{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:34:32Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "d",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene4\\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\\Scene4\\render_d.png",
    "image_sha256": "c5fe686fcb91d626170d78968b21784cbdbf6f71af3521d17118b7e7fed4a11a",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 15,
    "num_rejected_candidates": 18
  },
  "detections": [
    {
      "observation_id": "70a8ee7f-56e2-43da-8879-9b9587eef6f3",
      "type": "aruco",
      "marker_id": 44,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          705.0,
          595.0
        ],
        [
          683.0,
          663.0
        ],
        [
          615.0,
          638.0
        ],
        [
          638.0,
          570.0
        ]
      ],
      "center_px": [
        660.25,
        616.5
      ],
      "quality": {
        "area_px": 5152.5,
        "perimeter_px": 287.2168960571289,
        "sharpness": {
          "laplacian_var": 64.4427640406782
        },
        "contrast": {
          "p05": 6.0,
          "p95": 138.0,
          "dynamic_range": 132.0,
          "mean_gray": 45.253471196454946,
          "std_gray": 52.44139592358889
        },
        "geometry": {
          "distance_to_center_norm": 0.10785399377346039,
          "distance_to_border_px": 417.0
        },
        "edge_ratio": 1.0137078778345114,
        "edge_lengths_px": [
          71.47027587890625,
          72.44998168945312,
          71.7844009399414,
          71.51223754882812
        ]
      },
      "confidence": 0.5297611327826611
    },
    {
      "observation_id": "0e783549-4c7e-4815-9fcb-410beedc3c13",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          652.0,
          439.0
        ],
        [
          707.0,
          462.0
        ],
        [
          673.0,
          497.0
        ],
        [
          616.0,
          473.0
        ]
      ],
      "center_px": [
        662.0,
        467.75
      ],
      "quality": {
        "area_px": 2754.5,
        "perimeter_px": 219.7751808166504,
        "sharpness": {
          "laplacian_var": 235.88355245778976
        },
        "contrast": {
          "p05": 17.0,
          "p95": 171.0,
          "dynamic_range": 154.0,
          "mean_gray": 69.3220064724919,
          "std_gray": 63.46686979064441
        },
        "geometry": {
          "distance_to_center_norm": 0.10294468700885773,
          "distance_to_border_px": 439.0
        },
        "edge_ratio": 1.2674651691032561,
        "edge_lengths_px": [
          59.61543273925781,
          48.79549026489258,
          61.84658432006836,
          49.51767349243164
        ]
      },
      "confidence": 0.7889763161756229
    },
    {
      "observation_id": "2e846fc2-68c5-472d-87c6-56e512d76692",
      "type": "aruco",
      "marker_id": 115,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          758.0,
          539.0
        ],
        [
          755.0,
          589.0
        ],
        [
          720.0,
          626.0
        ],
        [
          723.0,
          575.0
        ]
      ],
      "center_px": [
        739.0,
        582.25
      ],
      "quality": {
        "area_px": 1658.0,
        "perimeter_px": 202.31896591186523,
        "sharpness": {
          "laplacian_var": 203.4581454192511
        },
        "contrast": {
          "p05": 18.0,
          "p95": 83.0,
          "dynamic_range": 65.0,
          "mean_gray": 31.43867502238138,
          "std_gray": 21.829670437381434
        },
        "geometry": {
          "distance_to_center_norm": 0.05147290602326393,
          "distance_to_border_px": 454.0
        },
        "edge_ratio": 1.0199289120243653,
        "edge_lengths_px": [
          50.08992004394531,
          50.93132781982422,
          51.088157653808594,
          50.20956039428711
        ]
      },
      "confidence": 0.7966241474490038
    },
    {
      "observation_id": "d1b7bc1c-81c7-42a7-87da-d76048666afe",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          754.0,
          349.0
        ],
        [
          809.0,
          368.0
        ],
        [
          780.0,
          399.0
        ],
        [
          725.0,
          380.0
        ]
      ],
      "center_px": [
        767.0,
        374.0
      ],
      "quality": {
        "area_px": 2256.0,
        "perimeter_px": 201.27863311767578,
        "sharpness": {
          "laplacian_var": 258.23113652167194
        },
        "contrast": {
          "p05": 15.0,
          "p95": 167.0,
          "dynamic_range": 152.0,
          "mean_gray": 64.26046511627906,
          "std_gray": 59.11044843962726
        },
        "geometry": {
          "distance_to_center_norm": 0.19169484078884125,
          "distance_to_border_px": 349.0
        },
        "edge_ratio": 1.3707747255685094,
        "edge_lengths_px": [
          58.18934631347656,
          42.44997024536133,
          58.18934631347656,
          42.44997024536133
        ]
      },
      "confidence": 0.7295144718876139
    },
    {
      "observation_id": "f730a1f0-2dfd-4e14-b42b-b460fb4117ff",
      "type": "aruco",
      "marker_id": 244,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          983.0,
          265.0
        ],
        [
          988.0,
          323.0
        ],
        [
          963.0,
          351.0
        ],
        [
          955.0,
          300.0
        ]
      ],
      "center_px": [
        972.25,
        309.75
      ],
      "quality": {
        "area_px": 1649.0,
        "perimeter_px": 192.19727325439453,
        "sharpness": {
          "laplacian_var": 308.6307963966837
        },
        "contrast": {
          "p05": 7.0,
          "p95": 69.0,
          "dynamic_range": 62.0,
          "mean_gray": 34.25803571428571,
          "std_gray": 26.51142657419107
        },
        "geometry": {
          "distance_to_center_norm": 0.37948164343833923,
          "distance_to_border_px": 265.0
        },
        "edge_ratio": 1.5508875146125405,
        "edge_lengths_px": [
          58.215118408203125,
          37.53664779663086,
          51.62363815307617,
          44.821868896484375
        ]
      },
      "confidence": 0.49971386879958146
    },
    {
      "observation_id": "d9460327-afec-41e1-a58a-7a4a6bddb523",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          380.0,
          1053.0
        ],
        [
          418.0,
          1028.0
        ],
        [
          462.0,
          1043.0
        ],
        [
          426.0,
          1069.0
        ]
      ],
      "center_px": [
        421.5,
        1048.25
      ],
      "quality": {
        "area_px": 1721.0,
        "perimeter_px": 185.08320999145508,
        "sharpness": {
          "laplacian_var": 455.8120153411159
        },
        "contrast": {
          "p05": 16.0,
          "p95": 171.0,
          "dynamic_range": 155.0,
          "mean_gray": 91.22398589065256,
          "std_gray": 64.63048616664868
        },
        "geometry": {
          "distance_to_center_norm": 0.6549152135848999,
          "distance_to_border_px": 11.0
        },
        "edge_ratio": 1.0967404836818018,
        "edge_lengths_px": [
          45.486263275146484,
          46.48655700683594,
          44.40720748901367,
          48.703182220458984
        ]
      },
      "confidence": 0.20059440065661768
    },
    {
      "observation_id": "ff147f6c-a406-4fc7-9bd7-8088cd5b6fe4",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          683.0,
          223.0
        ],
        [
          727.0,
          226.0
        ],
        [
          704.0,
          264.0
        ],
        [
          660.0,
          259.0
        ]
      ],
      "center_px": [
        693.5,
        243.0
      ],
      "quality": {
        "area_px": 1720.0,
        "perimeter_px": 175.52381896972656,
        "sharpness": {
          "laplacian_var": 975.7192960239189
        },
        "contrast": {
          "p05": 43.0,
          "p95": 184.0,
          "dynamic_range": 141.0,
          "mean_gray": 101.47539543057997,
          "std_gray": 61.10698080313958
        },
        "geometry": {
          "distance_to_center_norm": 0.3313109874725342,
          "distance_to_border_px": 223.0
        },
        "edge_ratio": 1.039757573960846,
        "edge_lengths_px": [
          44.10215377807617,
          44.41846466064453,
          44.283180236816406,
          42.72002029418945
        ]
      },
      "confidence": 0.9617626502979981
    },
    {
      "observation_id": "a5ad4e53-58b5-456e-abe2-a20a91ceca0b",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          992.0,
          902.0
        ],
        [
          1042.0,
          917.0
        ],
        [
          1015.0,
          938.0
        ],
        [
          966.0,
          922.0
        ]
      ],
      "center_px": [
        1003.75,
        919.75
      ],
      "quality": {
        "area_px": 1425.5,
        "perimeter_px": 170.75533294677734,
        "sharpness": {
          "laplacian_var": 298.78909943569795
        },
        "contrast": {
          "p05": 11.0,
          "p95": 146.0,
          "dynamic_range": 135.0,
          "mean_gray": 64.65685279187818,
          "std_gray": 52.436706020863205
        },
        "geometry": {
          "distance_to_center_norm": 0.5267230272293091,
          "distance_to_border_px": 142.0
        },
        "edge_ratio": 1.5913917759618224,
        "edge_lengths_px": [
          52.201534271240234,
          34.20526123046875,
          51.54609680175781,
          32.80244064331055
        ]
      },
      "confidence": 0.5971711979967728
    },
    {
      "observation_id": "450f761a-5601-4fe6-9970-6c6d8fb977e0",
      "type": "aruco",
      "marker_id": 247,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          801.0,
          213.0
        ],
        [
          847.0,
          215.0
        ],
        [
          822.0,
          240.0
        ],
        [
          774.0,
          236.0
        ]
      ],
      "center_px": [
        811.0,
        226.0
      ],
      "quality": {
        "area_px": 1206.0,
        "perimeter_px": 165.0334701538086,
        "sharpness": {
          "laplacian_var": 638.6090714797324
        },
        "contrast": {
          "p05": 20.0,
          "p95": 176.0,
          "dynamic_range": 156.0,
          "mean_gray": 115.24129651860744,
          "std_gray": 55.64106910105156
        },
        "geometry": {
          "distance_to_center_norm": 0.3632449805736542,
          "distance_to_border_px": 213.0
        },
        "edge_ratio": 1.3623509013086699,
        "edge_lengths_px": [
          46.04345703125,
          35.35533905029297,
          48.166378021240234,
          35.46829605102539
        ]
      },
      "confidence": 0.5901563240628243
    },
    {
      "observation_id": "472a4974-e5d7-4f02-bbf7-c06067706ac5",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          91.0,
          932.0
        ],
        [
          132.0,
          913.0
        ],
        [
          165.0,
          927.0
        ],
        [
          124.0,
          947.0
        ]
      ],
      "center_px": [
        128.0,
        929.75
      ],
      "quality": {
        "area_px": 1238.0,
        "perimeter_px": 162.90250778198242,
        "sharpness": {
          "laplacian_var": 775.1704287207891
        },
        "contrast": {
          "p05": 17.0,
          "p95": 173.0,
          "dynamic_range": 156.0,
          "mean_gray": 88.27046263345196,
          "std_gray": 60.74470950236065
        },
        "geometry": {
          "distance_to_center_norm": 0.7875332832336426,
          "distance_to_border_px": 91.0
        },
        "edge_ratio": 1.2725781253242374,
        "edge_lengths_px": [
          45.18849563598633,
          35.84689712524414,
          45.617977142333984,
          36.24913787841797
        ]
      },
      "confidence": 0.6485521925210277
    },
    {
      "observation_id": "ffb8806a-1d67-4e24-9f9e-7fb508287699",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          513.0,
          939.0
        ],
        [
          547.0,
          920.0
        ],
        [
          585.0,
          935.0
        ],
        [
          552.0,
          955.0
        ]
      ],
      "center_px": [
        549.25,
        937.25
      ],
      "quality": {
        "area_px": 1270.0,
        "perimeter_px": 160.54412078857422,
        "sharpness": {
          "laplacian_var": 536.6707597396655
        },
        "contrast": {
          "p05": 23.0,
          "p95": 167.94999999999993,
          "dynamic_range": 144.94999999999993,
          "mean_gray": 88.38979118329466,
          "std_gray": 57.00106880345295
        },
        "geometry": {
          "distance_to_center_norm": 0.48043593764305115,
          "distance_to_border_px": 125.0
        },
        "edge_ratio": 1.0924368726087434,
        "edge_lengths_px": [
          38.94868469238281,
          40.853397369384766,
          38.587562561035156,
          42.154476165771484
        ]
      },
      "confidence": 0.775025713517728
    },
    {
      "observation_id": "410a8bef-dc89-4341-88b6-31712417fb89",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          256.0,
          907.0
        ],
        [
          292.0,
          888.0
        ],
        [
          327.0,
          900.0
        ],
        [
          292.0,
          919.0
        ]
      ],
      "center_px": [
        291.75,
        903.5
      ],
      "quality": {
        "area_px": 1100.5,
        "perimeter_px": 155.47821044921875,
        "sharpness": {
          "laplacian_var": 823.0742979935685
        },
        "contrast": {
          "p05": 16.0,
          "p95": 169.0,
          "dynamic_range": 153.0,
          "mean_gray": 89.04389574759945,
          "std_gray": 61.269274510877544
        },
        "geometry": {
          "distance_to_center_norm": 0.6241342425346375,
          "distance_to_border_px": 161.0
        },
        "edge_ratio": 1.100169310698638,
        "edge_lengths_px": [
          40.70626449584961,
          37.0,
          39.824615478515625,
          37.947330474853516
        ]
      },
      "confidence": 0.6668670535817509
    },
    {
      "observation_id": "984f7705-801e-4b40-8ca0-1ce48b17507a",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1061.0,
          838.0
        ],
        [
          1107.0,
          851.0
        ],
        [
          1086.0,
          869.0
        ],
        [
          1038.0,
          855.0
        ]
      ],
      "center_px": [
        1073.0,
        853.25
      ],
      "quality": {
        "area_px": 1119.5,
        "perimeter_px": 154.0610065460205,
        "sharpness": {
          "laplacian_var": 725.891165262826
        },
        "contrast": {
          "p05": 24.0,
          "p95": 145.0,
          "dynamic_range": 121.0,
          "mean_gray": 91.6738255033557,
          "std_gray": 44.70364367530622
        },
        "geometry": {
          "distance_to_center_norm": 0.5243862867355347,
          "distance_to_border_px": 211.0
        },
        "edge_ratio": 1.8077537619585837,
        "edge_lengths_px": [
          47.801673889160156,
          27.658634185791016,
          50.0,
          28.600698471069336
        ]
      },
      "confidence": 0.41285121294657384
    },
    {
      "observation_id": "9f1dc853-c1e6-406b-938a-395c4baddb7d",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          205.0,
          850.0
        ],
        [
          240.0,
          834.0
        ],
        [
          272.0,
          846.0
        ],
        [
          238.0,
          862.0
        ]
      ],
      "center_px": [
        238.75,
        848.0
      ],
      "quality": {
        "area_px": 934.0,
        "perimeter_px": 145.35046768188477,
        "sharpness": {
          "laplacian_var": 1126.8718510332926
        },
        "contrast": {
          "p05": 16.0,
          "p95": 169.0,
          "dynamic_range": 153.0,
          "mean_gray": 86.04451038575668,
          "std_gray": 58.8868132312724
        },
        "geometry": {
          "distance_to_center_norm": 0.6348573565483093,
          "distance_to_border_px": 205.0
        },
        "edge_ratio": 1.1260460248127115,
        "edge_lengths_px": [
          38.4837646484375,
          34.1760139465332,
          37.57658767700195,
          35.11410140991211
        ]
      },
      "confidence": 0.5529673325477359
    },
    {
      "observation_id": "bc79b293-bdf5-402a-b4ea-c17c8b55afcb",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          889.0,
          791.0
        ],
        [
          930.0,
          803.0
        ],
        [
          907.0,
          818.0
        ],
        [
          864.0,
          806.0
        ]
      ],
      "center_px": [
        897.5,
        804.5
      ],
      "quality": {
        "area_px": 918.0,
        "perimeter_px": 143.97686958312988,
        "sharpness": {
          "laplacian_var": 1120.170882889834
        },
        "contrast": {
          "p05": 25.0,
          "p95": 161.0,
          "dynamic_range": 136.0,
          "mean_gray": 91.01073619631902,
          "std_gray": 51.51634627779656
        },
        "geometry": {
          "distance_to_center_norm": 0.35393115878105164,
          "distance_to_border_px": 262.0
        },
        "edge_ratio": 1.6258031837835645,
        "edge_lengths_px": [
          42.72002029418945,
          27.459060668945312,
          44.643028259277344,
          29.154760360717773
        ]
      },
      "confidence": 0.3764293280418822
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          680.0,
          675.0
        ],
        [
          685.0,
          730.0
        ],
        [
          670.0,
          806.0
        ],
        [
          664.0,
          729.0
        ]
      ],
      "center_px": [
        674.75,
        735.0
      ],
      "area_px": 1380.5
    },
    {
      "image_points_px": [
        [
          452.0,
          549.0
        ],
        [
          499.0,
          601.0
        ],
        [
          505.0,
          620.0
        ],
        [
          449.0,
          559.0
        ]
      ],
      "center_px": [
        476.25,
        582.25
      ],
      "area_px": 662.0
    },
    {
      "image_points_px": [
        [
          796.0,
          1019.0
        ],
        [
          827.0,
          997.0
        ],
        [
          874.0,
          1014.0
        ],
        [
          844.0,
          1037.0
        ]
      ],
      "center_px": [
        835.25,
        1016.75
      ],
      "area_px": 1602.5
    },
    {
      "image_points_px": [
        [
          769.0,
          862.0
        ],
        [
          799.0,
          845.0
        ],
        [
          841.0,
          858.0
        ],
        [
          812.0,
          876.0
        ]
      ],
      "center_px": [
        805.25,
        860.25
      ],
      "area_px": 1142.0
    },
    {
      "image_points_px": [
        [
          384.0,
          918.0
        ],
        [
          416.0,
          899.0
        ],
        [
          455.0,
          912.0
        ],
        [
          424.0,
          931.0
        ]
      ],
      "center_px": [
        419.75,
        915.0
      ],
      "area_px": 1160.0
    },
    {
      "image_points_px": [
        [
          758.0,
          444.0
        ],
        [
          772.0,
          482.0
        ],
        [
          759.0,
          495.0
        ],
        [
          732.0,
          470.0
        ]
      ],
      "center_px": [
        755.25,
        472.75
      ],
      "area_px": 1014.0
    },
    {
      "image_points_px": [
        [
          1378.0,
          809.0
        ],
        [
          1388.0,
          794.0
        ],
        [
          1434.0,
          804.0
        ],
        [
          1425.0,
          819.0
        ]
      ],
      "center_px": [
        1406.25,
        806.5
      ],
      "area_px": 792.5
    },
    {
      "image_points_px": [
        [
          678.0,
          696.0
        ],
        [
          682.0,
          722.0
        ],
        [
          674.0,
          755.0
        ],
        [
          667.0,
          730.0
        ]
      ],
      "center_px": [
        675.25,
        725.75
      ],
      "area_px": 426.5
    },
    {
      "image_points_px": [
        [
          893.0,
          439.0
        ],
        [
          907.0,
          477.0
        ],
        [
          907.0,
          489.0
        ],
        [
          891.0,
          445.0
        ]
      ],
      "center_px": [
        899.5,
        462.5
      ],
      "area_px": 176.0
    },
    {
      "image_points_px": [
        [
          749.0,
          680.0
        ],
        [
          715.0,
          696.0
        ],
        [
          705.0,
          695.0
        ],
        [
          745.0,
          677.0
        ]
      ],
      "center_px": [
        728.5,
        687.0
      ],
      "area_px": 193.0
    },
    {
      "image_points_px": [
        [
          454.0,
          635.0
        ],
        [
          460.0,
          663.0
        ],
        [
          452.0,
          675.0
        ],
        [
          449.0,
          660.0
        ]
      ],
      "center_px": [
        453.75,
        658.25
      ],
      "area_px": 223.0
    },
    {
      "image_points_px": [
        [
          782.0,
          759.0
        ],
        [
          787.0,
          758.0
        ],
        [
          811.0,
          772.0
        ],
        [
          804.0,
          771.0
        ]
      ],
      "center_px": [
        796.0,
        765.0
      ],
      "area_px": 78.0
    },
    {
      "image_points_px": [
        [
          515.0,
          594.0
        ],
        [
          516.0,
          623.0
        ],
        [
          511.0,
          617.0
        ],
        [
          511.0,
          599.0
        ]
      ],
      "center_px": [
        513.25,
        608.25
      ],
      "area_px": 105.5
    },
    {
      "image_points_px": [
        [
          474.0,
          713.0
        ],
        [
          487.0,
          719.0
        ],
        [
          481.0,
          731.0
        ],
        [
          468.0,
          724.0
        ]
      ],
      "center_px": [
        477.5,
        721.75
      ],
      "area_px": 188.5
    },
    {
      "image_points_px": [
        [
          1369.0,
          1042.0
        ],
        [
          1373.0,
          1041.0
        ],
        [
          1395.0,
          1049.0
        ],
        [
          1380.0,
          1047.0
        ]
      ],
      "center_px": [
        1379.25,
        1044.75
      ],
      "area_px": 53.5
    },
    {
      "image_points_px": [
        [
          423.0,
          649.0
        ],
        [
          426.0,
          663.0
        ],
        [
          421.0,
          674.0
        ],
        [
          419.0,
          658.0
        ]
      ],
      "center_px": [
        422.25,
        661.0
      ],
      "area_px": 92.5
    },
    {
      "image_points_px": [
        [
          507.0,
          975.0
        ],
        [
          530.0,
          985.0
        ],
        [
          524.0,
          985.0
        ],
        [
          511.0,
          980.0
        ]
      ],
      "center_px": [
        518.0,
        981.25
      ],
      "area_px": 52.5
    },
    {
      "image_points_px": [
        [
          279.0,
          592.0
        ],
        [
          300.0,
          597.0
        ],
        [
          296.0,
          598.0
        ],
        [
          280.0,
          595.0
        ]
      ],
      "center_px": [
        288.75,
        595.5
      ],
      "area_px": 43.0
    }
  ]
}