{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:34:33Z",
  "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\\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_f.png",
    "image_sha256": "b43019ef0485896ca023ea579497318427153929924dbe81fcaec66f7d7777c2",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 35,
    "num_rejected_candidates": 7
  },
  "detections": [
    {
      "observation_id": "25d7a88f-9c71-4d72-a9bf-d9dc6b47bac5",
      "type": "aruco",
      "marker_id": 247,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          974.0,
          445.0
        ],
        [
          989.0,
          482.0
        ],
        [
          951.0,
          499.0
        ],
        [
          936.0,
          461.0
        ]
      ],
      "center_px": [
        962.5,
        471.75
      ],
      "quality": {
        "area_px": 1672.5,
        "perimeter_px": 163.63870239257812,
        "sharpness": {
          "laplacian_var": 1307.142085880359
        },
        "contrast": {
          "p05": 56.0,
          "p95": 181.0,
          "dynamic_range": 125.0,
          "mean_gray": 122.1806684733514,
          "std_gray": 53.28691972883486
        },
        "geometry": {
          "distance_to_center_norm": 0.2799125015735626,
          "distance_to_border_px": 445.0
        },
        "edge_ratio": 1.0426898091081083,
        "edge_lengths_px": [
          39.924930572509766,
          41.62931823730469,
          40.853397369384766,
          41.231056213378906
        ]
      },
      "confidence": 0.959057997176913
    },
    {
      "observation_id": "ecc35dc3-6c6c-4554-9ad0-6a1d23505d19",
      "type": "aruco",
      "marker_id": 246,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          986.0,
          509.0
        ],
        [
          1001.0,
          547.0
        ],
        [
          963.0,
          563.0
        ],
        [
          952.0,
          524.0
        ]
      ],
      "center_px": [
        975.5,
        535.75
      ],
      "quality": {
        "area_px": 1587.5,
        "perimeter_px": 159.76786041259766,
        "sharpness": {
          "laplacian_var": 1114.1296076025944
        },
        "contrast": {
          "p05": 54.0,
          "p95": 180.0,
          "dynamic_range": 126.0,
          "mean_gray": 98.38925541941565,
          "std_gray": 52.42099425382586
        },
        "geometry": {
          "distance_to_center_norm": 0.28392815589904785,
          "distance_to_border_px": 439.0
        },
        "edge_ratio": 1.1095008132526565,
        "edge_lengths_px": [
          40.853397369384766,
          41.231056213378906,
          40.52159881591797,
          37.161808013916016
        ]
      },
      "confidence": 0.9013062343490857
    },
    {
      "observation_id": "1a14368f-1dc3-4d14-946b-76547fb30ecc",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          821.0,
          597.0
        ],
        [
          837.0,
          634.0
        ],
        [
          802.0,
          650.0
        ],
        [
          784.0,
          614.0
        ]
      ],
      "center_px": [
        811.0,
        623.75
      ],
      "quality": {
        "area_px": 1594.5,
        "perimeter_px": 159.76282119750977,
        "sharpness": {
          "laplacian_var": 918.9120822289174
        },
        "contrast": {
          "p05": 24.0,
          "p95": 170.0,
          "dynamic_range": 146.0,
          "mean_gray": 65.30402245088868,
          "std_gray": 57.846852684350914
        },
        "geometry": {
          "distance_to_center_norm": 0.13741467893123627,
          "distance_to_border_px": 430.0
        },
        "edge_ratio": 1.0580708044813947,
        "edge_lengths_px": [
          40.31128692626953,
          38.4837646484375,
          40.24922180175781,
          40.71854782104492
        ]
      },
      "confidence": 0.9451163341475454
    },
    {
      "observation_id": "540ad415-039f-4719-8111-d9ea7626f696",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          713.0,
          638.0
        ],
        [
          729.0,
          675.0
        ],
        [
          694.0,
          689.0
        ],
        [
          678.0,
          653.0
        ]
      ],
      "center_px": [
        703.5,
        663.75
      ],
      "quality": {
        "area_px": 1509.5,
        "perimeter_px": 155.48173904418945,
        "sharpness": {
          "laplacian_var": 877.9907007436975
        },
        "contrast": {
          "p05": 25.0,
          "p95": 172.0,
          "dynamic_range": 147.0,
          "mean_gray": 73.83501006036218,
          "std_gray": 61.3857983501429
        },
        "geometry": {
          "distance_to_center_norm": 0.13871683180332184,
          "distance_to_border_px": 391.0
        },
        "edge_ratio": 1.0693739544563698,
        "edge_lengths_px": [
          40.31128692626953,
          37.6961555480957,
          39.39543151855469,
          38.07886505126953
        ]
      },
      "confidence": 0.9351265717971998
    },
    {
      "observation_id": "a978ab66-5a89-4121-9040-c7b3f264b292",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          914.0,
          378.0
        ],
        [
          927.0,
          415.0
        ],
        [
          895.0,
          431.0
        ],
        [
          882.0,
          396.0
        ]
      ],
      "center_px": [
        904.5,
        405.0
      ],
      "quality": {
        "area_px": 1373.0,
        "perimeter_px": 149.04585647583008,
        "sharpness": {
          "laplacian_var": 1380.0820412860355
        },
        "contrast": {
          "p05": 59.0,
          "p95": 186.0,
          "dynamic_range": 127.0,
          "mean_gray": 107.2826780021254,
          "std_gray": 54.68441784842636
        },
        "geometry": {
          "distance_to_center_norm": 0.25401771068573,
          "distance_to_border_px": 378.0
        },
        "edge_ratio": 1.0961580270460378,
        "edge_lengths_px": [
          39.217342376708984,
          35.7770881652832,
          37.336307525634766,
          36.715118408203125
        ]
      },
      "confidence": 0.8350377507155635
    },
    {
      "observation_id": "5233b717-f834-404a-86c3-a9e8dca4eaec",
      "type": "aruco",
      "marker_id": 231,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1038.0,
          497.0
        ],
        [
          1054.0,
          534.0
        ],
        [
          1022.0,
          544.0
        ],
        [
          1006.0,
          505.0
        ]
      ],
      "center_px": [
        1030.0,
        520.0
      ],
      "quality": {
        "area_px": 1360.0,
        "perimeter_px": 148.97671508789062,
        "sharpness": {
          "laplacian_var": 633.9692212341328
        },
        "contrast": {
          "p05": 5.0,
          "p95": 135.0,
          "dynamic_range": 130.0,
          "mean_gray": 62.721518987341774,
          "std_gray": 53.89594288344952
        },
        "geometry": {
          "distance_to_center_norm": 0.3451605439186096,
          "distance_to_border_px": 386.0
        },
        "edge_ratio": 1.2779953090046594,
        "edge_lengths_px": [
          40.31128692626953,
          33.52610778808594,
          42.154476165771484,
          32.98484420776367
        ]
      },
      "confidence": 0.7094444402716983
    },
    {
      "observation_id": "f3a0678c-5232-4f7e-b856-8f2a92bccf88",
      "type": "aruco",
      "marker_id": 40,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          536.0,
          709.0
        ],
        [
          556.0,
          733.0
        ],
        [
          534.0,
          766.0
        ],
        [
          512.0,
          742.0
        ]
      ],
      "center_px": [
        534.5,
        737.5
      ],
      "quality": {
        "area_px": 1245.0,
        "perimeter_px": 144.26411628723145,
        "sharpness": {
          "laplacian_var": 194.5956078675685
        },
        "contrast": {
          "p05": 8.0,
          "p95": 92.0,
          "dynamic_range": 84.0,
          "mean_gray": 31.974056603773583,
          "std_gray": 32.38800422233871
        },
        "geometry": {
          "distance_to_center_norm": 0.30106088519096375,
          "distance_to_border_px": 314.0
        },
        "edge_ratio": 1.306117405275604,
        "edge_lengths_px": [
          31.240999221801758,
          39.66106414794922,
          32.557640075683594,
          40.804412841796875
        ]
      },
      "confidence": 0.6354712039266192
    },
    {
      "observation_id": "94c4ff81-5627-4194-b91e-fca41f8a2bc5",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          810.0,
          554.0
        ],
        [
          817.0,
          583.0
        ],
        [
          781.0,
          599.0
        ],
        [
          774.0,
          570.0
        ]
      ],
      "center_px": [
        795.5,
        576.5
      ],
      "quality": {
        "area_px": 1156.0,
        "perimeter_px": 138.45660018920898,
        "sharpness": {
          "laplacian_var": 1416.911008154489
        },
        "contrast": {
          "p05": 46.0,
          "p95": 189.0,
          "dynamic_range": 143.0,
          "mean_gray": 102.80764331210192,
          "std_gray": 60.54727009619899
        },
        "geometry": {
          "distance_to_center_norm": 0.09317778050899506,
          "distance_to_border_px": 481.0
        },
        "edge_ratio": 1.3205378295462282,
        "edge_lengths_px": [
          29.832868576049805,
          39.39543151855469,
          29.832868576049805,
          39.39543151855469
        ]
      },
      "confidence": 0.5836005977439421
    },
    {
      "observation_id": "c9e2aafa-2a6c-4d05-be41-df9d00a95d19",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          948.0,
          733.0
        ],
        [
          958.0,
          766.0
        ],
        [
          925.0,
          775.0
        ],
        [
          916.0,
          742.0
        ]
      ],
      "center_px": [
        936.75,
        754.0
      ],
      "quality": {
        "area_px": 1158.0,
        "perimeter_px": 136.13394165039062,
        "sharpness": {
          "laplacian_var": 749.8874393137186
        },
        "contrast": {
          "p05": 13.0,
          "p95": 149.0,
          "dynamic_range": 136.0,
          "mean_gray": 65.26788036410923,
          "std_gray": 55.470195099727306
        },
        "geometry": {
          "distance_to_center_norm": 0.3384360671043396,
          "distance_to_border_px": 305.0
        },
        "edge_ratio": 1.0373129892231758,
        "edge_lengths_px": [
          34.48188018798828,
          34.20526123046875,
          34.20526123046875,
          33.241539001464844
        ]
      },
      "confidence": 0.7442305341015119
    },
    {
      "observation_id": "9a4c62a9-b154-4877-8978-9c9424ddb472",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          652.0,
          624.0
        ],
        [
          654.0,
          655.0
        ],
        [
          619.0,
          668.0
        ],
        [
          618.0,
          637.0
        ]
      ],
      "center_px": [
        635.75,
        646.0
      ],
      "quality": {
        "area_px": 1089.0,
        "perimeter_px": 135.81743240356445,
        "sharpness": {
          "laplacian_var": 1546.5214318496326
        },
        "contrast": {
          "p05": 48.0,
          "p95": 187.0,
          "dynamic_range": 139.0,
          "mean_gray": 111.05019815059445,
          "std_gray": 57.8419713463691
        },
        "geometry": {
          "distance_to_center_norm": 0.15044814348220825,
          "distance_to_border_px": 412.0
        },
        "edge_ratio": 1.2037708726109504,
        "edge_lengths_px": [
          31.064449310302734,
          37.336307525634766,
          31.016124725341797,
          36.400550842285156
        ]
      },
      "confidence": 0.6031048071675993
    },
    {
      "observation_id": "7a4c9514-78d4-48c0-91ba-5228e47eff25",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1373.0,
          932.0
        ],
        [
          1404.0,
          920.0
        ],
        [
          1417.0,
          952.0
        ],
        [
          1387.0,
          964.0
        ]
      ],
      "center_px": [
        1395.25,
        942.0
      ],
      "quality": {
        "area_px": 1138.0,
        "perimeter_px": 135.02085876464844,
        "sharpness": {
          "laplacian_var": 797.3505562926413
        },
        "contrast": {
          "p05": 7.0,
          "p95": 143.0,
          "dynamic_range": 136.0,
          "mean_gray": 61.22007722007722,
          "std_gray": 54.69133425148521
        },
        "geometry": {
          "distance_to_center_norm": 0.8731710910797119,
          "distance_to_border_px": 23.0
        },
        "edge_ratio": 1.0810098355019733,
        "edge_lengths_px": [
          33.241539001464844,
          34.539833068847656,
          32.31098937988281,
          34.928497314453125
        ]
      },
      "confidence": 0.3228339421209916
    },
    {
      "observation_id": "f677c41e-223d-4844-ab5f-c332753b9ee5",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1362.0,
          872.0
        ],
        [
          1392.0,
          861.0
        ],
        [
          1405.0,
          893.0
        ],
        [
          1375.0,
          904.0
        ]
      ],
      "center_px": [
        1383.5,
        882.5
      ],
      "quality": {
        "area_px": 1103.0,
        "perimeter_px": 132.98584747314453,
        "sharpness": {
          "laplacian_var": 723.5161869978087
        },
        "contrast": {
          "p05": 8.0,
          "p95": 143.0,
          "dynamic_range": 135.0,
          "mean_gray": 82.1527027027027,
          "std_gray": 54.24615747500929
        },
        "geometry": {
          "distance_to_center_norm": 0.8296499848365784,
          "distance_to_border_px": 35.0
        },
        "edge_ratio": 1.0809543723961539,
        "edge_lengths_px": [
          31.95309066772461,
          34.539833068847656,
          31.95309066772461,
          34.539833068847656
        ]
      },
      "confidence": 0.4761841447500904
    },
    {
      "observation_id": "7f20f25f-53cd-4242-8544-64eae180d698",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1320.0,
          833.0
        ],
        [
          1351.0,
          823.0
        ],
        [
          1363.0,
          855.0
        ],
        [
          1333.0,
          865.0
        ]
      ],
      "center_px": [
        1341.75,
        844.0
      ],
      "quality": {
        "area_px": 1101.0,
        "perimeter_px": 132.91161727905273,
        "sharpness": {
          "laplacian_var": 623.6719444958168
        },
        "contrast": {
          "p05": 7.0,
          "p95": 139.0,
          "dynamic_range": 132.0,
          "mean_gray": 46.87550744248985,
          "std_gray": 50.30661799592274
        },
        "geometry": {
          "distance_to_center_norm": 0.7689892649650574,
          "distance_to_border_px": 77.0
        },
        "edge_ratio": 1.0922454446898755,
        "edge_lengths_px": [
          32.572994232177734,
          34.1760139465332,
          31.62277603149414,
          34.539833068847656
        ]
      },
      "confidence": 0.6720101269988878
    },
    {
      "observation_id": "bb728bcf-073c-4e58-8c15-bcb6ad44391d",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1378.0,
          795.0
        ],
        [
          1409.0,
          785.0
        ],
        [
          1421.0,
          817.0
        ],
        [
          1391.0,
          827.0
        ]
      ],
      "center_px": [
        1399.75,
        806.0
      ],
      "quality": {
        "area_px": 1101.0,
        "perimeter_px": 132.91161727905273,
        "sharpness": {
          "laplacian_var": 727.0786840278986
        },
        "contrast": {
          "p05": 8.0,
          "p95": 143.0,
          "dynamic_range": 135.0,
          "mean_gray": 86.32070365358592,
          "std_gray": 53.715924381104244
        },
        "geometry": {
          "distance_to_center_norm": 0.8110472559928894,
          "distance_to_border_px": 19.0
        },
        "edge_ratio": 1.0922454446898755,
        "edge_lengths_px": [
          32.572994232177734,
          34.1760139465332,
          31.62277603149414,
          34.539833068847656
        ]
      },
      "confidence": 0.25536384825957736
    },
    {
      "observation_id": "b713844d-1b9f-4491-88fd-76339dc06eb2",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          796.0,
          816.0
        ],
        [
          827.0,
          806.0
        ],
        [
          837.0,
          838.0
        ],
        [
          806.0,
          848.0
        ]
      ],
      "center_px": [
        816.5,
        827.0
      ],
      "quality": {
        "area_px": 1092.0,
        "perimeter_px": 132.19820404052734,
        "sharpness": {
          "laplacian_var": 732.5542923051573
        },
        "contrast": {
          "p05": 18.0,
          "p95": 156.0,
          "dynamic_range": 138.0,
          "mean_gray": 86.36694677871148,
          "std_gray": 59.15956512331544
        },
        "geometry": {
          "distance_to_center_norm": 0.3364323675632477,
          "distance_to_border_px": 232.0
        },
        "edge_ratio": 1.0292608517692443,
        "edge_lengths_px": [
          32.572994232177734,
          33.52610778808594,
          32.572994232177734,
          33.52610778808594
        ]
      },
      "confidence": 0.7073036915264065
    },
    {
      "observation_id": "28b26401-e2d7-4a9f-aefb-91e3b56f80dd",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          824.0,
          853.0
        ],
        [
          855.0,
          842.0
        ],
        [
          867.0,
          872.0
        ],
        [
          836.0,
          884.0
        ]
      ],
      "center_px": [
        845.5,
        862.75
      ],
      "quality": {
        "area_px": 1083.5,
        "perimeter_px": 131.68783569335938,
        "sharpness": {
          "laplacian_var": 593.5475312385605
        },
        "contrast": {
          "p05": 17.0,
          "p95": 150.0,
          "dynamic_range": 133.0,
          "mean_gray": 42.935222672064775,
          "std_gray": 44.67554180999425
        },
        "geometry": {
          "distance_to_center_norm": 0.3847683370113373,
          "distance_to_border_px": 196.0
        },
        "edge_ratio": 1.0287997872996548,
        "edge_lengths_px": [
          32.893768310546875,
          32.31098937988281,
          33.241539001464844,
          33.241539001464844
        ]
      },
      "confidence": 0.7021126386789793
    },
    {
      "observation_id": "8ad96a7a-4b49-4d31-9a3f-030adddf5b78",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          644.0,
          826.0
        ],
        [
          676.0,
          816.0
        ],
        [
          685.0,
          847.0
        ],
        [
          654.0,
          857.0
        ]
      ],
      "center_px": [
        664.75,
        836.5
      ],
      "quality": {
        "area_px": 1071.5,
        "perimeter_px": 130.95212173461914,
        "sharpness": {
          "laplacian_var": 1139.121298265203
        },
        "contrast": {
          "p05": 26.0,
          "p95": 167.0,
          "dynamic_range": 141.0,
          "mean_gray": 86.24641833810888,
          "std_gray": 58.7447932954121
        },
        "geometry": {
          "distance_to_center_norm": 0.3351152539253235,
          "distance_to_border_px": 223.0
        },
        "edge_ratio": 1.0386022714448035,
        "edge_lengths_px": [
          33.52610778808594,
          32.280025482177734,
          32.572994232177734,
          32.572994232177734
        ]
      },
      "confidence": 0.6877833343649649
    },
    {
      "observation_id": "37ec8c9f-2b85-42d7-8b27-420ed58046a6",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1325.0,
          744.0
        ],
        [
          1354.0,
          732.0
        ],
        [
          1368.0,
          763.0
        ],
        [
          1339.0,
          775.0
        ]
      ],
      "center_px": [
        1346.5,
        753.5
      ],
      "quality": {
        "area_px": 1067.0,
        "perimeter_px": 130.79882431030273,
        "sharpness": {
          "laplacian_var": 541.04897183818
        },
        "contrast": {
          "p05": 8.0,
          "p95": 141.0,
          "dynamic_range": 133.0,
          "mean_gray": 53.23374827109267,
          "std_gray": 52.58164298662744
        },
        "geometry": {
          "distance_to_center_norm": 0.7354216575622559,
          "distance_to_border_px": 72.0
        },
        "edge_ratio": 1.0837984963135294,
        "edge_lengths_px": [
          31.38471031188965,
          34.01470184326172,
          31.38471031188965,
          34.01470184326172
        ]
      },
      "confidence": 0.656333567312455
    },
    {
      "observation_id": "7d2bed37-63ca-4c43-92a5-97e619dcff01",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          534.0,
          807.0
        ],
        [
          566.0,
          797.0
        ],
        [
          574.0,
          828.0
        ],
        [
          543.0,
          838.0
        ]
      ],
      "center_px": [
        554.25,
        817.5
      ],
      "quality": {
        "area_px": 1061.5,
        "perimeter_px": 130.39474868774414,
        "sharpness": {
          "laplacian_var": 1320.9859497568266
        },
        "contrast": {
          "p05": 35.0,
          "p95": 172.0,
          "dynamic_range": 137.0,
          "mean_gray": 111.55304101838755,
          "std_gray": 58.30181387103832
        },
        "geometry": {
          "distance_to_center_norm": 0.3591473400592804,
          "distance_to_border_px": 242.0
        },
        "edge_ratio": 1.047179675010542,
        "edge_lengths_px": [
          33.52610778808594,
          32.015621185302734,
          32.572994232177734,
          32.280025482177734
        ]
      },
      "confidence": 0.6757834243292992
    },
    {
      "observation_id": "eb65eea3-b720-473c-bbb0-c22d6ea57f7d",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1047.0,
          694.0
        ],
        [
          1058.0,
          726.0
        ],
        [
          1028.0,
          735.0
        ],
        [
          1017.0,
          703.0
        ]
      ],
      "center_px": [
        1037.5,
        714.5
      ],
      "quality": {
        "area_px": 1059.0,
        "perimeter_px": 130.31753540039062,
        "sharpness": {
          "laplacian_var": 820.7611087481642
        },
        "contrast": {
          "p05": 12.0,
          "p95": 148.0,
          "dynamic_range": 136.0,
          "mean_gray": 88.03824362606233,
          "std_gray": 55.00932147923994
        },
        "geometry": {
          "distance_to_center_norm": 0.402548223733902,
          "distance_to_border_px": 345.0
        },
        "edge_ratio": 1.0803593797328352,
        "edge_lengths_px": [
          33.83784866333008,
          31.320919036865234,
          33.83784866333008,
          31.320919036865234
        ]
      },
      "confidence": 0.6534862502647855
    },
    {
      "observation_id": "238798bd-6784-43c7-8086-75f7852ee463",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          801.0,
          726.0
        ],
        [
          832.0,
          716.0
        ],
        [
          842.0,
          747.0
        ],
        [
          811.0,
          757.0
        ]
      ],
      "center_px": [
        821.5,
        736.5
      ],
      "quality": {
        "area_px": 1061.0,
        "perimeter_px": 130.29197692871094,
        "sharpness": {
          "laplacian_var": 1248.821514110393
        },
        "contrast": {
          "p05": 21.0,
          "p95": 161.0,
          "dynamic_range": 140.0,
          "mean_gray": 101.64876632801162,
          "std_gray": 54.99852223178179
        },
        "geometry": {
          "distance_to_center_norm": 0.24574024975299835,
          "distance_to_border_px": 323.0
        },
        "edge_ratio": 1.0,
        "edge_lengths_px": [
          32.572994232177734,
          32.572994232177734,
          32.572994232177734,
          32.572994232177734
        ]
      },
      "confidence": 0.7073333333333334
    },
    {
      "observation_id": "1d66919e-2835-4b63-b361-888adb9983ea",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          720.0,
          549.0
        ],
        [
          750.0,
          540.0
        ],
        [
          759.0,
          568.0
        ],
        [
          728.0,
          579.0
        ]
      ],
      "center_px": [
        739.25,
        559.0
      ],
      "quality": {
        "area_px": 969.5,
        "perimeter_px": 124.67391967773438,
        "sharpness": {
          "laplacian_var": 1175.9029282462752
        },
        "contrast": {
          "p05": 30.0,
          "p95": 176.0,
          "dynamic_range": 146.0,
          "mean_gray": 88.21915820029028,
          "std_gray": 60.81337779539127
        },
        "geometry": {
          "distance_to_center_norm": 0.030052680522203445,
          "distance_to_border_px": 501.0
        },
        "edge_ratio": 1.1184216525107082,
        "edge_lengths_px": [
          31.320919036865234,
          29.4108829498291,
          32.893768310546875,
          31.048349380493164
        ]
      },
      "confidence": 0.5778977292530064
    },
    {
      "observation_id": "9af11b89-ae35-493d-88c4-e52d79e4ef86",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          881.0,
          288.0
        ],
        [
          892.0,
          316.0
        ],
        [
          863.0,
          327.0
        ],
        [
          852.0,
          298.0
        ]
      ],
      "center_px": [
        872.0,
        307.25
      ],
      "quality": {
        "area_px": 942.0,
        "perimeter_px": 122.79119110107422,
        "sharpness": {
          "laplacian_var": 1185.6409781718605
        },
        "contrast": {
          "p05": 22.0,
          "p95": 174.0,
          "dynamic_range": 152.0,
          "mean_gray": 81.68842729970326,
          "std_gray": 61.48320763885227
        },
        "geometry": {
          "distance_to_center_norm": 0.3088740408420563,
          "distance_to_border_px": 288.0
        },
        "edge_ratio": 1.031010881756399,
        "edge_lengths_px": [
          30.08321762084961,
          31.016124725341797,
          31.016124725341797,
          30.675724029541016
        ]
      },
      "confidence": 0.6091109328838102
    },
    {
      "observation_id": "fda7713a-6cf0-40c4-9f78-fbe3759db924",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          670.0,
          479.0
        ],
        [
          700.0,
          469.0
        ],
        [
          710.0,
          497.0
        ],
        [
          680.0,
          507.0
        ]
      ],
      "center_px": [
        690.0,
        488.0
      ],
      "quality": {
        "area_px": 940.0,
        "perimeter_px": 122.7098274230957,
        "sharpness": {
          "laplacian_var": 830.6372818079548
        },
        "contrast": {
          "p05": 33.0,
          "p95": 178.0,
          "dynamic_range": 145.0,
          "mean_gray": 125.6987951807229,
          "std_gray": 56.83502016029113
        },
        "geometry": {
          "distance_to_center_norm": 0.0667036920785904,
          "distance_to_border_px": 469.0
        },
        "edge_ratio": 1.0635890487184443,
        "edge_lengths_px": [
          31.62277603149414,
          29.73213768005371,
          31.62277603149414,
          29.73213768005371
        ]
      },
      "confidence": 0.5891999992118755
    },
    {
      "observation_id": "d0d5ffcb-d11e-4df6-b881-4cc87df8396e",
      "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": 841.3240645480871
        },
        "contrast": {
          "p05": 9.0,
          "p95": 147.64999999999998,
          "dynamic_range": 138.64999999999998,
          "mean_gray": 86.0679012345679,
          "std_gray": 52.127677601619595
        },
        "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": "575158b2-16e5-4a34-a186-25d7bb9a282c",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          519.0,
          393.0
        ],
        [
          550.0,
          385.0
        ],
        [
          558.0,
          413.0
        ],
        [
          527.0,
          421.0
        ]
      ],
      "center_px": [
        538.5,
        403.0
      ],
      "quality": {
        "area_px": 932.0,
        "perimeter_px": 122.27212142944336,
        "sharpness": {
          "laplacian_var": 1273.930777089719
        },
        "contrast": {
          "p05": 38.0,
          "p95": 177.0,
          "dynamic_range": 139.0,
          "mean_gray": 93.23744292237443,
          "std_gray": 56.65703596517714
        },
        "geometry": {
          "distance_to_center_norm": 0.2526678740978241,
          "distance_to_border_px": 385.0
        },
        "edge_ratio": 1.0994209463411062,
        "edge_lengths_px": [
          32.015621185302734,
          29.120439529418945,
          32.015621185302734,
          29.120439529418945
        ]
      },
      "confidence": 0.5651459847123547
    },
    {
      "observation_id": "dbd19088-c1f5-43c6-980c-a2596963b49c",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          613.0,
          419.0
        ],
        [
          643.0,
          410.0
        ],
        [
          653.0,
          438.0
        ],
        [
          623.0,
          447.0
        ]
      ],
      "center_px": [
        633.0,
        428.5
      ],
      "quality": {
        "area_px": 930.0,
        "perimeter_px": 122.10611343383789,
        "sharpness": {
          "laplacian_var": 1027.3276486280488
        },
        "contrast": {
          "p05": 33.0,
          "p95": 175.0,
          "dynamic_range": 142.0,
          "mean_gray": 90.6859756097561,
          "std_gray": 58.19216629367414
        },
        "geometry": {
          "distance_to_center_norm": 0.15713976323604584,
          "distance_to_border_px": 410.0
        },
        "edge_ratio": 1.0534364993835403,
        "edge_lengths_px": [
          31.320919036865234,
          29.73213768005371,
          31.320919036865234,
          29.73213768005371
        ]
      },
      "confidence": 0.5885499509109636
    },
    {
      "observation_id": "61ab727f-bde3-4b0c-a334-ee01c7328c2f",
      "type": "aruco",
      "marker_id": 44,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          666.0,
          765.0
        ],
        [
          647.0,
          778.0
        ],
        [
          616.0,
          756.0
        ],
        [
          636.0,
          743.0
        ]
      ],
      "center_px": [
        641.25,
        760.5
      ],
      "quality": {
        "area_px": 825.5,
        "perimeter_px": 122.09075927734375,
        "sharpness": {
          "laplacian_var": 422.3194146299276
        },
        "contrast": {
          "p05": 14.0,
          "p95": 132.0,
          "dynamic_range": 118.0,
          "mean_gray": 55.13532513181019,
          "std_gray": 44.34892366016568
        },
        "geometry": {
          "distance_to_center_norm": 0.26015618443489075,
          "distance_to_border_px": 302.0
        },
        "edge_ratio": 1.6511860464808,
        "edge_lengths_px": [
          23.021728515625,
          38.01315689086914,
          23.853721618652344,
          37.202152252197266
        ]
      },
      "confidence": 0.3332957751830981
    },
    {
      "observation_id": "47730e8b-1165-4d48-87e2-b177df81f9ae",
      "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": 575.0662836346894
        },
        "contrast": {
          "p05": 8.0,
          "p95": 144.0,
          "dynamic_range": 136.0,
          "mean_gray": 73.59311424100156,
          "std_gray": 55.77475673960879
        },
        "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": "c046c6ec-3611-4c63-bda7-22cf690d70d0",
      "type": "aruco",
      "marker_id": 52,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1170.0,
          304.0
        ],
        [
          1199.0,
          294.0
        ],
        [
          1211.0,
          321.0
        ],
        [
          1182.0,
          331.0
        ]
      ],
      "center_px": [
        1190.5,
        312.5
      ],
      "quality": {
        "area_px": 903.0,
        "perimeter_px": 120.44459533691406,
        "sharpness": {
          "laplacian_var": 699.2179384451019
        },
        "contrast": {
          "p05": 8.0,
          "p95": 142.85000000000002,
          "dynamic_range": 134.85000000000002,
          "mean_gray": 60.16346153846154,
          "std_gray": 52.78811854776246
        },
        "geometry": {
          "distance_to_center_norm": 0.5806834101676941,
          "distance_to_border_px": 229.0
        },
        "edge_ratio": 1.038215950330626,
        "edge_lengths_px": [
          30.675724029541016,
          29.546573638916016,
          30.675724029541016,
          29.546573638916016
        ]
      },
      "confidence": 0.5798408315806451
    },
    {
      "observation_id": "5989740a-a6f1-4ca3-b749-cc8c3acfc701",
      "type": "aruco",
      "marker_id": 101,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1287.0,
          296.0
        ],
        [
          1315.0,
          285.0
        ],
        [
          1328.0,
          312.0
        ],
        [
          1301.0,
          323.0
        ]
      ],
      "center_px": [
        1307.75,
        304.0
      ],
      "quality": {
        "area_px": 891.0,
        "perimeter_px": 119.61843872070312,
        "sharpness": {
          "laplacian_var": 797.0508630404346
        },
        "contrast": {
          "p05": 9.0,
          "p95": 151.0,
          "dynamic_range": 142.0,
          "mean_gray": 82.02755267423015,
          "std_gray": 55.60080762103265
        },
        "geometry": {
          "distance_to_center_norm": 0.7037343382835388,
          "distance_to_border_px": 112.0
        },
        "edge_ratio": 1.043185135498755,
        "edge_lengths_px": [
          30.08321762084961,
          29.96664810180664,
          29.154760360717773,
          30.4138126373291
        ]
      },
      "confidence": 0.5694099539829083
    },
    {
      "observation_id": "273c5560-2d68-47c1-9a07-0c236f481c71",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          621.0,
          329.0
        ],
        [
          651.0,
          320.0
        ],
        [
          660.0,
          347.0
        ],
        [
          630.0,
          356.0
        ]
      ],
      "center_px": [
        640.5,
        338.0
      ],
      "quality": {
        "area_px": 891.0,
        "perimeter_px": 119.56283569335938,
        "sharpness": {
          "laplacian_var": 1253.0177792400564
        },
        "contrast": {
          "p05": 32.0,
          "p95": 175.0,
          "dynamic_range": 143.0,
          "mean_gray": 88.65451664025356,
          "std_gray": 59.87970884947506
        },
        "geometry": {
          "distance_to_center_norm": 0.24120134115219116,
          "distance_to_border_px": 320.0
        },
        "edge_ratio": 1.1005049224950472,
        "edge_lengths_px": [
          31.320919036865234,
          28.460498809814453,
          31.320919036865234,
          28.460498809814453
        ]
      },
      "confidence": 0.5397522426826521
    },
    {
      "observation_id": "5ecf38ed-649b-4f34-85d4-4c9dd3cfb06b",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1304.0,
          199.0
        ],
        [
          1332.0,
          191.0
        ],
        [
          1343.0,
          218.0
        ],
        [
          1314.0,
          226.0
        ]
      ],
      "center_px": [
        1323.25,
        208.5
      ],
      "quality": {
        "area_px": 853.5,
        "perimeter_px": 117.15077781677246,
        "sharpness": {
          "laplacian_var": 1133.6215546023132
        },
        "contrast": {
          "p05": 11.0,
          "p95": 160.0,
          "dynamic_range": 149.0,
          "mean_gray": 92.31766612641815,
          "std_gray": 57.357811474799504
        },
        "geometry": {
          "distance_to_center_norm": 0.7648148536682129,
          "distance_to_border_px": 97.0
        },
        "edge_ratio": 1.0448333273602466,
        "edge_lengths_px": [
          29.120439529418945,
          29.154760360717773,
          30.08321762084961,
          28.792360305786133
        ]
      },
      "confidence": 0.5445844663450473
    },
    {
      "observation_id": "ab932e4e-5a12-4864-a009-cca462c55068",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1089.0,
          172.0
        ],
        [
          1118.0,
          165.0
        ],
        [
          1127.0,
          192.0
        ],
        [
          1098.0,
          199.0
        ]
      ],
      "center_px": [
        1108.0,
        182.0
      ],
      "quality": {
        "area_px": 846.0,
        "perimeter_px": 116.58673477172852,
        "sharpness": {
          "laplacian_var": 1191.8726395922993
        },
        "contrast": {
          "p05": 15.400000000000002,
          "p95": 166.0,
          "dynamic_range": 150.6,
          "mean_gray": 107.57724957555179,
          "std_gray": 56.055843717190015
        },
        "geometry": {
          "distance_to_center_norm": 0.5865867137908936,
          "distance_to_border_px": 165.0
        },
        "edge_ratio": 1.048220158592656,
        "edge_lengths_px": [
          29.832868576049805,
          28.460498809814453,
          29.832868576049805,
          28.460498809814453
        ]
      },
      "confidence": 0.5380549070504695
    },
    {
      "observation_id": "351e328c-faa4-4692-8ba3-5b45152cc8d4",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1260.0,
          127.0
        ],
        [
          1287.0,
          117.0
        ],
        [
          1300.0,
          143.0
        ],
        [
          1273.0,
          153.0
        ]
      ],
      "center_px": [
        1280.0,
        135.0
      ],
      "quality": {
        "area_px": 832.0,
        "perimeter_px": 115.72248840332031,
        "sharpness": {
          "laplacian_var": 860.4527787472296
        },
        "contrast": {
          "p05": 11.0,
          "p95": 161.0,
          "dynamic_range": 150.0,
          "mean_gray": 96.41796200345424,
          "std_gray": 56.3345676433513
        },
        "geometry": {
          "distance_to_center_norm": 0.7678935527801514,
          "distance_to_border_px": 117.0
        },
        "edge_ratio": 1.0096040611867558,
        "edge_lengths_px": [
          28.792360305786133,
          29.068883895874023,
          28.792360305786133,
          29.068883895874023
        ]
      },
      "confidence": 0.5493902887184056
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          520.0,
          673.0
        ],
        [
          523.0,
          705.0
        ],
        [
          497.0,
          713.0
        ],
        [
          488.0,
          682.0
        ]
      ],
      "center_px": [
        507.0,
        693.25
      ],
      "area_px": 964.5
    },
    {
      "image_points_px": [
        [
          1076.0,
          424.0
        ],
        [
          1106.0,
          427.0
        ],
        [
          1112.0,
          433.0
        ],
        [
          1081.0,
          433.0
        ]
      ],
      "center_px": [
        1093.75,
        429.25
      ],
      "area_px": 220.5
    },
    {
      "image_points_px": [
        [
          1276.0,
          546.0
        ],
        [
          1280.0,
          549.0
        ],
        [
          1290.0,
          577.0
        ],
        [
          1282.0,
          565.0
        ]
      ],
      "center_px": [
        1282.0,
        559.25
      ],
      "area_px": 81.0
    },
    {
      "image_points_px": [
        [
          1155.0,
          202.0
        ],
        [
          1162.0,
          209.0
        ],
        [
          1170.0,
          231.0
        ],
        [
          1163.0,
          222.0
        ]
      ],
      "center_px": [
        1162.5,
        216.0
      ],
      "area_px": 83.0
    },
    {
      "image_points_px": [
        [
          1077.0,
          21.0
        ],
        [
          1080.0,
          22.0
        ],
        [
          1085.0,
          32.0
        ],
        [
          1090.0,
          50.0
        ]
      ],
      "center_px": [
        1083.0,
        31.25
      ],
      "area_px": 57.0
    },
    {
      "image_points_px": [
        [
          746.0,
          258.0
        ],
        [
          750.0,
          261.0
        ],
        [
          757.0,
          275.0
        ],
        [
          756.0,
          282.0
        ]
      ],
      "center_px": [
        752.25,
        269.0
      ],
      "area_px": 64.5
    },
    {
      "image_points_px": [
        [
          613.0,
          447.0
        ],
        [
          617.0,
          452.0
        ],
        [
          622.0,
          468.0
        ],
        [
          616.0,
          458.0
        ]
      ],
      "center_px": [
        617.0,
        456.25
      ],
      "area_px": 37.5
    }
  ]
}