{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:34:49Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "a",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9a\\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\\Scene9a\\render_a.png",
    "image_sha256": "a8dc88e242ff40841db742224f5969bd1bdee6e9366d4235df1f077395f43bb6",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 28,
    "num_rejected_candidates": 33
  },
  "detections": [
    {
      "observation_id": "ff122c8e-91fd-4b75-844f-61ea692136ab",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          727.0,
          225.0
        ],
        [
          721.0,
          274.0
        ],
        [
          680.0,
          273.0
        ],
        [
          686.0,
          226.0
        ]
      ],
      "center_px": [
        703.5,
        249.5
      ],
      "quality": {
        "area_px": 1968.0,
        "perimeter_px": 178.77179718017578,
        "sharpness": {
          "laplacian_var": 897.8703444830869
        },
        "contrast": {
          "p05": 18.0,
          "p95": 184.0,
          "dynamic_range": 166.0,
          "mean_gray": 73.88407923697726,
          "std_gray": 69.6071445622898
        },
        "geometry": {
          "distance_to_center_norm": 0.32329800724983215,
          "distance_to_border_px": 225.0
        },
        "edge_ratio": 1.203690413074011,
        "edge_lengths_px": [
          49.36598205566406,
          41.01219177246094,
          47.381431579589844,
          41.01219177246094
        ]
      },
      "confidence": 0.8307784037642852
    },
    {
      "observation_id": "b5ea6743-cd19-4d4a-95ca-b44ec4669cb2",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          814.0,
          440.0
        ],
        [
          773.0,
          426.0
        ],
        [
          774.0,
          384.0
        ],
        [
          816.0,
          400.0
        ]
      ],
      "center_px": [
        794.25,
        412.5
      ],
      "quality": {
        "area_px": 1724.0,
        "perimeter_px": 170.33063888549805,
        "sharpness": {
          "laplacian_var": 792.71879557517
        },
        "contrast": {
          "p05": 20.0,
          "p95": 178.0,
          "dynamic_range": 158.0,
          "mean_gray": 92.77929854576561,
          "std_gray": 65.13283826311745
        },
        "geometry": {
          "distance_to_center_norm": 0.16393807530403137,
          "distance_to_border_px": 384.0
        },
        "edge_ratio": 1.1222083275906458,
        "edge_lengths_px": [
          43.32435989379883,
          42.01190185546875,
          44.94440841674805,
          40.04996871948242
        ]
      },
      "confidence": 0.8911001419379732
    },
    {
      "observation_id": "30e62864-4e64-4392-bd46-6f85d6c4b47e",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          783.0,
          194.0
        ],
        [
          818.0,
          224.0
        ],
        [
          787.0,
          248.0
        ],
        [
          753.0,
          217.0
        ]
      ],
      "center_px": [
        785.25,
        220.75
      ],
      "quality": {
        "area_px": 1741.0,
        "perimeter_px": 169.11529541015625,
        "sharpness": {
          "laplacian_var": 763.2978178058054
        },
        "contrast": {
          "p05": 16.0,
          "p95": 181.0,
          "dynamic_range": 165.0,
          "mean_gray": 86.1932700603969,
          "std_gray": 69.30417572307182
        },
        "geometry": {
          "distance_to_center_norm": 0.36205539107322693,
          "distance_to_border_px": 194.0
        },
        "edge_ratio": 1.2194481552127543,
        "edge_lengths_px": [
          46.097721099853516,
          39.20458984375,
          46.010868072509766,
          37.80211639404297
        ]
      },
      "confidence": 0.8200430626962836
    },
    {
      "observation_id": "1aac81ae-cd47-4f5f-a19f-029f8db6b590",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          880.0,
          1056.0
        ],
        [
          849.0,
          1028.0
        ],
        [
          883.0,
          1007.0
        ],
        [
          913.0,
          1034.0
        ]
      ],
      "center_px": [
        881.25,
        1031.25
      ],
      "quality": {
        "area_px": 1577.0,
        "perimeter_px": 161.7576141357422,
        "sharpness": {
          "laplacian_var": 664.364985663687
        },
        "contrast": {
          "p05": 16.0,
          "p95": 173.0,
          "dynamic_range": 157.0,
          "mean_gray": 84.66512059369202,
          "std_gray": 67.72383425289136
        },
        "geometry": {
          "distance_to_center_norm": 0.574486494064331,
          "distance_to_border_px": 24.0
        },
        "edge_ratio": 1.053254572752866,
        "edge_lengths_px": [
          41.773197174072266,
          39.96248245239258,
          40.360870361328125,
          39.66106414794922
        ]
      },
      "confidence": 0.45573027871641286
    },
    {
      "observation_id": "331c6654-59fb-4f6a-a534-c2e38ff0b901",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1155.0,
          1048.0
        ],
        [
          1121.0,
          1020.0
        ],
        [
          1152.0,
          1001.0
        ],
        [
          1185.0,
          1028.0
        ]
      ],
      "center_px": [
        1153.25,
        1024.25
      ],
      "quality": {
        "area_px": 1492.0,
        "perimeter_px": 159.09827041625977,
        "sharpness": {
          "laplacian_var": 714.8529978720011
        },
        "contrast": {
          "p05": 9.0,
          "p95": 170.0,
          "dynamic_range": 161.0,
          "mean_gray": 99.24950690335305,
          "std_gray": 68.72143031808896
        },
        "geometry": {
          "distance_to_center_norm": 0.7219688296318054,
          "distance_to_border_px": 32.0
        },
        "edge_ratio": 1.221600455196802,
        "edge_lengths_px": [
          44.04542922973633,
          36.359317779541016,
          42.63801193237305,
          36.055511474609375
        ]
      },
      "confidence": 0.5211087340042874
    },
    {
      "observation_id": "a62e2fe6-45f7-4ea3-9588-617922fdb1a0",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          656.0,
          1023.0
        ],
        [
          631.0,
          996.0
        ],
        [
          667.0,
          977.0
        ],
        [
          693.0,
          1003.0
        ]
      ],
      "center_px": [
        661.75,
        999.75
      ],
      "quality": {
        "area_px": 1464.5,
        "perimeter_px": 156.33203887939453,
        "sharpness": {
          "laplacian_var": 634.8636156286466
        },
        "contrast": {
          "p05": 15.0,
          "p95": 174.0,
          "dynamic_range": 159.0,
          "mean_gray": 119.36289500509685,
          "std_gray": 62.622038320083966
        },
        "geometry": {
          "distance_to_center_norm": 0.5149171352386475,
          "distance_to_border_px": 57.0
        },
        "edge_ratio": 1.1438670813466822,
        "edge_lengths_px": [
          36.79673767089844,
          40.70626449584961,
          36.769554138183594,
          42.05948257446289
        ]
      },
      "confidence": 0.8535373989291568
    },
    {
      "observation_id": "fc945454-50a3-4dff-8b18-8f3c27b71e7c",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          822.0,
          619.0
        ],
        [
          784.0,
          607.0
        ],
        [
          782.0,
          569.0
        ],
        [
          820.0,
          581.0
        ]
      ],
      "center_px": [
        802.0,
        594.0
      ],
      "quality": {
        "area_px": 1420.0,
        "perimeter_px": 155.80462646484375,
        "sharpness": {
          "laplacian_var": 773.1276343190337
        },
        "contrast": {
          "p05": 21.0,
          "p95": 178.0,
          "dynamic_range": 157.0,
          "mean_gray": 82.97448979591837,
          "std_gray": 65.57284749666835
        },
        "geometry": {
          "distance_to_center_norm": 0.10909277945756912,
          "distance_to_border_px": 461.0
        },
        "edge_ratio": 1.0472272401922356,
        "edge_lengths_px": [
          39.84971618652344,
          38.05259704589844,
          39.84971618652344,
          38.05259704589844
        ]
      },
      "confidence": 0.9039744482705497
    },
    {
      "observation_id": "d50a2d22-83ff-46d8-9c39-11b30406dca5",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1157.0,
          983.0
        ],
        [
          1124.0,
          957.0
        ],
        [
          1153.0,
          939.0
        ],
        [
          1186.0,
          964.0
        ]
      ],
      "center_px": [
        1155.0,
        960.75
      ],
      "quality": {
        "area_px": 1350.0,
        "perimeter_px": 152.21435165405273,
        "sharpness": {
          "laplacian_var": 744.2273413822352
        },
        "contrast": {
          "p05": 8.0,
          "p95": 168.0,
          "dynamic_range": 160.0,
          "mean_gray": 49.77616926503341,
          "std_gray": 60.44900674540377
        },
        "geometry": {
          "distance_to_center_norm": 0.6724338531494141,
          "distance_to_border_px": 97.0
        },
        "edge_ratio": 1.2308620798334824,
        "edge_lengths_px": [
          42.01190185546875,
          34.13209533691406,
          41.400482177734375,
          34.66987228393555
        ]
      },
      "confidence": 0.7311948387602913
    },
    {
      "observation_id": "14295238-a690-4a4e-81ff-3f7615b5a36c",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          671.0,
          741.0
        ],
        [
          707.0,
          724.0
        ],
        [
          733.0,
          749.0
        ],
        [
          696.0,
          766.0
        ]
      ],
      "center_px": [
        701.75,
        745.0
      ],
      "quality": {
        "area_px": 1346.0,
        "perimeter_px": 151.955322265625,
        "sharpness": {
          "laplacian_var": 888.7140329377473
        },
        "contrast": {
          "p05": 11.0,
          "p95": 173.0,
          "dynamic_range": 162.0,
          "mean_gray": 68.42099322799098,
          "std_gray": 67.34136923727975
        },
        "geometry": {
          "distance_to_center_norm": 0.2286785989999771,
          "distance_to_border_px": 314.0
        },
        "edge_ratio": 1.1516944516674776,
        "edge_lengths_px": [
          39.81205749511719,
          36.06937789916992,
          40.71854782104492,
          35.35533905029297
        ]
      },
      "confidence": 0.7791418392561774
    },
    {
      "observation_id": "8cde9f28-ee5c-4339-80ae-d372b32a399b",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          995.0,
          954.0
        ],
        [
          967.0,
          928.0
        ],
        [
          1000.0,
          911.0
        ],
        [
          1028.0,
          936.0
        ]
      ],
      "center_px": [
        997.5,
        932.25
      ],
      "quality": {
        "area_px": 1331.5,
        "perimeter_px": 150.4579086303711,
        "sharpness": {
          "laplacian_var": 829.4165987185422
        },
        "contrast": {
          "p05": 9.0,
          "p95": 170.0,
          "dynamic_range": 161.0,
          "mean_gray": 85.56192660550458,
          "std_gray": 67.47014847869931
        },
        "geometry": {
          "distance_to_center_norm": 0.5338727831840515,
          "distance_to_border_px": 126.0
        },
        "edge_ratio": 1.0293233343863084,
        "edge_lengths_px": [
          38.20994567871094,
          37.121421813964844,
          37.53664779663086,
          37.58989334106445
        ]
      },
      "confidence": 0.8623788434718633
    },
    {
      "observation_id": "30b64437-0c9d-400c-8573-05af60bcbb52",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          731.0,
          951.0
        ],
        [
          707.0,
          925.0
        ],
        [
          742.0,
          908.0
        ],
        [
          767.0,
          933.0
        ]
      ],
      "center_px": [
        736.75,
        929.25
      ],
      "quality": {
        "area_px": 1334.0,
        "perimeter_px": 149.8983268737793,
        "sharpness": {
          "laplacian_var": 955.522587654321
        },
        "contrast": {
          "p05": 12.0,
          "p95": 172.0,
          "dynamic_range": 160.0,
          "mean_gray": 77.61888888888889,
          "std_gray": 66.38915807476808
        },
        "geometry": {
          "distance_to_center_norm": 0.43290024995803833,
          "distance_to_border_px": 129.0
        },
        "edge_ratio": 1.1384199072310774,
        "edge_lengths_px": [
          35.38361358642578,
          38.910152435302734,
          35.35533905029297,
          40.24922180175781
        ]
      },
      "confidence": 0.7811997380618676
    },
    {
      "observation_id": "421216fd-0d36-4153-86bf-e444a4cda084",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1110.0,
          936.0
        ],
        [
          1079.0,
          912.0
        ],
        [
          1108.0,
          894.0
        ],
        [
          1138.0,
          918.0
        ]
      ],
      "center_px": [
        1108.75,
        915.0
      ],
      "quality": {
        "area_px": 1233.0,
        "perimeter_px": 145.04206466674805,
        "sharpness": {
          "laplacian_var": 948.6184630982963
        },
        "contrast": {
          "p05": 8.0,
          "p95": 168.0,
          "dynamic_range": 160.0,
          "mean_gray": 76.17661097852029,
          "std_gray": 66.87347671028638
        },
        "geometry": {
          "distance_to_center_norm": 0.6001558899879456,
          "distance_to_border_px": 144.0
        },
        "edge_ratio": 1.1777878041336982,
        "edge_lengths_px": [
          39.20458984375,
          34.13209533691406,
          38.41874694824219,
          33.2866325378418
        ]
      },
      "confidence": 0.6979185869602446
    },
    {
      "observation_id": "e1492cc7-3c68-4481-b9c7-3a71f7043f53",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          340.0,
          842.0
        ],
        [
          377.0,
          825.0
        ],
        [
          398.0,
          848.0
        ],
        [
          361.0,
          866.0
        ]
      ],
      "center_px": [
        369.0,
        845.25
      ],
      "quality": {
        "area_px": 1237.0,
        "perimeter_px": 144.89988899230957,
        "sharpness": {
          "laplacian_var": 1076.9785167368268
        },
        "contrast": {
          "p05": 19.0,
          "p95": 174.0,
          "dynamic_range": 155.0,
          "mean_gray": 83.72388955582232,
          "std_gray": 63.162289251029996
        },
        "geometry": {
          "distance_to_center_norm": 0.5168501138687134,
          "distance_to_border_px": 214.0
        },
        "edge_ratio": 1.3211210068163375,
        "edge_lengths_px": [
          40.71854782104492,
          31.14482307434082,
          41.146080017089844,
          31.890438079833984
        ]
      },
      "confidence": 0.6242173596603116
    },
    {
      "observation_id": "ee9ab413-ba29-4a08-a71f-8f4c30d9dda4",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          891.0,
          736.0
        ],
        [
          890.0,
          768.0
        ],
        [
          857.0,
          785.0
        ],
        [
          857.0,
          752.0
        ]
      ],
      "center_px": [
        873.75,
        760.25
      ],
      "quality": {
        "area_px": 1080.5,
        "perimeter_px": 139.71363067626953,
        "sharpness": {
          "laplacian_var": 742.6190506666666
        },
        "contrast": {
          "p05": 17.0,
          "p95": 169.0,
          "dynamic_range": 152.0,
          "mean_gray": 85.04933333333334,
          "std_gray": 63.35816889890539
        },
        "geometry": {
          "distance_to_center_norm": 0.2984510064125061,
          "distance_to_border_px": 295.0
        },
        "edge_ratio": 1.1736954113591296,
        "edge_lengths_px": [
          32.015621185302734,
          37.121421813964844,
          33.0,
          37.57658767700195
        ]
      },
      "confidence": 0.6137310637511937
    },
    {
      "observation_id": "0b9f1c4d-7a5a-4aaa-ac7f-3851756eebff",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          586.0,
          649.0
        ],
        [
          622.0,
          635.0
        ],
        [
          644.0,
          657.0
        ],
        [
          607.0,
          671.0
        ]
      ],
      "center_px": [
        614.75,
        653.0
      ],
      "quality": {
        "area_px": 1104.0,
        "perimeter_px": 139.7130069732666,
        "sharpness": {
          "laplacian_var": 1310.2619621809151
        },
        "contrast": {
          "p05": 9.0,
          "p95": 169.0,
          "dynamic_range": 160.0,
          "mean_gray": 85.20310478654592,
          "std_gray": 65.27796187086113
        },
        "geometry": {
          "distance_to_center_norm": 0.1715814769268036,
          "distance_to_border_px": 409.0
        },
        "edge_ratio": 1.3007274672751357,
        "edge_lengths_px": [
          38.62641525268555,
          31.11269760131836,
          39.560081481933594,
          30.4138126373291
        ]
      },
      "confidence": 0.5658372091902
    },
    {
      "observation_id": "cf8e6c8b-20db-4796-a64d-09a433dfe73d",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          728.0,
          827.0
        ],
        [
          764.0,
          809.0
        ],
        [
          761.0,
          840.0
        ],
        [
          727.0,
          857.0
        ]
      ],
      "center_px": [
        745.0,
        833.25
      ],
      "quality": {
        "area_px": 1032.5,
        "perimeter_px": 139.42386436462402,
        "sharpness": {
          "laplacian_var": 884.7003190767543
        },
        "contrast": {
          "p05": 20.0,
          "p95": 168.0,
          "dynamic_range": 148.0,
          "mean_gray": 83.75949367088607,
          "std_gray": 60.76671253412475
        },
        "geometry": {
          "distance_to_center_norm": 0.3270152509212494,
          "distance_to_border_px": 223.0
        },
        "edge_ratio": 1.3408959663923643,
        "edge_lengths_px": [
          40.24922180175781,
          31.14482307434082,
          38.01315689086914,
          30.01666259765625
        ]
      },
      "confidence": 0.5133383577737736
    },
    {
      "observation_id": "9d4be9fb-635d-47c8-8b7f-490ca8911e81",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1336.0,
          841.0
        ],
        [
          1306.0,
          818.0
        ],
        [
          1334.0,
          803.0
        ],
        [
          1364.0,
          826.0
        ]
      ],
      "center_px": [
        1335.0,
        822.0
      ],
      "quality": {
        "area_px": 1094.0,
        "perimeter_px": 139.1337547302246,
        "sharpness": {
          "laplacian_var": 723.0849783023082
        },
        "contrast": {
          "p05": 9.0,
          "p95": 164.0,
          "dynamic_range": 155.0,
          "mean_gray": 113.8137128072445,
          "std_gray": 57.61038310456189
        },
        "geometry": {
          "distance_to_center_norm": 0.7517461776733398,
          "distance_to_border_px": 76.0
        },
        "edge_ratio": 1.1900645633213587,
        "edge_lengths_px": [
          37.80211639404297,
          31.764760971069336,
          37.80211639404297,
          31.764760971069336
        ]
      },
      "confidence": 0.6128519038478318
    },
    {
      "observation_id": "23d2cb51-0f6b-4a69-83e9-02496ea80878",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          841.0,
          759.0
        ],
        [
          842.0,
          792.0
        ],
        [
          810.0,
          808.0
        ],
        [
          808.0,
          776.0
        ]
      ],
      "center_px": [
        825.25,
        783.75
      ],
      "quality": {
        "area_px": 1081.0,
        "perimeter_px": 137.9760971069336,
        "sharpness": {
          "laplacian_var": 1148.740173368675
        },
        "contrast": {
          "p05": 19.0,
          "p95": 170.0,
          "dynamic_range": 151.0,
          "mean_gray": 98.37783711615488,
          "std_gray": 60.51894044290001
        },
        "geometry": {
          "distance_to_center_norm": 0.29500287771224976,
          "distance_to_border_px": 272.0
        },
        "edge_ratio": 1.1577853404935363,
        "edge_lengths_px": [
          33.0151481628418,
          35.7770881652832,
          32.06243896484375,
          37.121421813964844
        ]
      },
      "confidence": 0.622452747898383
    },
    {
      "observation_id": "2e319c04-330d-4704-9b73-82feb4e1abd8",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          912.0,
          829.0
        ],
        [
          888.0,
          806.0
        ],
        [
          918.0,
          792.0
        ],
        [
          944.0,
          814.0
        ]
      ],
      "center_px": [
        915.5,
        810.25
      ],
      "quality": {
        "area_px": 1060.0,
        "perimeter_px": 135.74739837646484,
        "sharpness": {
          "laplacian_var": 1166.7777484007902
        },
        "contrast": {
          "p05": 11.0,
          "p95": 165.0,
          "dynamic_range": 154.0,
          "mean_gray": 99.08536585365853,
          "std_gray": 59.00146548580973
        },
        "geometry": {
          "distance_to_center_norm": 0.37061062455177307,
          "distance_to_border_px": 251.0
        },
        "edge_ratio": 1.0675197623186743,
        "edge_lengths_px": [
          33.241539001464844,
          33.105892181396484,
          34.058773040771484,
          35.34119415283203
        ]
      },
      "confidence": 0.6619705710475772
    },
    {
      "observation_id": "ee8eb5a4-e106-4cdd-bdac-4dd8142ef518",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1016.0,
          811.0
        ],
        [
          989.0,
          789.0
        ],
        [
          1019.0,
          775.0
        ],
        [
          1045.0,
          796.0
        ]
      ],
      "center_px": [
        1017.25,
        792.75
      ],
      "quality": {
        "area_px": 1018.5,
        "perimeter_px": 134.00524520874023,
        "sharpness": {
          "laplacian_var": 865.957257231405
        },
        "contrast": {
          "p05": 9.0,
          "p95": 166.0,
          "dynamic_range": 157.0,
          "mean_gray": 87.75852272727273,
          "std_gray": 66.28284936953855
        },
        "geometry": {
          "distance_to_center_norm": 0.4335328936576843,
          "distance_to_border_px": 269.0
        },
        "edge_ratio": 1.066723324965057,
        "edge_lengths_px": [
          34.828147888183594,
          33.105892181396484,
          33.42155075073242,
          32.649654388427734
        ]
      },
      "confidence": 0.6365286894071078
    },
    {
      "observation_id": "9bee026d-a07f-4504-bca8-bacf8be7601d",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1296.0,
          787.0
        ],
        [
          1266.0,
          766.0
        ],
        [
          1292.0,
          752.0
        ],
        [
          1321.0,
          771.0
        ]
      ],
      "center_px": [
        1293.75,
        769.0
      ],
      "quality": {
        "area_px": 952.5,
        "perimeter_px": 130.50082969665527,
        "sharpness": {
          "laplacian_var": 572.4223623331974
        },
        "contrast": {
          "p05": 7.0,
          "p95": 156.0,
          "dynamic_range": 149.0,
          "mean_gray": 39.36335877862595,
          "std_gray": 51.5302256312167
        },
        "geometry": {
          "distance_to_center_norm": 0.6864023804664612,
          "distance_to_border_px": 119.0
        },
        "edge_ratio": 1.2400984133937396,
        "edge_lengths_px": [
          36.619667053222656,
          29.529645919799805,
          34.66987228393555,
          29.681644439697266
        ]
      },
      "confidence": 0.5120561345306578
    },
    {
      "observation_id": "b13fe25b-d0dc-434e-9bf0-2d284bcc5610",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1042.0,
          780.0
        ],
        [
          1015.0,
          760.0
        ],
        [
          1041.0,
          745.0
        ],
        [
          1069.0,
          765.0
        ]
      ],
      "center_px": [
        1041.75,
        762.5
      ],
      "quality": {
        "area_px": 942.5,
        "perimeter_px": 128.91344833374023,
        "sharpness": {
          "laplacian_var": 878.0870347650222
        },
        "contrast": {
          "p05": 9.0,
          "p95": 160.0,
          "dynamic_range": 151.0,
          "mean_gray": 42.44272445820433,
          "std_gray": 52.101166486305026
        },
        "geometry": {
          "distance_to_center_norm": 0.4346551299095154,
          "distance_to_border_px": 300.0
        },
        "edge_ratio": 1.1463400251731928,
        "edge_lengths_px": [
          33.60059356689453,
          30.01666259765625,
          34.4093017578125,
          30.886890411376953
        ]
      },
      "confidence": 0.5481212550686283
    },
    {
      "observation_id": "0fd6e705-c84f-4b0e-a0ab-f570d5d9ca98",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1375.0,
          670.0
        ],
        [
          1347.0,
          651.0
        ],
        [
          1371.0,
          639.0
        ],
        [
          1398.0,
          658.0
        ]
      ],
      "center_px": [
        1372.75,
        654.5
      ],
      "quality": {
        "area_px": 776.5,
        "perimeter_px": 119.62805557250977,
        "sharpness": {
          "laplacian_var": 1565.6752711675979
        },
        "contrast": {
          "p05": 13.75,
          "p95": 158.0,
          "dynamic_range": 144.25,
          "mean_gray": 106.43604651162791,
          "std_gray": 51.28240872692161
        },
        "geometry": {
          "distance_to_center_norm": 0.7363513708114624,
          "distance_to_border_px": 42.0
        },
        "edge_ratio": 1.3043532092409151,
        "edge_lengths_px": [
          33.83784866333008,
          26.832815170288086,
          33.0151481628418,
          25.942243576049805
        ]
      },
      "confidence": 0.33337595746251947
    },
    {
      "observation_id": "7cb83b3d-7dc1-4a5d-90e6-b7acb7338c9b",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1325.0,
          643.0
        ],
        [
          1299.0,
          626.0
        ],
        [
          1323.0,
          615.0
        ],
        [
          1349.0,
          631.0
        ]
      ],
      "center_px": [
        1324.0,
        628.75
      ],
      "quality": {
        "area_px": 695.0,
        "perimeter_px": 114.82669639587402,
        "sharpness": {
          "laplacian_var": 783.0801829183941
        },
        "contrast": {
          "p05": 9.0,
          "p95": 156.0,
          "dynamic_range": 147.0,
          "mean_gray": 66.610337972167,
          "std_gray": 56.76808574481183
        },
        "geometry": {
          "distance_to_center_norm": 0.6783172488212585,
          "distance_to_border_px": 91.0
        },
        "edge_ratio": 1.1766499537625708,
        "edge_lengths_px": [
          31.064449310302734,
          26.4007568359375,
          30.528675079345703,
          26.832815170288086
        ]
      },
      "confidence": 0.39377329838133546
    },
    {
      "observation_id": "1ca6f67d-a0a1-4fd8-b48d-0f94d14f139b",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1195.0,
          524.0
        ],
        [
          1221.0,
          514.0
        ],
        [
          1244.0,
          530.0
        ],
        [
          1219.0,
          540.0
        ]
      ],
      "center_px": [
        1219.75,
        527.0
      ],
      "quality": {
        "area_px": 643.0,
        "perimeter_px": 111.64486122131348,
        "sharpness": {
          "laplacian_var": 1146.5599783550792
        },
        "contrast": {
          "p05": 9.0,
          "p95": 153.0,
          "dynamic_range": 144.0,
          "mean_gray": 73.16198704103672,
          "std_gray": 52.87474197603455
        },
        "geometry": {
          "distance_to_center_norm": 0.5554656386375427,
          "distance_to_border_px": 196.0
        },
        "edge_ratio": 1.0712545245459941,
        "edge_lengths_px": [
          27.85677719116211,
          28.017850875854492,
          26.925823211669922,
          28.844409942626953
        ]
      },
      "confidence": 0.4001538913904134
    },
    {
      "observation_id": "8ce9dd1e-50ee-41e9-9619-6a21f34b2681",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          147.0,
          577.0
        ],
        [
          136.0,
          561.0
        ],
        [
          168.0,
          550.0
        ],
        [
          181.0,
          566.0
        ]
      ],
      "center_px": [
        158.0,
        563.5
      ],
      "quality": {
        "area_px": 660.0,
        "perimeter_px": 109.6050033569336,
        "sharpness": {
          "laplacian_var": 1445.8314893617023
        },
        "contrast": {
          "p05": 15.0,
          "p95": 158.0,
          "dynamic_range": 143.0,
          "mean_gray": 96.85106382978724,
          "std_gray": 51.000533465463704
        },
        "geometry": {
          "distance_to_center_norm": 0.6249901056289673,
          "distance_to_border_px": 136.0
        },
        "edge_ratio": 1.8404531626848066,
        "edge_lengths_px": [
          19.416488647460938,
          33.83784866333008,
          20.615528106689453,
          35.735137939453125
        ]
      },
      "confidence": 0.23907155526747506
    },
    {
      "observation_id": "c7d94dc6-be48-4206-ace8-6570da128060",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1117.0,
          471.0
        ],
        [
          1139.0,
          461.0
        ],
        [
          1164.0,
          475.0
        ],
        [
          1140.0,
          486.0
        ]
      ],
      "center_px": [
        1140.0,
        473.25
      ],
      "quality": {
        "area_px": 585.5,
        "perimeter_px": 106.67900657653809,
        "sharpness": {
          "laplacian_var": 1612.7811462649665
        },
        "contrast": {
          "p05": 11.0,
          "p95": 149.0,
          "dynamic_range": 138.0,
          "mean_gray": 73.44976076555024,
          "std_gray": 49.544611499646464
        },
        "geometry": {
          "distance_to_center_norm": 0.4725235104560852,
          "distance_to_border_px": 276.0
        },
        "edge_ratio": 1.185673597899667,
        "edge_lengths_px": [
          24.166091918945312,
          28.65309715270996,
          26.4007568359375,
          27.459060668945312
        ]
      },
      "confidence": 0.3292080839320196
    },
    {
      "observation_id": "44ba6096-bf78-41cd-bd98-5eb612fbbf26",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          569.0,
          458.0
        ],
        [
          554.0,
          445.0
        ],
        [
          581.0,
          437.0
        ],
        [
          596.0,
          448.0
        ]
      ],
      "center_px": [
        575.0,
        447.0
      ],
      "quality": {
        "area_px": 459.0,
        "perimeter_px": 95.40312576293945,
        "sharpness": {
          "laplacian_var": 2365.003801956512
        },
        "contrast": {
          "p05": 9.0,
          "p95": 145.0,
          "dynamic_range": 136.0,
          "mean_gray": 84.75816993464052,
          "std_gray": 50.945058980821265
        },
        "geometry": {
          "distance_to_center_norm": 0.19140158593654633,
          "distance_to_border_px": 437.0
        },
        "edge_ratio": 1.5478868056127357,
        "edge_lengths_px": [
          19.84943389892578,
          28.160255432128906,
          18.601076126098633,
          28.792360305786133
        ]
      },
      "confidence": 0.19768887420606246
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          1151.0,
          568.0
        ],
        [
          994.0,
          652.0
        ],
        [
          932.0,
          633.0
        ],
        [
          1082.0,
          565.0
        ]
      ],
      "center_px": [
        1039.75,
        604.5
      ],
      "area_px": 6666.5
    },
    {
      "image_points_px": [
        [
          764.0,
          596.0
        ],
        [
          764.0,
          612.0
        ],
        [
          676.0,
          650.0
        ],
        [
          664.0,
          641.0
        ]
      ],
      "center_px": [
        717.0,
        624.75
      ],
      "area_px": 1424.0
    },
    {
      "image_points_px": [
        [
          897.0,
          438.0
        ],
        [
          896.0,
          477.0
        ],
        [
          873.0,
          498.0
        ],
        [
          873.0,
          458.0
        ]
      ],
      "center_px": [
        884.75,
        467.75
      ],
      "area_px": 918.0
    },
    {
      "image_points_px": [
        [
          156.0,
          700.0
        ],
        [
          169.0,
          720.0
        ],
        [
          132.0,
          733.0
        ],
        [
          120.0,
          713.0
        ]
      ],
      "center_px": [
        144.25,
        716.5
      ],
      "area_px": 892.5
    },
    {
      "image_points_px": [
        [
          93.0,
          605.0
        ],
        [
          59.0,
          618.0
        ],
        [
          46.0,
          601.0
        ],
        [
          80.0,
          590.0
        ]
      ],
      "center_px": [
        69.5,
        603.5
      ],
      "area_px": 700.0
    },
    {
      "image_points_px": [
        [
          1299.0,
          474.0
        ],
        [
          1322.0,
          465.0
        ],
        [
          1347.0,
          479.0
        ],
        [
          1323.0,
          489.0
        ]
      ],
      "center_px": [
        1322.75,
        476.75
      ],
      "area_px": 573.5
    },
    {
      "image_points_px": [
        [
          401.0,
          771.0
        ],
        [
          370.0,
          787.0
        ],
        [
          357.0,
          779.0
        ],
        [
          395.0,
          762.0
        ]
      ],
      "center_px": [
        380.75,
        774.75
      ],
      "area_px": 450.0
    },
    {
      "image_points_px": [
        [
          957.0,
          516.0
        ],
        [
          954.0,
          521.0
        ],
        [
          920.0,
          536.0
        ],
        [
          912.0,
          535.0
        ]
      ],
      "center_px": [
        935.75,
        527.0
      ],
      "area_px": 161.0
    },
    {
      "image_points_px": [
        [
          1217.0,
          427.0
        ],
        [
          1238.0,
          418.0
        ],
        [
          1261.0,
          431.0
        ],
        [
          1241.0,
          441.0
        ]
      ],
      "center_px": [
        1239.25,
        429.25
      ],
      "area_px": 500.0
    },
    {
      "image_points_px": [
        [
          717.0,
          471.0
        ],
        [
          742.0,
          462.0
        ],
        [
          760.0,
          475.0
        ],
        [
          736.0,
          485.0
        ]
      ],
      "center_px": [
        738.75,
        473.25
      ],
      "area_px": 506.5
    },
    {
      "image_points_px": [
        [
          809.0,
          253.0
        ],
        [
          770.0,
          279.0
        ],
        [
          790.0,
          260.0
        ],
        [
          805.0,
          251.0
        ]
      ],
      "center_px": [
        793.5,
        260.75
      ],
      "area_px": 143.5
    },
    {
      "image_points_px": [
        [
          984.0,
          384.0
        ],
        [
          1006.0,
          376.0
        ],
        [
          1025.0,
          388.0
        ],
        [
          1003.0,
          397.0
        ]
      ],
      "center_px": [
        1004.5,
        386.25
      ],
      "area_px": 436.5
    },
    {
      "image_points_px": [
        [
          288.0,
          751.0
        ],
        [
          265.0,
          763.0
        ],
        [
          252.0,
          752.0
        ],
        [
          283.0,
          738.0
        ]
      ],
      "center_px": [
        272.0,
        751.0
      ],
      "area_px": 441.0
    },
    {
      "image_points_px": [
        [
          1088.0,
          340.0
        ],
        [
          1108.0,
          333.0
        ],
        [
          1127.0,
          343.0
        ],
        [
          1106.0,
          351.0
        ]
      ],
      "center_px": [
        1107.25,
        341.75
      ],
      "area_px": 354.0
    },
    {
      "image_points_px": [
        [
          1144.0,
          313.0
        ],
        [
          1164.0,
          306.0
        ],
        [
          1182.0,
          317.0
        ],
        [
          1163.0,
          324.0
        ]
      ],
      "center_px": [
        1163.25,
        315.0
      ],
      "area_px": 344.0
    },
    {
      "image_points_px": [
        [
          1051.0,
          297.0
        ],
        [
          1071.0,
          290.0
        ],
        [
          1089.0,
          300.0
        ],
        [
          1070.0,
          308.0
        ]
      ],
      "center_px": [
        1070.25,
        298.75
      ],
      "area_px": 343.5
    },
    {
      "image_points_px": [
        [
          934.0,
          285.0
        ],
        [
          955.0,
          278.0
        ],
        [
          972.0,
          287.0
        ],
        [
          952.0,
          295.0
        ]
      ],
      "center_px": [
        953.25,
        286.25
      ],
      "area_px": 326.0
    },
    {
      "image_points_px": [
        [
          1227.0,
          309.0
        ],
        [
          1246.0,
          302.0
        ],
        [
          1264.0,
          312.0
        ],
        [
          1247.0,
          320.0
        ]
      ],
      "center_px": [
        1246.0,
        310.75
      ],
      "area_px": 331.5
    },
    {
      "image_points_px": [
        [
          692.0,
          666.0
        ],
        [
          698.0,
          666.0
        ],
        [
          717.0,
          685.0
        ],
        [
          712.0,
          686.0
        ]
      ],
      "center_px": [
        704.75,
        675.75
      ],
      "area_px": 117.0
    },
    {
      "image_points_px": [
        [
          1131.0,
          467.0
        ],
        [
          1140.0,
          464.0
        ],
        [
          1159.0,
          475.0
        ],
        [
          1150.0,
          478.0
        ]
      ],
      "center_px": [
        1145.0,
        471.0
      ],
      "area_px": 156.0
    },
    {
      "image_points_px": [
        [
          690.0,
          826.0
        ],
        [
          719.0,
          830.0
        ],
        [
          716.0,
          834.0
        ],
        [
          702.0,
          834.0
        ]
      ],
      "center_px": [
        706.75,
        831.0
      ],
      "area_px": 120.0
    },
    {
      "image_points_px": [
        [
          1087.0,
          531.0
        ],
        [
          1089.0,
          528.0
        ],
        [
          1100.0,
          527.0
        ],
        [
          1117.0,
          529.0
        ]
      ],
      "center_px": [
        1098.25,
        528.75
      ],
      "area_px": 62.5
    },
    {
      "image_points_px": [
        [
          809.0,
          686.0
        ],
        [
          790.0,
          704.0
        ],
        [
          786.0,
          704.0
        ],
        [
          806.0,
          686.0
        ]
      ],
      "center_px": [
        797.75,
        695.0
      ],
      "area_px": 63.0
    },
    {
      "image_points_px": [
        [
          577.0,
          528.0
        ],
        [
          573.0,
          533.0
        ],
        [
          551.0,
          541.0
        ],
        [
          557.0,
          536.0
        ]
      ],
      "center_px": [
        564.5,
        534.5
      ],
      "area_px": 65.0
    },
    {
      "image_points_px": [
        [
          985.0,
          505.0
        ],
        [
          966.0,
          515.0
        ],
        [
          958.0,
          514.0
        ],
        [
          979.0,
          505.0
        ]
      ],
      "center_px": [
        972.0,
        509.75
      ],
      "area_px": 76.5
    },
    {
      "image_points_px": [
        [
          627.0,
          621.0
        ],
        [
          636.0,
          626.0
        ],
        [
          648.0,
          640.0
        ],
        [
          641.0,
          637.0
        ]
      ],
      "center_px": [
        638.0,
        631.0
      ],
      "area_px": 68.0
    },
    {
      "image_points_px": [
        [
          639.0,
          676.0
        ],
        [
          624.0,
          681.0
        ],
        [
          616.0,
          674.0
        ],
        [
          633.0,
          667.0
        ]
      ],
      "center_px": [
        628.0,
        674.5
      ],
      "area_px": 170.0
    },
    {
      "image_points_px": [
        [
          807.0,
          955.0
        ],
        [
          791.0,
          965.0
        ],
        [
          783.0,
          965.0
        ],
        [
          800.0,
          956.0
        ]
      ],
      "center_px": [
        795.25,
        960.25
      ],
      "area_px": 63.0
    },
    {
      "image_points_px": [
        [
          282.0,
          923.0
        ],
        [
          266.0,
          934.0
        ],
        [
          261.0,
          935.0
        ],
        [
          277.0,
          924.0
        ]
      ],
      "center_px": [
        271.5,
        929.0
      ],
      "area_px": 39.0
    },
    {
      "image_points_px": [
        [
          1339.0,
          651.0
        ],
        [
          1334.0,
          656.0
        ],
        [
          1317.0,
          660.0
        ],
        [
          1328.0,
          653.0
        ]
      ],
      "center_px": [
        1329.5,
        655.0
      ],
      "area_px": 60.0
    },
    {
      "image_points_px": [
        [
          1188.0,
          1036.0
        ],
        [
          1177.0,
          1045.0
        ],
        [
          1168.0,
          1049.0
        ],
        [
          1176.0,
          1042.0
        ]
      ],
      "center_px": [
        1177.25,
        1043.0
      ],
      "area_px": 36.5
    },
    {
      "image_points_px": [
        [
          688.0,
          257.0
        ],
        [
          695.0,
          255.0
        ],
        [
          703.0,
          267.0
        ],
        [
          688.0,
          268.0
        ]
      ],
      "center_px": [
        693.5,
        261.75
      ],
      "area_px": 132.5
    },
    {
      "image_points_px": [
        [
          229.0,
          651.0
        ],
        [
          220.0,
          657.0
        ],
        [
          208.0,
          661.0
        ],
        [
          211.0,
          658.0
        ]
      ],
      "center_px": [
        217.0,
        656.75
      ],
      "area_px": 34.5
    }
  ]
}