{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T10:46:39Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "f",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_a.npz",
    "camera_matrix": [
      [
        1992.8416748046875,
        0.0,
        719.249267578125
      ],
      [
        0.0,
        1997.40380859375,
        537.7935791015625
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_f.png",
    "image_sha256": "f59d6d4f6be4ebed89b753450709043a6b6861e69c26a26fa3fa76940cac1dbc",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 34,
    "num_rejected_candidates": 10
  },
  "detections": [
    {
      "observation_id": "8b89ac35-6ed2-46f5-ae47-3fac19570766",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          849.0,
          619.0
        ],
        [
          815.0,
          630.0
        ],
        [
          803.0,
          597.0
        ],
        [
          837.0,
          585.0
        ]
      ],
      "center_px": [
        826.0,
        607.75
      ],
      "quality": {
        "area_px": 1277.0,
        "perimeter_px": 142.96026229858398,
        "sharpness": {
          "laplacian_var": 445.557806809449
        },
        "contrast": {
          "p05": 23.0,
          "p95": 169.0,
          "dynamic_range": 146.0,
          "mean_gray": 88.58728323699422,
          "std_gray": 60.66845043963433
        },
        "geometry": {
          "distance_to_center_norm": 0.13977964222431183,
          "distance_to_border_px": 450.0
        },
        "edge_ratio": 1.0268100286465403,
        "edge_lengths_px": [
          35.735137939453125,
          35.11410140991211,
          36.055511474609375,
          36.055511474609375
        ]
      },
      "confidence": 0.829105004414004
    },
    {
      "observation_id": "5a4d6440-011f-48a4-ad64-9c9fff5d9966",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          833.0,
          568.0
        ],
        [
          799.0,
          582.0
        ],
        [
          787.0,
          550.0
        ],
        [
          821.0,
          538.0
        ]
      ],
      "center_px": [
        810.0,
        559.5
      ],
      "quality": {
        "area_px": 1210.0,
        "perimeter_px": 139.31206893920898,
        "sharpness": {
          "laplacian_var": 981.2590517736863
        },
        "contrast": {
          "p05": 26.0,
          "p95": 173.0,
          "dynamic_range": 147.0,
          "mean_gray": 103.86610373944511,
          "std_gray": 58.24556121374258
        },
        "geometry": {
          "distance_to_center_norm": 0.10232030600309372,
          "distance_to_border_px": 498.0
        },
        "edge_ratio": 1.1379891128024924,
        "edge_lengths_px": [
          36.769554138183594,
          34.1760139465332,
          36.055511474609375,
          32.31098937988281
        ]
      },
      "confidence": 0.7088527100932559
    },
    {
      "observation_id": "fe9aeef7-0b37-4b6c-9893-dd6b915b789c",
      "type": "aruco",
      "marker_id": 44,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1160.0,
          499.0
        ],
        [
          1188.0,
          481.0
        ],
        [
          1202.0,
          514.0
        ],
        [
          1174.0,
          530.0
        ]
      ],
      "center_px": [
        1181.0,
        506.0
      ],
      "quality": {
        "area_px": 1134.0,
        "perimeter_px": 135.3972625732422,
        "sharpness": {
          "laplacian_var": 217.32450471374688
        },
        "contrast": {
          "p05": 8.0,
          "p95": 134.0,
          "dynamic_range": 126.0,
          "mean_gray": 52.541501976284586,
          "std_gray": 48.827280797211436
        },
        "geometry": {
          "distance_to_center_norm": 0.5136134624481201,
          "distance_to_border_px": 238.0
        },
        "edge_ratio": 1.1115650901537635,
        "edge_lengths_px": [
          33.2866325378418,
          35.84689712524414,
          32.24903106689453,
          34.01470184326172
        ]
      },
      "confidence": 0.6801221149320388
    },
    {
      "observation_id": "360a68c7-6a22-49ba-af3e-0b7305a46675",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          797.0,
          457.0
        ],
        [
          808.0,
          488.0
        ],
        [
          776.0,
          499.0
        ],
        [
          764.0,
          467.0
        ]
      ],
      "center_px": [
        786.25,
        477.75
      ],
      "quality": {
        "area_px": 1144.5,
        "perimeter_px": 135.38951110839844,
        "sharpness": {
          "laplacian_var": 499.00147590172725
        },
        "contrast": {
          "p05": 19.0,
          "p95": 169.14999999999998,
          "dynamic_range": 150.14999999999998,
          "mean_gray": 76.07651715039577,
          "std_gray": 60.355931541999055
        },
        "geometry": {
          "distance_to_center_norm": 0.10100803524255753,
          "distance_to_border_px": 457.0
        },
        "edge_ratio": 1.0482800226002749,
        "edge_lengths_px": [
          32.893768310546875,
          33.83784866333008,
          34.1760139465332,
          34.48188018798828
        ]
      },
      "confidence": 0.7278589532855607
    },
    {
      "observation_id": "edb758d8-e49c-409a-983a-0fa21106280c",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          948.0,
          734.0
        ],
        [
          958.0,
          765.0
        ],
        [
          926.0,
          775.0
        ],
        [
          916.0,
          742.0
        ]
      ],
      "center_px": [
        937.0,
        754.0
      ],
      "quality": {
        "area_px": 1114.0,
        "perimeter_px": 133.56582641601562,
        "sharpness": {
          "laplacian_var": 364.6210453432471
        },
        "contrast": {
          "p05": 15.550000000000004,
          "p95": 149.0,
          "dynamic_range": 133.45,
          "mean_gray": 72.63524590163935,
          "std_gray": 52.529975968134195
        },
        "geometry": {
          "distance_to_center_norm": 0.33863380551338196,
          "distance_to_border_px": 305.0
        },
        "edge_ratio": 1.0586033307900453,
        "edge_lengths_px": [
          32.572994232177734,
          33.52610778808594,
          34.48188018798828,
          32.98484420776367
        ]
      },
      "confidence": 0.7015533061967676
    },
    {
      "observation_id": "33bf99dd-d2b0-4235-8a30-f5a4fb7e4310",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          924.0,
          426.0
        ],
        [
          934.0,
          457.0
        ],
        [
          901.0,
          465.0
        ],
        [
          892.0,
          433.0
        ]
      ],
      "center_px": [
        912.75,
        445.25
      ],
      "quality": {
        "area_px": 1095.0,
        "perimeter_px": 132.5270652770996,
        "sharpness": {
          "laplacian_var": 574.3638524219103
        },
        "contrast": {
          "p05": 15.0,
          "p95": 165.0,
          "dynamic_range": 150.0,
          "mean_gray": 90.94414893617021,
          "std_gray": 57.41748999437726
        },
        "geometry": {
          "distance_to_center_norm": 0.238643616437912,
          "distance_to_border_px": 426.0
        },
        "edge_ratio": 1.0424541344437137,
        "edge_lengths_px": [
          32.572994232177734,
          33.95585250854492,
          33.241539001464844,
          32.75667953491211
        ]
      },
      "confidence": 0.7002706170756865
    },
    {
      "observation_id": "1838ab86-d4a3-42cb-8129-7726ef0eb362",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1362.0,
          872.0
        ],
        [
          1393.0,
          862.0
        ],
        [
          1405.0,
          893.0
        ],
        [
          1375.0,
          904.0
        ]
      ],
      "center_px": [
        1383.75,
        882.75
      ],
      "quality": {
        "area_px": 1092.0,
        "perimeter_px": 132.30745697021484,
        "sharpness": {
          "laplacian_var": 548.8649128733601
        },
        "contrast": {
          "p05": 9.0,
          "p95": 151.0,
          "dynamic_range": 142.0,
          "mean_gray": 92.99727520435967,
          "std_gray": 52.75148660108581
        },
        "geometry": {
          "distance_to_center_norm": 0.8300243020057678,
          "distance_to_border_px": 35.0
        },
        "edge_ratio": 1.0809543723961539,
        "edge_lengths_px": [
          32.572994232177734,
          33.241539001464844,
          31.95309066772461,
          34.539833068847656
        ]
      },
      "confidence": 0.47143525482057913
    },
    {
      "observation_id": "c3cc8550-a4d9-440e-b328-57d725d65f2e",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          590.0,
          838.0
        ],
        [
          621.0,
          828.0
        ],
        [
          631.0,
          859.0
        ],
        [
          600.0,
          870.0
        ]
      ],
      "center_px": [
        610.5,
        848.75
      ],
      "quality": {
        "area_px": 1081.5,
        "perimeter_px": 131.56586456298828,
        "sharpness": {
          "laplacian_var": 624.1853239678383
        },
        "contrast": {
          "p05": 31.0,
          "p95": 165.69999999999993,
          "dynamic_range": 134.69999999999993,
          "mean_gray": 69.13012729844414,
          "std_gray": 50.22213778268788
        },
        "geometry": {
          "distance_to_center_norm": 0.3639915883541107,
          "distance_to_border_px": 210.0
        },
        "edge_ratio": 1.0292608517692443,
        "edge_lengths_px": [
          32.572994232177734,
          32.572994232177734,
          32.893768310546875,
          33.52610778808594
        ]
      },
      "confidence": 0.7005026944924987
    },
    {
      "observation_id": "5e4ef925-c2df-4e2f-98cf-0d39bfa27587",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1379.0,
          795.0
        ],
        [
          1408.0,
          785.0
        ],
        [
          1421.0,
          817.0
        ],
        [
          1391.0,
          827.0
        ]
      ],
      "center_px": [
        1399.75,
        806.0
      ],
      "quality": {
        "area_px": 1069.0,
        "perimeter_px": 131.01434707641602,
        "sharpness": {
          "laplacian_var": 429.5353493230311
        },
        "contrast": {
          "p05": 9.0,
          "p95": 150.39999999999998,
          "dynamic_range": 141.39999999999998,
          "mean_gray": 99.03927068723702,
          "std_gray": 50.25038151203281
        },
        "geometry": {
          "distance_to_center_norm": 0.8110472559928894,
          "distance_to_border_px": 19.0
        },
        "edge_ratio": 1.1259663516201106,
        "edge_lengths_px": [
          30.675724029541016,
          34.539833068847656,
          31.62277603149414,
          34.1760139465332
        ]
      },
      "confidence": 0.2405163644043805
    },
    {
      "observation_id": "93a48081-b5ff-4cbb-b7d5-9808d4a69d38",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1321.0,
          834.0
        ],
        [
          1351.0,
          823.0
        ],
        [
          1363.0,
          855.0
        ],
        [
          1334.0,
          865.0
        ]
      ],
      "center_px": [
        1342.25,
        844.25
      ],
      "quality": {
        "area_px": 1060.5,
        "perimeter_px": 130.4202995300293,
        "sharpness": {
          "laplacian_var": 366.8053397716413
        },
        "contrast": {
          "p05": 9.0,
          "p95": 146.0,
          "dynamic_range": 137.0,
          "mean_gray": 56.67517730496454,
          "std_gray": 52.55768348256675
        },
        "geometry": {
          "distance_to_center_norm": 0.7696104049682617,
          "distance_to_border_px": 77.0
        },
        "edge_ratio": 1.1141061874732403,
        "edge_lengths_px": [
          31.95309066772461,
          34.1760139465332,
          30.675724029541016,
          33.61547088623047
        ]
      },
      "confidence": 0.6345894206040225
    },
    {
      "observation_id": "3747aa2b-ad3b-4237-a6b3-cb21ccd86e48",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          824.0,
          854.0
        ],
        [
          855.0,
          842.0
        ],
        [
          866.0,
          872.0
        ],
        [
          836.0,
          884.0
        ]
      ],
      "center_px": [
        845.25,
        863.0
      ],
      "quality": {
        "area_px": 1053.0,
        "perimeter_px": 129.81660842895508,
        "sharpness": {
          "laplacian_var": 382.5138682212613
        },
        "contrast": {
          "p05": 21.0,
          "p95": 158.0,
          "dynamic_range": 137.0,
          "mean_gray": 53.20223152022315,
          "std_gray": 46.894249950536434
        },
        "geometry": {
          "distance_to_center_norm": 0.3849267363548279,
          "distance_to_border_px": 196.0
        },
        "edge_ratio": 1.0403231207628274,
        "edge_lengths_px": [
          33.241539001464844,
          31.95309066772461,
          32.31098937988281,
          32.31098937988281
        ]
      },
      "confidence": 0.6747903473348275
    },
    {
      "observation_id": "fbc1fdaa-5baf-4eb5-bd6f-37dfc8255559",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          535.0,
          807.0
        ],
        [
          566.0,
          798.0
        ],
        [
          575.0,
          829.0
        ],
        [
          544.0,
          838.0
        ]
      ],
      "center_px": [
        555.0,
        818.0
      ],
      "quality": {
        "area_px": 1042.0,
        "perimeter_px": 129.12010192871094,
        "sharpness": {
          "laplacian_var": 587.8808673530805
        },
        "contrast": {
          "p05": 35.0,
          "p95": 171.0,
          "dynamic_range": 136.0,
          "mean_gray": 115.57082152974505,
          "std_gray": 53.38455494513865
        },
        "geometry": {
          "distance_to_center_norm": 0.35919833183288574,
          "distance_to_border_px": 242.0
        },
        "edge_ratio": 1.0,
        "edge_lengths_px": [
          32.280025482177734,
          32.280025482177734,
          32.280025482177734,
          32.280025482177734
        ]
      },
      "confidence": 0.6946666666666667
    },
    {
      "observation_id": "2518c425-673f-482f-8bcc-a00c85f054c8",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          796.0,
          817.0
        ],
        [
          827.0,
          807.0
        ],
        [
          837.0,
          837.0
        ],
        [
          807.0,
          848.0
        ]
      ],
      "center_px": [
        816.75,
        827.25
      ],
      "quality": {
        "area_px": 1040.5,
        "perimeter_px": 129.04262924194336,
        "sharpness": {
          "laplacian_var": 665.8439420206817
        },
        "contrast": {
          "p05": 23.0,
          "p95": 166.0,
          "dynamic_range": 143.0,
          "mean_gray": 101.20754716981132,
          "std_gray": 58.38157502998847
        },
        "geometry": {
          "distance_to_center_norm": 0.3367842137813568,
          "distance_to_border_px": 232.0
        },
        "edge_ratio": 1.0401923056276563,
        "edge_lengths_px": [
          32.572994232177734,
          31.62277603149414,
          31.95309066772461,
          32.893768310546875
        ]
      },
      "confidence": 0.6668638701841824
    },
    {
      "observation_id": "26bf4c65-5657-41c9-95d6-18fcaf8d400d",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1325.0,
          744.0
        ],
        [
          1354.0,
          732.0
        ],
        [
          1368.0,
          762.0
        ],
        [
          1339.0,
          774.0
        ]
      ],
      "center_px": [
        1346.5,
        753.0
      ],
      "quality": {
        "area_px": 1038.0,
        "perimeter_px": 128.98120498657227,
        "sharpness": {
          "laplacian_var": 347.9719321082028
        },
        "contrast": {
          "p05": 8.0,
          "p95": 145.10000000000002,
          "dynamic_range": 137.10000000000002,
          "mean_gray": 61.03004291845494,
          "std_gray": 52.7191979525414
        },
        "geometry": {
          "distance_to_center_norm": 0.7352426648139954,
          "distance_to_border_px": 72.0
        },
        "edge_ratio": 1.0548414132997364,
        "edge_lengths_px": [
          31.38471031188965,
          33.105892181396484,
          31.38471031188965,
          33.105892181396484
        ]
      },
      "confidence": 0.6560227834014383
    },
    {
      "observation_id": "84e25f0b-35a1-4860-bd11-cb4ad5b278f1",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          801.0,
          726.0
        ],
        [
          832.0,
          717.0
        ],
        [
          841.0,
          748.0
        ],
        [
          811.0,
          757.0
        ]
      ],
      "center_px": [
        821.25,
        737.0
      ],
      "quality": {
        "area_px": 1031.0,
        "perimeter_px": 128.45396423339844,
        "sharpness": {
          "laplacian_var": 664.3533446272094
        },
        "contrast": {
          "p05": 25.800000000000004,
          "p95": 167.0,
          "dynamic_range": 141.2,
          "mean_gray": 112.06025824964132,
          "std_gray": 50.16045229456456
        },
        "geometry": {
          "distance_to_center_norm": 0.24610687792301178,
          "distance_to_border_px": 323.0
        },
        "edge_ratio": 1.039975685063353,
        "edge_lengths_px": [
          32.280025482177734,
          32.280025482177734,
          31.320919036865234,
          32.572994232177734
        ]
      },
      "confidence": 0.6609128878733954
    },
    {
      "observation_id": "5e424a22-32d8-4aa7-84ba-875a46ca7213",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1047.0,
          694.0
        ],
        [
          1058.0,
          725.0
        ],
        [
          1028.0,
          734.0
        ],
        [
          1017.0,
          703.0
        ]
      ],
      "center_px": [
        1037.5,
        714.0
      ],
      "quality": {
        "area_px": 1029.0,
        "perimeter_px": 128.42937469482422,
        "sharpness": {
          "laplacian_var": 435.68856073065757
        },
        "contrast": {
          "p05": 12.0,
          "p95": 139.0,
          "dynamic_range": 127.0,
          "mean_gray": 83.92539454806312,
          "std_gray": 47.068040747958754
        },
        "geometry": {
          "distance_to_center_norm": 0.40228092670440674,
          "distance_to_border_px": 346.0
        },
        "edge_ratio": 1.0502172133528511,
        "edge_lengths_px": [
          32.893768310546875,
          31.320919036865234,
          32.893768310546875,
          31.320919036865234
        ]
      },
      "confidence": 0.653198206311934
    },
    {
      "observation_id": "b79ce6b0-f433-4a97-8b61-a05b8bce89a4",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          656.0,
          735.0
        ],
        [
          686.0,
          726.0
        ],
        [
          695.0,
          757.0
        ],
        [
          665.0,
          766.0
        ]
      ],
      "center_px": [
        675.5,
        746.0
      ],
      "quality": {
        "area_px": 1011.0,
        "perimeter_px": 127.20188903808594,
        "sharpness": {
          "laplacian_var": 627.4088787980461
        },
        "contrast": {
          "p05": 30.0,
          "p95": 170.0,
          "dynamic_range": 140.0,
          "mean_gray": 99.18651362984218,
          "std_gray": 55.124611063907636
        },
        "geometry": {
          "distance_to_center_norm": 0.23416848480701447,
          "distance_to_border_px": 314.0
        },
        "edge_ratio": 1.030621912600445,
        "edge_lengths_px": [
          31.320919036865234,
          32.280025482177734,
          31.320919036865234,
          32.280025482177734
        ]
      },
      "confidence": 0.6539740633879756
    },
    {
      "observation_id": "dd240716-caf7-44ed-a7b3-5b68ac589346",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          489.0,
          682.0
        ],
        [
          519.0,
          673.0
        ],
        [
          527.0,
          704.0
        ],
        [
          497.0,
          713.0
        ]
      ],
      "center_px": [
        508.0,
        693.0
      ],
      "quality": {
        "area_px": 1002.0,
        "perimeter_px": 126.67308044433594,
        "sharpness": {
          "laplacian_var": 638.5508422600294
        },
        "contrast": {
          "p05": 39.0,
          "p95": 173.0,
          "dynamic_range": 134.0,
          "mean_gray": 89.48550724637681,
          "std_gray": 53.7090707675502
        },
        "geometry": {
          "distance_to_center_norm": 0.2904933989048004,
          "distance_to_border_px": 367.0
        },
        "edge_ratio": 1.0221801329526705,
        "edge_lengths_px": [
          31.320919036865234,
          32.015621185302734,
          31.320919036865234,
          32.015621185302734
        ]
      },
      "confidence": 0.6535051684779027
    },
    {
      "observation_id": "46e85cd8-ad14-4f8c-a711-3050dd5bbcb4",
      "type": "aruco",
      "marker_id": 115,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1067.0,
          517.0
        ],
        [
          1054.0,
          492.0
        ],
        [
          1088.0,
          482.0
        ],
        [
          1100.0,
          507.0
        ]
      ],
      "center_px": [
        1077.25,
        499.5
      ],
      "quality": {
        "area_px": 962.5,
        "perimeter_px": 125.83082389831543,
        "sharpness": {
          "laplacian_var": 539.899840184855
        },
        "contrast": {
          "p05": 16.0,
          "p95": 167.0,
          "dynamic_range": 151.0,
          "mean_gray": 58.968515742128936,
          "std_gray": 55.198596591879216
        },
        "geometry": {
          "distance_to_center_norm": 0.3994870185852051,
          "distance_to_border_px": 340.0
        },
        "edge_ratio": 1.278002381327236,
        "edge_lengths_px": [
          28.17800521850586,
          35.44009017944336,
          27.73084831237793,
          34.48188018798828
        ]
      },
      "confidence": 0.5020856580879611
    },
    {
      "observation_id": "f6ebd192-5a3c-4837-8f6e-b3d3fb29d573",
      "type": "aruco",
      "marker_id": 40,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1223.0,
          557.0
        ],
        [
          1221.0,
          523.0
        ],
        [
          1248.0,
          521.0
        ],
        [
          1250.0,
          556.0
        ]
      ],
      "center_px": [
        1235.5,
        539.25
      ],
      "quality": {
        "area_px": 934.5,
        "perimeter_px": 123.20835304260254,
        "sharpness": {
          "laplacian_var": 671.1867799632303
        },
        "contrast": {
          "p05": 29.0,
          "p95": 178.0,
          "dynamic_range": 149.0,
          "mean_gray": 86.40273556231003,
          "std_gray": 60.189319795464634
        },
        "geometry": {
          "distance_to_center_norm": 0.5727784037590027,
          "distance_to_border_px": 190.0
        },
        "edge_ratio": 1.2975212562481107,
        "edge_lengths_px": [
          34.058773040771484,
          27.073972702026367,
          35.05709457397461,
          27.018512725830078
        ]
      },
      "confidence": 0.4801462766024009
    },
    {
      "observation_id": "7497b7b7-f214-4821-a270-f0b6f986283c",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1381.0,
          409.0
        ],
        [
          1410.0,
          400.0
        ],
        [
          1422.0,
          428.0
        ],
        [
          1394.0,
          438.0
        ]
      ],
      "center_px": [
        1401.75,
        418.75
      ],
      "quality": {
        "area_px": 931.0,
        "perimeter_px": 122.34017944335938,
        "sharpness": {
          "laplacian_var": 451.14310890108214
        },
        "contrast": {
          "p05": 12.0,
          "p95": 150.0,
          "dynamic_range": 138.0,
          "mean_gray": 92.44135802469135,
          "std_gray": 47.15632283523551
        },
        "geometry": {
          "distance_to_center_norm": 0.7693870067596436,
          "distance_to_border_px": 18.0
        },
        "edge_ratio": 1.0688937653685933,
        "edge_lengths_px": [
          30.364452362060547,
          30.463092803955078,
          29.73213768005371,
          31.78049659729004
        ]
      },
      "confidence": 0.2090385473648542
    },
    {
      "observation_id": "d861b168-fd19-49db-b9f6-e99393acb136",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          670.0,
          479.0
        ],
        [
          700.0,
          469.0
        ],
        [
          709.0,
          498.0
        ],
        [
          680.0,
          507.0
        ]
      ],
      "center_px": [
        689.75,
        488.25
      ],
      "quality": {
        "area_px": 931.0,
        "perimeter_px": 122.08381843566895,
        "sharpness": {
          "laplacian_var": 613.2049703154358
        },
        "contrast": {
          "p05": 34.0,
          "p95": 177.0,
          "dynamic_range": 143.0,
          "mean_gray": 128.68053491827638,
          "std_gray": 51.5731756273587
        },
        "geometry": {
          "distance_to_center_norm": 0.06660297513008118,
          "distance_to_border_px": 469.0
        },
        "edge_ratio": 1.0635890487184443,
        "edge_lengths_px": [
          31.62277603149414,
          30.364452362060547,
          30.364452362060547,
          29.73213768005371
        ]
      },
      "confidence": 0.5835587226236766
    },
    {
      "observation_id": "d0d8a8bd-c9d6-42bd-b74a-4221f4a4c548",
      "type": "aruco",
      "marker_id": 82,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1336.0,
          420.0
        ],
        [
          1365.0,
          411.0
        ],
        [
          1377.0,
          439.0
        ],
        [
          1348.0,
          448.0
        ]
      ],
      "center_px": [
        1356.5,
        429.5
      ],
      "quality": {
        "area_px": 920.0,
        "perimeter_px": 121.65509033203125,
        "sharpness": {
          "laplacian_var": 385.8752354152738
        },
        "contrast": {
          "p05": 8.0,
          "p95": 148.0,
          "dynamic_range": 140.0,
          "mean_gray": 79.13145539906104,
          "std_gray": 54.119050327652154
        },
        "geometry": {
          "distance_to_center_norm": 0.7178005576133728,
          "distance_to_border_px": 63.0
        },
        "edge_ratio": 1.0032485500057224,
        "edge_lengths_px": [
          30.364452362060547,
          30.463092803955078,
          30.364452362060547,
          30.463092803955078
        ]
      },
      "confidence": 0.6113473409254715
    },
    {
      "observation_id": "9cdb9fe3-31e8-4dfe-8936-83f1351593c8",
      "type": "aruco",
      "marker_id": 45,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1219.0,
          459.0
        ],
        [
          1254.0,
          447.0
        ],
        [
          1261.0,
          470.0
        ],
        [
          1225.0,
          481.0
        ]
      ],
      "center_px": [
        1239.75,
        464.25
      ],
      "quality": {
        "area_px": 873.5,
        "perimeter_px": 121.48819732666016,
        "sharpness": {
          "laplacian_var": 1490.0488378234838
        },
        "contrast": {
          "p05": 21.0,
          "p95": 178.0,
          "dynamic_range": 157.0,
          "mean_gray": 113.87052810902897,
          "std_gray": 63.69815639404713
        },
        "geometry": {
          "distance_to_center_norm": 0.5836011171340942,
          "distance_to_border_px": 179.0
        },
        "edge_ratio": 1.6507573100016846,
        "edge_lengths_px": [
          37.0,
          24.041629791259766,
          37.64305877685547,
          22.803508758544922
        ]
      },
      "confidence": 0.3527673812528742
    },
    {
      "observation_id": "327b74c3-647b-4ca4-8d6f-485719722f31",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          882.0,
          289.0
        ],
        [
          892.0,
          316.0
        ],
        [
          863.0,
          326.0
        ],
        [
          852.0,
          298.0
        ]
      ],
      "center_px": [
        872.25,
        307.25
      ],
      "quality": {
        "area_px": 911.0,
        "perimeter_px": 120.87222099304199,
        "sharpness": {
          "laplacian_var": 675.3399711902993
        },
        "contrast": {
          "p05": 23.0,
          "p95": 173.0,
          "dynamic_range": 150.0,
          "mean_gray": 89.1854714064915,
          "std_gray": 57.806100011180995
        },
        "geometry": {
          "distance_to_center_norm": 0.30902600288391113,
          "distance_to_border_px": 289.0
        },
        "edge_ratio": 1.0878204740502277,
        "edge_lengths_px": [
          28.792360305786133,
          30.675724029541016,
          30.08321762084961,
          31.320919036865234
        ]
      },
      "confidence": 0.5583029073465398
    },
    {
      "observation_id": "141f4637-7abf-4bf9-948b-ba8e322e1afb",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          520.0,
          392.0
        ],
        [
          550.0,
          385.0
        ],
        [
          557.0,
          413.0
        ],
        [
          527.0,
          421.0
        ]
      ],
      "center_px": [
        538.5,
        402.75
      ],
      "quality": {
        "area_px": 907.5,
        "perimeter_px": 120.54880142211914,
        "sharpness": {
          "laplacian_var": 980.4898504273506
        },
        "contrast": {
          "p05": 39.0,
          "p95": 176.0,
          "dynamic_range": 137.0,
          "mean_gray": 99.25,
          "std_gray": 53.370514883916556
        },
        "geometry": {
          "distance_to_center_norm": 0.25283530354499817,
          "distance_to_border_px": 385.0
        },
        "edge_ratio": 1.0757615188717002,
        "edge_lengths_px": [
          30.805843353271484,
          28.861740112304688,
          31.048349380493164,
          29.832868576049805
        ]
      },
      "confidence": 0.5623923047875398
    },
    {
      "observation_id": "84b915bf-a1e5-40a0-8b85-adc25b20df33",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          614.0,
          419.0
        ],
        [
          643.0,
          410.0
        ],
        [
          653.0,
          437.0
        ],
        [
          623.0,
          447.0
        ]
      ],
      "center_px": [
        633.25,
        428.25
      ],
      "quality": {
        "area_px": 901.5,
        "perimeter_px": 120.19047164916992,
        "sharpness": {
          "laplacian_var": 694.8671146583088
        },
        "contrast": {
          "p05": 33.0,
          "p95": 173.0,
          "dynamic_range": 140.0,
          "mean_gray": 95.13755795981453,
          "std_gray": 55.25692075296821
        },
        "geometry": {
          "distance_to_center_norm": 0.15718834102153778,
          "distance_to_border_px": 410.0
        },
        "edge_ratio": 1.0983044007385252,
        "edge_lengths_px": [
          30.364452362060547,
          28.792360305786133,
          31.62277603149414,
          29.4108829498291
        ]
      },
      "confidence": 0.5472071309155037
    },
    {
      "observation_id": "928ee841-fd39-46d0-906a-8b677ee78e84",
      "type": "aruco",
      "marker_id": 101,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1288.0,
          295.0
        ],
        [
          1315.0,
          285.0
        ],
        [
          1328.0,
          312.0
        ],
        [
          1301.0,
          323.0
        ]
      ],
      "center_px": [
        1308.0,
        303.75
      ],
      "quality": {
        "area_px": 879.0,
        "perimeter_px": 118.78446769714355,
        "sharpness": {
          "laplacian_var": 395.4040901339579
        },
        "contrast": {
          "p05": 9.0,
          "p95": 148.0,
          "dynamic_range": 139.0,
          "mean_gray": 83.19871794871794,
          "std_gray": 50.17439712205292
        },
        "geometry": {
          "distance_to_center_norm": 0.7040956616401672,
          "distance_to_border_px": 112.0
        },
        "edge_ratio": 1.0721836834831915,
        "edge_lengths_px": [
          28.792360305786133,
          29.96664810180664,
          29.154760360717773,
          30.870698928833008
        ]
      },
      "confidence": 0.5465481419156353
    },
    {
      "observation_id": "7819cb8e-a871-401a-991a-a77c01bdc77f",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          621.0,
          329.0
        ],
        [
          650.0,
          320.0
        ],
        [
          659.0,
          348.0
        ],
        [
          630.0,
          356.0
        ]
      ],
      "center_px": [
        640.0,
        338.25
      ],
      "quality": {
        "area_px": 874.0,
        "perimeter_px": 118.31905174255371,
        "sharpness": {
          "laplacian_var": 711.0605044995068
        },
        "contrast": {
          "p05": 32.0,
          "p95": 174.0,
          "dynamic_range": 142.0,
          "mean_gray": 93.50641025641026,
          "std_gray": 56.33490706285409
        },
        "geometry": {
          "distance_to_center_norm": 0.24114710092544556,
          "distance_to_border_px": 320.0
        },
        "edge_ratio": 1.0668981090236382,
        "edge_lengths_px": [
          30.364452362060547,
          29.4108829498291,
          30.08321762084961,
          28.460498809814453
        ]
      },
      "confidence": 0.5461315019106076
    },
    {
      "observation_id": "004b22dd-e438-43d1-a7f4-6ab222029584",
      "type": "aruco",
      "marker_id": 81,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1132.0,
          367.0
        ],
        [
          1161.0,
          358.0
        ],
        [
          1172.0,
          384.0
        ],
        [
          1144.0,
          394.0
        ]
      ],
      "center_px": [
        1152.25,
        375.75
      ],
      "quality": {
        "area_px": 864.5,
        "perimeter_px": 117.87435150146484,
        "sharpness": {
          "laplacian_var": 59.60768698060942
        },
        "contrast": {
          "p05": 3.0,
          "p95": 68.0,
          "dynamic_range": 65.0,
          "mean_gray": 28.99013157894737,
          "std_gray": 24.67545728224606
        },
        "geometry": {
          "distance_to_center_norm": 0.5137830376625061,
          "distance_to_border_px": 268.0
        },
        "edge_ratio": 1.0755641085736343,
        "edge_lengths_px": [
          30.364452362060547,
          28.23118782043457,
          29.73213768005371,
          29.546573638916016
        ]
      },
      "confidence": 0.2162628044281095
    },
    {
      "observation_id": "1802828b-a444-457a-bd3a-8b49d5944e0e",
      "type": "aruco",
      "marker_id": 52,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1171.0,
          304.0
        ],
        [
          1198.0,
          294.0
        ],
        [
          1210.0,
          322.0
        ],
        [
          1183.0,
          331.0
        ]
      ],
      "center_px": [
        1190.5,
        312.75
      ],
      "quality": {
        "area_px": 856.5,
        "perimeter_px": 117.26252555847168,
        "sharpness": {
          "laplacian_var": 278.84018963990553
        },
        "contrast": {
          "p05": 7.0,
          "p95": 129.0,
          "dynamic_range": 122.0,
          "mean_gray": 57.11363636363637,
          "std_gray": 44.62560788364291
        },
        "geometry": {
          "distance_to_center_norm": 0.5805625319480896,
          "distance_to_border_px": 230.0
        },
        "edge_ratio": 1.0703639808818122,
        "edge_lengths_px": [
          28.792360305786133,
          30.463092803955078,
          28.460498809814453,
          29.546573638916016
        ]
      },
      "confidence": 0.5334633920786324
    },
    {
      "observation_id": "52c3af9f-dae7-4b5f-aede-a7f062bc55fd",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1304.0,
          199.0
        ],
        [
          1332.0,
          191.0
        ],
        [
          1342.0,
          219.0
        ],
        [
          1315.0,
          227.0
        ]
      ],
      "center_px": [
        1323.25,
        209.0
      ],
      "quality": {
        "area_px": 854.0,
        "perimeter_px": 117.09605026245117,
        "sharpness": {
          "laplacian_var": 470.24653739612194
        },
        "contrast": {
          "p05": 15.0,
          "p95": 158.0,
          "dynamic_range": 143.0,
          "mean_gray": 98.31907894736842,
          "std_gray": 49.37784133537164
        },
        "geometry": {
          "distance_to_center_norm": 0.7645474672317505,
          "distance_to_border_px": 98.0
        },
        "edge_ratio": 1.0682863901343287,
        "edge_lengths_px": [
          29.120439529418945,
          29.73213768005371,
          28.160255432128906,
          30.08321762084961
        ]
      },
      "confidence": 0.5329407344239817
    },
    {
      "observation_id": "c68d9b01-25fd-410d-a5f4-052b1a910c52",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1261.0,
          126.0
        ],
        [
          1287.0,
          117.0
        ],
        [
          1300.0,
          143.0
        ],
        [
          1273.0,
          153.0
        ]
      ],
      "center_px": [
        1280.25,
        134.75
      ],
      "quality": {
        "area_px": 821.0,
        "perimeter_px": 114.92145156860352,
        "sharpness": {
          "laplacian_var": 578.2819782306962
        },
        "contrast": {
          "p05": 15.200000000000003,
          "p95": 160.0,
          "dynamic_range": 144.8,
          "mean_gray": 100.3982905982906,
          "std_gray": 49.96419569830781
        },
        "geometry": {
          "distance_to_center_norm": 0.7682814002037048,
          "distance_to_border_px": 117.0
        },
        "edge_ratio": 1.0738884558464472,
        "edge_lengths_px": [
          27.513633728027344,
          29.068883895874023,
          28.792360305786133,
          29.546573638916016
        ]
      },
      "confidence": 0.5096742872628433
    },
    {
      "observation_id": "40b3ec2b-52e1-4f55-8b0e-67b72cae453c",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1084.0,
          588.0
        ],
        [
          1084.0,
          568.0
        ],
        [
          1117.0,
          557.0
        ],
        [
          1115.0,
          578.0
        ]
      ],
      "center_px": [
        1100.0,
        572.75
      ],
      "quality": {
        "area_px": 645.5,
        "perimeter_px": 108.45306968688965,
        "sharpness": {
          "laplacian_var": 341.6904443743776
        },
        "contrast": {
          "p05": 9.0,
          "p95": 77.0,
          "dynamic_range": 68.0,
          "mean_gray": 34.0917225950783,
          "std_gray": 24.81408451958223
        },
        "geometry": {
          "distance_to_center_norm": 0.4237874150276184,
          "distance_to_border_px": 323.0
        },
        "edge_ratio": 1.7392526626586915,
        "edge_lengths_px": [
          20.0,
          34.78505325317383,
          21.095022201538086,
          32.572994232177734
        ]
      },
      "confidence": 0.21031063581882475
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          1404.0,
          921.0
        ],
        [
          1417.0,
          952.0
        ],
        [
          1387.0,
          964.0
        ],
        [
          1374.0,
          931.0
        ]
      ],
      "center_px": [
        1395.5,
        942.0
      ],
      "area_px": 1103.0
    },
    {
      "image_points_px": [
        [
          676.0,
          816.0
        ],
        [
          685.0,
          847.0
        ],
        [
          654.0,
          857.0
        ],
        [
          645.0,
          825.0
        ]
      ],
      "center_px": [
        665.0,
        836.25
      ],
      "area_px": 1062.0
    },
    {
      "image_points_px": [
        [
          622.0,
          606.0
        ],
        [
          633.0,
          635.0
        ],
        [
          604.0,
          647.0
        ],
        [
          593.0,
          617.0
        ]
      ],
      "center_px": [
        613.0,
        626.25
      ],
      "area_px": 982.0
    },
    {
      "image_points_px": [
        [
          798.0,
          597.0
        ],
        [
          808.0,
          630.0
        ],
        [
          783.0,
          642.0
        ],
        [
          774.0,
          609.0
        ]
      ],
      "center_px": [
        790.75,
        619.5
      ],
      "area_px": 922.5
    },
    {
      "image_points_px": [
        [
          1060.0,
          472.0
        ],
        [
          1015.0,
          488.0
        ],
        [
          1010.0,
          486.0
        ],
        [
          1052.0,
          471.0
        ]
      ],
      "center_px": [
        1034.25,
        479.25
      ],
      "area_px": 166.0
    },
    {
      "image_points_px": [
        [
          856.0,
          660.0
        ],
        [
          852.0,
          668.0
        ],
        [
          819.0,
          679.0
        ],
        [
          820.0,
          673.0
        ]
      ],
      "center_px": [
        836.75,
        670.0
      ],
      "area_px": 211.5
    },
    {
      "image_points_px": [
        [
          1137.0,
          158.0
        ],
        [
          1149.0,
          177.0
        ],
        [
          1156.0,
          197.0
        ],
        [
          1151.0,
          193.0
        ]
      ],
      "center_px": [
        1148.25,
        181.25
      ],
      "area_px": 113.0
    },
    {
      "image_points_px": [
        [
          1156.0,
          202.0
        ],
        [
          1163.0,
          211.0
        ],
        [
          1169.0,
          229.0
        ],
        [
          1157.0,
          210.0
        ]
      ],
      "center_px": [
        1161.25,
        213.0
      ],
      "area_px": 74.5
    },
    {
      "image_points_px": [
        [
          930.0,
          840.0
        ],
        [
          939.0,
          866.0
        ],
        [
          934.0,
          864.0
        ],
        [
          931.0,
          859.0
        ]
      ],
      "center_px": [
        933.5,
        857.25
      ],
      "area_px": 82.0
    },
    {
      "image_points_px": [
        [
          665.0,
          67.0
        ],
        [
          675.0,
          85.0
        ],
        [
          675.0,
          91.0
        ],
        [
          668.0,
          81.0
        ]
      ],
      "center_px": [
        670.75,
        81.0
      ],
      "area_px": 64.0
    }
  ]
}