{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:36:44Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "e",
    "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_e.png",
    "image_sha256": "f95b8c87d1e9336d64583dffbd0b4a8b4f652f78ba538772714d04354f2101a8",
    "width_px": 4896,
    "height_px": 3264
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 32,
    "num_rejected_candidates": 16
  },
  "detections": [
    {
      "observation_id": "37c2cc35-80ef-4dab-93e4-cde9ee611e3e",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2450.0,
          816.0
        ],
        [
          2330.0,
          805.0
        ],
        [
          2333.0,
          665.0
        ],
        [
          2454.0,
          675.0
        ]
      ],
      "center_px": [
        2391.75,
        740.25
      ],
      "quality": {
        "area_px": 16967.0,
        "perimeter_px": 523.0045013427734,
        "sharpness": {
          "laplacian_var": 52.98829727630645
        },
        "contrast": {
          "p05": 26.0,
          "p95": 160.0,
          "dynamic_range": 134.0,
          "mean_gray": 60.36393294064341,
          "std_gray": 52.71034324523406
        },
        "geometry": {
          "distance_to_center_norm": 0.3036991357803345,
          "distance_to_border_px": 665.0
        },
        "edge_ratio": 1.1705650493865492,
        "edge_lengths_px": [
          120.50311279296875,
          140.03213500976562,
          121.41252136230469,
          141.05673217773438
        ]
      },
      "confidence": 0.37722734349588755
    },
    {
      "observation_id": "bdd8356b-72ac-48b9-a989-9f876c951485",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2468.0,
          2794.0
        ],
        [
          2596.0,
          2760.0
        ],
        [
          2691.0,
          2813.0
        ],
        [
          2564.0,
          2853.0
        ]
      ],
      "center_px": [
        2579.75,
        2805.0
      ],
      "quality": {
        "area_px": 10673.5,
        "perimeter_px": 487.0541000366211,
        "sharpness": {
          "laplacian_var": 665.517313340301
        },
        "contrast": {
          "p05": 44.0,
          "p95": 163.0,
          "dynamic_range": 119.0,
          "mean_gray": 130.83501150747986,
          "std_gray": 37.0285239750813
        },
        "geometry": {
          "distance_to_center_norm": 0.4011977016925812,
          "distance_to_border_px": 411.0
        },
        "edge_ratio": 1.2239856462373728,
        "edge_lengths_px": [
          132.43865966796875,
          108.78418731689453,
          133.15028381347656,
          112.68096923828125
        ]
      },
      "confidence": 0.817003044990011
    },
    {
      "observation_id": "1abd1df0-98be-4323-b965-7a59da62debd",
      "type": "aruco",
      "marker_id": 244,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2618.0,
          1830.0
        ],
        [
          2512.0,
          1852.0
        ],
        [
          2517.0,
          1718.0
        ],
        [
          2621.0,
          1699.0
        ]
      ],
      "center_px": [
        2567.0,
        1774.75
      ],
      "quality": {
        "area_px": 13830.5,
        "perimeter_px": 479.10787200927734,
        "sharpness": {
          "laplacian_var": 21.05868180836807
        },
        "contrast": {
          "p05": 9.0,
          "p95": 85.0,
          "dynamic_range": 76.0,
          "mean_gray": 43.71906092789268,
          "std_gray": 34.23200853093034
        },
        "geometry": {
          "distance_to_center_norm": 0.06316700577735901,
          "distance_to_border_px": 1412.0
        },
        "edge_ratio": 1.2683651261670366,
        "edge_lengths_px": [
          108.25894927978516,
          134.09324645996094,
          105.72132873535156,
          131.0343475341797
        ]
      },
      "confidence": 0.13144051415230404
    },
    {
      "observation_id": "2610ee38-43fb-48b1-8f6b-edb11ce6bfce",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4650.0,
          2386.0
        ],
        [
          4782.0,
          2427.0
        ],
        [
          4697.0,
          2463.0
        ],
        [
          4562.0,
          2417.0
        ]
      ],
      "center_px": [
        4672.75,
        2423.25
      ],
      "quality": {
        "area_px": 8235.0,
        "perimeter_px": 466.4525680541992,
        "sharpness": {
          "laplacian_var": 384.601164492037
        },
        "contrast": {
          "p05": 20.0,
          "p95": 152.0,
          "dynamic_range": 132.0,
          "mean_gray": 83.19018068990692,
          "std_gray": 46.841544434802955
        },
        "geometry": {
          "distance_to_center_norm": 0.8025711178779602,
          "distance_to_border_px": 114.0
        },
        "edge_ratio": 1.545043953464538,
        "edge_lengths_px": [
          138.22084045410156,
          92.30926513671875,
          142.6218719482422,
          93.30059051513672
        ]
      },
      "confidence": 0.647230777970843
    },
    {
      "observation_id": "9d012131-1ad8-4a24-add5-7875aa80df14",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1754.0,
          2480.0
        ],
        [
          1877.0,
          2448.0
        ],
        [
          1958.0,
          2489.0
        ],
        [
          1835.0,
          2524.0
        ]
      ],
      "center_px": [
        1856.0,
        2485.25
      ],
      "quality": {
        "area_px": 7941.0,
        "perimeter_px": 437.9418487548828,
        "sharpness": {
          "laplacian_var": 113.3195679353147
        },
        "contrast": {
          "p05": 21.0,
          "p95": 163.0,
          "dynamic_range": 142.0,
          "mean_gray": 59.97371929156351,
          "std_gray": 53.05710009018093
        },
        "geometry": {
          "distance_to_center_norm": 0.3529784083366394,
          "distance_to_border_px": 740.0
        },
        "edge_ratio": 1.4086259747524084,
        "edge_lengths_px": [
          127.09445190429688,
          90.78546142578125,
          127.88275909423828,
          92.1791763305664
        ]
      },
      "confidence": 0.6703906854765136
    },
    {
      "observation_id": "77a02b23-43ff-451d-8ea7-6e22c96e31ee",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2333.0,
          1695.0
        ],
        [
          2327.0,
          1825.0
        ],
        [
          2245.0,
          1794.0
        ],
        [
          2250.0,
          1665.0
        ]
      ],
      "center_px": [
        2288.75,
        1744.75
      ],
      "quality": {
        "area_px": 10851.5,
        "perimeter_px": 435.1546859741211,
        "sharpness": {
          "laplacian_var": 133.6631354870657
        },
        "contrast": {
          "p05": 32.0,
          "p95": 174.0,
          "dynamic_range": 142.0,
          "mean_gray": 88.17963323145318,
          "std_gray": 63.282877027677976
        },
        "geometry": {
          "distance_to_center_norm": 0.06632044166326523,
          "distance_to_border_px": 1439.0
        },
        "edge_ratio": 1.48451117040937,
        "edge_lengths_px": [
          130.1383819580078,
          87.66413116455078,
          129.09686279296875,
          88.25531005859375
        ]
      },
      "confidence": 0.6736224151982899
    },
    {
      "observation_id": "93953c45-2d38-48d7-95ab-5cd372d523b1",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1965.0,
          2429.0
        ],
        [
          2085.0,
          2398.0
        ],
        [
          2167.0,
          2439.0
        ],
        [
          2048.0,
          2472.0
        ]
      ],
      "center_px": [
        2066.25,
        2434.5
      ],
      "quality": {
        "area_px": 7659.0,
        "perimeter_px": 432.5864486694336,
        "sharpness": {
          "laplacian_var": 147.3166753328726
        },
        "contrast": {
          "p05": 25.0,
          "p95": 167.0,
          "dynamic_range": 142.0,
          "mean_gray": 85.09143311468893,
          "std_gray": 57.57745026417998
        },
        "geometry": {
          "distance_to_center_norm": 0.3020508289337158,
          "distance_to_border_px": 792.0
        },
        "edge_ratio": 1.3518885081723313,
        "edge_lengths_px": [
          123.93949890136719,
          91.67878723144531,
          123.49089050292969,
          93.4772720336914
        ]
      },
      "confidence": 0.7397059698006735
    },
    {
      "observation_id": "a0a4f81a-e00d-44a6-a61e-ca5140fedbd9",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2721.0,
          2370.0
        ],
        [
          2821.0,
          2338.0
        ],
        [
          2921.0,
          2376.0
        ],
        [
          2819.0,
          2410.0
        ]
      ],
      "center_px": [
        2820.5,
        2373.5
      ],
      "quality": {
        "area_px": 7206.0,
        "perimeter_px": 425.3382568359375,
        "sharpness": {
          "laplacian_var": 98.00463235495594
        },
        "contrast": {
          "p05": 21.0,
          "p95": 158.0,
          "dynamic_range": 137.0,
          "mean_gray": 49.70863309352518,
          "std_gray": 46.519818145312136
        },
        "geometry": {
          "distance_to_center_norm": 0.2820427119731903,
          "distance_to_border_px": 854.0
        },
        "edge_ratio": 1.0240220561990696,
        "edge_lengths_px": [
          104.9952392578125,
          106.97663116455078,
          107.51744079589844,
          105.84894561767578
        ]
      },
      "confidence": 0.7975465613075287
    },
    {
      "observation_id": "f64e7cd5-a50c-4276-bd39-f5da1850f2c8",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2215.0,
          1646.0
        ],
        [
          2218.0,
          1778.0
        ],
        [
          2138.0,
          1753.0
        ],
        [
          2139.0,
          1624.0
        ]
      ],
      "center_px": [
        2177.5,
        1700.25
      ],
      "quality": {
        "area_px": 10155.5,
        "perimeter_px": 423.97339630126953,
        "sharpness": {
          "laplacian_var": 215.36718050235658
        },
        "contrast": {
          "p05": 33.0,
          "p95": 175.0,
          "dynamic_range": 142.0,
          "mean_gray": 97.70604066985646,
          "std_gray": 63.072846160930865
        },
        "geometry": {
          "distance_to_center_norm": 0.09482153505086899,
          "distance_to_border_px": 1486.0
        },
        "edge_ratio": 1.668779274318018,
        "edge_lengths_px": [
          132.03408813476562,
          83.81526947021484,
          129.00387573242188,
          79.12016296386719
        ]
      },
      "confidence": 0.5992404240570828
    },
    {
      "observation_id": "076a5351-73a4-494d-b4fd-39eea9473ceb",
      "type": "aruco",
      "marker_id": 124,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2684.0,
          608.0
        ],
        [
          2616.0,
          612.0
        ],
        [
          2626.0,
          467.0
        ],
        [
          2694.0,
          468.0
        ]
      ],
      "center_px": [
        2655.0,
        538.75
      ],
      "quality": {
        "area_px": 9675.0,
        "perimeter_px": 421.82601165771484,
        "sharpness": {
          "laplacian_var": 11.216130516427754
        },
        "contrast": {
          "p05": 7.0,
          "p95": 69.0,
          "dynamic_range": 62.0,
          "mean_gray": 34.00574891236793,
          "std_gray": 26.052502290354234
        },
        "geometry": {
          "distance_to_center_norm": 0.3781867027282715,
          "distance_to_border_px": 467.0
        },
        "edge_ratio": 2.137186807959739,
        "edge_lengths_px": [
          68.11754608154297,
          145.34442138671875,
          68.00735473632812,
          140.356689453125
        ]
      },
      "confidence": 0.03389385958937998
    },
    {
      "observation_id": "cee22ef2-0121-4c73-a91a-eb4c4305d5a9",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2555.0,
          2333.0
        ],
        [
          2665.0,
          2304.0
        ],
        [
          2753.0,
          2343.0
        ],
        [
          2643.0,
          2373.0
        ]
      ],
      "center_px": [
        2654.0,
        2338.25
      ],
      "quality": {
        "area_px": 6941.0,
        "perimeter_px": 420.6952896118164,
        "sharpness": {
          "laplacian_var": 92.40731901526773
        },
        "contrast": {
          "p05": 19.0,
          "p95": 164.0,
          "dynamic_range": 145.0,
          "mean_gray": 88.99786324786325,
          "std_gray": 62.52236177504827
        },
        "geometry": {
          "distance_to_center_norm": 0.2500501275062561,
          "distance_to_border_px": 891.0
        },
        "edge_ratio": 1.1845379135180327,
        "edge_lengths_px": [
          113.75851440429688,
          96.25486755371094,
          114.01753997802734,
          96.66436767578125
        ]
      },
      "confidence": 0.6500940012184547
    },
    {
      "observation_id": "07f4806e-396b-46b4-a45f-50d9881a8372",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1898.0,
          2291.0
        ],
        [
          2015.0,
          2264.0
        ],
        [
          2091.0,
          2303.0
        ],
        [
          1974.0,
          2332.0
        ]
      ],
      "center_px": [
        1994.5,
        2297.5
      ],
      "quality": {
        "area_px": 6808.0,
        "perimeter_px": 412.3918228149414,
        "sharpness": {
          "laplacian_var": 160.46427628413193
        },
        "contrast": {
          "p05": 24.0,
          "p95": 168.0,
          "dynamic_range": 144.0,
          "mean_gray": 87.4108954565505,
          "std_gray": 61.14551169022813
        },
        "geometry": {
          "distance_to_center_norm": 0.27372264862060547,
          "distance_to_border_px": 932.0
        },
        "edge_ratio": 1.4111092801809852,
        "edge_lengths_px": [
          120.0749740600586,
          85.42247772216797,
          120.54045104980469,
          86.35391998291016
        ]
      },
      "confidence": 0.708662336818976
    },
    {
      "observation_id": "a6b48d36-92d8-490b-9df3-430d67d82853",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1166.0,
          2305.0
        ],
        [
          1290.0,
          2277.0
        ],
        [
          1357.0,
          2315.0
        ],
        [
          1232.0,
          2346.0
        ]
      ],
      "center_px": [
        1261.25,
        2310.75
      ],
      "quality": {
        "area_px": 6879.5,
        "perimeter_px": 410.6327438354492,
        "sharpness": {
          "laplacian_var": 139.50549371678025
        },
        "contrast": {
          "p05": 21.0,
          "p95": 171.0,
          "dynamic_range": 150.0,
          "mean_gray": 72.28688343286883,
          "std_gray": 62.22271454110171
        },
        "geometry": {
          "distance_to_center_norm": 0.464677631855011,
          "distance_to_border_px": 918.0
        },
        "edge_ratio": 1.6719899904397288,
        "edge_lengths_px": [
          127.12198638916016,
          77.02597045898438,
          128.78665161132812,
          77.69813537597656
        ]
      },
      "confidence": 0.598089704913247
    },
    {
      "observation_id": "d0b77043-abf0-4ac2-a8e1-9b06b69c4b44",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2993.0,
          2016.0
        ],
        [
          3081.0,
          2050.0
        ],
        [
          2977.0,
          2076.0
        ],
        [
          2888.0,
          2040.0
        ]
      ],
      "center_px": [
        2984.75,
        2045.5
      ],
      "quality": {
        "area_px": 5870.0,
        "perimeter_px": 405.2537078857422,
        "sharpness": {
          "laplacian_var": 133.3522219484818
        },
        "contrast": {
          "p05": 10.0,
          "p95": 132.0,
          "dynamic_range": 122.0,
          "mean_gray": 53.02280297207277,
          "std_gray": 50.26711373933448
        },
        "geometry": {
          "distance_to_center_norm": 0.23029457032680511,
          "distance_to_border_px": 1188.0
        },
        "edge_ratio": 1.1417018484294932,
        "edge_lengths_px": [
          94.33981323242188,
          107.20074462890625,
          96.00521087646484,
          107.70793914794922
        ]
      },
      "confidence": 0.8758854173491827
    },
    {
      "observation_id": "0d0baa88-b10a-408a-9d7b-b61831c0430b",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1967.0,
          1596.0
        ],
        [
          2040.0,
          1623.0
        ],
        [
          2046.0,
          1746.0
        ],
        [
          1972.0,
          1718.0
        ]
      ],
      "center_px": [
        2006.25,
        1670.75
      ],
      "quality": {
        "area_px": 8852.5,
        "perimeter_px": 402.20198822021484,
        "sharpness": {
          "laplacian_var": 186.48259275166393
        },
        "contrast": {
          "p05": 32.0,
          "p95": 173.0,
          "dynamic_range": 141.0,
          "mean_gray": 81.82427843803056,
          "std_gray": 60.84816351449859
        },
        "geometry": {
          "distance_to_center_norm": 0.15072289109230042,
          "distance_to_border_px": 1518.0
        },
        "edge_ratio": 1.582182541872485,
        "edge_lengths_px": [
          77.8331527709961,
          123.14625549316406,
          79.12016296386719,
          122.1024169921875
        ]
      },
      "confidence": 0.6320383227187665
    },
    {
      "observation_id": "f30974e7-0ab5-4c46-b4d9-4b8ad55e1a3c",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2446.0,
          2207.0
        ],
        [
          2554.0,
          2181.0
        ],
        [
          2635.0,
          2218.0
        ],
        [
          2527.0,
          2245.0
        ]
      ],
      "center_px": [
        2540.5,
        2212.75
      ],
      "quality": {
        "area_px": 6196.5,
        "perimeter_px": 400.9306182861328,
        "sharpness": {
          "laplacian_var": 273.3008684702121
        },
        "contrast": {
          "p05": 21.0,
          "p95": 164.0,
          "dynamic_range": 143.0,
          "mean_gray": 94.54845761476804,
          "std_gray": 60.53971807689709
        },
        "geometry": {
          "distance_to_center_norm": 0.19987915456295013,
          "distance_to_border_px": 1019.0
        },
        "edge_ratio": 1.2501198377352085,
        "edge_lengths_px": [
          111.08555603027344,
          89.05054473876953,
          111.3238525390625,
          89.47066497802734
        ]
      },
      "confidence": 0.7999233112016361
    },
    {
      "observation_id": "7b169180-7bba-4ae0-9535-7e084348d144",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2842.0,
          62.0
        ],
        [
          2781.0,
          129.0
        ],
        [
          2675.0,
          154.0
        ],
        [
          2740.0,
          86.0
        ]
      ],
      "center_px": [
        2759.5,
        107.75
      ],
      "quality": {
        "area_px": 5476.5,
        "perimeter_px": 398.3718795776367,
        "sharpness": {
          "laplacian_var": 308.63030272274966
        },
        "contrast": {
          "p05": 32.0,
          "p95": 179.0,
          "dynamic_range": 147.0,
          "mean_gray": 94.353591160221,
          "std_gray": 60.79185437973391
        },
        "geometry": {
          "distance_to_center_norm": 0.5287849307060242,
          "distance_to_border_px": 62.0
        },
        "edge_ratio": 1.2019574431753166,
        "edge_lengths_px": [
          90.60904693603516,
          108.90821838378906,
          94.06912231445312,
          104.78549194335938
        ]
      },
      "confidence": 0.8319762115355865
    },
    {
      "observation_id": "0f02bc9a-89ae-41ca-aff0-734ecdb85598",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2150.0,
          1412.0
        ],
        [
          2224.0,
          1435.0
        ],
        [
          2124.0,
          1458.0
        ],
        [
          2031.0,
          1432.0
        ]
      ],
      "center_px": [
        2132.25,
        1434.25
      ],
      "quality": {
        "area_px": 4478.0,
        "perimeter_px": 397.3378601074219,
        "sharpness": {
          "laplacian_var": 1306.883914923844
        },
        "contrast": {
          "p05": 21.0,
          "p95": 172.0,
          "dynamic_range": 151.0,
          "mean_gray": 63.32727272727273,
          "std_gray": 61.3093659003862
        },
        "geometry": {
          "distance_to_center_norm": 0.12663035094738007,
          "distance_to_border_px": 1412.0
        },
        "edge_ratio": 1.5571809771426135,
        "edge_lengths_px": [
          77.49193572998047,
          102.61091613769531,
          96.5660400390625,
          120.6689682006836
        ]
      },
      "confidence": 0.6421861136750938
    },
    {
      "observation_id": "81d83cf6-a8c1-4776-bed7-5fecc2009cd7",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1523.0,
          2167.0
        ],
        [
          1633.0,
          2138.0
        ],
        [
          1710.0,
          2171.0
        ],
        [
          1598.0,
          2200.0
        ]
      ],
      "center_px": [
        1616.0,
        2169.0
      ],
      "quality": {
        "area_px": 5867.0,
        "perimeter_px": 395.1645812988281,
        "sharpness": {
          "laplacian_var": 348.80890514708443
        },
        "contrast": {
          "p05": 20.0,
          "p95": 170.0,
          "dynamic_range": 150.0,
          "mean_gray": 81.99793121282649,
          "std_gray": 67.21216822995396
        },
        "geometry": {
          "distance_to_center_norm": 0.33657553791999817,
          "distance_to_border_px": 1064.0
        },
        "edge_ratio": 1.4119473451776918,
        "edge_lengths_px": [
          113.75851440429688,
          83.77350616455078,
          115.69355773925781,
          81.93900299072266
        ]
      },
      "confidence": 0.7082417084570184
    },
    {
      "observation_id": "4ad2d557-3005-4775-b8b2-5e93d2b14f0e",
      "type": "aruco",
      "marker_id": 232,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2244.0,
          1803.0
        ],
        [
          2330.0,
          1837.0
        ],
        [
          2399.0,
          1915.0
        ],
        [
          2318.0,
          1882.0
        ]
      ],
      "center_px": [
        2322.75,
        1859.25
      ],
      "quality": {
        "area_px": 4159.5,
        "perimeter_px": 392.3257293701172,
        "sharpness": {
          "laplacian_var": 383.9029081541546
        },
        "contrast": {
          "p05": 35.0,
          "p95": 128.0,
          "dynamic_range": 93.0,
          "mean_gray": 79.54344729344729,
          "std_gray": 35.51309246270051
        },
        "geometry": {
          "distance_to_center_norm": 0.08819478005170822,
          "distance_to_border_px": 1349.0
        },
        "edge_ratio": 1.2375920240876794,
        "edge_lengths_px": [
          92.4770278930664,
          104.13932800292969,
          87.46427917480469,
          108.2450942993164
        ]
      },
      "confidence": 0.8080207213174099
    },
    {
      "observation_id": "cf210f81-1d1a-490f-9b73-45bc99a3e757",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3270.0,
          1928.0
        ],
        [
          3362.0,
          1960.0
        ],
        [
          3267.0,
          1984.0
        ],
        [
          3177.0,
          1952.0
        ]
      ],
      "center_px": [
        3269.0,
        1956.0
      ],
      "quality": {
        "area_px": 5192.0,
        "perimeter_px": 386.95755767822266,
        "sharpness": {
          "laplacian_var": 358.4603764274613
        },
        "contrast": {
          "p05": 13.0,
          "p95": 128.0,
          "dynamic_range": 115.0,
          "mean_gray": 66.49599313108186,
          "std_gray": 51.21468848960746
        },
        "geometry": {
          "distance_to_center_norm": 0.2999933362007141,
          "distance_to_border_px": 1280.0
        },
        "edge_ratio": 1.0258068942613106,
        "edge_lengths_px": [
          97.40636444091797,
          97.98469543457031,
          95.5196304321289,
          96.04686737060547
        ]
      },
      "confidence": 0.9748423466388435
    },
    {
      "observation_id": "72a0f067-680e-4be2-8da9-ae90c9079c43",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4513.0,
          2035.0
        ],
        [
          4589.0,
          2010.0
        ],
        [
          4697.0,
          2042.0
        ],
        [
          4623.0,
          2067.0
        ]
      ],
      "center_px": [
        4605.5,
        2038.5
      ],
      "quality": {
        "area_px": 5125.0,
        "perimeter_px": 385.31620025634766,
        "sharpness": {
          "laplacian_var": 654.0649549239514
        },
        "contrast": {
          "p05": 13.0,
          "p95": 145.0,
          "dynamic_range": 132.0,
          "mean_gray": 80.19350159559036,
          "std_gray": 59.57583347769591
        },
        "geometry": {
          "distance_to_center_norm": 0.746214747428894,
          "distance_to_border_px": 199.0
        },
        "edge_ratio": 1.4666705737217336,
        "edge_lengths_px": [
          80.0062484741211,
          112.64102172851562,
          78.10890197753906,
          114.56002807617188
        ]
      },
      "confidence": 0.6818163655267598
    },
    {
      "observation_id": "0ee597cc-6461-435c-95e0-8e0427d86161",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4249.0,
          1999.0
        ],
        [
          4322.0,
          1974.0
        ],
        [
          4427.0,
          2003.0
        ],
        [
          4358.0,
          2029.0
        ]
      ],
      "center_px": [
        4339.0,
        2001.25
      ],
      "quality": {
        "area_px": 4823.0,
        "perimeter_px": 372.88243865966797,
        "sharpness": {
          "laplacian_var": 473.8265404588107
        },
        "contrast": {
          "p05": 13.0,
          "p95": 144.0,
          "dynamic_range": 131.0,
          "mean_gray": 51.56668734491315,
          "std_gray": 53.99997031011051
        },
        "geometry": {
          "distance_to_center_norm": 0.6548704504966736,
          "distance_to_border_px": 469.0
        },
        "edge_ratio": 1.533213923166169,
        "edge_lengths_px": [
          77.16217041015625,
          108.93116760253906,
          73.73601531982422,
          113.05308532714844
        ]
      },
      "confidence": 0.6522247058224898
    },
    {
      "observation_id": "a98198fa-d9b5-4378-b236-f07e0ccf554b",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1930.0,
          2026.0
        ],
        [
          2036.0,
          2003.0
        ],
        [
          2105.0,
          2034.0
        ],
        [
          1998.0,
          2058.0
        ]
      ],
      "center_px": [
        2017.25,
        2030.25
      ],
      "quality": {
        "area_px": 4964.5,
        "perimeter_px": 368.92222595214844,
        "sharpness": {
          "laplacian_var": 763.872819576333
        },
        "contrast": {
          "p05": 27.0,
          "p95": 170.0,
          "dynamic_range": 143.0,
          "mean_gray": 77.22432432432433,
          "std_gray": 61.44642293747236
        },
        "geometry": {
          "distance_to_center_norm": 0.19939358532428741,
          "distance_to_border_px": 1206.0
        },
        "edge_ratio": 1.459134110967418,
        "edge_lengths_px": [
          108.46658325195312,
          75.64390563964844,
          109.65856170654297,
          75.1531753540039
        ]
      },
      "confidence": 0.6853379634425733
    },
    {
      "observation_id": "116a9b20-9e77-4f18-930f-041b2e8e80f4",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2636.0,
          1886.0
        ],
        [
          2712.0,
          1916.0
        ],
        [
          2609.0,
          1939.0
        ],
        [
          2538.0,
          1909.0
        ]
      ],
      "center_px": [
        2623.75,
        1912.5
      ],
      "quality": {
        "area_px": 4705.5,
        "perimeter_px": 364.9841995239258,
        "sharpness": {
          "laplacian_var": 95.73502504960001
        },
        "contrast": {
          "p05": 10.0,
          "p95": 64.0,
          "dynamic_range": 54.0,
          "mean_gray": 30.75968,
          "std_gray": 22.09365171938763
        },
        "geometry": {
          "distance_to_center_norm": 0.11250728368759155,
          "distance_to_border_px": 1325.0
        },
        "edge_ratio": 1.3692218714267161,
        "edge_lengths_px": [
          81.70679473876953,
          105.5367202758789,
          77.077880859375,
          100.66280364990234
        ]
      },
      "confidence": 0.3932960224648459
    },
    {
      "observation_id": "e5e959c5-28e2-4553-b5a1-3cab3c8e2d6d",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2943.0,
          1815.0
        ],
        [
          3021.0,
          1843.0
        ],
        [
          2927.0,
          1865.0
        ],
        [
          2846.0,
          1835.0
        ]
      ],
      "center_px": [
        2934.25,
        1839.5
      ],
      "quality": {
        "area_px": 4439.0,
        "perimeter_px": 364.8310241699219,
        "sharpness": {
          "laplacian_var": 341.65985020010265
        },
        "contrast": {
          "p05": 9.0,
          "p95": 126.0,
          "dynamic_range": 117.0,
          "mean_gray": 52.83896886508202,
          "std_gray": 50.00269006497767
        },
        "geometry": {
          "distance_to_center_norm": 0.1796906292438507,
          "distance_to_border_px": 1399.0
        },
        "edge_ratio": 1.195080692245955,
        "edge_lengths_px": [
          82.87339782714844,
          96.54014587402344,
          86.37708282470703,
          99.04039764404297
        ]
      },
      "confidence": 0.8367635813115403
    },
    {
      "observation_id": "9a36cbf8-b978-4e54-9d91-cb2fe41d4da2",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1677.0,
          1966.0
        ],
        [
          1779.0,
          1943.0
        ],
        [
          1848.0,
          1971.0
        ],
        [
          1748.0,
          1996.0
        ]
      ],
      "center_px": [
        1763.0,
        1969.0
      ],
      "quality": {
        "area_px": 4609.0,
        "perimeter_px": 359.1812744140625,
        "sharpness": {
          "laplacian_var": 713.1375806446833
        },
        "contrast": {
          "p05": 21.0,
          "p95": 171.0,
          "dynamic_range": 150.0,
          "mean_gray": 107.82888744307091,
          "std_gray": 66.56632384325349
        },
        "geometry": {
          "distance_to_center_norm": 0.25947511196136475,
          "distance_to_border_px": 1268.0
        },
        "edge_ratio": 1.404167415879417,
        "edge_lengths_px": [
          104.56098937988281,
          74.46475982666016,
          103.07764434814453,
          77.077880859375
        ]
      },
      "confidence": 0.7121657921208129
    },
    {
      "observation_id": "aeacf3bd-8327-483f-82ae-b5d5649a95ec",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1418.0,
          1922.0
        ],
        [
          1523.0,
          1901.0
        ],
        [
          1585.0,
          1927.0
        ],
        [
          1483.0,
          1951.0
        ]
      ],
      "center_px": [
        1502.25,
        1925.25
      ],
      "quality": {
        "area_px": 4275.0,
        "perimeter_px": 350.2716827392578,
        "sharpness": {
          "laplacian_var": 478.8662833871078
        },
        "contrast": {
          "p05": 20.0,
          "p95": 171.0,
          "dynamic_range": 151.0,
          "mean_gray": 75.83049670024315,
          "std_gray": 64.3604259306732
        },
        "geometry": {
          "distance_to_center_norm": 0.3365490436553955,
          "distance_to_border_px": 1313.0
        },
        "edge_ratio": 1.5927102003224205,
        "edge_lengths_px": [
          107.07940673828125,
          67.23094177246094,
          104.78549194335938,
          71.17584228515625
        ]
      },
      "confidence": 0.6278606113011425
    },
    {
      "observation_id": "4be5a4ea-5938-4cef-a38a-40aeb63bf0af",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1054.0,
          1930.0
        ],
        [
          1163.0,
          1909.0
        ],
        [
          1217.0,
          1939.0
        ],
        [
          1107.0,
          1960.0
        ]
      ],
      "center_px": [
        1135.25,
        1934.5
      ],
      "quality": {
        "area_px": 4408.5,
        "perimeter_px": 345.666446685791,
        "sharpness": {
          "laplacian_var": 492.7870734220911
        },
        "contrast": {
          "p05": 21.0,
          "p95": 173.0,
          "dynamic_range": 152.0,
          "mean_gray": 77.40432840948128,
          "std_gray": 64.82210708527029
        },
        "geometry": {
          "distance_to_center_norm": 0.4578832983970642,
          "distance_to_border_px": 1054.0
        },
        "edge_ratio": 1.838813317574674,
        "edge_lengths_px": [
          111.00450134277344,
          61.773780822753906,
          111.98660278320312,
          60.90156173706055
        ]
      },
      "confidence": 0.5438289958215893
    },
    {
      "observation_id": "56f7577d-cb49-47be-80bb-59394278f281",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4237.0,
          1812.0
        ],
        [
          4307.0,
          1794.0
        ],
        [
          4398.0,
          1817.0
        ],
        [
          4332.0,
          1838.0
        ]
      ],
      "center_px": [
        4318.5,
        1815.25
      ],
      "quality": {
        "area_px": 3479.5,
        "perimeter_px": 333.8928756713867,
        "sharpness": {
          "laplacian_var": 140.88017094017093
        },
        "contrast": {
          "p05": 14.0,
          "p95": 143.0,
          "dynamic_range": 129.0,
          "mean_gray": 77.57478632478633,
          "std_gray": 52.69636420255214
        },
        "geometry": {
          "distance_to_center_norm": 0.6388075947761536,
          "distance_to_border_px": 498.0
        },
        "edge_ratio": 1.4220779335226241,
        "edge_lengths_px": [
          72.2772445678711,
          93.86160278320312,
          69.2603759765625,
          98.49365234375
        ]
      },
      "confidence": 0.7031963413727289
    },
    {
      "observation_id": "9e7c589e-2ba7-4804-9a9d-297b5b2e8d80",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1370.0,
          1822.0
        ],
        [
          1469.0,
          1805.0
        ],
        [
          1526.0,
          1829.0
        ],
        [
          1426.0,
          1849.0
        ]
      ],
      "center_px": [
        1447.75,
        1826.25
      ],
      "quality": {
        "area_px": 3582.5,
        "perimeter_px": 326.4450912475586,
        "sharpness": {
          "laplacian_var": 269.28847898666726
        },
        "contrast": {
          "p05": 20.0,
          "p95": 171.0,
          "dynamic_range": 151.0,
          "mean_gray": 81.46605960264901,
          "std_gray": 62.62750972118596
        },
        "geometry": {
          "distance_to_center_norm": 0.34632641077041626,
          "distance_to_border_px": 1370.0
        },
        "edge_ratio": 1.6489252167635629,
        "edge_lengths_px": [
          100.44898986816406,
          61.84658432006836,
          101.98039245605469,
          62.169124603271484
        ]
      },
      "confidence": 0.6064556414285153
    },
    {
      "observation_id": "117a96ef-4964-408b-b591-e8645e8278cd",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3834.0,
          1646.0
        ],
        [
          3910.0,
          1633.0
        ],
        [
          3981.0,
          1654.0
        ],
        [
          3913.0,
          1670.0
        ]
      ],
      "center_px": [
        3909.5,
        1650.75
      ],
      "quality": {
        "area_px": 2707.5,
        "perimeter_px": 303.5664749145508,
        "sharpness": {
          "laplacian_var": 612.93866803547
        },
        "contrast": {
          "p05": 25.0,
          "p95": 144.0,
          "dynamic_range": 119.0,
          "mean_gray": 92.89612486544672,
          "std_gray": 37.71290442860127
        },
        "geometry": {
          "distance_to_center_norm": 0.4967898428440094,
          "distance_to_border_px": 915.0
        },
        "edge_ratio": 1.1819163556966703,
        "edge_lengths_px": [
          77.10382843017578,
          74.04052734375,
          69.85699462890625,
          82.56512451171875
        ]
      },
      "confidence": 0.8460835618190246
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          4321.0,
          1892.0
        ],
        [
          4399.0,
          1873.0
        ],
        [
          4660.0,
          1911.0
        ],
        [
          4587.0,
          1933.0
        ]
      ],
      "center_px": [
        4491.75,
        1902.25
      ],
      "area_px": 8384.0
    },
    {
      "image_points_px": [
        [
          2885.0,
          3172.0
        ],
        [
          2750.0,
          3221.0
        ],
        [
          2642.0,
          3149.0
        ],
        [
          2781.0,
          3110.0
        ]
      ],
      "center_px": [
        2764.5,
        3163.0
      ],
      "area_px": 13843.0
    },
    {
      "image_points_px": [
        [
          3246.0,
          3023.0
        ],
        [
          3362.0,
          2982.0
        ],
        [
          3486.0,
          3034.0
        ],
        [
          3372.0,
          3085.0
        ]
      ],
      "center_px": [
        3366.5,
        3031.0
      ],
      "area_px": 12305.0
    },
    {
      "image_points_px": [
        [
          3639.0,
          2969.0
        ],
        [
          3756.0,
          2933.0
        ],
        [
          3878.0,
          2988.0
        ],
        [
          3764.0,
          3035.0
        ]
      ],
      "center_px": [
        3759.25,
        2981.25
      ],
      "area_px": 12113.0
    },
    {
      "image_points_px": [
        [
          3790.0,
          2886.0
        ],
        [
          3899.0,
          2849.0
        ],
        [
          4023.0,
          2902.0
        ],
        [
          3918.0,
          2946.0
        ]
      ],
      "center_px": [
        3907.5,
        2895.75
      ],
      "area_px": 11148.5
    },
    {
      "image_points_px": [
        [
          4227.0,
          2534.0
        ],
        [
          4330.0,
          2502.0
        ],
        [
          4459.0,
          2554.0
        ],
        [
          4359.0,
          2586.0
        ]
      ],
      "center_px": [
        4343.75,
        2544.0
      ],
      "area_px": 9454.0
    },
    {
      "image_points_px": [
        [
          2774.0,
          2750.0
        ],
        [
          2890.0,
          2714.0
        ],
        [
          2998.0,
          2761.0
        ],
        [
          2884.0,
          2804.0
        ]
      ],
      "center_px": [
        2886.5,
        2757.25
      ],
      "area_px": 10113.0
    },
    {
      "image_points_px": [
        [
          1684.0,
          2475.0
        ],
        [
          1556.0,
          2508.0
        ],
        [
          1483.0,
          2464.0
        ],
        [
          1610.0,
          2433.0
        ]
      ],
      "center_px": [
        1583.25,
        2470.0
      ],
      "area_px": 7834.5
    },
    {
      "image_points_px": [
        [
          3087.0,
          1618.0
        ],
        [
          3161.0,
          1603.0
        ],
        [
          3242.0,
          1630.0
        ],
        [
          3159.0,
          1640.0
        ]
      ],
      "center_px": [
        3162.25,
        1622.75
      ],
      "area_px": 2879.5
    },
    {
      "image_points_px": [
        [
          3727.0,
          1670.0
        ],
        [
          3798.0,
          1656.0
        ],
        [
          3878.0,
          1674.0
        ],
        [
          3810.0,
          1694.0
        ]
      ],
      "center_px": [
        3803.25,
        1673.5
      ],
      "area_px": 2845.0
    },
    {
      "image_points_px": [
        [
          3310.0,
          1495.0
        ],
        [
          3398.0,
          1485.0
        ],
        [
          3460.0,
          1506.0
        ],
        [
          3396.0,
          1521.0
        ]
      ],
      "center_px": [
        3391.0,
        1501.75
      ],
      "area_px": 2711.0
    },
    {
      "image_points_px": [
        [
          3410.0,
          1577.0
        ],
        [
          3478.0,
          1562.0
        ],
        [
          3548.0,
          1583.0
        ],
        [
          3491.0,
          1601.0
        ]
      ],
      "center_px": [
        3481.75,
        1580.75
      ],
      "area_px": 2652.0
    },
    {
      "image_points_px": [
        [
          4510.0,
          1904.0
        ],
        [
          4583.0,
          1894.0
        ],
        [
          4637.0,
          1910.0
        ],
        [
          4580.0,
          1925.0
        ]
      ],
      "center_px": [
        4577.5,
        1908.25
      ],
      "area_px": 1977.5
    },
    {
      "image_points_px": [
        [
          4263.0,
          1812.0
        ],
        [
          4301.0,
          1802.0
        ],
        [
          4365.0,
          1821.0
        ],
        [
          4295.0,
          1823.0
        ]
      ],
      "center_px": [
        4306.0,
        1814.5
      ],
      "area_px": 1098.0
    },
    {
      "image_points_px": [
        [
          4622.0,
          2405.0
        ],
        [
          4682.0,
          2400.0
        ],
        [
          4717.0,
          2412.0
        ],
        [
          4646.0,
          2419.0
        ]
      ],
      "center_px": [
        4666.75,
        2409.0
      ],
      "area_px": 1028.5
    },
    {
      "image_points_px": [
        [
          4754.0,
          2425.0
        ],
        [
          4697.0,
          2453.0
        ],
        [
          4664.0,
          2442.0
        ],
        [
          4724.0,
          2416.0
        ]
      ],
      "center_px": [
        4709.75,
        2434.0
      ],
      "area_px": 1435.5
    }
  ]
}