": 204,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          924.0,
          445.0
        ],
        [
          896.0,
          436.0
        ],
        [
          895.0,
          413.0
        ],
        [
          923.0,
          421.0
        ]
      ],
      "center_px": [
        909.5,
        428.75
      ],
      "quality": {
        "area_px": 649.5,
        "perimeter_px": 105.5738754272461,
        "sharpness": {
          "laplacian_var": 1866.0967420025863
        },
        "contrast": {
          "p05": 26.0,
          "p95": 195.95,
          "dynamic_range": 169.95,
          "mean_gray": 83.87445887445888,
          "std_gray": 61.02839305525189
        },
        "geometry": {
          "distance_to_center_norm": 0.3429121673107147,
          "distance_to_border_px": 356.0
        },
        "edge_ratio": 1.2775271383235947,
        "edge_lengths_px": [
          29.4108829498291,
          23.021728515625,
          29.120439529418945,
          24.020824432373047
        ]
      },
      "confidence": 0.33893604841005115
    },
    {
      "observation_id": "f6ac9168-85c7-40df-bbbb-ebe87c7c7dad",
      "type": "aruco",
      "marker_id": 77,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1111.0,
          422.0
        ],
        [
          1109.0,
          444.0
        ],
        [
          1081.0,
          436.0
        ],
        [
          1082.0,
          414.0
        ]
      ],
      "center_px": [
        1095.75,
        429.0
      ],
      "quality": {
        "area_px": 639.0,
        "perimeter_px": 103.31709289550781,
        "sharpness": {
          "laplacian_var": 2567.4362072949493
        },
        "contrast": {
          "p05": 10.0,
          "p95": 179.0,
          "dynamic_range": 169.0,
          "mean_gray": 73.6829268292683,
          "std_gray": 63.25154193955107
        },
        "geometry": {
          "distance_to_center_norm": 0.5732433199882507,
          "distance_to_border_px": 169.0
        },
        "edge_ratio": 1.36600860279684,
        "edge_lengths_px": [
          22.090721130371094,
          29.120439529418945,
          22.022714614868164,
          30.08321762084961
        ]
      },
      "confidence": 0.31185747961453864
    },
    {
      "observation_id": "20cbd177-0d15-4efa-a3e3-71e36322eb17",
      "type": "aruco",
      "marker_id": 222,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          589.0,
          416.0
        ],
        [
          617.0,
          424.0
        ],
        [
          599.0,
          436.0
        ],
        [
          571.0,
          428.0
        ]
      ],
      "center_px": [
        594.0,
        426.0
      ],
      "quality": {
        "area_px": 480.0,
        "perimeter_px": 101.50749588012695,
        "sharpness": {
          "laplacian_var": 3755.6425623976743
        },
        "contrast": {
          "p05": 24.0,
          "p95": 213.0,
          "dynamic_range": 189.0,
          "mean_gray": 128.79190751445086,
          "std_gray": 71.76960200991759
        },
        "geometry": {
          "distance_to_center_norm": 0.08867073804140091,
          "distance_to_border_px": 416.0
        },
        "edge_ratio": 1.3460927462713201,
        "edge_lengths_px": [
          29.120439529418945,
          21.63330841064453,
          29.120439529418945,
          21.63330841064453
        ]
      },
      "confidence": 0.23772507569511883
    },
    {
      "observation_id": "29cc71c3-96cc-4fa3-a4cb-76d905e2886a",
      "type": "aruco",
      "marker_id": 0,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          582.0,
          33.0
        ],
        [
          560.0,
          30.0
        ],
        [
          556.0,
          3.0
        ],
        [
          577.0,
          7.0
        ]
      ],
      "center_px": [
        568.75,
        18.25
      ],
      "quality": {
        "area_px": 554.0,
        "perimeter_px": 97.35225296020508,
        "sharpness": {
          "laplacian_var": 3194.838429738824
        },
        "contrast": {
          "p05": 8.700000000000003,
          "p95": 197.0,
          "dynamic_range": 188.3,
          "mean_gray": 88.0886075949367,
          "std_gray": 70.82272214112452
        },
        "geometry": {
          "distance_to_center_norm": 0.5840184688568115,
          "distance_to_border_px": 3.0
        },
        "edge_ratio": 1.2767916515323836,
        "edge_lengths_px": [
          22.203603744506836,
          27.294687271118164,
          21.3775577545166,
          26.476404190063477
        ]
      },
      "confidence": 0.01735600320804412
    },
    {
      "observation_id": "74818f92-3613-4320-abaf-765055e56fe7",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          764.0,
          172.0
        ],
        [
          741.0,
          167.0
        ],
        [
          739.0,
          142.0
        ],
        [
          762.0,
          147.0
        ]
      ],
      "center_px": [
        751.5,
        157.0
      ],
      "quality": {
        "area_px": 565.0,
        "perimeter_px": 97.2341537475586,
        "sharpness": {
          "laplacian_var": 2224.7425881682625
        },
        "contrast": {
          "p05": 22.6,
          "p95": 206.0,
          "dynamic_range": 183.4,
          "mean_gray": 105.01272264631044,
          "std_gray": 71.38140641403558
        },
        "geometry": {
          "distance_to_center_norm": 0.427129328250885,
          "distance_to_border_px": 142.0
        },
        "edge_ratio": 1.065541656530479,
        "edge_lengths_px": [
          23.53720474243164,
          25.079872131347656,
          23.53720474243164,
          25.079872131347656
        ]
      },
      "confidence": 0.3534978331050283
    },
    {
      "observation_id": "52608f3a-52d3-4e9a-bab9-4948c3c36b87",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1141.0,
          568.0
        ],
        [
          1138.0,
          587.0
        ],
        [
          1112.0,
          576.0
        ],
        [
          1115.0,
          557.0
        ]
      ],
      "center_px": [
        1126.5,
        572.0
      ],
      "quality": {
        "area_px": 527.0,
        "perimeter_px": 94.93314361572266,
        "sharpness": {
          "laplacian_var": 3780.695475181898
        },
        "contrast": {
          "p05": 9.0,
          "p95": 186.0,
          "dynamic_range": 177.0,
          "mean_gray": 94.2827763496144,
          "std_gray": 68.98513111657512
        },
        "geometry": {
          "distance_to_center_norm": 0.6189031004905701,
          "distance_to_border_px": 139.0
        },
        "edge_ratio": 1.4676695738898655,
        "edge_lengths_px": [
          19.235383987426758,
          28.23118782043457,
          19.235383987426758,
          28.23118782043457
        ]
      },
      "confidence": 0.23938176520357402
    },
    {
      "observation_id": "3977f788-f0a1-4dde-a1df-6f1da49e4e99",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1067.0,
          543.0
        ],
        [
          1066.0,
          562.0
        ],
        [
          1040.0,
          553.0
        ],
        [
          1042.0,
          535.0
        ]
      ],
      "center_px": [
        1053.75,
        548.25
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 90.8995132446289,
        "sharpness": {
          "laplacian_var": 2898.776147589764
        },
        "contrast": {
          "p05": 13.0,
          "p95": 184.0,
          "dynamic_range": 171.0,
          "mean_gray": 99.58028169014085,
          "std_gray": 62.19026829290243
        },
        "geometry": {
          "distance_to_center_norm": 0.5241766571998596,
          "distance_to_border_px": 213.0
        },
        "edge_ratio": 1.5191862044851852,
        "edge_lengths_px": [
          19.02629852294922,
          27.513633728027344,
          18.11077117919922,
          26.248809814453125
        ]
      },
      "confidence": 0.21261383169909495
    },
    {
      "observation_id": "0de9836a-bf81-442c-92f0-56ce7d9e9ed0",
      "type": "aruco",
      "marker_id": 101,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          992.0,
          484.0
        ],
        [
          990.0,
          503.0
        ],
        [
          967.0,
          495.0
        ],
        [
          967.0,
          476.0
        ]
      ],
      "center_px": [
        979.0,
        489.5
      ],
      "quality": {
        "area_px": 464.0,
        "perimeter_px": 88.70537376403809,
        "sharpness": {
          "laplacian_var": 2063.683210354535
        },
        "contrast": {
          "p05": 17.3,
          "p95": 168.7,
          "dynamic_range": 151.39999999999998,
          "mean_gray": 91.05810397553516,
          "std_gray": 55.184037270697914
        },
        "geometry": {
          "distance_to_center_norm": 0.42391636967658997,
          "distance_to_border_px": 288.0
        },
        "edge_ratio": 1.3815163060238487,
        "edge_lengths_px": [
          19.10497283935547,
          24.351591110229492,
          19.0,
          26.248809814453125
        ]
      },
      "confidence": 0.22390856480270416
    },
    {
      "observation_id": "e65c240a-f518-4a48-822c-e75ae5997b21",
      "type": "aruco",
      "marker_id": 76,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          483.0,
          222.0
        ],
        [
          487.0,
          241.0
        ],
        [
          471.0,
          236.0
        ],
        [
          467.0,
          217.0
        ]
      ],
      "center_px": [
        477.0,
        229.0
      ],
      "quality": {
        "area_px": 284.0,
        "perimeter_px": 72.35908508300781,
        "sharpness": {
          "laplacian_var": 5196.166356239585
        },
        "contrast": {
          "p05": 16.0,
          "p95": 186.0,
          "dynamic_range": 170.0,
          "mean_gray": 103.22772277227723,
          "std_gray": 62.15381450233341
        },
        "geometry": {
          "distance_to_center_norm": 0.3741030991077423,
          "distance_to_border_px": 217.0
        },
        "edge_ratio": 1.1582906533731847,
        "edge_lengths_px": [
          19.416488647460938,
          16.76305389404297,
          19.416488647460938,
          16.76305389404297
        ]
      },
      "confidence": 0.16345926023140656
    },
    {
      "observation_id": "808be043-f72c-4124-b9d7-11d9b21c416e",
      "type": "aruco",
      "marker_id": 50,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          575.0,
          285.0
        ],
        [
          579.0,
          304.0
        ],
        [
          561.0,
          298.0
        ],
        [
          558.0,
          280.0
        ]
      ],
      "center_px": [
        568.25,
        291.75
      ],
      "quality": {
        "area_px": 304.5,
        "perimeter_px": 74.35848617553711,
        "sharpness": {
          "laplacian_var": 3483.248473627366
        },
        "contrast": {
          "p05": 12.600000000000001,
          "p95": 173.0,
          "dynamic_range": 160.4,
          "mean_gray": 79.54929577464789,
          "std_gray": 55.14176064571842
        },
        "geometry": {
          "distance_to_center_norm": 0.2518249750137329,
          "distance_to_border_px": 280.0
        },
        "edge_ratio": 1.095735848816957,
        "edge_lengths_px": [
          19.416488647460938,
          18.973665237426758,
          18.248287200927734,
          17.72004508972168
        ]
      },
      "confidence": 0.18526362920331105
    },
    {
      "observation_id": "6625383c-d5da-4b71-b51e-f43c4dea8943",
      "type": "aruco",
      "marker_id": 207,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          266.0,
          61.0
        ],
        [
          251.0,
          58.0
        ],
        [
          245.0,
          37.0
        ],
        [
          259.0,
          40.0
        ]
      ],
      "center_px": [
        255.25,
        49.0
      ],
      "quality": {
        "area_px": 285.0,
        "perimeter_px": 73.59115409851074,
        "sharpness": {
          "laplacian_var": 2788.5084694429424
        },
        "contrast": {
          "p05": 7.700000000000001,
          "p95": 169.0,
          "dynamic_range": 161.3,
          "mean_gray": 77.42325581395349,
          "std_gray": 56.11336050005362
        },
        "geometry": {
          "distance_to_center_norm": 0.7221859097480774,
          "distance_to_border_px": 37.0
        },
        "edge_ratio": 1.5460413696527164,
        "edge_lengths_px": [
          15.29705810546875,
          21.840330123901367,
          14.317821502685547,
          22.135944366455078
        ]
      },
      "confidence": 0.09094193904499635
    },
    {
      "observation_id": "fccf6b91-7cdf-44c4-97e1-0eae11f4191e",
      "type": "aruco",
      "marker_id": 93,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          303.0,
          153.0
        ],
        [
          310.0,
          173.0
        ],
        [
          295.0,
          168.0
        ],
        [
          289.0,
          150.0
        ]
      ],
      "center_px": [
        299.25,
        161.0
      ],
      "quality": {
        "area_px": 249.5,
        "perimeter_px": 70.29249572753906,
        "sharpness": {
          "laplacian_var": 4152.4176270410935
        },
        "contrast": {
          "p05": 2.3000000000000007,
          "p95": 161.39999999999998,
          "dynamic_range": 159.09999999999997,
          "mean_gray": 63.026737967914436,
          "std_gray": 56.21144507845661
        },
        "geometry": {
          "distance_to_center_norm": 0.5834589600563049,
          "distance_to_border_px": 150.0
        },
        "edge_ratio": 1.4799472788304575,
        "edge_lengths_px": [
          21.189620971679688,
          15.81138801574707,
          18.973665237426758,
          14.317821502685547
        ]
      },
      "confidence": 0.11239139103980775
    },
    {
      "observation_id": "d265dc74-892f-4925-8fdc-f0f7cd81ada8",
      "type": "aruco",
      "marker_id": 91,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          485.0,
          342.0
        ],
        [
          489.0,
          358.0
        ],
        [
          473.0,
          353.0
        ],
        [
          470.0,
          336.0
        ]
      ],
      "center_px": [
        479.25,
        347.25
      ],
      "quality": {
        "area_px": 236.5,
        "perimeter_px": 66.67364692687988,
        "sharpness": {
          "laplacian_var": 3471.429452472301
        },
        "contrast": {
          "p05": 20.3,
          "p95": 196.09999999999997,
          "dynamic_range": 175.79999999999995,
          "mean_gray": 97.23952095808383,
          "std_gray": 63.865334517748614
        },
        "geometry": {
          "distance_to_center_norm": 0.2605976462364197,
          "distance_to_border_px": 336.0
        },
        "edge_ratio": 1.068532816253631,
        "edge_lengths_px": [
          16.492422103881836,
          16.76305389404297,
          17.262676239013672,
          16.155494689941406
        ]
      },
      "confidence": 0.14755435141380097
    },
    {
      "observation_id": "b07fdad8-3c49-47fb-85da-2a8bd9e459b7",
      "type": "aruco",
      "marker_id": 49,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          261.0,
          153.0
        ],
        [
          268.0,
          172.0
        ],
        [
          253.0,
          167.0
        ],
        [
          248.0,
          150.0
        ]
      ],
      "center_px": [
        257.5,
        160.5
      ],
      "quality": {
        "area_px": 228.0,
        "perimeter_px": 67.12155437469482,
        "sharpness": {
          "laplacian_var": 3975.70973708548
        },
        "contrast": {
          "p05": 2.0,
          "p95": 144.39999999999998,
          "dynamic_range": 142.39999999999998,
          "mean_gray": 49.672413793103445,
          "std_gray": 47.03302383384692
        },
        "geometry": {
          "distance_to_center_norm": 0.6229798793792725,
          "distance_to_border_px": 150.0
        },
        "edge_ratio": 1.5176859856456324,
        "edge_lengths_px": [
          20.248456954956055,
          15.81138801574707,
          17.72004508972168,
          13.34166431427002
        ]
      },
      "confidence": 0.10015246990327734
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          147.0,
          566.0
        ],
        [
          166.0,
          616.0
        ],
        [
          42.0,
          708.0
        ],
        [
          20.0,
          664.0
        ]
      ],
      "center_px": [
        93.75,
        638.5
      ],
      "area_px": 7846.0
    },
    {
      "image_points_px": [
        [
          894.0,
          231.0
        ],
        [
          930.0,
          239.0
        ],
        [
          930.0,
          277.0
        ],
        [
          894.0,
          270.0
        ]
      ],
      "center_px": [
        912.0,
        254.25
      ],
      "area_px": 1386.0
    },
    {
      "image_points_px": [
        [
          200.0,
          573.0
        ],
        [
          223.0,
          623.0
        ],
        [
          212.0,
          612.0
        ],
        [
          199.0,
          583.0
        ]
      ],
      "center_px": [
        208.5,
        597.75
      ],
      "area_px": 228.0
    },
    {
      "image_points_px": [
        [
          763.0,
          504.0
        ],
        [
          765.0,
          531.0
        ],
        [
          745.0,
          551.0
        ],
        [
          744.0,
          520.0
        ]
      ],
      "center_px": [
        754.25,
        526.5
      ],
      "area_px": 592.5
    },
    {
      "image_points_px": [
        [
          546.0,
          546.0
        ],
        [
          538.0,
          569.0
        ],
        [
          515.0,
          585.0
        ],
        [
          524.0,
          561.0
        ]
      ],
      "center_px": [
        530.75,
        565.25
      ],
      "area_px": 397.0
    },
    {
      "image_points_px": [
        [
          513.0,
          489.0
        ],
        [
          533.0,
          506.0
        ],
        [
          504.0,
          523.0
        ],
        [
          495.0,
          506.0
        ]
      ],
      "center_px": [
        511.25,
        506.0
      ],
      "area_px": 646.0
    },
    {
      "image_points_px": [
        [
          430.0,
          71.0
        ],
        [
          452.0,
          75.0
        ],
        [
          459.0,
          104.0
        ],
        [
          437.0,
          98.0
        ]
      ],
      "center_px": [
        444.5,
        87.0
      ],
      "area_px": 581.0
    },
    {
      "image_points_px": [
        [
          550.0,
          102.0
        ],
        [
          570.0,
          106.0
        ],
        [
          573.0,
          130.0
        ],
        [
          554.0,
          125.0
        ]
      ],
      "center_px": [
        561.75,
        115.75
      ],
      "area_px": 442.5
    },
    {
      "image_points_px": [
        [
          1001.0,
          409.0
        ],
        [
          1021.0,
          412.0
        ],
        [
          1020.0,
          433.0
        ],
        [
          993.0,
          425.0
        ]
      ],
      "center_px": [
        1008.75,
        419.75
      ],
      "area_px": 459.5
    },
    {
      "image_points_px": [
        [
          867.0,
          444.0
        ],
        [
          890.0,
          451.0
        ],
        [
          889.0,
          469.0
        ],
        [
          867.0,
          462.0
        ]
      ],
      "center_px": [
        878.25,
        456.5
      ],
      "area_px": 408.5
    },
    {
      "image_points_px": [
        [
          865.0,
          472.0
        ],
        [
          887.0,
          478.0
        ],
        [
          888.0,
          497.0
        ],
        [
          865.0,
          488.0
        ]
      ],
      "center_px": [
        876.25,
        483.75
      ],
      "area_px": 390.0
    },
    {
      "image_points_px": [
        [
          610.0,
          260.0
        ],
        [
          630.0,
          266.0
        ],
        [
          633.0,
          286.0
        ],
        [
          614.0,
          280.0
        ]
      ],
      "center_px": [
        621.75,
        273.0
      ],
      "area_px": 369.0
    },
    {
      "image_points_px": [
        [
          908.0,
          456.0
        ],
        [
          945.0,
          467.0
        ],
        [
          941.0,
          471.0
        ],
        [
          921.0,
          466.0
        ]
      ],
      "center_px": [
        928.75,
        465.0
      ],
      "area_px": 163.5
    },
    {
      "image_points_px": [
        [
          662.0,
          296.0
        ],
        [
          681.0,
          302.0
        ],
        [
          684.0,
          322.0
        ],
        [
          664.0,
          316.0
        ]
      ],
      "center_px": [
        672.75,
        309.0
      ],
      "area_px": 375.0
    },
    {
      "image_points_px": [
        [
          389.0,
          68.0
        ],
        [
          406.0,
          73.0
        ],
        [
          411.0,
          95.0
        ],
        [
          393.0,
          89.0
        ]
      ],
      "center_px": [
        399.75,
        81.25
      ],
      "area_px": 351.5
    },
    {
      "image_points_px": [
        [
          626.0,
          301.0
        ],
        [
          645.0,
          306.0
        ],
        [
          648.0,
          326.0
        ],
        [
          629.0,
          320.0
        ]
      ],
      "center_px": [
        637.0,
        313.25
      ],
      "area_px": 354.0
    },
    {
      "image_points_px": [
        [
          697.0,
          359.0
        ],
        [
          717.0,
          366.0
        ],
        [
          719.0,
          384.0
        ],
        [
          699.0,
          377.0
        ]
      ],
      "center_px": [
        708.0,
        371.5
      ],
      "area_px": 346.0
    },
    {
      "image_points_px": [
        [
          583.0,
          265.0
        ],
        [
          601.0,
          272.0
        ],
        [
          604.0,
          291.0
        ],
        [
          585.0,
          285.0
        ]
      ],
      "center_px": [
        593.25,
        278.25
      ],
      "area_px": 344.5
    },
    {
      "image_points_px": [
        [
          551.0,
          244.0
        ],
        [
          570.0,
          251.0
        ],
        [
          572.0,
          270.0
        ],
        [
          554.0,
          264.0
        ]
      ],
      "center_px": [
        561.75,
        257.25
      ],
      "area_px": 344.5
    },
    {
      "image_points_px": [
        [
          677.0,
          372.0
        ],
        [
          696.0,
          378.0
        ],
        [
          698.0,
          397.0
        ],
        [
          679.0,
          390.0
        ]
      ],
      "center_px": [
        687.5,
        384.25
      ],
      "area_px": 338.5
    },
    {
      "image_points_px": [
        [
          605.0,
          336.0
        ],
        [
          623.0,
          343.0
        ],
        [
          625.0,
          361.0
        ],
        [
          608.0,
          354.0
        ]
      ],
      "center_px": [
        615.25,
        348.5
      ],
      "area_px": 297.5
    },
    {
      "image_points_px": [
        [
          202.0,
          860.0
        ],
        [
          199.0,
          869.0
        ],
        [
          180.0,
          887.0
        ],
        [
          186.0,
          874.0
        ]
      ],
      "center_px": [
        191.75,
        872.5
      ],
      "area_px": 120.5
    },
    {
      "image_points_px": [
        [
          572.0,
          361.0
        ],
        [
          589.0,
          367.0
        ],
        [
          593.0,
          384.0
        ],
        [
          575.0,
          377.0
        ]
      ],
      "center_px": [
        582.25,
        372.25
      ],
      "area_px": 266.0
    },
    {
      "image_points_px": [
        [
          384.0,
          198.0
        ],
        [
          399.0,
          203.0
        ],
        [
          404.0,
          222.0
        ],
        [
          388.0,
          216.0
        ]
      ],
      "center_px": [
        393.75,
        209.75
      ],
      "area_px": 262.0
    },
    {
      "image_points_px": [
        [
          550.0,
          344.0
        ],
        [
          567.0,
          349.0
        ],
        [
          571.0,
          366.0
        ],
        [
          553.0,
          360.0
        ]
      ],
      "center_px": [
        560.25,
        354.75
      ],
      "area_px": 269.5
    },
    {
      "image_points_px": [
        [
          164.0,
          850.0
        ],
        [
          147.0,
          874.0
        ],
        [
          142.0,
          876.0
        ],
        [
          142.0,
          871.0
        ]
      ],
      "center_px": [
        148.75,
        867.75
      ],
      "area_px": 98.0
    },
    {
      "image_points_px": [
        [
          336.0,
          185.0
        ],
        [
          350.0,
          190.0
        ],
        [
          355.0,
          209.0
        ],
        [
          340.0,
          203.0
        ]
      ],
      "center_px": [
        345.25,
        196.75
      ],
      "area_px": 243.5
    },
    {
      "image_points_px": [
        [
          523.0,
          346.0
        ],
        [
          540.0,
          352.0
        ],
        [
          542.0,
          369.0
        ],
        [
          526.0,
          362.0
        ]
      ],
      "center_px": [
        532.75,
        357.25
      ],
      "area_px": 256.0
    },
    {
      "image_points_px": [
        [
          383.0,
          248.0
        ],
        [
          398.0,
          251.0
        ],
        [
          403.0,
          270.0
        ],
        [
          387.0,
          264.0
        ]
      ],
      "center_px": [
        392.75,
        258.25
      ],
      "area_px": 251.0
    },
    {
      "image_points_px": [
        [
          439.0,
          318.0
        ],
        [
          455.0,
          325.0
        ],
        [
          457.0,
          341.0
        ],
        [
          442.0,
          334.0
        ]
      ],
      "center_px": [
        448.25,
        329.5
      ],
      "area_px": 230.5
    },
    {
      "image_points_px": [
        [
          788.0,
          508.0
        ],
        [
          772.0,
          525.0
        ],
        [
          766.0,
          528.0
        ],
        [
          784.0,
          506.0
        ]
      ],
      "center_px": [
        777.5,
        516.75
      ],
      "area_px": 89.0
    },
    {
      "image_points_px": [
        [
          147.0,
          887.0
        ],
        [
          152.0,
          886.0
        ],
        [
          173.0,
          902.0
        ],
        [
          165.0,
          900.0
        ]
      ],
      "center_px": [
        159.25,
        893.75
      ],
      "area_px": 84.5
    },
    {
      "image_points_px": [
        [
          558.0,
          466.0
        ],
        [
          540.0,
          478.0
        ],
        [
          533.0,
          475.0
        ],
        [
          552.0,
          463.0
        ]
      ],
      "center_px": [
        545.75,
        470.5
      ],
      "area_px": 133.5
    },
    {
      "image_points_px": [
        [
          319.0,
          662.0
        ],
        [
          333.0,
          659.0
        ],
        [
          338.0,
          673.0
        ],
        [
          324.0,
          676.0
        ]
      ],
      "center_px": [
        328.5,
        667.5
      ],
      "area_px": 211.0
    },
    {
      "image_points_px": [
        [
          856.0,
          277.0
        ],
        [
          863.0,
          276.0
        ],
        [
          879.0,
          284.0
        ],
        [
          857.0,
          280.0
        ]
      ],
      "center_px": [
        863.75,
        279.25
      ],
      "area_px": 67.0
    },
    {
      "image_points_px": [
        [
          603.0,
          513.0
        ],
        [
          584.0,
          527.0
        ],
        [
          588.0,
          521.0
        ],
        [
          601.0,
          512.0
        ]
      ],
      "center_px": [
        594.0,
        518.25
      ],
      "area_px": 44.5
    },
    {
      "image_points_px": [
        [
          480.0,
          600.0
        ],
        [
          464.0,
          615.0
        ],
        [
          464.0,
          611.0
        ],
        [
          470.0,
          605.0
        ]
      ],
      "center_px": [
        469.5,
        607.75
      ],
      "area_px": 47.0
    },
    {
      "image_points_px": [
        [
          266.0,
          581.0
        ],
        [
          272.0,
          595.0
        ],
        [
          271.0,
          600.0
        ],
        [
          265.0,
          585.0
        ]
      ],
      "center_px": [
        268.5,
        590.25
      ],
      "area_px": 41.5
    }
  ]
}