{
  "schema_version": "1.0",
  "created_utc": "2026-06-25T17:59:27Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "cam2",
    "intrinsics_file": "/app/data/calibration/20260610_092149/cam2_calibration.npz",
    "camera_matrix": [
      [
        1388.99072265625,
        0.0,
        933.082763671875
      ],
      [
        0.0,
        1394.8729248046875,
        562.4996948242188
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019531700760126114,
      -0.11213663965463638,
      0.0026758278254419565,
      0.0007694826927036047,
      0.05339815095067024
    ]
  },
  "image": {
    "image_file": "/app/data/homing/20260625_175916/cam2.jpg",
    "image_sha256": "e406d47f9af9841c10b0f2d1f63f4a78bf13deffb2e3b373f35b17212849378f",
    "width_px": 1920,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 54,
    "num_rejected_candidates": 5
  },
  "detections": [
    {
      "observation_id": "a83c3a74-378b-4281-8f43-71f3e5afd57f",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          914.0,
          1039.0
        ],
        [
          940.0,
          1010.0
        ],
        [
          972.0,
          1036.0
        ],
        [
          946.0,
          1065.0
        ]
      ],
      "center_px": [
        943.0,
        1037.5
      ],
      "quality": {
        "area_px": 1604.0,
        "perimeter_px": 160.35948181152344,
        "sharpness": {
          "laplacian_var": 2215.2598124158358
        },
        "contrast": {
          "p05": 9.0,
          "p95": 159.0,
          "dynamic_range": 150.0,
          "mean_gray": 95.29017447199266,
          "std_gray": 62.72001352277011
        },
        "geometry": {
          "distance_to_center_norm": 0.45193949341773987,
          "distance_to_border_px": 15.0
        },
        "edge_ratio": 1.0585994505083367,
        "edge_lengths_px": [
          38.94868469238281,
          41.231056213378906,
          38.94868469238281,
          41.231056213378906
        ]
      },
      "confidence": 0.28339330788046485
    },
    {
      "observation_id": "49763024-56bb-4890-9a19-c001fc6dd1d5",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1233.0,
          1041.0
        ],
        [
          1253.0,
          1013.0
        ],
        [
          1288.0,
          1039.0
        ],
        [
          1268.0,
          1068.0
        ]
      ],
      "center_px": [
        1260.5,
        1040.25
      ],
      "quality": {
        "area_px": 1527.5,
        "perimeter_px": 157.4416618347168,
        "sharpness": {
          "laplacian_var": 1265.453084073945
        },
        "contrast": {
          "p05": 6.0,
          "p95": 147.0,
          "dynamic_range": 141.0,
          "mean_gray": 45.643968871595334,
          "std_gray": 53.31998782593434
        },
        "geometry": {
          "distance_to_center_norm": 0.5298151969909668,
          "distance_to_border_px": 12.0
        },
        "edge_ratio": 1.2846546947115982,
        "edge_lengths_px": [
          34.4093017578125,
          43.600460052490234,
          35.22782897949219,
          44.204071044921875
        ]
      },
      "confidence": 0.186820630468236
    },
    {
      "observation_id": "6ef27b0e-f7f5-44ec-a544-82e92398e8a8",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          991.0,
          1007.0
        ],
        [
          1015.0,
          979.0
        ],
        [
          1047.0,
          1004.0
        ],
        [
          1022.0,
          1032.0
        ]
      ],
      "center_px": [
        1018.75,
        1005.5
      ],
      "quality": {
        "area_px": 1494.5,
        "perimeter_px": 154.84732055664062,
        "sharpness": {
          "laplacian_var": 953.0447839999999
        },
        "contrast": {
          "p05": 8.0,
          "p95": 145.04999999999995,
          "dynamic_range": 137.04999999999995,
          "mean_gray": 30.108,
          "std_gray": 41.54674880180156
        },
        "geometry": {
          "distance_to_center_norm": 0.4259759187698364,
          "distance_to_border_px": 48.0
        },
        "edge_ratio": 1.1011357456969009,
        "edge_lengths_px": [
          36.878177642822266,
          40.607879638671875,
          37.53664779663086,
          39.824615478515625
        ]
      },
      "confidence": 0.868630415221559
    },
    {
      "observation_id": "c77955db-0be9-4455-867e-ed6db9e5e6af",
      "type": "aruco",
      "marker_id": 147,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1026.0,
          500.0
        ],
        [
          986.0,
          489.0
        ],
        [
          994.0,
          455.0
        ],
        [
          1035.0,
          467.0
        ]
      ],
      "center_px": [
        1010.25,
        477.75
      ],
      "quality": {
        "area_px": 1454.5,
        "perimeter_px": 153.33871459960938,
        "sharpness": {
          "laplacian_var": 3234.2340945304372
        },
        "contrast": {
          "p05": 18.550000000000004,
          "p95": 237.0,
          "dynamic_range": 218.45,
          "mean_gray": 80.6320564516129,
          "std_gray": 79.81258731147395
        },
        "geometry": {
          "distance_to_center_norm": 0.07263199985027313,
          "distance_to_border_px": 455.0
        },
        "edge_ratio": 1.248931268390258,
        "edge_lengths_px": [
          41.48493576049805,
          34.928497314453125,
          42.72002029418945,
          34.20526123046875
        ]
      },
      "confidence": 0.7763971414667724
    },
    {
      "observation_id": "dac4298c-72aa-44a6-a09d-529f079f8c99",
      "type": "aruco",
      "marker_id": 148,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1009.0,
          440.0
        ],
        [
          977.0,
          419.0
        ],
        [
          986.0,
          383.0
        ],
        [
          1018.0,
          404.0
        ]
      ],
      "center_px": [
        997.5,
        411.5
      ],
      "quality": {
        "area_px": 1341.0,
        "perimeter_px": 150.76654052734375,
        "sharpness": {
          "laplacian_var": 5150.403416971768
        },
        "contrast": {
          "p05": 18.0,
          "p95": 240.0,
          "dynamic_range": 222.0,
          "mean_gray": 92.87986651835372,
          "std_gray": 83.39489548845643
        },
        "geometry": {
          "distance_to_center_norm": 0.12153030931949615,
          "distance_to_border_px": 383.0
        },
        "edge_ratio": 1.0314586486508992,
        "edge_lengths_px": [
          38.27531814575195,
          37.10795211791992,
          38.27531814575195,
          37.10795211791992
        ]
      },
      "confidence": 0.8667337281715668
    },
    {
      "observation_id": "5f0a1f12-2c27-4bfb-a9ef-7ab030162bfa",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          623.0,
          883.0
        ],
        [
          654.0,
          861.0
        ],
        [
          678.0,
          884.0
        ],
        [
          648.0,
          908.0
        ]
      ],
      "center_px": [
        650.75,
        884.0
      ],
      "quality": {
        "area_px": 1295.5,
        "perimeter_px": 145.02878189086914,
        "sharpness": {
          "laplacian_var": 2135.809518386192
        },
        "contrast": {
          "p05": 7.0,
          "p95": 163.0,
          "dynamic_range": 156.0,
          "mean_gray": 80.59841628959276,
          "std_gray": 66.53399122585454
        },
        "geometry": {
          "distance_to_center_norm": 0.4199637770652771,
          "distance_to_border_px": 172.0
        },
        "edge_ratio": 1.1557451340188913,
        "edge_lengths_px": [
          38.01315689086914,
          33.241539001464844,
          38.41874694824219,
          35.35533905029297
        ]
      },
      "confidence": 0.7472812484733762
    },
    {
      "observation_id": "016fa3ec-c95a-4173-a003-3bd8e1567310",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          700.0,
          891.0
        ],
        [
          729.0,
          868.0
        ],
        [
          754.0,
          892.0
        ],
        [
          727.0,
          915.0
        ]
      ],
      "center_px": [
        727.5,
        891.5
      ],
      "quality": {
        "area_px": 1270.0,
        "perimeter_px": 143.26203536987305,
        "sharpness": {
          "laplacian_var": 1503.3612969280516
        },
        "contrast": {
          "p05": 7.0,
          "p95": 158.0,
          "dynamic_range": 151.0,
          "mean_gray": 39.71196283391405,
          "std_gray": 51.52977519313533
        },
        "geometry": {
          "distance_to_center_norm": 0.382618248462677,
          "distance_to_border_px": 165.0
        },
        "edge_ratio": 1.0680431762486382,
        "edge_lengths_px": [
          37.013511657714844,
          34.65544509887695,
          35.46829605102539,
          36.12478256225586
        ]
      },
      "confidence": 0.7927270034536174
    },
    {
      "observation_id": "13955a91-2525-46eb-b3e6-58b46440d508",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1304.0,
          886.0
        ],
        [
          1338.0,
          908.0
        ],
        [
          1322.0,
          933.0
        ],
        [
          1287.0,
          911.0
        ]
      ],
      "center_px": [
        1312.75,
        909.5
      ],
      "quality": {
        "area_px": 1225.5,
        "perimeter_px": 141.75104522705078,
        "sharpness": {
          "laplacian_var": 1396.9586006209686
        },
        "contrast": {
          "p05": 7.0,
          "p95": 145.0,
          "dynamic_range": 138.0,
          "mean_gray": 54.80923450789793,
          "std_gray": 55.193760651412134
        },
        "geometry": {
          "distance_to_center_norm": 0.4637918174266815,
          "distance_to_border_px": 147.0
        },
        "edge_ratio": 1.3927817794037038,
        "edge_lengths_px": [
          40.49691390991211,
          29.681644439697266,
          41.34005355834961,
          30.232433319091797
        ]
      },
      "confidence": 0.5865958415608975
    },
    {
      "observation_id": "672235e5-92b3-4d11-b379-0dbbcef60fc3",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1515.0,
          893.0
        ],
        [
          1550.0,
          915.0
        ],
        [
          1535.0,
          939.0
        ],
        [
          1500.0,
          915.0
        ]
      ],
      "center_px": [
        1525.0,
        915.5
      ],
      "quality": {
        "area_px": 1150.0,
        "perimeter_px": 138.7072410583496,
        "sharpness": {
          "laplacian_var": 1319.8758986317605
        },
        "contrast": {
          "p05": 6.0,
          "p95": 141.0,
          "dynamic_range": 135.0,
          "mean_gray": 51.8248730964467,
          "std_gray": 51.53919991154273
        },
        "geometry": {
          "distance_to_center_norm": 0.6159124970436096,
          "distance_to_border_px": 141.0
        },
        "edge_ratio": 1.5937996790170945,
        "edge_lengths_px": [
          41.34005355834961,
          28.301942825317383,
          42.43819046020508,
          26.62705421447754
        ]
      },
      "confidence": 0.48103075735306616
    },
    {
      "observation_id": "6dafbd27-5c30-4b2d-87f4-b361fe71dbcb",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          753.0,
          850.0
        ],
        [
          780.0,
          829.0
        ],
        [
          806.0,
          850.0
        ],
        [
          779.0,
          873.0
        ]
      ],
      "center_px": [
        779.5,
        850.5
      ],
      "quality": {
        "area_px": 1166.0,
        "perimeter_px": 137.8082160949707,
        "sharpness": {
          "laplacian_var": 2107.9842668895926
        },
        "contrast": {
          "p05": 7.0,
          "p95": 161.0,
          "dynamic_range": 154.0,
          "mean_gray": 59.6401028277635,
          "std_gray": 61.29568469686339
        },
        "geometry": {
          "distance_to_center_norm": 0.3260713517665863,
          "distance_to_border_px": 207.0
        },
        "edge_ratio": 1.0612402852147163,
        "edge_lengths_px": [
          34.20526123046875,
          33.42155075073242,
          35.46829605102539,
          34.71310806274414
        ]
      },
      "confidence": 0.7324762772043267
    },
    {
      "observation_id": "ee0e75f4-6f7c-4eda-a520-554c50fa061f",
      "type": "aruco",
      "marker_id": 144,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          968.0,
          585.0
        ],
        [
          939.0,
          564.0
        ],
        [
          946.0,
          533.0
        ],
        [
          976.0,
          555.0
        ]
      ],
      "center_px": [
        957.25,
        559.25
      ],
      "quality": {
        "area_px": 1061.0,
        "perimeter_px": 135.8360252380371,
        "sharpness": {
          "laplacian_var": 5288.562423574649
        },
        "contrast": {
          "p05": 18.6,
          "p95": 239.0,
          "dynamic_range": 220.4,
          "mean_gray": 111.4556616643929,
          "std_gray": 87.711963565579
        },
        "geometry": {
          "distance_to_center_norm": 0.017654340714216232,
          "distance_to_border_px": 495.0
        },
        "edge_ratio": 1.198200644945408,
        "edge_lengths_px": [
          35.80502700805664,
          31.78049659729004,
          37.202152252197266,
          31.048349380493164
        ]
      },
      "confidence": 0.5903296216015312
    },
    {
      "observation_id": "0120235d-1085-46ed-9f30-6f5ad12522a7",
      "type": "aruco",
      "marker_id": 93,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1867.0,
          971.0
        ],
        [
          1876.0,
          947.0
        ],
        [
          1912.0,
          969.0
        ],
        [
          1905.0,
          992.0
        ]
      ],
      "center_px": [
        1890.0,
        969.75
      ],
      "quality": {
        "area_px": 1041.5,
        "perimeter_px": 135.2802734375,
        "sharpness": {
          "laplacian_var": 746.3198492362626
        },
        "contrast": {
          "p05": 8.0,
          "p95": 118.0,
          "dynamic_range": 110.0,
          "mean_gray": 44.49295774647887,
          "std_gray": 41.72994103249703
        },
        "geometry": {
          "distance_to_center_norm": 0.930127739906311,
          "distance_to_border_px": 8.0
        },
        "edge_ratio": 1.8058920383747763,
        "edge_lengths_px": [
          25.63201141357422,
          42.19004440307617,
          24.041629791259766,
          43.416587829589844
        ]
      },
      "confidence": 0.0615171510658591
    },
    {
      "observation_id": "17ed48d1-b7c9-4055-b7fc-808c9bc5c5ce",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          523.0,
          804.0
        ],
        [
          553.0,
          783.0
        ],
        [
          577.0,
          803.0
        ],
        [
          544.0,
          823.0
        ]
      ],
      "center_px": [
        549.25,
        803.25
      ],
      "quality": {
        "area_px": 1075.5,
        "perimeter_px": 134.7678337097168,
        "sharpness": {
          "laplacian_var": 1370.2102854668694
        },
        "contrast": {
          "p05": 7.0,
          "p95": 156.0,
          "dynamic_range": 149.0,
          "mean_gray": 53.33196721311475,
          "std_gray": 58.2690707538106
        },
        "geometry": {
          "distance_to_center_norm": 0.4429319202899933,
          "distance_to_border_px": 257.0
        },
        "edge_ratio": 1.3625741860872198,
        "edge_lengths_px": [
          36.619667053222656,
          31.240999221801758,
          38.587562561035156,
          28.319604873657227
        ]
      },
      "confidence": 0.526209880769093
    },
    {
      "observation_id": "5ee18f75-c683-4358-9a94-173613f737ff",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          715.0,
          777.0
        ],
        [
          741.0,
          755.0
        ],
        [
          766.0,
          776.0
        ],
        [
          740.0,
          796.0
        ]
      ],
      "center_px": [
        740.5,
        776.0
      ],
      "quality": {
        "area_px": 1045.0,
        "perimeter_px": 130.9115047454834,
        "sharpness": {
          "laplacian_var": 2363.04210614142
        },
        "contrast": {
          "p05": 7.0,
          "p95": 165.0,
          "dynamic_range": 158.0,
          "mean_gray": 67.07703281027104,
          "std_gray": 64.26019061074966
        },
        "geometry": {
          "distance_to_center_norm": 0.29261186718940735,
          "distance_to_border_px": 284.0
        },
        "edge_ratio": 1.0846523080242414,
        "edge_lengths_px": [
          34.058773040771484,
          32.649654388427734,
          32.80244064331055,
          31.400636672973633
        ]
      },
      "confidence": 0.6422949193144543
    },
    {
      "observation_id": "59e8cf10-cfb6-43a5-8bdf-27df34cc5b16",
      "type": "aruco",
      "marker_id": 0,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1148.0,
          783.0
        ],
        [
          1177.0,
          803.0
        ],
        [
          1158.0,
          824.0
        ],
        [
          1127.0,
          805.0
        ]
      ],
      "center_px": [
        1152.5,
        803.75
      ],
      "quality": {
        "area_px": 1035.0,
        "perimeter_px": 130.32056427001953,
        "sharpness": {
          "laplacian_var": 1735.2833863410967
        },
        "contrast": {
          "p05": 5.0,
          "p95": 145.85000000000002,
          "dynamic_range": 140.85000000000002,
          "mean_gray": 58.63742690058479,
          "std_gray": 55.58566543243226
        },
        "geometry": {
          "distance_to_center_norm": 0.2964515686035156,
          "distance_to_border_px": 256.0
        },
        "edge_ratio": 1.2838921285007863,
        "edge_lengths_px": [
          35.22782897949219,
          28.319604873657227,
          36.359317779541016,
          30.4138126373291
        ]
      },
      "confidence": 0.5374283280369667
    },
    {
      "observation_id": "54d2fc89-f4f7-43ff-9ab3-834281f5a6f5",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          936.0,
          802.0
        ],
        [
          959.0,
          781.0
        ],
        [
          986.0,
          801.0
        ],
        [
          965.0,
          822.0
        ]
      ],
      "center_px": [
        961.5,
        801.5
      ],
      "quality": {
        "area_px": 1028.0,
        "perimeter_px": 129.6717300415039,
        "sharpness": {
          "laplacian_var": 985.4981639249527
        },
        "contrast": {
          "p05": 6.0,
          "p95": 144.0,
          "dynamic_range": 138.0,
          "mean_gray": 29.809104258443465,
          "std_gray": 41.09534030689129
        },
        "geometry": {
          "distance_to_center_norm": 0.23741744458675385,
          "distance_to_border_px": 258.0
        },
        "edge_ratio": 1.1861827182954703,
        "edge_lengths_px": [
          31.14482307434082,
          33.60059356689453,
          29.698484420776367,
          35.22782897949219
        ]
      },
      "confidence": 0.5777637144454008
    },
    {
      "observation_id": "78a1dadd-b77f-41a4-a33d-301809bbbe26",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          886.0,
          783.0
        ],
        [
          909.0,
          763.0
        ],
        [
          937.0,
          782.0
        ],
        [
          914.0,
          802.0
        ]
      ],
      "center_px": [
        911.5,
        782.5
      ],
      "quality": {
        "area_px": 997.0,
        "perimeter_px": 128.63470077514648,
        "sharpness": {
          "laplacian_var": 1892.9543407056651
        },
        "contrast": {
          "p05": 7.0,
          "p95": 156.0,
          "dynamic_range": 149.0,
          "mean_gray": 68.19676945668135,
          "std_gray": 62.201883820323886
        },
        "geometry": {
          "distance_to_center_norm": 0.22452370822429657,
          "distance_to_border_px": 278.0
        },
        "edge_ratio": 1.1101837874342844,
        "edge_lengths_px": [
          30.479501724243164,
          33.83784866333008,
          30.479501724243164,
          33.83784866333008
        ]
      },
      "confidence": 0.5986996695409863
    },
    {
      "observation_id": "ac769645-daad-478d-b63d-e9aff700c9a0",
      "type": "aruco",
      "marker_id": 94,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1791.0,
          890.0
        ],
        [
          1801.0,
          869.0
        ],
        [
          1835.0,
          889.0
        ],
        [
          1828.0,
          910.0
        ]
      ],
      "center_px": [
        1813.75,
        889.5
      ],
      "quality": {
        "area_px": 915.5,
        "perimeter_px": 126.9010009765625,
        "sharpness": {
          "laplacian_var": 1106.6585568395592
        },
        "contrast": {
          "p05": 7.0,
          "p95": 128.0,
          "dynamic_range": 121.0,
          "mean_gray": 47.48196721311476,
          "std_gray": 45.606914590061386
        },
        "geometry": {
          "distance_to_center_norm": 0.8375458717346191,
          "distance_to_border_px": 85.0
        },
        "edge_ratio": 1.9000536809353408,
        "edge_lengths_px": [
          23.25940704345703,
          39.4461669921875,
          22.135944366455078,
          42.05948257446289
        ]
      },
      "confidence": 0.321218994735393
    },
    {
      "observation_id": "1a123cfb-ecb5-4f08-9aaa-0265e21ad93c",
      "type": "aruco",
      "marker_id": 157,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1066.0,
          484.0
        ],
        [
          1042.0,
          497.0
        ],
        [
          1052.0,
          463.0
        ],
        [
          1076.0,
          450.0
        ]
      ],
      "center_px": [
        1059.0,
        473.5
      ],
      "quality": {
        "area_px": 686.0,
        "perimeter_px": 125.46955490112305,
        "sharpness": {
          "laplacian_var": 2323.8292875610455
        },
        "contrast": {
          "p05": 9.0,
          "p95": 155.0,
          "dynamic_range": 146.0,
          "mean_gray": 57.82627118644068,
          "std_gray": 53.441710568326975
        },
        "geometry": {
          "distance_to_center_norm": 0.10827624797821045,
          "distance_to_border_px": 450.0
        },
        "edge_ratio": 1.2984244819300144,
        "edge_lengths_px": [
          27.294687271118164,
          35.44009017944336,
          27.294687271118164,
          35.44009017944336
        ]
      },
      "confidence": 0.3522217423484963
    },
    {
      "observation_id": "9236f4f9-9226-48aa-ac5e-04d91bed85e3",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          606.0,
          708.0
        ],
        [
          634.0,
          691.0
        ],
        [
          656.0,
          708.0
        ],
        [
          629.0,
          728.0
        ]
      ],
      "center_px": [
        631.25,
        708.75
      ],
      "quality": {
        "area_px": 925.0,
        "perimeter_px": 124.63965225219727,
        "sharpness": {
          "laplacian_var": 1763.9668711865481
        },
        "contrast": {
          "p05": 6.0,
          "p95": 158.0,
          "dynamic_range": 152.0,
          "mean_gray": 63.00624024960999,
          "std_gray": 61.53719845859582
        },
        "geometry": {
          "distance_to_center_norm": 0.33549389243125916,
          "distance_to_border_px": 352.0
        },
        "edge_ratio": 1.2085293565799977,
        "edge_lengths_px": [
          32.75667953491211,
          27.80287742614746,
          33.60059356689453,
          30.479501724243164
        ]
      },
      "confidence": 0.5102620497459525
    },
    {
      "observation_id": "0d299030-53bb-4668-849a-7f7df916ede4",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          853.0,
          550.0
        ],
        [
          881.0,
          566.0
        ],
        [
          859.0,
          585.0
        ],
        [
          830.0,
          567.0
        ]
      ],
      "center_px": [
        855.75,
        567.0
      ],
      "quality": {
        "area_px": 895.5,
        "perimeter_px": 124.05070877075195,
        "sharpness": {
          "laplacian_var": 1460.055641748169
        },
        "contrast": {
          "p05": 8.0,
          "p95": 153.0,
          "dynamic_range": 145.0,
          "mean_gray": 51.89900662251656,
          "std_gray": 54.31431152191192
        },
        "geometry": {
          "distance_to_center_norm": 0.09777048975229263,
          "distance_to_border_px": 495.0
        },
        "edge_ratio": 1.1934007615737057,
        "edge_lengths_px": [
          32.24903106689453,
          29.068883895874023,
          34.13209533691406,
          28.600698471069336
        ]
      },
      "confidence": 0.500251063366804
    },
    {
      "observation_id": "d192322b-e3f2-49c7-9c2f-da546d007891",
      "type": "aruco",
      "marker_id": 122,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          933.0,
          716.0
        ],
        [
          905.0,
          699.0
        ],
        [
          909.0,
          671.0
        ],
        [
          938.0,
          689.0
        ]
      ],
      "center_px": [
        921.25,
        693.75
      ],
      "quality": {
        "area_px": 862.5,
        "perimeter_px": 122.63210678100586,
        "sharpness": {
          "laplacian_var": 3063.3507181844293
        },
        "contrast": {
          "p05": 19.450000000000003,
          "p95": 208.0,
          "dynamic_range": 188.55,
          "mean_gray": 81.16271186440677,
          "std_gray": 71.99006969727611
        },
        "geometry": {
          "distance_to_center_norm": 0.1439533680677414,
          "distance_to_border_px": 364.0
        },
        "edge_ratio": 1.24301758710616,
        "edge_lengths_px": [
          32.75667953491211,
          28.284271240234375,
          34.13209533691406,
          27.459060668945312
        ]
      },
      "confidence": 0.462583961775347
    },
    {
      "observation_id": "1765df6c-8eeb-43e1-be1b-09a5c920048e",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1250.0,
          729.0
        ],
        [
          1280.0,
          747.0
        ],
        [
          1264.0,
          765.0
        ],
        [
          1233.0,
          746.0
        ]
      ],
      "center_px": [
        1256.75,
        746.75
      ],
      "quality": {
        "area_px": 839.0,
        "perimeter_px": 119.46984672546387,
        "sharpness": {
          "laplacian_var": 1590.0423666910153
        },
        "contrast": {
          "p05": 7.550000000000001,
          "p95": 148.0,
          "dynamic_range": 140.45,
          "mean_gray": 74.86824324324324,
          "std_gray": 57.19761445739244
        },
        "geometry": {
          "distance_to_center_norm": 0.32835817337036133,
          "distance_to_border_px": 315.0
        },
        "edge_ratio": 1.5123482931577,
        "edge_lengths_px": [
          34.98571014404297,
          24.083189010620117,
          36.359317779541016,
          24.041629791259766
        ]
      },
      "confidence": 0.3698442586697249
    },
    {
      "observation_id": "0a3b87eb-ead3-480d-8339-18334b19d907",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          852.0,
          715.0
        ],
        [
          873.0,
          696.0
        ],
        [
          900.0,
          714.0
        ],
        [
          877.0,
          733.0
        ]
      ],
      "center_px": [
        875.5,
        714.5
      ],
      "quality": {
        "area_px": 890.0,
        "perimeter_px": 121.40827941894531,
        "sharpness": {
          "laplacian_var": 2249.1852760293614
        },
        "contrast": {
          "p05": 5.0,
          "p95": 143.0,
          "dynamic_range": 138.0,
          "mean_gray": 64.6645264847512,
          "std_gray": 54.51053009196851
        },
        "geometry": {
          "distance_to_center_norm": 0.17602437734603882,
          "distance_to_border_px": 347.0
        },
        "edge_ratio": 1.1458480003777034,
        "edge_lengths_px": [
          28.319604873657227,
          32.4499626159668,
          29.832868576049805,
          30.805843353271484
        ]
      },
      "confidence": 0.5178115536596077
    },
    {
      "observation_id": "a1ff6aaf-6aba-4841-baf7-11a994098c0a",
      "type": "aruco",
      "marker_id": 100,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1689.0,
          833.0
        ],
        [
          1698.0,
          813.0
        ],
        [
          1732.0,
          832.0
        ],
        [
          1722.0,
          852.0
        ]
      ],
      "center_px": [
        1710.25,
        832.5
      ],
      "quality": {
        "area_px": 850.5,
        "perimeter_px": 121.31994247436523,
        "sharpness": {
          "laplacian_var": 1208.7910427319212
        },
        "contrast": {
          "p05": 7.0,
          "p95": 131.44999999999993,
          "dynamic_range": 124.44999999999993,
          "mean_gray": 63.04391891891892,
          "std_gray": 50.184437835431524
        },
        "geometry": {
          "distance_to_center_norm": 0.731081485748291,
          "distance_to_border_px": 188.0
        },
        "edge_ratio": 1.775907085198861,
        "edge_lengths_px": [
          21.931713104248047,
          38.94868469238281,
          22.360679626464844,
          38.07886505126953
        ]
      },
      "confidence": 0.31927346015206026
    },
    {
      "observation_id": "75f57534-1e8d-4b67-9b32-103e47dcdb49",
      "type": "aruco",
      "marker_id": 118,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          889.0,
          687.0
        ],
        [
          863.0,
          668.0
        ],
        [
          867.0,
          641.0
        ],
        [
          895.0,
          660.0
        ]
      ],
      "center_px": [
        878.5,
        664.0
      ],
      "quality": {
        "area_px": 824.0,
        "perimeter_px": 120.99365425109863,
        "sharpness": {
          "laplacian_var": 2150.5108183882844
        },
        "contrast": {
          "p05": 18.0,
          "p95": 202.0,
          "dynamic_range": 184.0,
          "mean_gray": 55.96283185840708,
          "std_gray": 55.95529535894026
        },
        "geometry": {
          "distance_to_center_norm": 0.13471786677837372,
          "distance_to_border_px": 393.0
        },
        "edge_ratio": 1.2397228928552535,
        "edge_lengths_px": [
          32.202484130859375,
          27.294687271118164,
          33.83784866333008,
          27.658634185791016
        ]
      },
      "confidence": 0.44310977598239115
    },
    {
      "observation_id": "35ac3361-1082-4b74-989b-11edc0bb3617",
      "type": "aruco",
      "marker_id": 104,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1749.0,
          796.0
        ],
        [
          1757.0,
          777.0
        ],
        [
          1791.0,
          795.0
        ],
        [
          1782.0,
          814.0
        ]
      ],
      "center_px": [
        1769.75,
        795.5
      ],
      "quality": {
        "area_px": 789.5,
        "perimeter_px": 117.69998550415039,
        "sharpness": {
          "laplacian_var": 1146.9789748551334
        },
        "contrast": {
          "p05": 8.0,
          "p95": 135.0,
          "dynamic_range": 127.0,
          "mean_gray": 72.43016759776536,
          "std_gray": 51.98169050390882
        },
        "geometry": {
          "distance_to_center_norm": 0.7708927989006042,
          "distance_to_border_px": 129.0
        },
        "edge_ratio": 1.86610635321878,
        "edge_lengths_px": [
          20.615528106689453,
          38.470767974853516,
          21.02379608154297,
          37.58989334106445
        ]
      },
      "confidence": 0.2820489477598529
    },
    {
      "observation_id": "b9b3b1a3-d507-4733-ac47-cb620db82794",
      "type": "aruco",
      "marker_id": 76,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1528.0,
          746.0
        ],
        [
          1541.0,
          728.0
        ],
        [
          1571.0,
          745.0
        ],
        [
          1560.0,
          763.0
        ]
      ],
      "center_px": [
        1550.0,
        745.5
      ],
      "quality": {
        "area_px": 762.0,
        "perimeter_px": 114.0158462524414,
        "sharpness": {
          "laplacian_var": 1180.489754535353
        },
        "contrast": {
          "p05": 6.0,
          "p95": 132.0,
          "dynamic_range": 126.0,
          "mean_gray": 59.59187620889749,
          "std_gray": 48.9105464982987
        },
        "geometry": {
          "distance_to_center_norm": 0.5672178864479065,
          "distance_to_border_px": 317.0
        },
        "edge_ratio": 1.7177199327984685,
        "edge_lengths_px": [
          22.203603744506836,
          34.48188018798828,
          21.095022201538086,
          36.2353401184082
        ]
      },
      "confidence": 0.2957408773689774
    },
    {
      "observation_id": "48f68d8e-6b66-4e51-8134-4bf458d55b57",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          442.0,
          588.0
        ],
        [
          469.0,
          572.0
        ],
        [
          489.0,
          587.0
        ],
        [
          462.0,
          603.0
        ]
      ],
      "center_px": [
        465.5,
        587.5
      ],
      "quality": {
        "area_px": 725.0,
        "perimeter_px": 112.7694206237793,
        "sharpness": {
          "laplacian_var": 1176.1399285787163
        },
        "contrast": {
          "p05": 6.0,
          "p95": 151.0,
          "dynamic_range": 145.0,
          "mean_gray": 56.266666666666666,
          "std_gray": 54.161837546972556
        },
        "geometry": {
          "distance_to_center_norm": 0.45101863145828247,
          "distance_to_border_px": 442.0
        },
        "edge_ratio": 1.2553884124755859,
        "edge_lengths_px": [
          31.38471031188965,
          25.0,
          31.38471031188965,
          25.0
        ]
      },
      "confidence": 0.3850070054256877
    },
    {
      "observation_id": "d0325dd1-9cf7-4614-abc6-7bb32454d2b2",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          626.0,
          589.0
        ],
        [
          651.0,
          574.0
        ],
        [
          672.0,
          589.0
        ],
        [
          647.0,
          606.0
        ]
      ],
      "center_px": [
        649.0,
        589.5
      ],
      "quality": {
        "area_px": 736.0,
        "perimeter_px": 112.21268272399902,
        "sharpness": {
          "laplacian_var": 1948.4989382512422
        },
        "contrast": {
          "p05": 6.0,
          "p95": 157.0,
          "dynamic_range": 151.0,
          "mean_gray": 87.187624750499,
          "std_gray": 61.41759101084766
        },
        "geometry": {
          "distance_to_center_norm": 0.2859082520008087,
          "distance_to_border_px": 474.0
        },
        "edge_ratio": 1.1714829721289006,
        "edge_lengths_px": [
          29.154760360717773,
          25.806976318359375,
          30.232433319091797,
          27.018512725830078
        ]
      },
      "confidence": 0.4188423377379467
    },
    {
      "observation_id": "fd807187-bb64-4004-88dd-6733d7a76644",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          698.0,
          621.0
        ],
        [
          722.0,
          605.0
        ],
        [
          744.0,
          621.0
        ],
        [
          719.0,
          637.0
        ]
      ],
      "center_px": [
        720.75,
        621.0
      ],
      "quality": {
        "area_px": 736.0,
        "perimeter_px": 112.12975311279297,
        "sharpness": {
          "laplacian_var": 2135.7574272612464
        },
        "contrast": {
          "p05": 6.0,
          "p95": 156.0,
          "dynamic_range": 150.0,
          "mean_gray": 57.59281437125748,
          "std_gray": 58.18332467059634
        },
        "geometry": {
          "distance_to_center_norm": 0.22932396829128265,
          "distance_to_border_px": 443.0
        },
        "edge_ratio": 1.124272482949948,
        "edge_lengths_px": [
          28.844409942626953,
          27.20294189453125,
          29.681644439697266,
          26.4007568359375
        ]
      },
      "confidence": 0.43643037974141263
    },
    {
      "observation_id": "8fd98787-d335-4ec7-abb9-8edd65b00f9c",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          807.0,
          608.0
        ],
        [
          833.0,
          627.0
        ],
        [
          832.0,
          650.0
        ],
        [
          806.0,
          631.0
        ]
      ],
      "center_px": [
        819.5,
        629.0
      ],
      "quality": {
        "area_px": 617.0,
        "perimeter_px": 110.44842529296875,
        "sharpness": {
          "laplacian_var": 3320.940416020727
        },
        "contrast": {
          "p05": 19.0,
          "p95": 205.34999999999997,
          "dynamic_range": 186.34999999999997,
          "mean_gray": 88.59216589861751,
          "std_gray": 71.64944121977587
        },
        "geometry": {
          "distance_to_center_norm": 0.15099747478961945,
          "distance_to_border_px": 430.0
        },
        "edge_ratio": 1.398786546761827,
        "edge_lengths_px": [
          32.202484130859375,
          23.021728515625,
          32.202484130859375,
          23.021728515625
        ]
      },
      "confidence": 0.2940644048125604
    },
    {
      "observation_id": "bf4d8068-dcdd-4968-99dd-68b63250b657",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          547.0,
          574.0
        ],
        [
          572.0,
          558.0
        ],
        [
          592.0,
          574.0
        ],
        [
          566.0,
          589.0
        ]
      ],
      "center_px": [
        569.25,
        573.75
      ],
      "quality": {
        "area_px": 697.5,
        "perimeter_px": 109.51824188232422,
        "sharpness": {
          "laplacian_var": 1562.2307688840203
        },
        "contrast": {
          "p05": 6.0,
          "p95": 153.0,
          "dynamic_range": 147.0,
          "mean_gray": 57.94692144373673,
          "std_gray": 56.06240216385991
        },
        "geometry": {
          "distance_to_center_norm": 0.3560793101787567,
          "distance_to_border_px": 491.0
        },
        "edge_ratio": 1.2399768698663667,
        "edge_lengths_px": [
          29.681644439697266,
          25.612497329711914,
          30.01666259765625,
          24.20743751525879
        ]
      },
      "confidence": 0.37500699513057323
    },
    {
      "observation_id": "a67f4dae-f361-4008-9c24-f70cfd17edd2",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1394.0,
          663.0
        ],
        [
          1407.0,
          648.0
        ],
        [
          1437.0,
          663.0
        ],
        [
          1424.0,
          679.0
        ]
      ],
      "center_px": [
        1415.5,
        663.25
      ],
      "quality": {
        "area_px": 666.5,
        "perimeter_px": 108.0059814453125,
        "sharpness": {
          "laplacian_var": 1019.7448563378026
        },
        "contrast": {
          "p05": 6.0,
          "p95": 130.0,
          "dynamic_range": 124.0,
          "mean_gray": 48.774049217002236,
          "std_gray": 45.00360857942213
        },
        "geometry": {
          "distance_to_center_norm": 0.42841577529907227,
          "distance_to_border_px": 401.0
        },
        "edge_ratio": 1.7128951975723612,
        "edge_lengths_px": [
          19.84943389892578,
          33.541019439697266,
          20.615528106689453,
          34.0
        ]
      },
      "confidence": 0.25940485673792224
    },
    {
      "observation_id": "74b0436c-7495-4d71-afcb-57ada3d6d734",
      "type": "aruco",
      "marker_id": 50,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1417.0,
          636.0
        ],
        [
          1431.0,
          619.0
        ],
        [
          1458.0,
          635.0
        ],
        [
          1446.0,
          651.0
        ]
      ],
      "center_px": [
        1438.0,
        635.25
      ],
      "quality": {
        "area_px": 663.5,
        "perimeter_px": 106.05707931518555,
        "sharpness": {
          "laplacian_var": 1193.502439506173
        },
        "contrast": {
          "p05": 5.0,
          "p95": 136.0,
          "dynamic_range": 131.0,
          "mean_gray": 43.1,
          "std_gray": 44.33575181373255
        },
        "geometry": {
          "distance_to_center_norm": 0.4425041079521179,
          "distance_to_border_px": 429.0
        },
        "edge_ratio": 1.6324827194213867,
        "edge_lengths_px": [
          22.022714614868164,
          31.38471031188965,
          20.0,
          32.649654388427734
        ]
      },
      "confidence": 0.270957436835909
    },
    {
      "observation_id": "88ec366d-7993-4a97-bb5d-b139829be292",
      "type": "aruco",
      "marker_id": 88,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1701.0,
          694.0
        ],
        [
          1709.0,
          678.0
        ],
        [
          1740.0,
          694.0
        ],
        [
          1732.0,
          710.0
        ]
      ],
      "center_px": [
        1720.5,
        694.0
      ],
      "quality": {
        "area_px": 624.0,
        "perimeter_px": 105.54814529418945,
        "sharpness": {
          "laplacian_var": 1393.1621774482282
        },
        "contrast": {
          "p05": 8.0,
          "p95": 141.0,
          "dynamic_range": 133.0,
          "mean_gray": 64.49886104783599,
          "std_gray": 51.8493030473238
        },
        "geometry": {
          "distance_to_center_norm": 0.7044652104377747,
          "distance_to_border_px": 180.0
        },
        "edge_ratio": 1.9501603038955408,
        "edge_lengths_px": [
          17.8885440826416,
          34.885528564453125,
          17.8885440826416,
          34.885528564453125
        ]
      },
      "confidence": 0.21331579725472802
    },
    {
      "observation_id": "78f778ea-96dd-4674-a289-973c5b113dca",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1360.0,
          628.0
        ],
        [
          1373.0,
          614.0
        ],
        [
          1401.0,
          628.0
        ],
        [
          1389.0,
          644.0
        ]
      ],
      "center_px": [
        1380.75,
        628.5
      ],
      "quality": {
        "area_px": 615.0,
        "perimeter_px": 103.53091621398926,
        "sharpness": {
          "laplacian_var": 1509.4404662968038
        },
        "contrast": {
          "p05": 7.0,
          "p95": 133.0,
          "dynamic_range": 126.0,
          "mean_gray": 66.55687203791469,
          "std_gray": 49.01861855074494
        },
        "geometry": {
          "distance_to_center_norm": 0.3903539478778839,
          "distance_to_border_px": 436.0
        },
        "edge_ratio": 1.733631920425761,
        "edge_lengths_px": [
          19.10497283935547,
          31.30495262145996,
          20.0,
          33.12099075317383
        ]
      },
      "confidence": 0.23649772201893263
    },
    {
      "observation_id": "a174c6c4-f99b-49aa-a37b-9a4f76d7b12c",
      "type": "aruco",
      "marker_id": 91,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1653.0,
          658.0
        ],
        [
          1663.0,
          642.0
        ],
        [
          1692.0,
          657.0
        ],
        [
          1683.0,
          673.0
        ]
      ],
      "center_px": [
        1672.75,
        657.5
      ],
      "quality": {
        "area_px": 614.5,
        "perimeter_px": 103.41619491577148,
        "sharpness": {
          "laplacian_var": 1110.2442775655747
        },
        "contrast": {
          "p05": 7.0,
          "p95": 135.0,
          "dynamic_range": 128.0,
          "mean_gray": 56.541567695961994,
          "std_gray": 50.87314862232315
        },
        "geometry": {
          "distance_to_center_norm": 0.6558336019515991,
          "distance_to_border_px": 228.0
        },
        "edge_ratio": 1.8270958065167682,
        "edge_lengths_px": [
          18.867961883544922,
          32.649654388427734,
          18.357559204101562,
          33.541019439697266
        ]
      },
      "confidence": 0.22421739747061642
    },
    {
      "observation_id": "78f5d34c-aea5-473f-b9a6-3a2844d0e7c9",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          520.0,
          511.0
        ],
        [
          545.0,
          497.0
        ],
        [
          563.0,
          511.0
        ],
        [
          539.0,
          525.0
        ]
      ],
      "center_px": [
        541.75,
        511.0
      ],
      "quality": {
        "area_px": 602.0,
        "perimeter_px": 102.84234046936035,
        "sharpness": {
          "laplacian_var": 1582.0495272102096
        },
        "contrast": {
          "p05": 5.0,
          "p95": 150.75,
          "dynamic_range": 145.75,
          "mean_gray": 55.22769953051643,
          "std_gray": 54.78534538009923
        },
        "geometry": {
          "distance_to_center_norm": 0.38063716888427734,
          "distance_to_border_px": 497.0
        },
        "edge_ratio": 1.2565214176512676,
        "edge_lengths_px": [
          28.65309715270996,
          22.803508758544922,
          27.784887313842773,
          23.600847244262695
        ]
      },
      "confidence": 0.3194003123985894
    },
    {
      "observation_id": "78c9b73d-9ed9-4111-b212-ff6be86f594f",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1308.0,
          615.0
        ],
        [
          1321.0,
          600.0
        ],
        [
          1349.0,
          615.0
        ],
        [
          1336.0,
          629.0
        ]
      ],
      "center_px": [
        1328.5,
        614.75
      ],
      "quality": {
        "area_px": 594.5,
        "perimeter_px": 102.02412033081055,
        "sharpness": {
          "laplacian_var": 930.7487883728935
        },
        "contrast": {
          "p05": 5.0,
          "p95": 120.0,
          "dynamic_range": 115.0,
          "mean_gray": 34.7624703087886,
          "std_gray": 38.02606453994926
        },
        "geometry": {
          "distance_to_center_norm": 0.34137168526649475,
          "distance_to_border_px": 451.0
        },
        "edge_ratio": 1.6626436079320257,
        "edge_lengths_px": [
          19.84943389892578,
          31.764760971069336,
          19.10497283935547,
          31.30495262145996
        ]
      },
      "confidence": 0.2383753989384938
    },
    {
      "observation_id": "9443ff12-c7a5-4f86-94e4-863fa6e26bb3",
      "type": "aruco",
      "marker_id": 90,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1552.0,
          614.0
        ],
        [
          1562.0,
          599.0
        ],
        [
          1591.0,
          614.0
        ],
        [
          1580.0,
          629.0
        ]
      ],
      "center_px": [
        1571.25,
        614.0
      ],
      "quality": {
        "area_px": 585.0,
        "perimeter_px": 101.04324722290039,
        "sharpness": {
          "laplacian_var": 1165.5467071359944
        },
        "contrast": {
          "p05": 6.0,
          "p95": 139.0,
          "dynamic_range": 133.0,
          "mean_gray": 59.56308411214953,
          "std_gray": 51.77528947127236
        },
        "geometry": {
          "distance_to_center_norm": 0.5590004324913025,
          "distance_to_border_px": 329.0
        },
        "edge_ratio": 1.811077033890917,
        "edge_lengths_px": [
          18.027755737304688,
          32.649654388427734,
          18.601076126098633,
          31.764760971069336
        ]
      },
      "confidence": 0.21534147510121324
    },
    {
      "observation_id": "9243bfd9-adbf-42a9-bfe7-cccbce9af069",
      "type": "aruco",
      "marker_id": 200,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          886.0,
          400.0
        ],
        [
          911.0,
          412.0
        ],
        [
          895.0,
          425.0
        ],
        [
          868.0,
          413.0
        ]
      ],
      "center_px": [
        890.0,
        412.5
      ],
      "quality": {
        "area_px": 542.0,
        "perimeter_px": 100.09655380249023,
        "sharpness": {
          "laplacian_var": 3015.234932247642
        },
        "contrast": {
          "p05": 5.0,
          "p95": 156.0,
          "dynamic_range": 151.0,
          "mean_gray": 54.54330708661417,
          "std_gray": 54.39971957028497
        },
        "geometry": {
          "distance_to_center_norm": 0.13205447793006897,
          "distance_to_border_px": 400.0
        },
        "edge_ratio": 1.433219342526984,
        "edge_lengths_px": [
          27.73084831237793,
          20.615528106689453,
          29.546573638916016,
          22.203603744506836
        ]
      },
      "confidence": 0.25211307342269584
    },
    {
      "observation_id": "49c9843b-1c49-49b8-9335-8b4d5390401a",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1320.0,
          579.0
        ],
        [
          1333.0,
          566.0
        ],
        [
          1360.0,
          580.0
        ],
        [
          1348.0,
          594.0
        ]
      ],
      "center_px": [
        1340.25,
        579.75
      ],
      "quality": {
        "area_px": 552.5,
        "perimeter_px": 99.00243949890137,
        "sharpness": {
          "laplacian_var": 1492.0777494156537
        },
        "contrast": {
          "p05": 6.0,
          "p95": 136.0,
          "dynamic_range": 130.0,
          "mean_gray": 69.47677261613691,
          "std_gray": 50.0039614406213
        },
        "geometry": {
          "distance_to_center_norm": 0.34710678458213806,
          "distance_to_border_px": 486.0
        },
        "edge_ratio": 1.7277751506963748,
        "edge_lengths_px": [
          18.384777069091797,
          30.4138126373291,
          18.439088821411133,
          31.764760971069336
        ]
      },
      "confidence": 0.2131836038878541
    },
    {
      "observation_id": "04f37d4b-6062-49f9-b3fd-5de080422446",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1262.0,
          563.0
        ],
        [
          1276.0,
          549.0
        ],
        [
          1302.0,
          563.0
        ],
        [
          1288.0,
          576.0
        ]
      ],
      "center_px": [
        1282.0,
        562.75
      ],
      "quality": {
        "area_px": 540.0,
        "perimeter_px": 97.50249290466309,
        "sharpness": {
          "laplacian_var": 1364.7048743464327
        },
        "contrast": {
          "p05": 5.0,
          "p95": 129.79999999999995,
          "dynamic_range": 124.79999999999995,
          "mean_gray": 40.054545454545455,
          "std_gray": 43.601079890875766
        },
        "geometry": {
          "distance_to_center_norm": 0.2930696904659271,
          "distance_to_border_px": 504.0
        },
        "edge_ratio": 1.545652337121879,
        "edge_lengths_px": [
          19.79899024963379,
          29.529645919799805,
          19.10497283935547,
          29.068883895874023
        ]
      },
      "confidence": 0.2329113678114362
    },
    {
      "observation_id": "096b8a20-39d1-447c-a856-93c84a9b3a04",
      "type": "aruco",
      "marker_id": 98,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1474.0,
          574.0
        ],
        [
          1485.0,
          560.0
        ],
        [
          1513.0,
          574.0
        ],
        [
          1501.0,
          587.0
        ]
      ],
      "center_px": [
        1493.25,
        573.75
      ],
      "quality": {
        "area_px": 526.5,
        "perimeter_px": 96.76790046691895,
        "sharpness": {
          "laplacian_var": 1121.8701717403435
        },
        "contrast": {
          "p05": 7.0,
          "p95": 135.0,
          "dynamic_range": 128.0,
          "mean_gray": 56.249343832021,
          "std_gray": 48.32108575938426
        },
        "geometry": {
          "distance_to_center_norm": 0.4851016402244568,
          "distance_to_border_px": 407.0
        },
        "edge_ratio": 1.76946046197325,
        "edge_lengths_px": [
          17.804492950439453,
          31.30495262145996,
          17.69180679321289,
          29.96664810180664
        ]
      },
      "confidence": 0.19836555127576866
    },
    {
      "observation_id": "b59816d1-0182-4095-acf2-e2471ca92990",
      "type": "aruco",
      "marker_id": 67,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1392.0,
          570.0
        ],
        [
          1404.0,
          556.0
        ],
        [
          1430.0,
          570.0
        ],
        [
          1418.0,
          584.0
        ]
      ],
      "center_px": [
        1411.0,
        570.0
      ],
      "quality": {
        "area_px": 532.0,
        "perimeter_px": 95.93746948242188,
        "sharpness": {
          "laplacian_var": 1377.648824903029
        },
        "contrast": {
          "p05": 5.0,
          "p95": 125.5,
          "dynamic_range": 120.5,
          "mean_gray": 41.767263427109974,
          "std_gray": 40.47549291586538
        },
        "geometry": {
          "distance_to_center_norm": 0.4103637933731079,
          "distance_to_border_px": 490.0
        },
        "edge_ratio": 1.6014699102436407,
        "edge_lengths_px": [
          18.439088821411133,
          29.529645919799805,
          18.439088821411133,
          29.529645919799805
        ]
      },
      "confidence": 0.22146320976627604
    },
    {
      "observation_id": "5b9a06d9-cc3a-403e-85ff-82569af29fdf",
      "type": "aruco",
      "marker_id": 70,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1497.0,
          598.0
        ],
        [
          1507.0,
          585.0
        ],
        [
          1535.0,
          598.0
        ],
        [
          1525.0,
          612.0
        ]
      ],
      "center_px": [
        1516.0,
        598.25
      ],
      "quality": {
        "area_px": 513.0,
        "perimeter_px": 95.78152275085449,
        "sharpness": {
          "laplacian_var": 1241.123748019466
        },
        "contrast": {
          "p05": 8.0,
          "p95": 137.0,
          "dynamic_range": 129.0,
          "mean_gray": 62.43617021276596,
          "std_gray": 49.02052512167806
        },
        "geometry": {
          "distance_to_center_norm": 0.5075501799583435,
          "distance_to_border_px": 385.0
        },
        "edge_ratio": 1.90869654864197,
        "edge_lengths_px": [
          16.401220321655273,
          30.870698928833008,
          17.20465087890625,
          31.30495262145996
        ]
      },
      "confidence": 0.17917987028547397
    },
    {
      "observation_id": "4b28eef2-8c27-4c13-be45-49bb231ebdcf",
      "type": "aruco",
      "marker_id": 60,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1307.0,
          509.0
        ],
        [
          1322.0,
          497.0
        ],
        [
          1345.0,
          510.0
        ],
        [
          1332.0,
          522.0
        ]
      ],
      "center_px": [
        1326.5,
        509.5
      ],
      "quality": {
        "area_px": 470.0,
        "perimeter_px": 91.49887466430664,
        "sharpness": {
          "laplacian_var": 1702.37180236678
        },
        "contrast": {
          "p05": 7.0,
          "p95": 137.0,
          "dynamic_range": 130.0,
          "mean_gray": 76.49702380952381,
          "std_gray": 51.534084797386235
        },
        "geometry": {
          "distance_to_center_norm": 0.3338923156261444,
          "distance_to_border_px": 497.0
        },
        "edge_ratio": 1.5927149526251774,
        "edge_lengths_px": [
          19.209373474121094,
          26.419689178466797,
          17.69180679321289,
          28.17800521850586
        ]
      },
      "confidence": 0.19672907121069258
    },
    {
      "observation_id": "755f1e34-3964-4023-9ff7-43ed16192c57",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1265.0,
          507.0
        ],
        [
          1280.0,
          495.0
        ],
        [
          1303.0,
          509.0
        ],
        [
          1290.0,
          521.0
        ]
      ],
      "center_px": [
        1284.5,
        508.0
      ],
      "quality": {
        "area_px": 484.0,
        "perimeter_px": 92.48010063171387,
        "sharpness": {
          "laplacian_var": 1626.3350255036157
        },
        "contrast": {
          "p05": 5.550000000000001,
          "p95": 134.0,
          "dynamic_range": 128.45,
          "mean_gray": 56.10795454545455,
          "std_gray": 46.792029531046175
        },
        "geometry": {
          "distance_to_center_norm": 0.2960397005081177,
          "distance_to_border_px": 495.0
        },
        "edge_ratio": 1.6195687352691501,
        "edge_lengths_px": [
          19.209373474121094,
          26.925823211669922,
          17.69180679321289,
          28.65309715270996
        ]
      },
      "confidence": 0.1992299923059727
    },
    {
      "observation_id": "7f1d3e38-8046-4bd5-adf0-8fdc9d35c449",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1240.0,
          466.0
        ],
        [
          1255.0,
          455.0
        ],
        [
          1278.0,
          467.0
        ],
        [
          1263.0,
          478.0
        ]
      ],
      "center_px": [
        1259.0,
        466.5
      ],
      "quality": {
        "area_px": 433.0,
        "perimeter_px": 89.08663940429688,
        "sharpness": {
          "laplacian_var": 1974.719967742269
        },
        "contrast": {
          "p05": 4.5,
          "p95": 136.0,
          "dynamic_range": 131.5,
          "mean_gray": 58.31189710610933,
          "std_gray": 51.5708467826551
        },
        "geometry": {
          "distance_to_center_norm": 0.27954092621803284,
          "distance_to_border_px": 455.0
        },
        "edge_ratio": 1.3946635882883676,
        "edge_lengths_px": [
          18.601076126098633,
          25.942243576049805,
          18.601076126098633,
          25.942243576049805
        ]
      },
      "confidence": 0.20697942435059868
    },
    {
      "observation_id": "dc9b52c8-e11d-40d1-9a03-6e51cb4a27aa",
      "type": "aruco",
      "marker_id": 77,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          876.0,
          345.0
        ],
        [
          894.0,
          336.0
        ],
        [
          913.0,
          347.0
        ],
        [
          894.0,
          355.0
        ]
      ],
      "center_px": [
        894.25,
        345.75
      ],
      "quality": {
        "area_px": 351.5,
        "perimeter_px": 83.28589820861816,
        "sharpness": {
          "laplacian_var": 1526.1401941694694
        },
        "contrast": {
          "p05": 4.0,
          "p95": 134.5,
          "dynamic_range": 130.5,
          "mean_gray": 42.59040590405904,
          "std_gray": 43.51466373090616
        },
        "geometry": {
          "distance_to_center_norm": 0.18618659675121307,
          "distance_to_border_px": 336.0
        },
        "edge_ratio": 1.0909278395070388,
        "edge_lengths_px": [
          20.124610900878906,
          21.954498291015625,
          20.615528106689453,
          20.59126091003418
        ]
      },
      "confidence": 0.21480186392458583
    },
    {
      "observation_id": "3d576a4a-977b-4e91-a5e0-4b57fb308417",
      "type": "aruco",
      "marker_id": 82,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1112.0,
          393.0
        ],
        [
          1127.0,
          383.0
        ],
        [
          1147.0,
          395.0
        ],
        [
          1133.0,
          404.0
        ]
      ],
      "center_px": [
        1129.75,
        393.75
      ],
      "quality": {
        "area_px": 361.5,
        "perimeter_px": 81.70141792297363,
        "sharpness": {
          "laplacian_var": 1491.5946096093714
        },
        "contrast": {
          "p05": 4.0,
          "p95": 128.5,
          "dynamic_range": 124.5,
          "mean_gray": 56.28286852589641,
          "std_gray": 46.6688305655202
        },
        "geometry": {
          "distance_to_center_norm": 0.2034246176481247,
          "distance_to_border_px": 383.0
        },
        "edge_ratio": 1.4243879507548283,
        "edge_lengths_px": [
          18.027755737304688,
          23.323806762695312,
          16.6433162689209,
          23.706539154052734
        ]
      },
      "confidence": 0.16919547786983627
    },
    {
      "observation_id": "aef189a0-17a5-4462-8f39-66ac7cf6ce59",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          845.0,
          324.0
        ],
        [
          863.0,
          316.0
        ],
        [
          880.0,
          326.0
        ],
        [
          862.0,
          335.0
        ]
      ],
      "center_px": [
        862.5,
        325.25
      ],
      "quality": {
        "area_px": 333.5,
        "perimeter_px": 79.79386711120605,
        "sharpness": {
          "laplacian_var": 2291.8228093095277
        },
        "contrast": {
          "p05": 6.0,
          "p95": 142.2,
          "dynamic_range": 136.2,
          "mean_gray": 68.64658634538152,
          "std_gray": 49.109127706465465
        },
        "geometry": {
          "distance_to_center_norm": 0.2141234278678894,
          "distance_to_border_px": 316.0
        },
        "edge_ratio": 1.027959647829689,
        "edge_lengths_px": [
          19.697715759277344,
          19.72308349609375,
          20.124610900878906,
          20.248456954956055
        ]
      },
      "confidence": 0.21628605150283992
    },
    {
      "observation_id": "320a95ac-fb0e-4212-8773-c4eb34e78437",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1137.0,
          378.0
        ],
        [
          1150.0,
          369.0
        ],
        [
          1171.0,
          380.0
        ],
        [
          1156.0,
          389.0
        ]
      ],
      "center_px": [
        1153.5,
        379.0
      ],
      "quality": {
        "area_px": 334.0,
        "perimeter_px": 78.96528053283691,
        "sharpness": {
          "laplacian_var": 2107.8226270208847
        },
        "contrast": {
          "p05": 7.0,
          "p95": 129.0,
          "dynamic_range": 122.0,
          "mean_gray": 61.0746887966805,
          "std_gray": 41.541992732328836
        },
        "geometry": {
          "distance_to_center_norm": 0.22853489220142365,
          "distance_to_border_px": 369.0
        },
        "edge_ratio": 1.4993332103698063,
        "edge_lengths_px": [
          15.81138801574707,
          23.706539154052734,
          17.492855072021484,
          21.954498291015625
        ]
      },
      "confidence": 0.1485104612681437
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          1426.0,
          840.0
        ],
        [
          1466.0,
          864.0
        ],
        [
          1449.0,
          892.0
        ],
        [
          1408.0,
          866.0
        ]
      ],
      "center_px": [
        1437.25,
        865.5
      ],
      "area_px": 1531.0
    },
    {
      "image_points_px": [
        [
          1103.0,
          261.0
        ],
        [
          1101.0,
          268.0
        ],
        [
          1078.0,
          288.0
        ],
        [
          1065.0,
          290.0
        ]
      ],
      "center_px": [
        1086.75,
        276.75
      ],
      "area_px": 211.0
    },
    {
      "image_points_px": [
        [
          937.0,
          618.0
        ],
        [
          940.0,
          623.0
        ],
        [
          929.0,
          656.0
        ],
        [
          927.0,
          650.0
        ]
      ],
      "center_px": [
        933.25,
        636.75
      ],
      "area_px": 139.0
    },
    {
      "image_points_px": [
        [
          1051.0,
          205.0
        ],
        [
          1065.0,
          234.0
        ],
        [
          1059.0,
          239.0
        ],
        [
          1045.0,
          210.0
        ]
      ],
      "center_px": [
        1055.0,
        222.0
      ],
      "area_px": 244.0
    },
    {
      "image_points_px": [
        [
          1007.0,
          462.0
        ],
        [
          1015.0,
          465.0
        ],
        [
          1009.0,
          490.0
        ],
        [
          999.0,
          488.0
        ]
      ],
      "center_px": [
        1007.5,
        476.25
      ],
      "area_px": 247.0
    }
  ]
}