{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:34:52Z",
  "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\\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_f.png",
    "image_sha256": "8aa5da0edf5ec4198ce2787f1b6a1b1e4c0b3e3baca630cc6f882e29d9073a92",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 32,
    "num_rejected_candidates": 9
  },
  "detections": [
    {
      "observation_id": "1bfecd66-03da-434b-86d5-0561ff8acdb1",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1000.0,
          516.0
        ],
        [
          968.0,
          541.0
        ],
        [
          946.0,
          508.0
        ],
        [
          978.0,
          482.0
        ]
      ],
      "center_px": [
        973.0,
        511.75
      ],
      "quality": {
        "area_px": 1633.0,
        "perimeter_px": 161.9969139099121,
        "sharpness": {
          "laplacian_var": 1528.4314187958703
        },
        "contrast": {
          "p05": 66.0,
          "p95": 185.0,
          "dynamic_range": 119.0,
          "mean_gray": 115.81149012567325,
          "std_gray": 49.07214866520256
        },
        "geometry": {
          "distance_to_center_norm": 0.28285813331604004,
          "distance_to_border_px": 440.0
        },
        "edge_ratio": 1.0395852229171936,
        "edge_lengths_px": [
          40.607879638671875,
          39.66106414794922,
          41.231056213378906,
          40.49691390991211
        ]
      },
      "confidence": 0.9619220992713681
    },
    {
      "observation_id": "a1c89f3e-93b5-41b0-814d-606e7fbec05e",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          906.0,
          519.0
        ],
        [
          876.0,
          485.0
        ],
        [
          895.0,
          470.0
        ],
        [
          923.0,
          503.0
        ]
      ],
      "center_px": [
        900.0,
        494.25
      ],
      "quality": {
        "area_px": 1052.5,
        "perimeter_px": 136.17398071289062,
        "sharpness": {
          "laplacian_var": 457.66757906437755
        },
        "contrast": {
          "p05": 15.0,
          "p95": 124.0,
          "dynamic_range": 109.0,
          "mean_gray": 46.78706199460917,
          "std_gray": 37.78953554925625
        },
        "geometry": {
          "distance_to_center_norm": 0.20635898411273956,
          "distance_to_border_px": 470.0
        },
        "edge_ratio": 1.9422864765405023,
        "edge_lengths_px": [
          45.343135833740234,
          24.20743751525879,
          43.27817153930664,
          23.34523582458496
        ]
      },
      "confidence": 0.3612580714233454
    },
    {
      "observation_id": "fa7c7bad-70f4-4f46-bb53-5422f6f7a7b2",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          795.0,
          483.0
        ],
        [
          806.0,
          514.0
        ],
        [
          773.0,
          525.0
        ],
        [
          762.0,
          493.0
        ]
      ],
      "center_px": [
        784.0,
        503.75
      ],
      "quality": {
        "area_px": 1155.0,
        "perimeter_px": 135.99855041503906,
        "sharpness": {
          "laplacian_var": 1029.9359872443647
        },
        "contrast": {
          "p05": 31.0,
          "p95": 178.0,
          "dynamic_range": 147.0,
          "mean_gray": 82.49022164276401,
          "std_gray": 61.29167742731793
        },
        "geometry": {
          "distance_to_center_norm": 0.08172569423913956,
          "distance_to_border_px": 483.0
        },
        "edge_ratio": 1.0574967551534842,
        "edge_lengths_px": [
          32.893768310546875,
          34.78505325317383,
          33.83784866333008,
          34.48188018798828
        ]
      },
      "confidence": 0.728134621924436
    },
    {
      "observation_id": "87b16746-8b8a-459e-9538-7af627c29670",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1373.0,
          931.0
        ],
        [
          1403.0,
          920.0
        ],
        [
          1417.0,
          953.0
        ],
        [
          1387.0,
          964.0
        ]
      ],
      "center_px": [
        1395.0,
        942.0
      ],
      "quality": {
        "area_px": 1144.0,
        "perimeter_px": 135.5999755859375,
        "sharpness": {
          "laplacian_var": 791.4089490114463
        },
        "contrast": {
          "p05": 8.0,
          "p95": 144.0,
          "dynamic_range": 136.0,
          "mean_gray": 62.08516129032258,
          "std_gray": 54.985445339358066
        },
        "geometry": {
          "distance_to_center_norm": 0.872932493686676,
          "distance_to_border_px": 23.0
        },
        "edge_ratio": 1.1218600885282315,
        "edge_lengths_px": [
          31.95309066772461,
          35.84689712524414,
          31.95309066772461,
          35.84689712524414
        ]
      },
      "confidence": 0.31271873405079975
    },
    {
      "observation_id": "bb1830e9-b57c-4357-b0e6-6f5ee9df86df",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          949.0,
          734.0
        ],
        [
          958.0,
          766.0
        ],
        [
          926.0,
          775.0
        ],
        [
          916.0,
          742.0
        ]
      ],
      "center_px": [
        937.25,
        754.25
      ],
      "quality": {
        "area_px": 1137.0,
        "perimeter_px": 134.9208106994629,
        "sharpness": {
          "laplacian_var": 638.0081453756287
        },
        "contrast": {
          "p05": 10.0,
          "p95": 136.0,
          "dynamic_range": 126.0,
          "mean_gray": 58.53794940079894,
          "std_gray": 50.78568672983175
        },
        "geometry": {
          "distance_to_center_norm": 0.33902662992477417,
          "distance_to_border_px": 305.0
        },
        "edge_ratio": 1.0373129892231758,
        "edge_lengths_px": [
          33.241539001464844,
          33.241539001464844,
          34.48188018798828,
          33.95585250854492
        ]
      },
      "confidence": 0.7307341254520026
    },
    {
      "observation_id": "88d4150b-cc1e-4ab8-8f82-0fcfdfaff95d",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1362.0,
          872.0
        ],
        [
          1392.0,
          861.0
        ],
        [
          1406.0,
          893.0
        ],
        [
          1375.0,
          904.0
        ]
      ],
      "center_px": [
        1383.75,
        882.5
      ],
      "quality": {
        "area_px": 1124.5,
        "perimeter_px": 134.31518936157227,
        "sharpness": {
          "laplacian_var": 830.8274754346182
        },
        "contrast": {
          "p05": 8.0,
          "p95": 145.0,
          "dynamic_range": 137.0,
          "mean_gray": 82.04100529100529,
          "std_gray": 56.32163550043994
        },
        "geometry": {
          "distance_to_center_norm": 0.829896867275238,
          "distance_to_border_px": 34.0
        },
        "edge_ratio": 1.0931179608780046,
        "edge_lengths_px": [
          31.95309066772461,
          34.928497314453125,
          32.893768310546875,
          34.539833068847656
        ]
      },
      "confidence": 0.46634796204782664
    },
    {
      "observation_id": "01318eee-de22-4dcd-a77c-0d73eb0aa748",
      "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": 706.3162339481543
        },
        "contrast": {
          "p05": 8.0,
          "p95": 146.0,
          "dynamic_range": 138.0,
          "mean_gray": 49.04330175913397,
          "std_gray": 52.642700120458684
        },
        "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": "938b59f8-bf9d-46d5-be4c-104e82ad81a2",
      "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": 832.5086198846043
        },
        "contrast": {
          "p05": 9.0,
          "p95": 149.0,
          "dynamic_range": 140.0,
          "mean_gray": 90.97158322056833,
          "std_gray": 56.08765133494304
        },
        "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": "e941513d-1b4d-4d45-9cb6-41d33dc65c69",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          534.0,
          807.0
        ],
        [
          566.0,
          797.0
        ],
        [
          575.0,
          829.0
        ],
        [
          544.0,
          839.0
        ]
      ],
      "center_px": [
        554.75,
        818.0
      ],
      "quality": {
        "area_px": 1103.0,
        "perimeter_px": 132.86674880981445,
        "sharpness": {
          "laplacian_var": 1065.339787920701
        },
        "contrast": {
          "p05": 35.0,
          "p95": 172.0,
          "dynamic_range": 137.0,
          "mean_gray": 110.50345781466113,
          "std_gray": 58.604975989473644
        },
        "geometry": {
          "distance_to_center_norm": 0.35934022068977356,
          "distance_to_border_px": 241.0
        },
        "edge_ratio": 1.0292608517692443,
        "edge_lengths_px": [
          33.52610778808594,
          33.241539001464844,
          32.572994232177734,
          33.52610778808594
        ]
      },
      "confidence": 0.7144285455619288
    },
    {
      "observation_id": "6bc7f73d-244d-47b8-87b0-0bd37e2beb78",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          824.0,
          853.0
        ],
        [
          854.0,
          841.0
        ],
        [
          867.0,
          872.0
        ],
        [
          836.0,
          884.0
        ]
      ],
      "center_px": [
        845.25,
        862.5
      ],
      "quality": {
        "area_px": 1095.5,
        "perimeter_px": 132.40953826904297,
        "sharpness": {
          "laplacian_var": 684.1140949339526
        },
        "contrast": {
          "p05": 21.0,
          "p95": 161.69999999999993,
          "dynamic_range": 140.69999999999993,
          "mean_gray": 49.32262382864793,
          "std_gray": 47.683208965126376
        },
        "geometry": {
          "distance_to_center_norm": 0.3844088017940521,
          "distance_to_border_px": 196.0
        },
        "edge_ratio": 1.040372688406745,
        "edge_lengths_px": [
          32.31098937988281,
          33.61547088623047,
          33.241539001464844,
          33.241539001464844
        ]
      },
      "confidence": 0.7019920279258633
    },
    {
      "observation_id": "28985eb7-5456-4b38-86da-560408bbc6e9",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          935.0,
          439.0
        ],
        [
          907.0,
          437.0
        ],
        [
          935.0,
          413.0
        ],
        [
          964.0,
          414.0
        ]
      ],
      "center_px": [
        935.25,
        425.75
      ],
      "quality": {
        "area_px": 741.0,
        "perimeter_px": 132.25513076782227,
        "sharpness": {
          "laplacian_var": 2194.6277714489142
        },
        "contrast": {
          "p05": 30.0,
          "p95": 182.0,
          "dynamic_range": 152.0,
          "mean_gray": 84.4,
          "std_gray": 61.1280314292477
        },
        "geometry": {
          "distance_to_center_norm": 0.27076852321624756,
          "distance_to_border_px": 413.0
        },
        "edge_ratio": 1.363967096235663,
        "edge_lengths_px": [
          28.07133674621582,
          36.878177642822266,
          29.017236709594727,
          38.28837966918945
        ]
      },
      "confidence": 0.36217882481429586
    },
    {
      "observation_id": "f53be741-6945-47c6-a693-01695e8542a1",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          644.0,
          826.0
        ],
        [
          676.0,
          816.0
        ],
        [
          686.0,
          847.0
        ],
        [
          654.0,
          857.0
        ]
      ],
      "center_px": [
        665.0,
        836.5
      ],
      "quality": {
        "area_px": 1092.0,
        "perimeter_px": 132.19820404052734,
        "sharpness": {
          "laplacian_var": 993.2093013676059
        },
        "contrast": {
          "p05": 29.0,
          "p95": 170.0,
          "dynamic_range": 141.0,
          "mean_gray": 87.92857142857143,
          "std_gray": 58.745109542480755
        },
        "geometry": {
          "distance_to_center_norm": 0.33506450057029724,
          "distance_to_border_px": 223.0
        },
        "edge_ratio": 1.0292608517692443,
        "edge_lengths_px": [
          33.52610778808594,
          32.572994232177734,
          33.52610778808594,
          32.572994232177734
        ]
      },
      "confidence": 0.7073036915264065
    },
    {
      "observation_id": "ec29314d-8050-4923-a22f-d18d4375da2e",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          590.0,
          838.0
        ],
        [
          621.0,
          828.0
        ],
        [
          631.0,
          859.0
        ],
        [
          600.0,
          870.0
        ]
      ],
      "center_px": [
        610.5,
        848.75
      ],
      "quality": {
        "area_px": 1081.5,
        "perimeter_px": 131.56586456298828,
        "sharpness": {
          "laplacian_var": 999.7233044379404
        },
        "contrast": {
          "p05": 31.0,
          "p95": 170.0,
          "dynamic_range": 139.0,
          "mean_gray": 66.54314002828855,
          "std_gray": 52.02811004754071
        },
        "geometry": {
          "distance_to_center_norm": 0.3639915883541107,
          "distance_to_border_px": 210.0
        },
        "edge_ratio": 1.0292608517692443,
        "edge_lengths_px": [
          32.572994232177734,
          32.572994232177734,
          32.893768310546875,
          33.52610778808594
        ]
      },
      "confidence": 0.7005026944924987
    },
    {
      "observation_id": "e9ec8778-1ea5-49d3-8187-ecc36fded061",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          796.0,
          816.0
        ],
        [
          826.0,
          806.0
        ],
        [
          837.0,
          838.0
        ],
        [
          806.0,
          848.0
        ]
      ],
      "center_px": [
        816.25,
        827.0
      ],
      "quality": {
        "area_px": 1081.0,
        "perimeter_px": 131.5597267150879,
        "sharpness": {
          "laplacian_var": 1078.6044162763146
        },
        "contrast": {
          "p05": 23.0,
          "p95": 167.0,
          "dynamic_range": 144.0,
          "mean_gray": 95.00980392156863,
          "std_gray": 62.9126482072035
        },
        "geometry": {
          "distance_to_center_norm": 0.336343914270401,
          "distance_to_border_px": 232.0
        },
        "edge_ratio": 1.0700467482560632,
        "edge_lengths_px": [
          31.62277603149414,
          33.83784866333008,
          32.572994232177734,
          33.52610778808594
        ]
      },
      "confidence": 0.6734908244347195
    },
    {
      "observation_id": "0f9d38fe-c367-49af-a872-6aedd02e3b20",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1047.0,
          694.0
        ],
        [
          1059.0,
          725.0
        ],
        [
          1028.0,
          734.0
        ],
        [
          1017.0,
          702.0
        ]
      ],
      "center_px": [
        1037.75,
        713.75
      ],
      "quality": {
        "area_px": 1058.5,
        "perimeter_px": 130.40776252746582,
        "sharpness": {
          "laplacian_var": 655.8580965462205
        },
        "contrast": {
          "p05": 9.050000000000004,
          "p95": 132.0,
          "dynamic_range": 122.94999999999999,
          "mean_gray": 74.21329639889197,
          "std_gray": 50.51857331515385
        },
        "geometry": {
          "distance_to_center_norm": 0.4023911952972412,
          "distance_to_border_px": 346.0
        },
        "edge_ratio": 1.08984372240379,
        "edge_lengths_px": [
          33.241539001464844,
          32.280025482177734,
          33.83784866333008,
          31.048349380493164
        ]
      },
      "confidence": 0.6474934453081295
    },
    {
      "observation_id": "53fd7d54-1e48-49b1-94f2-827268db1ed4",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          801.0,
          725.0
        ],
        [
          832.0,
          717.0
        ],
        [
          842.0,
          748.0
        ],
        [
          811.0,
          757.0
        ]
      ],
      "center_px": [
        821.5,
        736.75
      ],
      "quality": {
        "area_px": 1061.5,
        "perimeter_px": 130.39474868774414,
        "sharpness": {
          "laplacian_var": 1223.4116095145616
        },
        "contrast": {
          "p05": 24.0,
          "p95": 167.0,
          "dynamic_range": 143.0,
          "mean_gray": 104.84560906515581,
          "std_gray": 56.101513759958245
        },
        "geometry": {
          "distance_to_center_norm": 0.24598708748817444,
          "distance_to_border_px": 323.0
        },
        "edge_ratio": 1.047179675010542,
        "edge_lengths_px": [
          32.015621185302734,
          32.572994232177734,
          32.280025482177734,
          33.52610778808594
        ]
      },
      "confidence": 0.6757834243292992
    },
    {
      "observation_id": "d0665469-ad82-4f9e-b879-59f4a5de3a94",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          656.0,
          734.0
        ],
        [
          687.0,
          726.0
        ],
        [
          696.0,
          757.0
        ],
        [
          665.0,
          766.0
        ]
      ],
      "center_px": [
        676.0,
        745.75
      ],
      "quality": {
        "area_px": 1053.0,
        "perimeter_px": 129.81721115112305,
        "sharpness": {
          "laplacian_var": 1127.559129541787
        },
        "contrast": {
          "p05": 30.0,
          "p95": 171.0,
          "dynamic_range": 141.0,
          "mean_gray": 93.26573426573427,
          "std_gray": 60.0865286379697
        },
        "geometry": {
          "distance_to_center_norm": 0.2337801605463028,
          "distance_to_border_px": 314.0
        },
        "edge_ratio": 1.0382912394254866,
        "edge_lengths_px": [
          32.015621185302734,
          32.280025482177734,
          32.280025482177734,
          33.241539001464844
        ]
      },
      "confidence": 0.6761108765479277
    },
    {
      "observation_id": "6a04d332-222d-47cb-babb-b884d95862ea",
      "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,
          774.0
        ]
      ],
      "center_px": [
        1346.5,
        753.25
      ],
      "quality": {
        "area_px": 1045.5,
        "perimeter_px": 129.52142906188965,
        "sharpness": {
          "laplacian_var": 764.6287507322905
        },
        "contrast": {
          "p05": 8.0,
          "p95": 148.0,
          "dynamic_range": 140.0,
          "mean_gray": 56.947592067988666,
          "std_gray": 55.99288022458679
        },
        "geometry": {
          "distance_to_center_norm": 0.735332190990448,
          "distance_to_border_px": 72.0
        },
        "edge_ratio": 1.096678006826234,
        "edge_lengths_px": [
          31.38471031188965,
          34.01470184326172,
          31.016124725341797,
          33.105892181396484
        ]
      },
      "confidence": 0.63555573802114
    },
    {
      "observation_id": "87197137-5228-405c-a03c-394f0dcf3b21",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          488.0,
          682.0
        ],
        [
          519.0,
          673.0
        ],
        [
          528.0,
          704.0
        ],
        [
          497.0,
          713.0
        ]
      ],
      "center_px": [
        508.0,
        693.0
      ],
      "quality": {
        "area_px": 1042.0,
        "perimeter_px": 129.12010192871094,
        "sharpness": {
          "laplacian_var": 942.8161047757386
        },
        "contrast": {
          "p05": 39.0,
          "p95": 174.0,
          "dynamic_range": 135.0,
          "mean_gray": 85.86827195467423,
          "std_gray": 55.854028050103885
        },
        "geometry": {
          "distance_to_center_norm": 0.2904933989048004,
          "distance_to_border_px": 367.0
        },
        "edge_ratio": 1.0,
        "edge_lengths_px": [
          32.280025482177734,
          32.280025482177734,
          32.280025482177734,
          32.280025482177734
        ]
      },
      "confidence": 0.6946666666666667
    },
    {
      "observation_id": "2953571f-ecb9-4216-87b1-1e7de989d55a",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          592.0,
          617.0
        ],
        [
          622.0,
          606.0
        ],
        [
          633.0,
          635.0
        ],
        [
          603.0,
          646.0
        ]
      ],
      "center_px": [
        612.5,
        626.0
      ],
      "quality": {
        "area_px": 991.0,
        "perimeter_px": 125.93843078613281,
        "sharpness": {
          "laplacian_var": 1141.6944212726066
        },
        "contrast": {
          "p05": 34.0,
          "p95": 174.0,
          "dynamic_range": 140.0,
          "mean_gray": 96.60557184750733,
          "std_gray": 60.20995644065036
        },
        "geometry": {
          "distance_to_center_norm": 0.1529635339975357,
          "distance_to_border_px": 434.0
        },
        "edge_ratio": 1.0302089945368726,
        "edge_lengths_px": [
          31.95309066772461,
          31.016124725341797,
          31.95309066772461,
          31.016124725341797
        ]
      },
      "confidence": 0.6412938250103973
    },
    {
      "observation_id": "2bab4027-f7c2-4bd5-bd1e-c817f2674e5f",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          670.0,
          478.0
        ],
        [
          700.0,
          469.0
        ],
        [
          710.0,
          497.0
        ],
        [
          680.0,
          507.0
        ]
      ],
      "center_px": [
        690.0,
        487.75
      ],
      "quality": {
        "area_px": 950.0,
        "perimeter_px": 123.3515567779541,
        "sharpness": {
          "laplacian_var": 1212.2946406427152
        },
        "contrast": {
          "p05": 33.0,
          "p95": 178.0,
          "dynamic_range": 145.0,
          "mean_gray": 122.58779761904762,
          "std_gray": 60.340191581975596
        },
        "geometry": {
          "distance_to_center_norm": 0.06694444268941879,
          "distance_to_border_px": 469.0
        },
        "edge_ratio": 1.0635890487184443,
        "edge_lengths_px": [
          31.320919036865234,
          29.73213768005371,
          31.62277603149414,
          30.675724029541016
        ]
      },
      "confidence": 0.5954680843098741
    },
    {
      "observation_id": "17322661-ada1-4d75-a828-ed8e0ec13e6a",
      "type": "aruco",
      "marker_id": 82,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1336.0,
          420.0
        ],
        [
          1365.0,
          411.0
        ],
        [
          1378.0,
          439.0
        ],
        [
          1348.0,
          448.0
        ]
      ],
      "center_px": [
        1356.75,
        429.5
      ],
      "quality": {
        "area_px": 938.5,
        "perimeter_px": 123.01916313171387,
        "sharpness": {
          "laplacian_var": 654.9936110949245
        },
        "contrast": {
          "p05": 8.0,
          "p95": 148.0,
          "dynamic_range": 140.0,
          "mean_gray": 74.43358778625954,
          "std_gray": 57.807641813286985
        },
        "geometry": {
          "distance_to_center_norm": 0.7180742621421814,
          "distance_to_border_px": 62.0
        },
        "edge_ratio": 1.0314995529443423,
        "edge_lengths_px": [
          30.364452362060547,
          30.870698928833008,
          31.320919036865234,
          30.463092803955078
        ]
      },
      "confidence": 0.6065602887376399
    },
    {
      "observation_id": "a1bb5faa-237a-4f66-8623-0cf9edbb8138",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1381.0,
          409.0
        ],
        [
          1410.0,
          400.0
        ],
        [
          1423.0,
          428.0
        ],
        [
          1393.0,
          437.0
        ]
      ],
      "center_px": [
        1401.75,
        418.5
      ],
      "quality": {
        "area_px": 938.5,
        "perimeter_px": 123.01916313171387,
        "sharpness": {
          "laplacian_var": 1035.833660043121
        },
        "contrast": {
          "p05": 9.0,
          "p95": 150.0,
          "dynamic_range": 141.0,
          "mean_gray": 86.95419847328245,
          "std_gray": 54.2065969613344
        },
        "geometry": {
          "distance_to_center_norm": 0.769435703754425,
          "distance_to_border_px": 17.0
        },
        "edge_ratio": 1.0314995529443423,
        "edge_lengths_px": [
          30.364452362060547,
          30.870698928833008,
          31.320919036865234,
          30.463092803955078
        ]
      },
      "confidence": 0.20623049817079758
    },
    {
      "observation_id": "1f8be212-acb5-453e-ae04-bd1e476da251",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          613.0,
          419.0
        ],
        [
          642.0,
          409.0
        ],
        [
          653.0,
          438.0
        ],
        [
          623.0,
          447.0
        ]
      ],
      "center_px": [
        632.75,
        428.25
      ],
      "quality": {
        "area_px": 940.5,
        "perimeter_px": 122.74490547180176,
        "sharpness": {
          "laplacian_var": 1253.7096321940085
        },
        "contrast": {
          "p05": 33.0,
          "p95": 175.0,
          "dynamic_range": 142.0,
          "mean_gray": 88.7518573551263,
          "std_gray": 58.50143900616831
        },
        "geometry": {
          "distance_to_center_norm": 0.15752963721752167,
          "distance_to_border_px": 409.0
        },
        "edge_ratio": 1.0534364993835403,
        "edge_lengths_px": [
          30.675724029541016,
          31.016124725341797,
          31.320919036865234,
          29.73213768005371
        ]
      },
      "confidence": 0.5951948697115713
    },
    {
      "observation_id": "78151693-976e-4feb-9d15-2af4da7d041a",
      "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": 915.4209786192022
        },
        "contrast": {
          "p05": 38.0,
          "p95": 176.0,
          "dynamic_range": 138.0,
          "mean_gray": 94.84322678843226,
          "std_gray": 55.55754284304505
        },
        "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": "0eaf13c2-e3d6-4c05-bd65-d0de7df43e29",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          882.0,
          289.0
        ],
        [
          893.0,
          316.0
        ],
        [
          863.0,
          326.0
        ],
        [
          852.0,
          298.0
        ]
      ],
      "center_px": [
        872.5,
        307.25
      ],
      "quality": {
        "area_px": 929.5,
        "perimeter_px": 122.18167304992676,
        "sharpness": {
          "laplacian_var": 1126.6158873793922
        },
        "contrast": {
          "p05": 22.0,
          "p95": 174.0,
          "dynamic_range": 152.0,
          "mean_gray": 85.1854714064915,
          "std_gray": 61.22729517581139
        },
        "geometry": {
          "distance_to_center_norm": 0.3091781735420227,
          "distance_to_border_px": 289.0
        },
        "edge_ratio": 1.0846522365555675,
        "edge_lengths_px": [
          29.154760360717773,
          31.62277603149414,
          30.08321762084961,
          31.320919036865234
        ]
      },
      "confidence": 0.5713044658760732
    },
    {
      "observation_id": "b1c81fc1-06bf-4837-ba5c-3499cbc71895",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          621.0,
          328.0
        ],
        [
          651.0,
          320.0
        ],
        [
          660.0,
          347.0
        ],
        [
          630.0,
          356.0
        ]
      ],
      "center_px": [
        640.5,
        337.75
      ],
      "quality": {
        "area_px": 901.5,
        "perimeter_px": 120.24065017700195,
        "sharpness": {
          "laplacian_var": 908.7908539094904
        },
        "contrast": {
          "p05": 32.0,
          "p95": 175.0,
          "dynamic_range": 143.0,
          "mean_gray": 90.51648351648352,
          "std_gray": 58.394225066117066
        },
        "geometry": {
          "distance_to_center_norm": 0.24145984649658203,
          "distance_to_border_px": 320.0
        },
        "edge_ratio": 1.1005049224950472,
        "edge_lengths_px": [
          31.048349380493164,
          28.460498809814453,
          31.320919036865234,
          29.4108829498291
        ]
      },
      "confidence": 0.5461129593472626
    },
    {
      "observation_id": "bd7268c6-d141-43df-87c1-5446cee9d9e8",
      "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
        ],
        [
          1183.0,
          331.0
        ]
      ],
      "center_px": [
        1190.75,
        312.5
      ],
      "quality": {
        "area_px": 894.5,
        "perimeter_px": 119.92108345031738,
        "sharpness": {
          "laplacian_var": 554.2133159048743
        },
        "contrast": {
          "p05": 7.0,
          "p95": 135.0,
          "dynamic_range": 128.0,
          "mean_gray": 58.077922077922075,
          "std_gray": 49.75596713774249
        },
        "geometry": {
          "distance_to_center_norm": 0.5809335112571716,
          "distance_to_border_px": 229.0
        },
        "edge_ratio": 1.038215950330626,
        "edge_lengths_px": [
          30.675724029541016,
          29.546573638916016,
          29.73213768005371,
          29.96664810180664
        ]
      },
      "confidence": 0.5743827506632194
    },
    {
      "observation_id": "61c7cde5-4d28-4d6e-bbe0-d6721afe1053",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1303.0,
          199.0
        ],
        [
          1332.0,
          191.0
        ],
        [
          1343.0,
          218.0
        ],
        [
          1314.0,
          226.0
        ]
      ],
      "center_px": [
        1323.0,
        208.5
      ],
      "quality": {
        "area_px": 871.0,
        "perimeter_px": 118.47595596313477,
        "sharpness": {
          "laplacian_var": 972.5211340490532
        },
        "contrast": {
          "p05": 10.0,
          "p95": 159.0,
          "dynamic_range": 149.0,
          "mean_gray": 92.48946515397083,
          "std_gray": 57.10441659530047
        },
        "geometry": {
          "distance_to_center_norm": 0.7645713686943054,
          "distance_to_border_px": 97.0
        },
        "edge_ratio": 1.0318458203272634,
        "edge_lengths_px": [
          30.08321762084961,
          29.154760360717773,
          30.08321762084961,
          29.154760360717773
        ]
      },
      "confidence": 0.562745572281817
    },
    {
      "observation_id": "5562d1ac-27b1-4211-821e-f3ed2dc54eea",
      "type": "aruco",
      "marker_id": 81,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1133.0,
          369.0
        ],
        [
          1161.0,
          357.0
        ],
        [
          1172.0,
          385.0
        ],
        [
          1144.0,
          394.0
        ]
      ],
      "center_px": [
        1152.5,
        376.25
      ],
      "quality": {
        "area_px": 857.5,
        "perimeter_px": 117.27019309997559,
        "sharpness": {
          "laplacian_var": 171.8170370039586
        },
        "contrast": {
          "p05": 3.0,
          "p95": 70.0,
          "dynamic_range": 67.0,
          "mean_gray": 27.479740680713128,
          "std_gray": 27.156966051441373
        },
        "geometry": {
          "distance_to_center_norm": 0.5138457417488098,
          "distance_to_border_px": 268.0
        },
        "edge_ratio": 1.1153331054915412,
        "edge_lengths_px": [
          30.463092803955078,
          30.08321762084961,
          29.4108829498291,
          27.312999725341797
        ]
      },
      "confidence": 0.4292626399916042
    },
    {
      "observation_id": "a846c8e5-2d73-45c7-8e0f-ad94f4281c38",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1089.0,
          172.0
        ],
        [
          1119.0,
          165.0
        ],
        [
          1127.0,
          192.0
        ],
        [
          1099.0,
          199.0
        ]
      ],
      "center_px": [
        1108.5,
        182.0
      ],
      "quality": {
        "area_px": 846.0,
        "perimeter_px": 116.62019920349121,
        "sharpness": {
          "laplacian_var": 1140.746844382439
        },
        "contrast": {
          "p05": 16.400000000000002,
          "p95": 165.0,
          "dynamic_range": 148.6,
          "mean_gray": 108.35653650254669,
          "std_gray": 55.260567017732754
        },
        "geometry": {
          "distance_to_center_norm": 0.5869951248168945,
          "distance_to_border_px": 165.0
        },
        "edge_ratio": 1.0939475825252687,
        "edge_lengths_px": [
          30.805843353271484,
          28.160255432128906,
          28.861740112304688,
          28.792360305786133
        ]
      },
      "confidence": 0.5155640078275618
    },
    {
      "observation_id": "275c532c-9dae-44ca-bcf9-35b1e1adc8ef",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1260.0,
          127.0
        ],
        [
          1288.0,
          117.0
        ],
        [
          1300.0,
          143.0
        ],
        [
          1273.0,
          153.0
        ]
      ],
      "center_px": [
        1280.25,
        135.0
      ],
      "quality": {
        "area_px": 840.0,
        "perimeter_px": 116.22902488708496,
        "sharpness": {
          "laplacian_var": 1124.6312362403755
        },
        "contrast": {
          "p05": 11.0,
          "p95": 161.0,
          "dynamic_range": 150.0,
          "mean_gray": 93.58191126279864,
          "std_gray": 59.040834024884
        },
        "geometry": {
          "distance_to_center_norm": 0.7681186199188232,
          "distance_to_border_px": 117.0
        },
        "edge_ratio": 1.0382912538222715,
        "edge_lengths_px": [
          29.73213768005371,
          28.635643005371094,
          28.792360305786133,
          29.068883895874023
        ]
      },
      "confidence": 0.5393477003090094
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          888.0,
          518.0
        ],
        [
          823.0,
          562.0
        ],
        [
          814.0,
          544.0
        ],
        [
          861.0,
          504.0
        ]
      ],
      "center_px": [
        846.5,
        532.0
      ],
      "area_px": 1652.0
    },
    {
      "image_points_px": [
        [
          801.0,
          546.0
        ],
        [
          798.0,
          555.0
        ],
        [
          750.0,
          580.0
        ],
        [
          765.0,
          561.0
        ]
      ],
      "center_px": [
        778.5,
        560.5
      ],
      "area_px": 408.0
    },
    {
      "image_points_px": [
        [
          992.0,
          357.0
        ],
        [
          993.0,
          364.0
        ],
        [
          938.0,
          377.0
        ],
        [
          940.0,
          371.0
        ]
      ],
      "center_px": [
        965.75,
        367.25
      ],
      "area_px": 341.0
    },
    {
      "image_points_px": [
        [
          1315.0,
          285.0
        ],
        [
          1328.0,
          312.0
        ],
        [
          1300.0,
          322.0
        ],
        [
          1287.0,
          295.0
        ]
      ],
      "center_px": [
        1307.5,
        303.5
      ],
      "area_px": 886.0
    },
    {
      "image_points_px": [
        [
          1057.0,
          439.0
        ],
        [
          1053.0,
          456.0
        ],
        [
          1016.0,
          468.0
        ],
        [
          1015.0,
          449.0
        ]
      ],
      "center_px": [
        1035.25,
        453.0
      ],
      "area_px": 694.5
    },
    {
      "image_points_px": [
        [
          1091.0,
          214.0
        ],
        [
          1086.0,
          224.0
        ],
        [
          1050.0,
          236.0
        ],
        [
          1043.0,
          228.0
        ]
      ],
      "center_px": [
        1067.5,
        225.5
      ],
      "area_px": 391.0
    },
    {
      "image_points_px": [
        [
          806.0,
          584.0
        ],
        [
          833.0,
          614.0
        ],
        [
          831.0,
          624.0
        ],
        [
          804.0,
          594.0
        ]
      ],
      "center_px": [
        818.5,
        604.0
      ],
      "area_px": 330.0
    },
    {
      "image_points_px": [
        [
          858.0,
          515.0
        ],
        [
          839.0,
          534.0
        ],
        [
          821.0,
          543.0
        ],
        [
          833.0,
          529.0
        ]
      ],
      "center_px": [
        837.75,
        530.25
      ],
      "area_px": 176.5
    },
    {
      "image_points_px": [
        [
          1275.0,
          546.0
        ],
        [
          1280.0,
          548.0
        ],
        [
          1290.0,
          577.0
        ],
        [
          1284.0,
          570.0
        ]
      ],
      "center_px": [
        1282.25,
        560.25
      ],
      "area_px": 103.0
    }
  ]
}