{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:36:33Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "b",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_a.npz",
    "camera_matrix": [
      [
        6775.66162109375,
        0.0,
        2447.249267578125
      ],
      [
        0.0,
        6791.1728515625,
        1629.7935791015625
      ],
      [
        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\\Scene9b\\render_b.png",
    "image_sha256": "944ef41274add10abc2c21e3c4706ece9c3152d30ddb7071013d256a0cd9f2ee",
    "width_px": 4896,
    "height_px": 3264
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 45,
    "num_rejected_candidates": 16
  },
  "detections": [
    {
      "observation_id": "d485f211-4f81-4976-b34e-2cee8be4cfa3",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2259.0,
          954.0
        ],
        [
          2297.0,
          1085.0
        ],
        [
          2162.0,
          1125.0
        ],
        [
          2125.0,
          994.0
        ]
      ],
      "center_px": [
        2210.75,
        1039.5
      ],
      "quality": {
        "area_px": 19119.5,
        "perimeter_px": 553.1691436767578,
        "sharpness": {
          "laplacian_var": 186.50436885245622
        },
        "contrast": {
          "p05": 43.0,
          "p95": 183.0,
          "dynamic_range": 140.0,
          "mean_gray": 92.44674987842438,
          "std_gray": 62.21919217111528
        },
        "geometry": {
          "distance_to_center_norm": 0.21692955493927002,
          "distance_to_border_px": 954.0
        },
        "edge_ratio": 1.0343533364331061,
        "edge_lengths_px": [
          136.400146484375,
          140.80128479003906,
          136.12493896484375,
          139.8427734375
        ]
      },
      "confidence": 0.9667876196430408
    },
    {
      "observation_id": "873ccfcd-5479-41fe-957d-c5ed04002814",
      "type": "aruco",
      "marker_id": 59,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4009.0,
          3104.0
        ],
        [
          3984.0,
          2990.0
        ],
        [
          4106.0,
          2984.0
        ],
        [
          4133.0,
          3097.0
        ]
      ],
      "center_px": [
        4058.0,
        3043.75
      ],
      "quality": {
        "area_px": 14129.5,
        "perimeter_px": 479.2348098754883,
        "sharpness": {
          "laplacian_var": 283.89829639025857
        },
        "contrast": {
          "p05": 8.0,
          "p95": 161.0,
          "dynamic_range": 153.0,
          "mean_gray": 82.70377135489417,
          "std_gray": 73.19344037506696
        },
        "geometry": {
          "distance_to_center_norm": 0.7278038263320923,
          "distance_to_border_px": 160.0
        },
        "edge_ratio": 1.0690004414218959,
        "edge_lengths_px": [
          116.70903778076172,
          122.14745330810547,
          116.18089294433594,
          124.19742584228516
        ]
      },
      "confidence": 0.9354533087656005
    },
    {
      "observation_id": "e86ed59c-8c25-4848-80a6-6cae2fe2fbd6",
      "type": "aruco",
      "marker_id": 71,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4639.0,
          3131.0
        ],
        [
          4619.0,
          3017.0
        ],
        [
          4745.0,
          3022.0
        ],
        [
          4766.0,
          3136.0
        ]
      ],
      "center_px": [
        4692.25,
        3076.5
      ],
      "quality": {
        "area_px": 14318.5,
        "perimeter_px": 484.8567199707031,
        "sharpness": {
          "laplacian_var": 337.03422391272505
        },
        "contrast": {
          "p05": 7.0,
          "p95": 157.0,
          "dynamic_range": 150.0,
          "mean_gray": 80.11862258371184,
          "std_gray": 71.64941536815454
        },
        "geometry": {
          "distance_to_center_norm": 0.9071453809738159,
          "distance_to_border_px": 128.0
        },
        "edge_ratio": 1.098126775165559,
        "edge_lengths_px": [
          115.7410888671875,
          126.09916687011719,
          115.91807556152344,
          127.098388671875
        ]
      },
      "confidence": 0.9106416696280218
    },
    {
      "observation_id": "93cfa1f2-f834-4bd5-b89c-70bbec1fa2e3",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3463.0,
          3080.0
        ],
        [
          3443.0,
          2952.0
        ],
        [
          3583.0,
          2946.0
        ],
        [
          3603.0,
          3070.0
        ]
      ],
      "center_px": [
        3523.0,
        3012.0
      ],
      "quality": {
        "area_px": 17800.0,
        "perimeter_px": 535.6408309936523,
        "sharpness": {
          "laplacian_var": 140.51688694590624
        },
        "contrast": {
          "p05": 9.0,
          "p95": 162.0,
          "dynamic_range": 153.0,
          "mean_gray": 26.347499352163773,
          "std_gray": 46.278868795537555
        },
        "geometry": {
          "distance_to_center_norm": 0.5945667624473572,
          "distance_to_border_px": 184.0
        },
        "edge_ratio": 1.11746690771663,
        "edge_lengths_px": [
          129.55308532714844,
          140.12850952148438,
          125.60254669189453,
          140.356689453125
        ]
      },
      "confidence": 0.8948810860478587
    },
    {
      "observation_id": "22bdefdb-da2c-42fb-83dd-18b9ebb495b1",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4702.0,
          2923.0
        ],
        [
          4669.0,
          2799.0
        ],
        [
          4805.0,
          2792.0
        ],
        [
          4841.0,
          2913.0
        ]
      ],
      "center_px": [
        4754.25,
        2856.75
      ],
      "quality": {
        "area_px": 17137.0,
        "perimeter_px": 530.0971145629883,
        "sharpness": {
          "laplacian_var": 127.12422257959635
        },
        "contrast": {
          "p05": 6.0,
          "p95": 155.0,
          "dynamic_range": 149.0,
          "mean_gray": 33.90053014646419,
          "std_gray": 54.46396899152699
        },
        "geometry": {
          "distance_to_center_norm": 0.8875486850738525,
          "distance_to_border_px": 55.0
        },
        "edge_ratio": 1.1039071132255487,
        "edge_lengths_px": [
          128.31600952148438,
          136.18002319335938,
          126.24182891845703,
          139.3592529296875
        ]
      },
      "confidence": 0.9058733185241116
    },
    {
      "observation_id": "bf2b9ca3-ce9e-40a3-8138-2e8e5742a8e2",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4024.0,
          2711.0
        ],
        [
          4001.0,
          2592.0
        ],
        [
          4136.0,
          2588.0
        ],
        [
          4158.0,
          2707.0
        ]
      ],
      "center_px": [
        4079.75,
        2649.5
      ],
      "quality": {
        "area_px": 16095.5,
        "perimeter_px": 511.33777618408203,
        "sharpness": {
          "laplacian_var": 93.72948188712188
        },
        "contrast": {
          "p05": 7.0,
          "p95": 158.0,
          "dynamic_range": 151.0,
          "mean_gray": 41.42502387774594,
          "std_gray": 59.03990090706414
        },
        "geometry": {
          "distance_to_center_norm": 0.6536068320274353,
          "distance_to_border_px": 553.0
        },
        "edge_ratio": 1.116039727452197,
        "edge_lengths_px": [
          121.20230865478516,
          135.0592498779297,
          121.01652526855469,
          134.0596923828125
        ]
      },
      "confidence": 0.6998666772455656
    },
    {
      "observation_id": "ec088a9e-f9d6-4d30-87f9-6fbb3e461460",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          847.0,
          3141.0
        ],
        [
          868.0,
          3027.0
        ],
        [
          992.0,
          3030.0
        ],
        [
          972.0,
          3144.0
        ]
      ],
      "center_px": [
        919.75,
        3085.5
      ],
      "quality": {
        "area_px": 14254.5,
        "perimeter_px": 480.7314453125,
        "sharpness": {
          "laplacian_var": 440.54092591729864
        },
        "contrast": {
          "p05": 15.0,
          "p95": 176.0,
          "dynamic_range": 161.0,
          "mean_gray": 68.04260355029585,
          "std_gray": 72.05035231222442
        },
        "geometry": {
          "distance_to_center_norm": 0.7168540954589844,
          "distance_to_border_px": 120.0
        },
        "edge_ratio": 1.0803077516134034,
        "edge_lengths_px": [
          115.91807556152344,
          124.03628540039062,
          115.7410888671875,
          125.03599548339844
        ]
      },
      "confidence": 0.9256621536840159
    },
    {
      "observation_id": "9d6bfe56-f730-498b-a9f3-e2d1750f2f46",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2568.0,
          3172.0
        ],
        [
          2565.0,
          3057.0
        ],
        [
          2690.0,
          3056.0
        ],
        [
          2694.0,
          3170.0
        ]
      ],
      "center_px": [
        2629.25,
        3113.75
      ],
      "quality": {
        "area_px": 14375.0,
        "perimeter_px": 480.12914276123047,
        "sharpness": {
          "laplacian_var": 358.2385698856336
        },
        "contrast": {
          "p05": 12.0,
          "p95": 169.0,
          "dynamic_range": 157.0,
          "mean_gray": 62.6726634021716,
          "std_gray": 69.81159020148174
        },
        "geometry": {
          "distance_to_center_norm": 0.5073855519294739,
          "distance_to_border_px": 92.0
        },
        "edge_ratio": 1.104722546773704,
        "edge_lengths_px": [
          115.03912353515625,
          125.00399780273438,
          114.07015228271484,
          126.015869140625
        ]
      },
      "confidence": 0.9052046624018475
    },
    {
      "observation_id": "0362a7b5-2b26-4402-ae3f-9b671c2d02f2",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1772.0,
          3131.0
        ],
        [
          1772.0,
          3018.0
        ],
        [
          1897.0,
          3011.0
        ],
        [
          1898.0,
          3124.0
        ]
      ],
      "center_px": [
        1834.75,
        3071.0
      ],
      "quality": {
        "area_px": 14185.0,
        "perimeter_px": 477.39456939697266,
        "sharpness": {
          "laplacian_var": 316.25156032805677
        },
        "contrast": {
          "p05": 16.0,
          "p95": 173.0,
          "dynamic_range": 157.0,
          "mean_gray": 73.71196295897491,
          "std_gray": 72.64339939681359
        },
        "geometry": {
          "distance_to_center_norm": 0.5316637754440308,
          "distance_to_border_px": 133.0
        },
        "edge_ratio": 1.116763697261304,
        "edge_lengths_px": [
          113.0,
          125.19584655761719,
          113.00442504882812,
          126.19429779052734
        ]
      },
      "confidence": 0.8954445801312763
    },
    {
      "observation_id": "1cf4e476-d7a3-419b-819a-4189c7fdb66f",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2264.0,
          3046.0
        ],
        [
          2270.0,
          2935.0
        ],
        [
          2393.0,
          2937.0
        ],
        [
          2389.0,
          3049.0
        ]
      ],
      "center_px": [
        2329.0,
        2991.75
      ],
      "quality": {
        "area_px": 13838.5,
        "perimeter_px": 471.2856979370117,
        "sharpness": {
          "laplacian_var": 279.65527777187873
        },
        "contrast": {
          "p05": 15.0,
          "p95": 170.0,
          "dynamic_range": 155.0,
          "mean_gray": 72.83803977584881,
          "std_gray": 71.22562986370379
        },
        "geometry": {
          "distance_to_center_norm": 0.463931679725647,
          "distance_to_border_px": 215.0
        },
        "edge_ratio": 1.1248083849871702,
        "edge_lengths_px": [
          111.16204071044922,
          123.0162582397461,
          112.07140350341797,
          125.03599548339844
        ]
      },
      "confidence": 0.889040314196632
    },
    {
      "observation_id": "1a1e9ac3-a4ec-4257-9d66-1232041d5592",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1668.0,
          2127.0
        ],
        [
          1792.0,
          2126.0
        ],
        [
          1787.0,
          2232.0
        ],
        [
          1661.0,
          2234.0
        ]
      ],
      "center_px": [
        1727.0,
        2179.75
      ],
      "quality": {
        "area_px": 13303.5,
        "perimeter_px": 463.36649322509766,
        "sharpness": {
          "laplacian_var": 328.0035893731075
        },
        "contrast": {
          "p05": 12.0,
          "p95": 174.0,
          "dynamic_range": 162.0,
          "mean_gray": 56.573350051293744,
          "std_gray": 69.25654441568949
        },
        "geometry": {
          "distance_to_center_norm": 0.3077591359615326,
          "distance_to_border_px": 1030.0
        },
        "edge_ratio": 1.1875085915100063,
        "edge_lengths_px": [
          124.00403594970703,
          106.11785888671875,
          126.015869140625,
          107.22872924804688
        ]
      },
      "confidence": 0.8420991706076205
    },
    {
      "observation_id": "e02f2450-56ad-45fe-9ba6-b56ff8feeca7",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4079.0,
          2858.0
        ],
        [
          4064.0,
          2751.0
        ],
        [
          4185.0,
          2754.0
        ],
        [
          4202.0,
          2861.0
        ]
      ],
      "center_px": [
        4132.5,
        2806.0
      ],
      "quality": {
        "area_px": 13006.0,
        "perimeter_px": 460.4621047973633,
        "sharpness": {
          "laplacian_var": 200.06129281363076
        },
        "contrast": {
          "p05": 7.0,
          "p95": 159.0,
          "dynamic_range": 152.0,
          "mean_gray": 84.59254483647872,
          "std_gray": 70.96475661219591
        },
        "geometry": {
          "distance_to_center_norm": 0.6978771090507507,
          "distance_to_border_px": 403.0
        },
        "edge_ratio": 1.1387395694190368,
        "edge_lengths_px": [
          108.0462875366211,
          121.03718566894531,
          108.34204864501953,
          123.03658294677734
        ]
      },
      "confidence": 0.8781639163642843
    },
    {
      "observation_id": "5f1e4f5f-5dcb-4688-8044-41e9e19fdbed",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1096.0,
          2863.0
        ],
        [
          1108.0,
          2756.0
        ],
        [
          1229.0,
          2753.0
        ],
        [
          1218.0,
          2860.0
        ]
      ],
      "center_px": [
        1162.75,
        2808.0
      ],
      "quality": {
        "area_px": 12966.0,
        "perimeter_px": 458.3087921142578,
        "sharpness": {
          "laplacian_var": 233.92361587295036
        },
        "contrast": {
          "p05": 14.0,
          "p95": 174.0,
          "dynamic_range": 160.0,
          "mean_gray": 68.12288586635127,
          "std_gray": 71.44604339420455
        },
        "geometry": {
          "distance_to_center_norm": 0.5921153426170349,
          "distance_to_border_px": 401.0
        },
        "edge_ratio": 1.1345520341707203,
        "edge_lengths_px": [
          107.67079162597656,
          121.03718566894531,
          107.56393432617188,
          122.03688049316406
        ]
      },
      "confidence": 0.8814051448340414
    },
    {
      "observation_id": "d0bcb3c8-e42a-4b03-886f-64ae91a4e327",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2297.0,
          1818.0
        ],
        [
          2167.0,
          1858.0
        ],
        [
          2160.0,
          1770.0
        ],
        [
          2292.0,
          1730.0
        ]
      ],
      "center_px": [
        2229.0,
        1794.0
      ],
      "quality": {
        "area_px": 11768.0,
        "perimeter_px": 450.3621292114258,
        "sharpness": {
          "laplacian_var": 89.72938416277
        },
        "contrast": {
          "p05": 16.0,
          "p95": 162.0,
          "dynamic_range": 146.0,
          "mean_gray": 51.790554414784395,
          "std_gray": 58.17281592310647
        },
        "geometry": {
          "distance_to_center_norm": 0.09258800745010376,
          "distance_to_border_px": 1406.0
        },
        "edge_ratio": 1.5648343681205277,
        "edge_lengths_px": [
          136.01470947265625,
          88.27796936035156,
          137.92752075195312,
          88.14192962646484
        ]
      },
      "confidence": 0.477842820464875
    },
    {
      "observation_id": "7f9ca484-3f0b-4904-9d6c-9a413c4caf4d",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          784.0,
          2746.0
        ],
        [
          803.0,
          2642.0
        ],
        [
          921.0,
          2642.0
        ],
        [
          904.0,
          2747.0
        ]
      ],
      "center_px": [
        853.0,
        2694.25
      ],
      "quality": {
        "area_px": 12444.5,
        "perimeter_px": 450.09278106689453,
        "sharpness": {
          "laplacian_var": 216.02546218738357
        },
        "contrast": {
          "p05": 13.0,
          "p95": 175.0,
          "dynamic_range": 162.0,
          "mean_gray": 68.35072606448438,
          "std_gray": 72.10087113106373
        },
        "geometry": {
          "distance_to_center_norm": 0.6513481140136719,
          "distance_to_border_px": 517.0
        },
        "edge_ratio": 1.135098916036292,
        "edge_lengths_px": [
          105.72132873535156,
          118.0,
          106.3672866821289,
          120.00416564941406
        ]
      },
      "confidence": 0.8809804906623904
    },
    {
      "observation_id": "2f3a5b0c-9834-4a69-ada2-1a6587cb62c2",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1392.0,
          2748.0
        ],
        [
          1401.0,
          2643.0
        ],
        [
          1519.0,
          2640.0
        ],
        [
          1513.0,
          2744.0
        ]
      ],
      "center_px": [
        1456.25,
        2693.75
      ],
      "quality": {
        "area_px": 12461.5,
        "perimeter_px": 448.6621780395508,
        "sharpness": {
          "laplacian_var": 178.71597620328575
        },
        "contrast": {
          "p05": 15.0,
          "p95": 174.0,
          "dynamic_range": 159.0,
          "mean_gray": 104.5806173902349,
          "std_gray": 74.1511185247075
        },
        "geometry": {
          "distance_to_center_norm": 0.49382153153419495,
          "distance_to_border_px": 516.0
        },
        "edge_ratio": 1.1621646304732882,
        "edge_lengths_px": [
          105.385009765625,
          118.03813171386719,
          104.17293548583984,
          121.06610107421875
        ]
      },
      "confidence": 0.8604632887448596
    },
    {
      "observation_id": "ee5acae3-7f99-45aa-89eb-00f6a256f2a0",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2692.0,
          2702.0
        ],
        [
          2689.0,
          2599.0
        ],
        [
          2806.0,
          2598.0
        ],
        [
          2811.0,
          2702.0
        ]
      ],
      "center_px": [
        2749.5,
        2650.25
      ],
      "quality": {
        "area_px": 12215.0,
        "perimeter_px": 443.16807556152344,
        "sharpness": {
          "laplacian_var": 136.7112091219666
        },
        "contrast": {
          "p05": 10.0,
          "p95": 166.0,
          "dynamic_range": 156.0,
          "mean_gray": 77.04247542223342,
          "std_gray": 72.92546955369751
        },
        "geometry": {
          "distance_to_center_norm": 0.36094561219215393,
          "distance_to_border_px": 562.0
        },
        "edge_ratio": 1.154850078938166,
        "edge_lengths_px": [
          103.0436782836914,
          117.0042724609375,
          104.12012481689453,
          119.0
        ]
      },
      "confidence": 0.8659132628881631
    },
    {
      "observation_id": "a4efa608-7d93-4e7f-a6fa-8a696a4fd754",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1703.0,
          2667.0
        ],
        [
          1714.0,
          2565.0
        ],
        [
          1831.0,
          2567.0
        ],
        [
          1822.0,
          2669.0
        ]
      ],
      "center_px": [
        1767.5,
        2617.0
      ],
      "quality": {
        "area_px": 12056.0,
        "perimeter_px": 441.0216064453125,
        "sharpness": {
          "laplacian_var": 171.98457437894314
        },
        "contrast": {
          "p05": 15.0,
          "p95": 172.0,
          "dynamic_range": 157.0,
          "mean_gray": 69.0273575390822,
          "std_gray": 69.35345737852415
        },
        "geometry": {
          "distance_to_center_norm": 0.40691855549812317,
          "distance_to_border_px": 595.0
        },
        "edge_ratio": 1.1623156678130546,
        "edge_lengths_px": [
          102.59142303466797,
          117.01708984375,
          102.39628601074219,
          119.01680755615234
        ]
      },
      "confidence": 0.8603514756723031
    },
    {
      "observation_id": "281dfc0d-450e-4723-bf00-72a98df3a63b",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2840.0,
          2656.0
        ],
        [
          2828.0,
          2554.0
        ],
        [
          2945.0,
          2548.0
        ],
        [
          2958.0,
          2650.0
        ]
      ],
      "center_px": [
        2892.75,
        2602.0
      ],
      "quality": {
        "area_px": 12060.0,
        "perimeter_px": 440.8347396850586,
        "sharpness": {
          "laplacian_var": 95.33955756622113
        },
        "contrast": {
          "p05": 10.0,
          "p95": 165.0,
          "dynamic_range": 155.0,
          "mean_gray": 34.09212350346566,
          "std_gray": 51.96772501579053
        },
        "geometry": {
          "distance_to_center_norm": 0.36269646883010864,
          "distance_to_border_px": 608.0
        },
        "edge_ratio": 1.1504232760172364,
        "edge_lengths_px": [
          102.70345306396484,
          117.15374755859375,
          102.8250961303711,
          118.1524429321289
        ]
      },
      "confidence": 0.6906121682467933
    },
    {
      "observation_id": "6f47dda8-3c66-4187-a76c-7965113d9375",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2398.0,
          2601.0
        ],
        [
          2400.0,
          2500.0
        ],
        [
          2517.0,
          2502.0
        ],
        [
          2515.0,
          2603.0
        ]
      ],
      "center_px": [
        2457.5,
        2551.5
      ],
      "quality": {
        "area_px": 11821.0,
        "perimeter_px": 436.0737762451172,
        "sharpness": {
          "laplacian_var": 159.70325773433183
        },
        "contrast": {
          "p05": 10.0,
          "p95": 166.0,
          "dynamic_range": 156.0,
          "mean_gray": 85.33957905544148,
          "std_gray": 70.78603982070454
        },
        "geometry": {
          "distance_to_center_norm": 0.3125453591346741,
          "distance_to_border_px": 661.0
        },
        "edge_ratio": 1.1583579836577167,
        "edge_lengths_px": [
          101.0197982788086,
          117.01708984375,
          101.0197982788086,
          117.01708984375
        ]
      },
      "confidence": 0.8632909809472942
    },
    {
      "observation_id": "9000d383-e966-4769-beb4-37fef6b3d11e",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1962.0,
          1022.0
        ],
        [
          1902.0,
          1143.0
        ],
        [
          1849.0,
          1077.0
        ],
        [
          1910.0,
          958.0
        ]
      ],
      "center_px": [
        1905.75,
        1050.0
      ],
      "quality": {
        "area_px": 10232.5,
        "perimeter_px": 435.8912887573242,
        "sharpness": {
          "laplacian_var": 115.09932742931234
        },
        "contrast": {
          "p05": 17.0,
          "p95": 183.0,
          "dynamic_range": 166.0,
          "mean_gray": 71.37746055597296,
          "std_gray": 71.28294940513703
        },
        "geometry": {
          "distance_to_center_norm": 0.270369291305542,
          "distance_to_border_px": 958.0
        },
        "edge_ratio": 1.637833981004164,
        "edge_lengths_px": [
          135.0592498779297,
          84.64632415771484,
          133.72360229492188,
          82.46211242675781
        ]
      },
      "confidence": 0.5856277699909913
    },
    {
      "observation_id": "d484ac4a-2bb5-4de2-906f-d444a328c4e0",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1713.0,
          1761.0
        ],
        [
          1832.0,
          1762.0
        ],
        [
          1822.0,
          1860.0
        ],
        [
          1702.0,
          1857.0
        ]
      ],
      "center_px": [
        1767.25,
        1810.0
      ],
      "quality": {
        "area_px": 11612.5,
        "perimeter_px": 434.17872619628906,
        "sharpness": {
          "laplacian_var": 272.3536429086572
        },
        "contrast": {
          "p05": 10.0,
          "p95": 170.0,
          "dynamic_range": 160.0,
          "mean_gray": 72.27220630372493,
          "std_gray": 72.69240942649641
        },
        "geometry": {
          "distance_to_center_norm": 0.23915894329547882,
          "distance_to_border_px": 1404.0
        },
        "edge_ratio": 1.2422621117870203,
        "edge_lengths_px": [
          119.00420379638672,
          98.50888061523438,
          120.03749084472656,
          96.6281509399414
        ]
      },
      "confidence": 0.8049830953642133
    },
    {
      "observation_id": "c2090235-7625-45ec-8ba1-024f736e59a4",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4462.0,
          2132.0
        ],
        [
          4575.0,
          2130.0
        ],
        [
          4600.0,
          2225.0
        ],
        [
          4485.0,
          2227.0
        ]
      ],
      "center_px": [
        4530.5,
        2178.5
      ],
      "quality": {
        "area_px": 10878.0,
        "perimeter_px": 424.0140686035156,
        "sharpness": {
          "laplacian_var": 89.40752199792276
        },
        "contrast": {
          "p05": 6.0,
          "p95": 153.0,
          "dynamic_range": 147.0,
          "mean_gray": 65.29043502509761,
          "std_gray": 65.02418146431032
        },
        "geometry": {
          "distance_to_center_norm": 0.7317874431610107,
          "distance_to_border_px": 296.0
        },
        "edge_ratio": 1.1767138562812256,
        "edge_lengths_px": [
          113.0177001953125,
          98.23441314697266,
          115.01738739013672,
          97.74456787109375
        ]
      },
      "confidence": 0.6331723548073515
    },
    {
      "observation_id": "310a5c94-c23f-4a9b-9866-1df51477ba40",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3965.0,
          2132.0
        ],
        [
          4078.0,
          2133.0
        ],
        [
          4096.0,
          2229.0
        ],
        [
          3980.0,
          2228.0
        ]
      ],
      "center_px": [
        4029.75,
        2180.5
      ],
      "quality": {
        "area_px": 10975.5,
        "perimeter_px": 423.8464660644531,
        "sharpness": {
          "laplacian_var": 94.32934855284498
        },
        "contrast": {
          "p05": 6.0,
          "p95": 156.0,
          "dynamic_range": 150.0,
          "mean_gray": 58.884822538323434,
          "std_gray": 64.74435075405319
        },
        "geometry": {
          "distance_to_center_norm": 0.5690272450447083,
          "distance_to_border_px": 800.0
        },
        "edge_ratio": 1.193892216659681,
        "edge_lengths_px": [
          113.00442504882812,
          97.67292022705078,
          116.00431060791016,
          97.16481018066406
        ]
      },
      "confidence": 0.6584161397804916
    },
    {
      "observation_id": "74755134-2735-46b9-b131-063301602c19",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2590.0,
          2145.0
        ],
        [
          2704.0,
          2148.0
        ],
        [
          2704.0,
          2244.0
        ],
        [
          2588.0,
          2241.0
        ]
      ],
      "center_px": [
        2646.5,
        2194.5
      ],
      "quality": {
        "area_px": 11043.0,
        "perimeter_px": 422.09908294677734,
        "sharpness": {
          "laplacian_var": 56.50553040462195
        },
        "contrast": {
          "p05": 5.0,
          "p95": 136.0,
          "dynamic_range": 131.0,
          "mean_gray": 49.21441366956042,
          "std_gray": 56.01307005630423
        },
        "geometry": {
          "distance_to_center_norm": 0.20274320244789124,
          "distance_to_border_px": 1020.0
        },
        "edge_ratio": 1.2087373733520508,
        "edge_lengths_px": [
          114.03946685791016,
          96.0,
          116.03878784179688,
          96.02082824707031
        ]
      },
      "confidence": 0.3895630518420069
    },
    {
      "observation_id": "b06e0eaf-4ee8-4290-a59e-47ecd54dc282",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1075.0,
          1905.0
        ],
        [
          1186.0,
          1903.0
        ],
        [
          1176.0,
          1992.0
        ],
        [
          1064.0,
          1995.0
        ]
      ],
      "center_px": [
        1125.25,
        1948.75
      ],
      "quality": {
        "area_px": 9953.0,
        "perimeter_px": 403.28794860839844,
        "sharpness": {
          "laplacian_var": 110.55486244474926
        },
        "contrast": {
          "p05": 14.0,
          "p95": 173.0,
          "dynamic_range": 159.0,
          "mean_gray": 74.39598765432099,
          "std_gray": 69.01667124562736
        },
        "geometry": {
          "distance_to_center_norm": 0.4622999131679535,
          "distance_to_border_px": 1064.0
        },
        "edge_ratio": 1.2510062985073533,
        "edge_lengths_px": [
          111.01801300048828,
          89.5600357055664,
          112.04016876220703,
          90.66973114013672
        ]
      },
      "confidence": 0.7364395538792687
    },
    {
      "observation_id": "bad3f8eb-6491-491c-9f80-481c99c3444f",
      "type": "aruco",
      "marker_id": 207,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4389.0,
          1839.0
        ],
        [
          4497.0,
          1834.0
        ],
        [
          4525.0,
          1922.0
        ],
        [
          4415.0,
          1927.0
        ]
      ],
      "center_px": [
        4456.5,
        1880.5
      ],
      "quality": {
        "area_px": 9727.0,
        "perimeter_px": 402.3369827270508,
        "sharpness": {
          "laplacian_var": 56.66421237953445
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 60.74436208799874,
          "std_gray": 62.5025198810037
        },
        "geometry": {
          "distance_to_center_norm": 0.687873899936676,
          "distance_to_border_px": 371.0
        },
        "edge_ratio": 1.2000098942068171,
        "edge_lengths_px": [
          108.11567687988281,
          92.34716796875,
          110.11357879638672,
          91.76055908203125
        ]
      },
      "confidence": 0.39349823039715
    },
    {
      "observation_id": "e16a0eb2-7af4-4aa6-88f1-6c25b3629272",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3925.0,
          1837.0
        ],
        [
          4034.0,
          1836.0
        ],
        [
          4053.0,
          1923.0
        ],
        [
          3943.0,
          1926.0
        ]
      ],
      "center_px": [
        3988.75,
        1880.5
      ],
      "quality": {
        "area_px": 9673.0,
        "perimeter_px": 398.89801025390625,
        "sharpness": {
          "laplacian_var": 61.17993777322361
        },
        "contrast": {
          "p05": 7.0,
          "p95": 155.0,
          "dynamic_range": 148.0,
          "mean_gray": 62.649086901763226,
          "std_gray": 62.66138209329024
        },
        "geometry": {
          "distance_to_center_norm": 0.5304527878761292,
          "distance_to_border_px": 843.0
        },
        "edge_ratio": 1.235712835972962,
        "edge_lengths_px": [
          109.00458526611328,
          89.05054473876953,
          110.04090118408203,
          90.8019790649414
        ]
      },
      "confidence": 0.412581952647143
    },
    {
      "observation_id": "a26c799a-9a5a-4f80-a0c5-61b31af617ef",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2560.0,
          1856.0
        ],
        [
          2670.0,
          1856.0
        ],
        [
          2672.0,
          1944.0
        ],
        [
          2560.0,
          1944.0
        ]
      ],
      "center_px": [
        2615.5,
        1900.0
      ],
      "quality": {
        "area_px": 9768.0,
        "perimeter_px": 398.0227279663086,
        "sharpness": {
          "laplacian_var": 39.16230138295032
        },
        "contrast": {
          "p05": 5.0,
          "p95": 131.0,
          "dynamic_range": 126.0,
          "mean_gray": 66.70903165735568,
          "std_gray": 55.5540562971533
        },
        "geometry": {
          "distance_to_center_norm": 0.10741822421550751,
          "distance_to_border_px": 1320.0
        },
        "edge_ratio": 1.2727272727272727,
        "edge_lengths_px": [
          110.0,
          88.0227279663086,
          112.0,
          88.0
        ]
      },
      "confidence": 0.2564198304836033
    },
    {
      "observation_id": "d5e08941-7729-4590-b58b-23f85c124418",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2261.0,
          2383.0
        ],
        [
          2263.0,
          2455.0
        ],
        [
          2139.0,
          2456.0
        ],
        [
          2135.0,
          2384.0
        ]
      ],
      "center_px": [
        2199.5,
        2419.5
      ],
      "quality": {
        "area_px": 9003.0,
        "perimeter_px": 394.1467971801758,
        "sharpness": {
          "laplacian_var": 433.5177942065168
        },
        "contrast": {
          "p05": 21.0,
          "p95": 170.0,
          "dynamic_range": 149.0,
          "mean_gray": 76.2642893704146,
          "std_gray": 68.33947501289116
        },
        "geometry": {
          "distance_to_center_norm": 0.28067338466644287,
          "distance_to_border_px": 808.0
        },
        "edge_ratio": 1.7493803506982017,
        "edge_lengths_px": [
          72.02777099609375,
          124.00403594970703,
          72.11102294921875,
          126.00396728515625
        ]
      },
      "confidence": 0.5716309775635049
    },
    {
      "observation_id": "c83d4543-78d0-435b-8251-cb09795a6b3f",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2081.0,
          2381.0
        ],
        [
          2097.0,
          2453.0
        ],
        [
          1973.0,
          2456.0
        ],
        [
          1963.0,
          2384.0
        ]
      ],
      "center_px": [
        2028.5,
        2418.5
      ],
      "quality": {
        "area_px": 8751.0,
        "perimeter_px": 388.5218963623047,
        "sharpness": {
          "laplacian_var": 522.567710555439
        },
        "contrast": {
          "p05": 22.0,
          "p95": 171.0,
          "dynamic_range": 149.0,
          "mean_gray": 85.31941798025291,
          "std_gray": 69.63385595061685
        },
        "geometry": {
          "distance_to_center_norm": 0.3029717803001404,
          "distance_to_border_px": 808.0
        },
        "edge_ratio": 1.7063470564101508,
        "edge_lengths_px": [
          73.75635528564453,
          124.03628540039062,
          72.69112396240234,
          118.03813171386719
        ]
      },
      "confidence": 0.5860472500265106
    },
    {
      "observation_id": "1bb76adf-7fbb-4e5f-a113-e60adc4ee8fa",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1685.0,
          2408.0
        ],
        [
          1810.0,
          2407.0
        ],
        [
          1818.0,
          2469.0
        ],
        [
          1695.0,
          2470.0
        ]
      ],
      "center_px": [
        1752.0,
        2438.5
      ],
      "quality": {
        "area_px": 7697.0,
        "perimeter_px": 373.32333755493164,
        "sharpness": {
          "laplacian_var": 368.7211144262223
        },
        "contrast": {
          "p05": 25.0,
          "p95": 169.0,
          "dynamic_range": 144.0,
          "mean_gray": 72.84481725584182,
          "std_gray": 64.31313267097181
        },
        "geometry": {
          "distance_to_center_norm": 0.36208370327949524,
          "distance_to_border_px": 794.0
        },
        "edge_ratio": 1.9996160528006728,
        "edge_lengths_px": [
          125.00399780273438,
          62.513999938964844,
          123.00406646728516,
          62.801273345947266
        ]
      },
      "confidence": 0.5000960052303014
    },
    {
      "observation_id": "b45c951a-7eea-443e-bbb8-79400f2d0b1e",
      "type": "aruco",
      "marker_id": 94,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4739.0,
          1355.0
        ],
        [
          4721.0,
          1282.0
        ],
        [
          4818.0,
          1284.0
        ],
        [
          4840.0,
          1355.0
        ]
      ],
      "center_px": [
        4779.5,
        1319.0
      ],
      "quality": {
        "area_px": 7108.0,
        "perimeter_px": 347.53739166259766,
        "sharpness": {
          "laplacian_var": 54.12799177209643
        },
        "contrast": {
          "p05": 5.0,
          "p95": 142.0,
          "dynamic_range": 137.0,
          "mean_gray": 63.65794594594595,
          "std_gray": 54.23895253410669
        },
        "geometry": {
          "distance_to_center_norm": 0.7995622754096985,
          "distance_to_border_px": 56.0
        },
        "edge_ratio": 1.3587990179650724,
        "edge_lengths_px": [
          75.18643188476562,
          97.02061462402344,
          74.3303451538086,
          101.0
        ]
      },
      "confidence": 0.3319597616256138
    },
    {
      "observation_id": "886b77ef-0277-4722-bf00-c702cba8db3d",
      "type": "aruco",
      "marker_id": 100,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4450.0,
          1374.0
        ],
        [
          4430.0,
          1302.0
        ],
        [
          4526.0,
          1300.0
        ],
        [
          4549.0,
          1373.0
        ]
      ],
      "center_px": [
        4488.75,
        1337.25
      ],
      "quality": {
        "area_px": 7101.0,
        "perimeter_px": 346.2896194458008,
        "sharpness": {
          "laplacian_var": 48.89886517509995
        },
        "contrast": {
          "p05": 5.0,
          "p95": 144.0,
          "dynamic_range": 139.0,
          "mean_gray": 85.25026899074672,
          "std_gray": 54.35344867299295
        },
        "geometry": {
          "distance_to_center_norm": 0.7008275985717773,
          "distance_to_border_px": 347.0
        },
        "edge_ratio": 1.3249047323255032,
        "edge_lengths_px": [
          74.72616577148438,
          96.02082824707031,
          76.5375747680664,
          99.00505065917969
        ]
      },
      "confidence": 0.30756214630662254
    },
    {
      "observation_id": "5387abc3-9df1-4b63-9c10-7864087960b9",
      "type": "aruco",
      "marker_id": 76,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3961.0,
          1384.0
        ],
        [
          3949.0,
          1310.0
        ],
        [
          4047.0,
          1312.0
        ],
        [
          4060.0,
          1385.0
        ]
      ],
      "center_px": [
        4004.25,
        1347.75
      ],
      "quality": {
        "area_px": 7221.0,
        "perimeter_px": 346.14061737060547,
        "sharpness": {
          "laplacian_var": 36.99569599026216
        },
        "contrast": {
          "p05": 5.0,
          "p95": 145.0,
          "dynamic_range": 140.0,
          "mean_gray": 79.80746395250212,
          "std_gray": 54.462368004733015
        },
        "geometry": {
          "distance_to_center_norm": 0.5377044081687927,
          "distance_to_border_px": 836.0
        },
        "edge_ratio": 1.3352266413356721,
        "edge_lengths_px": [
          74.96665954589844,
          98.0204086303711,
          74.14849853515625,
          99.00505065917969
        ]
      },
      "confidence": 0.2308952330947484
    },
    {
      "observation_id": "d57bc042-6b94-4f2b-8255-7931e284a0eb",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3185.0,
          1405.0
        ],
        [
          3177.0,
          1331.0
        ],
        [
          3276.0,
          1331.0
        ],
        [
          3284.0,
          1404.0
        ]
      ],
      "center_px": [
        3230.5,
        1367.75
      ],
      "quality": {
        "area_px": 7280.5,
        "perimeter_px": 345.87327575683594,
        "sharpness": {
          "laplacian_var": 25.595121295244702
        },
        "contrast": {
          "p05": 5.0,
          "p95": 145.0,
          "dynamic_range": 140.0,
          "mean_gray": 49.554785894206546,
          "std_gray": 52.721848849531526
        },
        "geometry": {
          "distance_to_center_norm": 0.2807198464870453,
          "distance_to_border_px": 1331.0
        },
        "edge_ratio": 1.3481621448602215,
        "edge_lengths_px": [
          74.4311752319336,
          99.0,
          73.43704986572266,
          99.00505065917969
        ]
      },
      "confidence": 0.15820995884919087
    },
    {
      "observation_id": "b88230da-a226-4de7-8835-460d395acd1f",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3496.0,
          1374.0
        ],
        [
          3485.0,
          1301.0
        ],
        [
          3582.0,
          1301.0
        ],
        [
          3595.0,
          1372.0
        ]
      ],
      "center_px": [
        3539.5,
        1337.0
      ],
      "quality": {
        "area_px": 7068.0,
        "perimeter_px": 342.02464294433594,
        "sharpness": {
          "laplacian_var": 45.872386515274975
        },
        "contrast": {
          "p05": 5.0,
          "p95": 143.0,
          "dynamic_range": 138.0,
          "mean_gray": 65.01460481099656,
          "std_gray": 53.62117945696321
        },
        "geometry": {
          "distance_to_center_norm": 0.3843006193637848,
          "distance_to_border_px": 1301.0
        },
        "edge_ratio": 1.3718447238188656,
        "edge_lengths_px": [
          73.82411193847656,
          97.0,
          72.18032836914062,
          99.02020263671875
        ]
      },
      "confidence": 0.27865390374732035
    },
    {
      "observation_id": "0c78c992-d29d-44c7-b265-67f9a2b21673",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3322.0,
          1348.0
        ],
        [
          3314.0,
          1276.0
        ],
        [
          3411.0,
          1276.0
        ],
        [
          3421.0,
          1347.0
        ]
      ],
      "center_px": [
        3367.0,
        1311.75
      ],
      "quality": {
        "area_px": 7011.5,
        "perimeter_px": 340.1489028930664,
        "sharpness": {
          "laplacian_var": 57.32337252232075
        },
        "contrast": {
          "p05": 6.0,
          "p95": 144.0,
          "dynamic_range": 138.0,
          "mean_gray": 86.75081967213114,
          "std_gray": 53.11868129581933
        },
        "geometry": {
          "distance_to_center_norm": 0.3307812809944153,
          "distance_to_border_px": 1276.0
        },
        "edge_ratio": 1.3808087986726485,
        "edge_lengths_px": [
          72.44308471679688,
          97.0,
          71.70076751708984,
          99.00505065917969
        ]
      },
      "confidence": 0.3459528730397291
    },
    {
      "observation_id": "29ad3987-40a8-42ae-8899-00caf34c27fa",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2934.0,
          1318.0
        ],
        [
          2926.0,
          1247.0
        ],
        [
          3022.0,
          1244.0
        ],
        [
          3033.0,
          1314.0
        ]
      ],
      "center_px": [
        2978.75,
        1280.75
      ],
      "quality": {
        "area_px": 6907.0,
        "perimeter_px": 337.4359359741211,
        "sharpness": {
          "laplacian_var": 42.633796740670675
        },
        "contrast": {
          "p05": 6.0,
          "p95": 147.0,
          "dynamic_range": 141.0,
          "mean_gray": 57.938793291221955,
          "std_gray": 55.53507921188283
        },
        "geometry": {
          "distance_to_center_norm": 0.21632380783557892,
          "distance_to_border_px": 1244.0
        },
        "edge_ratio": 1.3982803799418,
        "edge_lengths_px": [
          71.44927978515625,
          96.04686737060547,
          70.85901641845703,
          99.08077239990234
        ]
      },
      "confidence": 0.2540846918844536
    },
    {
      "observation_id": "a244fd68-3816-4d92-84ac-5f75a075fcab",
      "type": "aruco",
      "marker_id": 50,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3461.0,
          1257.0
        ],
        [
          3450.0,
          1186.0
        ],
        [
          3545.0,
          1185.0
        ],
        [
          3559.0,
          1254.0
        ]
      ],
      "center_px": [
        3503.75,
        1220.5
      ],
      "quality": {
        "area_px": 6780.0,
        "perimeter_px": 335.30419921875,
        "sharpness": {
          "laplacian_var": 42.965285897375985
        },
        "contrast": {
          "p05": 5.0,
          "p95": 143.0,
          "dynamic_range": 138.0,
          "mean_gray": 59.233842010771994,
          "std_gray": 51.84485715849485
        },
        "geometry": {
          "distance_to_center_norm": 0.3851328492164612,
          "distance_to_border_px": 1185.0
        },
        "edge_ratio": 1.392579482287597,
        "edge_lengths_px": [
          71.84706115722656,
          95.00526428222656,
          70.40596771240234,
          98.04590606689453
        ]
      },
      "confidence": 0.25710851962046666
    },
    {
      "observation_id": "37e04d2b-2cdf-427a-968a-488905ca595f",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3119.0,
          1249.0
        ],
        [
          3113.0,
          1180.0
        ],
        [
          3208.0,
          1178.0
        ],
        [
          3217.0,
          1249.0
        ]
      ],
      "center_px": [
        3164.25,
        1214.0
      ],
      "quality": {
        "area_px": 6762.5,
        "perimeter_px": 333.84957122802734,
        "sharpness": {
          "laplacian_var": 60.34988767829284
        },
        "contrast": {
          "p05": 6.0,
          "p95": 148.0,
          "dynamic_range": 142.0,
          "mean_gray": 95.94496434937611,
          "std_gray": 51.333217742553735
        },
        "geometry": {
          "distance_to_center_norm": 0.2818705439567566,
          "distance_to_border_px": 1178.0
        },
        "edge_ratio": 1.4149504477590895,
        "edge_lengths_px": [
          69.2603759765625,
          95.02104949951172,
          71.56814575195312,
          98.0
        ]
      },
      "confidence": 0.35542992438281285
    },
    {
      "observation_id": "f6132aeb-82de-4aee-a3e0-478964a015ae",
      "type": "aruco",
      "marker_id": 104,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4502.0,
          1154.0
        ],
        [
          4483.0,
          1085.0
        ],
        [
          4577.0,
          1086.0
        ],
        [
          4599.0,
          1152.0
        ]
      ],
      "center_px": [
        4540.25,
        1119.25
      ],
      "quality": {
        "area_px": 6456.5,
        "perimeter_px": 332.1641845703125,
        "sharpness": {
          "laplacian_var": 58.74805804232322
        },
        "contrast": {
          "p05": 6.0,
          "p95": 143.0,
          "dynamic_range": 137.0,
          "mean_gray": 91.39559164733178,
          "std_gray": 52.165203655749075
        },
        "geometry": {
          "distance_to_center_norm": 0.7321784496307373,
          "distance_to_border_px": 297.0
        },
        "edge_ratio": 1.3945733231725204,
        "edge_lengths_px": [
          71.56814575195312,
          94.00531768798828,
          69.57010650634766,
          97.02061462402344
        ]
      },
      "confidence": 0.3510515669688671
    },
    {
      "observation_id": "76482fc2-317d-4182-bb36-1a55cda9a065",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2593.0,
          1013.0
        ],
        [
          2590.0,
          948.0
        ],
        [
          2680.0,
          946.0
        ],
        [
          2686.0,
          1011.0
        ]
      ],
      "center_px": [
        2637.25,
        979.5
      ],
      "quality": {
        "area_px": 5956.5,
        "perimeter_px": 313.38924407958984,
        "sharpness": {
          "laplacian_var": 97.95164523356516
        },
        "contrast": {
          "p05": 6.0,
          "p95": 146.0,
          "dynamic_range": 140.0,
          "mean_gray": 82.33063700707785,
          "std_gray": 54.889487112275155
        },
        "geometry": {
          "distance_to_center_norm": 0.2309180051088333,
          "distance_to_border_px": 946.0
        },
        "edge_ratio": 1.429578241779656,
        "edge_lengths_px": [
          65.0691909790039,
          90.022216796875,
          65.27633666992188,
          93.02149963378906
        ]
      },
      "confidence": 0.5709821865108675
    },
    {
      "observation_id": "b7f15df5-aec4-4ca4-a4a7-d082b0f81d27",
      "type": "aruco",
      "marker_id": 90,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3700.0,
          938.0
        ],
        [
          3689.0,
          873.0
        ],
        [
          3780.0,
          875.0
        ],
        [
          3792.0,
          938.0
        ]
      ],
      "center_px": [
        3740.25,
        906.0
      ],
      "quality": {
        "area_px": 5844.5,
        "perimeter_px": 313.07884979248047,
        "sharpness": {
          "laplacian_var": 90.34069025068055
        },
        "contrast": {
          "p05": 5.900000000000006,
          "p95": 144.0,
          "dynamic_range": 138.1,
          "mean_gray": 82.09637926543371,
          "std_gray": 52.76063287398869
        },
        "geometry": {
          "distance_to_center_norm": 0.5037926435470581,
          "distance_to_border_px": 873.0
        },
        "edge_ratio": 1.4345261562041771,
        "edge_lengths_px": [
          65.92420196533203,
          91.02197265625,
          64.13267517089844,
          92.0
        ]
      },
      "confidence": 0.5247998317537723
    },
    {
      "observation_id": "6f0580f8-b405-4de7-9827-bb02ddb26a35",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1072.0,
          919.0
        ],
        [
          1082.0,
          854.0
        ],
        [
          1172.0,
          854.0
        ],
        [
          1164.0,
          917.0
        ]
      ],
      "center_px": [
        1122.5,
        886.0
      ],
      "quality": {
        "area_px": 5815.0,
        "perimeter_px": 311.29237365722656,
        "sharpness": {
          "laplacian_var": 196.42133538542933
        },
        "contrast": {
          "p05": 8.0,
          "p95": 160.0,
          "dynamic_range": 152.0,
          "mean_gray": 104.55045871559633,
          "std_gray": 51.74420915725638
        },
        "geometry": {
          "distance_to_center_norm": 0.5169752240180969,
          "distance_to_border_px": 854.0
        },
        "edge_ratio": 1.449026447630098,
        "edge_lengths_px": [
          65.76473236083984,
          90.0,
          63.50590515136719,
          92.02173614501953
        ]
      },
      "confidence": 0.690118528640739
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          3711.0,
          2169.0
        ],
        [
          3039.0,
          2224.0
        ],
        [
          2921.0,
          2136.0
        ],
        [
          3600.0,
          2078.0
        ]
      ],
      "center_px": [
        3317.75,
        2151.75
      ],
      "area_px": 66926.5
    },
    {
      "image_points_px": [
        [
          1332.0,
          1770.0
        ],
        [
          1331.0,
          1803.0
        ],
        [
          1044.0,
          1801.0
        ],
        [
          1054.0,
          1770.0
        ]
      ],
      "center_px": [
        1190.25,
        1786.0
      ],
      "area_px": 9045.5
    },
    {
      "image_points_px": [
        [
          996.0,
          1265.0
        ],
        [
          1092.0,
          1268.0
        ],
        [
          1077.0,
          1340.0
        ],
        [
          979.0,
          1338.0
        ]
      ],
      "center_px": [
        1036.0,
        1302.75
      ],
      "area_px": 7072.5
    },
    {
      "image_points_px": [
        [
          1210.0,
          1597.0
        ],
        [
          1069.0,
          1601.0
        ],
        [
          1080.0,
          1564.0
        ],
        [
          1200.0,
          1563.0
        ]
      ],
      "center_px": [
        1139.75,
        1581.25
      ],
      "area_px": 4631.5
    },
    {
      "image_points_px": [
        [
          3333.0,
          1022.0
        ],
        [
          3345.0,
          1088.0
        ],
        [
          3251.0,
          1091.0
        ],
        [
          3241.0,
          1024.0
        ]
      ],
      "center_px": [
        3292.5,
        1056.25
      ],
      "area_px": 6212.0
    },
    {
      "image_points_px": [
        [
          4254.0,
          872.0
        ],
        [
          4275.0,
          935.0
        ],
        [
          4182.0,
          937.0
        ],
        [
          4165.0,
          874.0
        ]
      ],
      "center_px": [
        4219.0,
        904.5
      ],
      "area_px": 5771.0
    },
    {
      "image_points_px": [
        [
          4087.0,
          842.0
        ],
        [
          4102.0,
          905.0
        ],
        [
          4011.0,
          906.0
        ],
        [
          3998.0,
          841.0
        ]
      ],
      "center_px": [
        4049.5,
        873.5
      ],
      "area_px": 5760.0
    },
    {
      "image_points_px": [
        [
          1353.0,
          831.0
        ],
        [
          1442.0,
          831.0
        ],
        [
          1434.0,
          893.0
        ],
        [
          1341.0,
          893.0
        ]
      ],
      "center_px": [
        1392.5,
        862.0
      ],
      "area_px": 5642.0
    },
    {
      "image_points_px": [
        [
          2260.0,
          1021.0
        ],
        [
          2274.0,
          1074.0
        ],
        [
          2245.0,
          1083.0
        ],
        [
          2228.0,
          1030.0
        ]
      ],
      "center_px": [
        2251.75,
        1052.0
      ],
      "area_px": 1756.0
    },
    {
      "image_points_px": [
        [
          4000.0,
          1847.0
        ],
        [
          4022.0,
          1848.0
        ],
        [
          4034.0,
          1912.0
        ],
        [
          4012.0,
          1910.0
        ]
      ],
      "center_px": [
        4017.0,
        1879.25
      ],
      "area_px": 1379.0
    },
    {
      "image_points_px": [
        [
          805.0,
          2727.0
        ],
        [
          810.0,
          2710.0
        ],
        [
          872.0,
          2711.0
        ],
        [
          868.0,
          2731.0
        ]
      ],
      "center_px": [
        838.75,
        2719.75
      ],
      "area_px": 1167.5
    },
    {
      "image_points_px": [
        [
          1637.0,
          2068.0
        ],
        [
          1643.0,
          2091.0
        ],
        [
          1638.0,
          2146.0
        ],
        [
          1632.0,
          2130.0
        ]
      ],
      "center_px": [
        1637.5,
        2108.75
      ],
      "area_px": 448.5
    },
    {
      "image_points_px": [
        [
          1170.0,
          2815.0
        ],
        [
          1211.0,
          2815.0
        ],
        [
          1210.0,
          2849.0
        ],
        [
          1168.0,
          2851.0
        ]
      ],
      "center_px": [
        1189.75,
        2832.5
      ],
      "area_px": 1451.0
    },
    {
      "image_points_px": [
        [
          2657.0,
          2157.0
        ],
        [
          2695.0,
          2159.0
        ],
        [
          2692.0,
          2205.0
        ],
        [
          2657.0,
          2181.0
        ]
      ],
      "center_px": [
        2675.25,
        2175.5
      ],
      "area_px": 1297.0
    },
    {
      "image_points_px": [
        [
          3462.0,
          1193.0
        ],
        [
          3519.0,
          1191.0
        ],
        [
          3523.0,
          1208.0
        ],
        [
          3467.0,
          1212.0
        ]
      ],
      "center_px": [
        3492.75,
        1201.0
      ],
      "area_px": 1030.5
    },
    {
      "image_points_px": [
        [
          1970.0,
          2389.0
        ],
        [
          1982.0,
          2390.0
        ],
        [
          1986.0,
          2451.0
        ],
        [
          1977.0,
          2450.0
        ]
      ],
      "center_px": [
        1978.75,
        2420.0
      ],
      "area_px": 635.0
    }
  ]
}