{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T20:35:44Z",
  "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\\Scene6\\render_a.npz",
    "camera_matrix": [
      [
        1777.77783203125,
        0.0,
        640.0
      ],
      [
        0.0,
        1777.77783203125,
        360.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene6\\render_b.png",
    "image_sha256": "8661c395c5811e0c7a6af077d0166abf5633888d48c662d38ad7402ae3469016",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 51,
    "num_rejected_candidates": 7
  },
  "detections": [
    {
      "observation_id": "8de83040-e47e-404c-a8ab-fb4636a2e577",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          563.0,
          60.0
        ],
        [
          543.0,
          94.0
        ],
        [
          510.0,
          73.0
        ],
        [
          530.0,
          39.0
        ]
      ],
      "center_px": [
        536.5,
        66.5
      ],
      "quality": {
        "area_px": 1542.0,
        "perimeter_px": 157.12276458740234,
        "sharpness": {
          "laplacian_var": 2466.403082370664
        },
        "contrast": {
          "p05": 72.0,
          "p95": 196.0,
          "dynamic_range": 124.0,
          "mean_gray": 110.80544747081711,
          "std_gray": 52.76252769060363
        },
        "geometry": {
          "distance_to_center_norm": 0.42382344603538513,
          "distance_to_border_px": 39.0
        },
        "edge_ratio": 1.0084609451366364,
        "edge_lengths_px": [
          39.4461669921875,
          39.11521530151367,
          39.4461669921875,
          39.11521530151367
        ]
      },
      "confidence": 0.7734558326344684
    },
    {
      "observation_id": "2f8051e9-a040-4728-a653-d0a027ab6357",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          601.0,
          30.0
        ],
        [
          614.0,
          65.0
        ],
        [
          588.0,
          83.0
        ],
        [
          574.0,
          48.0
        ]
      ],
      "center_px": [
        594.25,
        56.5
      ],
      "quality": {
        "area_px": 1170.5,
        "perimeter_px": 139.1052017211914,
        "sharpness": {
          "laplacian_var": 1931.5036587465565
        },
        "contrast": {
          "p05": 6.0,
          "p95": 154.0,
          "dynamic_range": 148.0,
          "mean_gray": 58.3459595959596,
          "std_gray": 62.54306806084119
        },
        "geometry": {
          "distance_to_center_norm": 0.41798698902130127,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.1920571271337117,
        "edge_lengths_px": [
          37.336307525634766,
          31.62277603149414,
          37.6961555480957,
          32.4499626159668
        ]
      },
      "confidence": 0.39276641139320373
    },
    {
      "observation_id": "1ffb97a8-747f-4e1f-bd59-072678ed5ae9",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          582.0,
          245.0
        ],
        [
          550.0,
          233.0
        ],
        [
          549.0,
          204.0
        ],
        [
          581.0,
          214.0
        ]
      ],
      "center_px": [
        565.5,
        224.0
      ],
      "quality": {
        "area_px": 949.0,
        "perimeter_px": 127.73548316955566,
        "sharpness": {
          "laplacian_var": 3346.9676651307627
        },
        "contrast": {
          "p05": 31.0,
          "p95": 194.0,
          "dynamic_range": 163.0,
          "mean_gray": 102.58505564387917,
          "std_gray": 71.31963809678261
        },
        "geometry": {
          "distance_to_center_norm": 0.2111780345439911,
          "distance_to_border_px": 204.0
        },
        "edge_ratio": 1.1777832013629572,
        "edge_lengths_px": [
          34.1760139465332,
          29.017236709594727,
          33.52610778808594,
          31.016124725341797
        ]
      },
      "confidence": 0.5371673377023298
    },
    {
      "observation_id": "31134c88-29c8-4f81-a205-2b56e5b33ed2",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          456.0,
          453.0
        ],
        [
          489.0,
          453.0
        ],
        [
          491.0,
          480.0
        ],
        [
          458.0,
          481.0
        ]
      ],
      "center_px": [
        473.5,
        466.75
      ],
      "quality": {
        "area_px": 908.5,
        "perimeter_px": 121.16045761108398,
        "sharpness": {
          "laplacian_var": 2450.9134008741744
        },
        "contrast": {
          "p05": 25.0,
          "p95": 188.0,
          "dynamic_range": 163.0,
          "mean_gray": 81.91666666666667,
          "std_gray": 71.48974706948333
        },
        "geometry": {
          "distance_to_center_norm": 0.2693471312522888,
          "distance_to_border_px": 239.0
        },
        "edge_ratio": 1.2194423229351472,
        "edge_lengths_px": [
          33.0,
          27.073972702026367,
          33.0151481628418,
          28.07133674621582
        ]
      },
      "confidence": 0.4966751237638301
    },
    {
      "observation_id": "7bb24841-d699-4d9d-8b89-b05b72887441",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1234.0,
          693.0
        ],
        [
          1227.0,
          665.0
        ],
        [
          1258.0,
          665.0
        ],
        [
          1265.0,
          692.0
        ]
      ],
      "center_px": [
        1246.0,
        678.75
      ],
      "quality": {
        "area_px": 856.0,
        "perimeter_px": 118.77051544189453,
        "sharpness": {
          "laplacian_var": 2510.1681821557786
        },
        "contrast": {
          "p05": 8.0,
          "p95": 163.0,
          "dynamic_range": 155.0,
          "mean_gray": 46.49348534201955,
          "std_gray": 60.62077714822159
        },
        "geometry": {
          "distance_to_center_norm": 0.9324730634689331,
          "distance_to_border_px": 15.0
        },
        "edge_ratio": 1.1119819756612892,
        "edge_lengths_px": [
          28.861740112304688,
          31.0,
          27.892650604248047,
          31.016124725341797
        ]
      },
      "confidence": 0.1539593300495616
    },
    {
      "observation_id": "0443f5d6-40cd-469c-a10d-5310c8a154df",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          627.0,
          99.0
        ],
        [
          613.0,
          116.0
        ],
        [
          576.0,
          110.0
        ],
        [
          591.0,
          93.0
        ]
      ],
      "center_px": [
        601.75,
        104.5
      ],
      "quality": {
        "area_px": 707.5,
        "perimeter_px": 118.67418670654297,
        "sharpness": {
          "laplacian_var": 2231.8412105967786
        },
        "contrast": {
          "p05": 12.0,
          "p95": 160.0,
          "dynamic_range": 148.0,
          "mean_gray": 57.12951167728238,
          "std_gray": 56.28082264347319
        },
        "geometry": {
          "distance_to_center_norm": 0.35182681679725647,
          "distance_to_border_px": 93.0
        },
        "edge_ratio": 1.7020304003595974,
        "edge_lengths_px": [
          22.022714614868164,
          37.48332977294922,
          22.671567916870117,
          36.49657440185547
        ]
      },
      "confidence": 0.2771200012449925
    },
    {
      "observation_id": "d6bc45e2-3e65-405e-87a8-494af9486a7d",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          586.0,
          370.0
        ],
        [
          556.0,
          358.0
        ],
        [
          555.0,
          332.0
        ],
        [
          585.0,
          343.0
        ]
      ],
      "center_px": [
        570.5,
        350.75
      ],
      "quality": {
        "area_px": 783.5,
        "perimeter_px": 117.30181694030762,
        "sharpness": {
          "laplacian_var": 3429.0474588997668
        },
        "contrast": {
          "p05": 32.0,
          "p95": 191.0,
          "dynamic_range": 159.0,
          "mean_gray": 87.4404973357016,
          "std_gray": 69.12717392777685
        },
        "geometry": {
          "distance_to_center_norm": 0.09548226743936539,
          "distance_to_border_px": 332.0
        },
        "edge_ratio": 1.2418121759765575,
        "edge_lengths_px": [
          32.31098937988281,
          26.019224166870117,
          31.95309066772461,
          27.018512725830078
        ]
      },
      "confidence": 0.42062184880944004
    },
    {
      "observation_id": "d9780318-7f48-4a60-9226-fd31945a1cb6",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1065.0,
          679.0
        ],
        [
          1061.0,
          652.0
        ],
        [
          1091.0,
          652.0
        ],
        [
          1096.0,
          679.0
        ]
      ],
      "center_px": [
        1078.25,
        665.5
      ],
      "quality": {
        "area_px": 823.5,
        "perimeter_px": 115.75374794006348,
        "sharpness": {
          "laplacian_var": 3069.249462371833
        },
        "contrast": {
          "p05": 9.0,
          "p95": 167.0,
          "dynamic_range": 158.0,
          "mean_gray": 93.32708688245314,
          "std_gray": 69.64119773041207
        },
        "geometry": {
          "distance_to_center_norm": 0.7275234460830688,
          "distance_to_border_px": 41.0
        },
        "edge_ratio": 1.1357521590951734,
        "edge_lengths_px": [
          27.294687271118164,
          30.0,
          27.459060668945312,
          31.0
        ]
      },
      "confidence": 0.39637168760361213
    },
    {
      "observation_id": "eb932cba-4bf6-4547-bdf6-6cd38505165d",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          203.0,
          649.0
        ],
        [
          207.0,
          622.0
        ],
        [
          238.0,
          622.0
        ],
        [
          234.0,
          648.0
        ]
      ],
      "center_px": [
        220.5,
        635.25
      ],
      "quality": {
        "area_px": 819.5,
        "perimeter_px": 115.6167049407959,
        "sharpness": {
          "laplacian_var": 3130.769797335335
        },
        "contrast": {
          "p05": 16.0,
          "p95": 182.0,
          "dynamic_range": 166.0,
          "mean_gray": 73.61643835616438,
          "std_gray": 71.47247868398368
        },
        "geometry": {
          "distance_to_center_norm": 0.6832876801490784,
          "distance_to_border_px": 71.0
        },
        "edge_ratio": 1.1790561449851884,
        "edge_lengths_px": [
          27.294687271118164,
          31.0,
          26.305892944335938,
          31.016124725341797
        ]
      },
      "confidence": 0.4633649853376546
    },
    {
      "observation_id": "1bba854a-63b6-41ee-abc6-4bd34d026908",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          290.0,
          682.0
        ],
        [
          294.0,
          655.0
        ],
        [
          324.0,
          654.0
        ],
        [
          321.0,
          681.0
        ]
      ],
      "center_px": [
        307.25,
        668.0
      ],
      "quality": {
        "area_px": 820.0,
        "perimeter_px": 115.4936294555664,
        "sharpness": {
          "laplacian_var": 3352.738644093639
        },
        "contrast": {
          "p05": 16.0,
          "p95": 181.0,
          "dynamic_range": 165.0,
          "mean_gray": 75.83390410958904,
          "std_gray": 71.02477486787198
        },
        "geometry": {
          "distance_to_center_norm": 0.6174793243408203,
          "distance_to_border_px": 38.0
        },
        "edge_ratio": 1.1417193520219107,
        "edge_lengths_px": [
          27.294687271118164,
          30.01666259765625,
          27.166154861450195,
          31.016124725341797
        ]
      },
      "confidence": 0.3638956157928849
    },
    {
      "observation_id": "95ffb758-c383-43dd-a2f0-04bf2040d006",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          564.0,
          461.0
        ],
        [
          564.0,
          484.0
        ],
        [
          531.0,
          485.0
        ],
        [
          529.0,
          462.0
        ]
      ],
      "center_px": [
        547.0,
        473.0
      ],
      "quality": {
        "area_px": 783.0,
        "perimeter_px": 114.1162223815918,
        "sharpness": {
          "laplacian_var": 4147.4723273340405
        },
        "contrast": {
          "p05": 23.0,
          "p95": 183.0,
          "dynamic_range": 160.0,
          "mean_gray": 96.56848030018762,
          "std_gray": 72.09628165357854
        },
        "geometry": {
          "distance_to_center_norm": 0.19930331408977509,
          "distance_to_border_px": 235.0
        },
        "edge_ratio": 1.5223600968070652,
        "edge_lengths_px": [
          23.0,
          33.0151481628418,
          23.0867919921875,
          35.0142822265625
        ]
      },
      "confidence": 0.3428886510457159
    },
    {
      "observation_id": "cc90bf8a-f751-4653-a98e-34926d39f9f5",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          616.0,
          460.0
        ],
        [
          616.0,
          484.0
        ],
        [
          583.0,
          484.0
        ],
        [
          582.0,
          461.0
        ]
      ],
      "center_px": [
        599.25,
        472.25
      ],
      "quality": {
        "area_px": 787.5,
        "perimeter_px": 114.03643035888672,
        "sharpness": {
          "laplacian_var": 2596.065215054323
        },
        "contrast": {
          "p05": 21.0,
          "p95": 182.0,
          "dynamic_range": 161.0,
          "mean_gray": 87.28864059590316,
          "std_gray": 71.01947513617353
        },
        "geometry": {
          "distance_to_center_norm": 0.16262763738632202,
          "distance_to_border_px": 236.0
        },
        "edge_ratio": 1.4775042551724868,
        "edge_lengths_px": [
          24.0,
          33.0,
          23.021728515625,
          34.01470184326172
        ]
      },
      "confidence": 0.35532892589788884
    },
    {
      "observation_id": "fcabb226-bbc9-4a36-a0ec-48254fb83038",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1052.0,
          636.0
        ],
        [
          1047.0,
          610.0
        ],
        [
          1077.0,
          609.0
        ],
        [
          1082.0,
          636.0
        ]
      ],
      "center_px": [
        1064.5,
        622.75
      ],
      "quality": {
        "area_px": 797.5,
        "perimeter_px": 113.95212745666504,
        "sharpness": {
          "laplacian_var": 2834.465755620945
        },
        "contrast": {
          "p05": 9.0,
          "p95": 167.0,
          "dynamic_range": 158.0,
          "mean_gray": 56.65070921985816,
          "std_gray": 64.93149949875315
        },
        "geometry": {
          "distance_to_center_norm": 0.6798796653747559,
          "distance_to_border_px": 84.0
        },
        "edge_ratio": 1.1337137166428901,
        "edge_lengths_px": [
          26.476404190063477,
          30.01666259765625,
          27.459060668945312,
          30.0
        ]
      },
      "confidence": 0.46896024883690896
    },
    {
      "observation_id": "1fb5b212-2e11-4690-bcc1-7b753195278b",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          702.0,
          641.0
        ],
        [
          701.0,
          615.0
        ],
        [
          731.0,
          615.0
        ],
        [
          733.0,
          641.0
        ]
      ],
      "center_px": [
        716.75,
        628.0
      ],
      "quality": {
        "area_px": 793.0,
        "perimeter_px": 113.09603309631348,
        "sharpness": {
          "laplacian_var": 2630.2645835517806
        },
        "contrast": {
          "p05": 12.0,
          "p95": 174.0,
          "dynamic_range": 162.0,
          "mean_gray": 82.71657754010695,
          "std_gray": 72.88459287450844
        },
        "geometry": {
          "distance_to_center_norm": 0.3796437680721283,
          "distance_to_border_px": 79.0
        },
        "edge_ratio": 1.1914267620428063,
        "edge_lengths_px": [
          26.019224166870117,
          30.0,
          26.07680892944336,
          31.0
        ]
      },
      "confidence": 0.44372569385651617
    },
    {
      "observation_id": "3574f0f5-4145-4c9b-9d8a-0d37d49e39d5",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          366.0,
          646.0
        ],
        [
          368.0,
          620.0
        ],
        [
          398.0,
          620.0
        ],
        [
          396.0,
          646.0
        ]
      ],
      "center_px": [
        382.0,
        633.0
      ],
      "quality": {
        "area_px": 780.0,
        "perimeter_px": 112.15361785888672,
        "sharpness": {
          "laplacian_var": 3196.1188793388433
        },
        "contrast": {
          "p05": 17.0,
          "p95": 180.0,
          "dynamic_range": 163.0,
          "mean_gray": 113.35636363636364,
          "std_gray": 72.17050710551901
        },
        "geometry": {
          "distance_to_center_norm": 0.5115378499031067,
          "distance_to_border_px": 74.0
        },
        "edge_ratio": 1.150447513772552,
        "edge_lengths_px": [
          26.07680892944336,
          30.0,
          26.07680892944336,
          30.0
        ]
      },
      "confidence": 0.45199802144368495
    },
    {
      "observation_id": "9db777dc-abd3-49e9-b435-5fe9a0caa28e",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          446.0,
          628.0
        ],
        [
          448.0,
          602.0
        ],
        [
          478.0,
          602.0
        ],
        [
          476.0,
          628.0
        ]
      ],
      "center_px": [
        462.0,
        615.0
      ],
      "quality": {
        "area_px": 780.0,
        "perimeter_px": 112.15361785888672,
        "sharpness": {
          "laplacian_var": 3623.918099173554
        },
        "contrast": {
          "p05": 16.0,
          "p95": 179.0,
          "dynamic_range": 163.0,
          "mean_gray": 74.9090909090909,
          "std_gray": 69.85355401312422
        },
        "geometry": {
          "distance_to_center_norm": 0.4235049784183502,
          "distance_to_border_px": 92.0
        },
        "edge_ratio": 1.150447513772552,
        "edge_lengths_px": [
          26.07680892944336,
          30.0,
          26.07680892944336,
          30.0
        ]
      },
      "confidence": 0.45199802144368495
    },
    {
      "observation_id": "9776006c-79db-4113-a35f-5b13a27f17d5",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          746.0,
          628.0
        ],
        [
          745.0,
          602.0
        ],
        [
          774.0,
          602.0
        ],
        [
          776.0,
          628.0
        ]
      ],
      "center_px": [
        760.25,
        615.0
      ],
      "quality": {
        "area_px": 767.0,
        "perimeter_px": 111.09603309631348,
        "sharpness": {
          "laplacian_var": 2049.7434746541558
        },
        "contrast": {
          "p05": 11.0,
          "p95": 172.0,
          "dynamic_range": 161.0,
          "mean_gray": 39.569573283859,
          "std_gray": 53.719227131817576
        },
        "geometry": {
          "distance_to_center_norm": 0.38394394516944885,
          "distance_to_border_px": 92.0
        },
        "edge_ratio": 1.1529936406865868,
        "edge_lengths_px": [
          26.019224166870117,
          29.0,
          26.07680892944336,
          30.0
        ]
      },
      "confidence": 0.44348322079976393
    },
    {
      "observation_id": "2ba8d5ea-5401-41fc-b08c-342c8b953857",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          629.0,
          612.0
        ],
        [
          629.0,
          586.0
        ],
        [
          658.0,
          586.0
        ],
        [
          659.0,
          611.0
        ]
      ],
      "center_px": [
        643.75,
        598.75
      ],
      "quality": {
        "area_px": 752.5,
        "perimeter_px": 110.03665542602539,
        "sharpness": {
          "laplacian_var": 4481.1411015602325
        },
        "contrast": {
          "p05": 14.0,
          "p95": 176.0,
          "dynamic_range": 162.0,
          "mean_gray": 95.71189591078067,
          "std_gray": 71.05741884550443
        },
        "geometry": {
          "distance_to_center_norm": 0.3251786530017853,
          "distance_to_border_px": 108.0
        },
        "edge_ratio": 1.1997070823945877,
        "edge_lengths_px": [
          26.0,
          29.0,
          25.01999282836914,
          30.01666259765625
        ]
      },
      "confidence": 0.41815762699787656
    },
    {
      "observation_id": "023d69de-f1b6-4d9f-8a55-7f6c12449d8b",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1163.0,
          490.0
        ],
        [
          1193.0,
          490.0
        ],
        [
          1199.0,
          514.0
        ],
        [
          1169.0,
          514.0
        ]
      ],
      "center_px": [
        1181.0,
        502.0
      ],
      "quality": {
        "area_px": 720.0,
        "perimeter_px": 109.47726821899414,
        "sharpness": {
          "laplacian_var": 3335.9104
        },
        "contrast": {
          "p05": 8.0,
          "p95": 163.0,
          "dynamic_range": 155.0,
          "mean_gray": 71.438,
          "std_gray": 65.89110832274716
        },
        "geometry": {
          "distance_to_center_norm": 0.7617100477218628,
          "distance_to_border_px": 81.0
        },
        "edge_ratio": 1.2126781077409245,
        "edge_lengths_px": [
          30.0,
          24.73863410949707,
          30.0,
          24.73863410949707
        ]
      },
      "confidence": 0.3958181457519531
    },
    {
      "observation_id": "2b837b27-c54d-4f3f-b7db-946ac5876ada",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          551.0,
          496.0
        ],
        [
          581.0,
          496.0
        ],
        [
          581.0,
          520.0
        ],
        [
          551.0,
          521.0
        ]
      ],
      "center_px": [
        566.0,
        508.25
      ],
      "quality": {
        "area_px": 735.0,
        "perimeter_px": 109.01666259765625,
        "sharpness": {
          "laplacian_var": 2533.391607674156
        },
        "contrast": {
          "p05": 8.0,
          "p95": 166.0,
          "dynamic_range": 158.0,
          "mean_gray": 69.16959064327486,
          "std_gray": 68.76986858907289
        },
        "geometry": {
          "distance_to_center_norm": 0.22564637660980225,
          "distance_to_border_px": 199.0
        },
        "edge_ratio": 1.2506942749023438,
        "edge_lengths_px": [
          30.0,
          24.0,
          30.01666259765625,
          25.0
        ]
      },
      "confidence": 0.39178239625208167
    },
    {
      "observation_id": "6ff293b7-a9d1-4971-8694-6b638503540c",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1041.0,
          491.0
        ],
        [
          1070.0,
          491.0
        ],
        [
          1075.0,
          515.0
        ],
        [
          1046.0,
          516.0
        ]
      ],
      "center_px": [
        1058.0,
        503.25
      ],
      "quality": {
        "area_px": 713.0,
        "perimeter_px": 108.02763557434082,
        "sharpness": {
          "laplacian_var": 3238.8254192004456
        },
        "contrast": {
          "p05": 8.0,
          "p95": 166.0,
          "dynamic_range": 158.0,
          "mean_gray": 65.9251012145749,
          "std_gray": 66.00862151922503
        },
        "geometry": {
          "distance_to_center_norm": 0.6017478704452515,
          "distance_to_border_px": 204.0
        },
        "edge_ratio": 1.1836378025559324,
        "edge_lengths_px": [
          29.0,
          24.515300750732422,
          29.017236709594727,
          25.495098114013672
        ]
      },
      "confidence": 0.4015868133874269
    },
    {
      "observation_id": "b8622361-42e9-455e-b658-af309e8b601d",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          674.0,
          495.0
        ],
        [
          703.0,
          495.0
        ],
        [
          704.0,
          519.0
        ],
        [
          674.0,
          519.0
        ]
      ],
      "center_px": [
        688.75,
        507.0
      ],
      "quality": {
        "area_px": 708.0,
        "perimeter_px": 107.02082443237305,
        "sharpness": {
          "laplacian_var": 2761.430476
        },
        "contrast": {
          "p05": 8.0,
          "p95": 163.0,
          "dynamic_range": 155.0,
          "mean_gray": 63.286,
          "std_gray": 65.28473178316658
        },
        "geometry": {
          "distance_to_center_norm": 0.21091137826442719,
          "distance_to_border_px": 201.0
        },
        "edge_ratio": 1.25,
        "edge_lengths_px": [
          29.0,
          24.020824432373047,
          30.0,
          24.0
        ]
      },
      "confidence": 0.3776
    },
    {
      "observation_id": "63eee46e-454e-4387-b1f0-42f119ea041d",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          278.0,
          431.0
        ],
        [
          307.0,
          430.0
        ],
        [
          304.0,
          453.0
        ],
        [
          275.0,
          453.0
        ]
      ],
      "center_px": [
        291.0,
        441.75
      ],
      "quality": {
        "area_px": 651.0,
        "perimeter_px": 103.4156665802002,
        "sharpness": {
          "laplacian_var": 3409.0595009401327
        },
        "contrast": {
          "p05": 15.0,
          "p95": 180.0,
          "dynamic_range": 165.0,
          "mean_gray": 79.35214446952595,
          "std_gray": 69.58644469628385
        },
        "geometry": {
          "distance_to_center_norm": 0.48814597725868225,
          "distance_to_border_px": 267.0
        },
        "edge_ratio": 1.306870589274211,
        "edge_lengths_px": [
          29.017236709594727,
          23.194826126098633,
          29.0,
          22.203603744506836
        ]
      },
      "confidence": 0.3320910299473707
    },
    {
      "observation_id": "75911c27-a2b0-4add-9741-56d72879aebf",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          672.0,
          416.0
        ],
        [
          700.0,
          416.0
        ],
        [
          701.0,
          439.0
        ],
        [
          672.0,
          439.0
        ]
      ],
      "center_px": [
        686.25,
        427.5
      ],
      "quality": {
        "area_px": 655.5,
        "perimeter_px": 103.021728515625,
        "sharpness": {
          "laplacian_var": 1976.926007110096
        },
        "contrast": {
          "p05": 7.0,
          "p95": 142.0,
          "dynamic_range": 135.0,
          "mean_gray": 69.26824034334764,
          "std_gray": 58.49216722363211
        },
        "geometry": {
          "distance_to_center_norm": 0.11143215000629425,
          "distance_to_border_px": 281.0
        },
        "edge_ratio": 1.2608695652173914,
        "edge_lengths_px": [
          28.0,
          23.021728515625,
          29.0,
          23.0
        ]
      },
      "confidence": 0.3465862068965517
    },
    {
      "observation_id": "5be757f5-3b18-49e1-aa0d-af42ca4470bc",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1027.0,
          413.0
        ],
        [
          1055.0,
          413.0
        ],
        [
          1059.0,
          436.0
        ],
        [
          1031.0,
          436.0
        ]
      ],
      "center_px": [
        1043.0,
        424.5
      ],
      "quality": {
        "area_px": 644.0,
        "perimeter_px": 102.69047164916992,
        "sharpness": {
          "laplacian_var": 2990.8749948347104
        },
        "contrast": {
          "p05": 8.0,
          "p95": 163.0,
          "dynamic_range": 155.0,
          "mean_gray": 66.72045454545454,
          "std_gray": 63.971027105122346
        },
        "geometry": {
          "distance_to_center_norm": 0.5558050274848938,
          "distance_to_border_px": 221.0
        },
        "edge_ratio": 1.1993881839699854,
        "edge_lengths_px": [
          28.0,
          23.34523582458496,
          28.0,
          23.34523582458496
        ]
      },
      "confidence": 0.3579602826436361
    },
    {
      "observation_id": "7147361e-b147-4912-aadc-ddb413e77ffd",
      "type": "aruco",
      "marker_id": 207,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1145.0,
          412.0
        ],
        [
          1173.0,
          412.0
        ],
        [
          1179.0,
          434.0
        ],
        [
          1151.0,
          435.0
        ]
      ],
      "center_px": [
        1162.0,
        423.25
      ],
      "quality": {
        "area_px": 633.0,
        "perimeter_px": 102.5910873413086,
        "sharpness": {
          "laplacian_var": 2925.2247162317094
        },
        "contrast": {
          "p05": 8.0,
          "p95": 162.0,
          "dynamic_range": 154.0,
          "mean_gray": 66.4988344988345,
          "std_gray": 64.94870217891597
        },
        "geometry": {
          "distance_to_center_norm": 0.7160782814025879,
          "distance_to_border_px": 101.0
        },
        "edge_ratio": 1.2286640258971397,
        "edge_lengths_px": [
          28.0,
          22.803508758544922,
          28.017850875854492,
          23.76972770690918
        ]
      },
      "confidence": 0.343462485354258
    },
    {
      "observation_id": "d8042b63-b3e8-478c-a75d-f64061df3a16",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          459.0,
          390.0
        ],
        [
          492.0,
          390.0
        ],
        [
          490.0,
          407.0
        ],
        [
          456.0,
          407.0
        ]
      ],
      "center_px": [
        474.25,
        398.5
      ],
      "quality": {
        "area_px": 569.5,
        "perimeter_px": 101.37991905212402,
        "sharpness": {
          "laplacian_var": 2448.3584121381964
        },
        "contrast": {
          "p05": 11.0,
          "p95": 161.0,
          "dynamic_range": 150.0,
          "mean_gray": 56.101694915254235,
          "std_gray": 60.58395669040837
        },
        "geometry": {
          "distance_to_center_norm": 0.23173370957374573,
          "distance_to_border_px": 313.0
        },
        "edge_ratio": 1.9863012034834777,
        "edge_lengths_px": [
          33.0,
          17.11724281311035,
          34.0,
          17.262676239013672
        ]
      },
      "confidence": 0.19114254474639894
    },
    {
      "observation_id": "b70ac44e-c557-48fd-8c48-a008b03392c6",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          468.0,
          329.0
        ],
        [
          499.0,
          328.0
        ],
        [
          497.0,
          343.0
        ],
        [
          466.0,
          344.0
        ]
      ],
      "center_px": [
        482.5,
        336.0
      ],
      "quality": {
        "area_px": 463.0,
        "perimeter_px": 92.2977409362793,
        "sharpness": {
          "laplacian_var": 3942.40234060432
        },
        "contrast": {
          "p05": 11.0,
          "p95": 155.0,
          "dynamic_range": 144.0,
          "mean_gray": 71.26331360946746,
          "std_gray": 58.66184220625726
        },
        "geometry": {
          "distance_to_center_norm": 0.2169652283191681,
          "distance_to_border_px": 328.0
        },
        "edge_ratio": 2.0496032413749727,
        "edge_lengths_px": [
          31.016124725341797,
          15.132745742797852,
          31.016124725341797,
          15.132745742797852
        ]
      },
      "confidence": 0.15059825259624304
    },
    {
      "observation_id": "0af8f582-1462-4cbb-8b59-53df22930a7d",
      "type": "aruco",
      "marker_id": 94,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1242.0,
          289.0
        ],
        [
          1236.0,
          270.0
        ],
        [
          1261.0,
          270.0
        ],
        [
          1268.0,
          289.0
        ]
      ],
      "center_px": [
        1251.75,
        279.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 91.17331504821777,
        "sharpness": {
          "laplacian_var": 2230.3116065099243
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 58.65217391304348,
          "std_gray": 57.83384836765779
        },
        "geometry": {
          "distance_to_center_norm": 0.8402856588363647,
          "distance_to_border_px": 12.0
        },
        "edge_ratio": 1.3049026436375375,
        "edge_lengths_px": [
          19.92485809326172,
          25.0,
          20.248456954956055,
          26.0
        ]
      },
      "confidence": 0.05940673074575571
    },
    {
      "observation_id": "7b7c0621-5ad4-4f06-8ade-3ff438950bd0",
      "type": "aruco",
      "marker_id": 76,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1035.0,
          297.0
        ],
        [
          1031.0,
          278.0
        ],
        [
          1057.0,
          278.0
        ],
        [
          1061.0,
          297.0
        ]
      ],
      "center_px": [
        1046.0,
        287.5
      ],
      "quality": {
        "area_px": 494.0,
        "perimeter_px": 90.83297729492188,
        "sharpness": {
          "laplacian_var": 2415.5328154536865
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 72.50271739130434,
          "std_gray": 59.701066857470245
        },
        "geometry": {
          "distance_to_center_norm": 0.5616520643234253,
          "distance_to_border_px": 219.0
        },
        "edge_ratio": 1.339068071064434,
        "edge_lengths_px": [
          19.416488647460938,
          26.0,
          19.416488647460938,
          26.0
        ]
      },
      "confidence": 0.2459421895345052
    },
    {
      "observation_id": "8eac1aae-28d8-44e7-a7ec-fa8f10552418",
      "type": "aruco",
      "marker_id": 100,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1163.0,
          291.0
        ],
        [
          1158.0,
          272.0
        ],
        [
          1183.0,
          272.0
        ],
        [
          1189.0,
          291.0
        ]
      ],
      "center_px": [
        1173.25,
        281.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 90.57174110412598,
        "sharpness": {
          "laplacian_var": 2177.797484672463
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 79.05540166204986,
          "std_gray": 60.76495044122052
        },
        "geometry": {
          "distance_to_center_norm": 0.7340260744094849,
          "distance_to_border_px": 91.0
        },
        "edge_ratio": 1.3233651356107032,
        "edge_lengths_px": [
          19.646883010864258,
          25.0,
          19.92485809326172,
          26.0
        ]
      },
      "confidence": 0.24407473894265982
    },
    {
      "observation_id": "5900b1cf-efdf-4e33-bc45-7d524391a98f",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          257.0,
          281.0
        ],
        [
          261.0,
          262.0
        ],
        [
          286.0,
          262.0
        ],
        [
          283.0,
          281.0
        ]
      ],
      "center_px": [
        271.75,
        271.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 89.6518726348877,
        "sharpness": {
          "laplacian_var": 3777.5801039697544
        },
        "contrast": {
          "p05": 10.0,
          "p95": 174.0,
          "dynamic_range": 164.0,
          "mean_gray": 100.8695652173913,
          "std_gray": 65.80685959211381
        },
        "geometry": {
          "distance_to_center_norm": 0.5157754421234131,
          "distance_to_border_px": 257.0
        },
        "edge_ratio": 1.3516756419832816,
        "edge_lengths_px": [
          19.416488647460938,
          25.0,
          19.235383987426758,
          26.0
        ]
      },
      "confidence": 0.23896265492072474
    },
    {
      "observation_id": "8e5b8112-bca2-437a-80f7-d8285e85f15d",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          913.0,
          295.0
        ],
        [
          910.0,
          275.0
        ],
        [
          935.0,
          276.0
        ],
        [
          938.0,
          295.0
        ]
      ],
      "center_px": [
        924.0,
        285.25
      ],
      "quality": {
        "area_px": 486.0,
        "perimeter_px": 89.4791259765625,
        "sharpness": {
          "laplacian_var": 2493.4484644674008
        },
        "contrast": {
          "p05": 7.0,
          "p95": 149.0,
          "dynamic_range": 142.0,
          "mean_gray": 59.891061452513966,
          "std_gray": 56.81418186407767
        },
        "geometry": {
          "distance_to_center_norm": 0.3999340832233429,
          "distance_to_border_px": 275.0
        },
        "edge_ratio": 1.300727494950114,
        "edge_lengths_px": [
          20.2237491607666,
          25.01999282836914,
          19.235383987426758,
          25.0
        ]
      },
      "confidence": 0.24909137483284013
    },
    {
      "observation_id": "5f74951d-dac2-471e-b305-e697c3ffdd7f",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          870.0,
          283.0
        ],
        [
          868.0,
          264.0
        ],
        [
          893.0,
          264.0
        ],
        [
          896.0,
          283.0
        ]
      ],
      "center_px": [
        881.75,
        273.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 89.34035682678223,
        "sharpness": {
          "laplacian_var": 2144.4981698579695
        },
        "contrast": {
          "p05": 7.0,
          "p95": 150.0,
          "dynamic_range": 143.0,
          "mean_gray": 76.21798365122616,
          "std_gray": 59.37973124836284
        },
        "geometry": {
          "distance_to_center_norm": 0.34966418147087097,
          "distance_to_border_px": 264.0
        },
        "edge_ratio": 1.360902222610914,
        "edge_lengths_px": [
          19.10497283935547,
          25.0,
          19.235383987426758,
          26.0
        ]
      },
      "confidence": 0.23734254719660833
    },
    {
      "observation_id": "d16f4cdd-f509-4e38-9eb2-8d2573a3a22f",
      "type": "aruco",
      "marker_id": 77,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          305.0,
          283.0
        ],
        [
          308.0,
          264.0
        ],
        [
          333.0,
          264.0
        ],
        [
          331.0,
          283.0
        ]
      ],
      "center_px": [
        319.25,
        273.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 89.34035682678223,
        "sharpness": {
          "laplacian_var": 2551.5438528758846
        },
        "contrast": {
          "p05": 8.0,
          "p95": 166.0,
          "dynamic_range": 158.0,
          "mean_gray": 65.51226158038148,
          "std_gray": 64.03004435340395
        },
        "geometry": {
          "distance_to_center_norm": 0.4524144232273102,
          "distance_to_border_px": 264.0
        },
        "edge_ratio": 1.360902222610914,
        "edge_lengths_px": [
          19.235383987426758,
          25.0,
          19.10497283935547,
          26.0
        ]
      },
      "confidence": 0.23734254719660833
    },
    {
      "observation_id": "d207d371-d1f9-4da6-90bf-8a7ec3a73f44",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          830.0,
          297.0
        ],
        [
          829.0,
          278.0
        ],
        [
          854.0,
          278.0
        ],
        [
          856.0,
          297.0
        ]
      ],
      "center_px": [
        842.25,
        287.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 89.13127136230469,
        "sharpness": {
          "laplacian_var": 2097.3294923861636
        },
        "contrast": {
          "p05": 6.300000000000001,
          "p95": 151.7,
          "dynamic_range": 145.39999999999998,
          "mean_gray": 45.87738419618529,
          "std_gray": 54.09849434785828
        },
        "geometry": {
          "distance_to_center_norm": 0.2925931513309479,
          "distance_to_border_px": 278.0
        },
        "edge_ratio": 1.3665295942160907,
        "edge_lengths_px": [
          19.02629852294922,
          25.0,
          19.10497283935547,
          26.0
        ]
      },
      "confidence": 0.236365170112023
    },
    {
      "observation_id": "f53d333f-8b86-4251-9109-8c99f73e0ddb",
      "type": "aruco",
      "marker_id": 50,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          907.0,
          261.0
        ],
        [
          905.0,
          242.0
        ],
        [
          930.0,
          242.0
        ],
        [
          933.0,
          260.0
        ]
      ],
      "center_px": [
        918.75,
        251.25
      ],
      "quality": {
        "area_px": 473.0,
        "perimeter_px": 88.37248420715332,
        "sharpness": {
          "laplacian_var": 2566.1119192775145
        },
        "contrast": {
          "p05": 7.0,
          "p95": 151.0,
          "dynamic_range": 144.0,
          "mean_gray": 52.1764705882353,
          "std_gray": 54.89102732269137
        },
        "geometry": {
          "distance_to_center_norm": 0.40747860074043274,
          "distance_to_border_px": 242.0
        },
        "edge_ratio": 1.425844731638557,
        "edge_lengths_px": [
          19.10497283935547,
          25.0,
          18.248287200927734,
          26.019224166870117
        ]
      },
      "confidence": 0.2211554500544793
    },
    {
      "observation_id": "e1e1b0d3-8c08-4002-be96-7ef402cccdbe",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          766.0,
          277.0
        ],
        [
          764.0,
          258.0
        ],
        [
          790.0,
          258.0
        ],
        [
          791.0,
          276.0
        ]
      ],
      "center_px": [
        777.75,
        267.25
      ],
      "quality": {
        "area_px": 472.5,
        "perimeter_px": 88.1527214050293,
        "sharpness": {
          "laplacian_var": 2052.436472628267
        },
        "contrast": {
          "p05": 7.0,
          "p95": 151.0,
          "dynamic_range": 144.0,
          "mean_gray": 52.55742296918768,
          "std_gray": 56.76029683185373
        },
        "geometry": {
          "distance_to_center_norm": 0.22615359723567963,
          "distance_to_border_px": 258.0
        },
        "edge_ratio": 1.4422205613868182,
        "edge_lengths_px": [
          19.10497283935547,
          26.0,
          18.027755737304688,
          25.01999282836914
        ]
      },
      "confidence": 0.21841319450965294
    },
    {
      "observation_id": "d5f0ab41-40f1-44f9-8e1f-faf8fc17d2e2",
      "type": "aruco",
      "marker_id": 104,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1174.0,
          237.0
        ],
        [
          1169.0,
          219.0
        ],
        [
          1194.0,
          219.0
        ],
        [
          1199.0,
          237.0
        ]
      ],
      "center_px": [
        1184.0,
        228.0
      ],
      "quality": {
        "area_px": 450.0,
        "perimeter_px": 87.36308288574219,
        "sharpness": {
          "laplacian_var": 1899.2504163123583
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 84.74107142857143,
          "std_gray": 60.63926496911797
        },
        "geometry": {
          "distance_to_center_norm": 0.7623366713523865,
          "distance_to_border_px": 81.0
        },
        "edge_ratio": 1.3382193367956818,
        "edge_lengths_px": [
          18.681541442871094,
          25.0,
          18.681541442871094,
          25.0
        ]
      },
      "confidence": 0.22417849731445313
    },
    {
      "observation_id": "581d6b9e-6771-4b74-a575-729960709742",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          814.0,
          262.0
        ],
        [
          812.0,
          243.0
        ],
        [
          837.0,
          243.0
        ],
        [
          839.0,
          261.0
        ]
      ],
      "center_px": [
        825.5,
        252.25
      ],
      "quality": {
        "area_px": 463.5,
        "perimeter_px": 87.23573684692383,
        "sharpness": {
          "laplacian_var": 2319.91142929861
        },
        "contrast": {
          "p05": 7.0,
          "p95": 154.0,
          "dynamic_range": 147.0,
          "mean_gray": 86.22349570200574,
          "std_gray": 59.56058212991201
        },
        "geometry": {
          "distance_to_center_norm": 0.2921459376811981,
          "distance_to_border_px": 243.0
        },
        "edge_ratio": 1.3814979263337708,
        "edge_lengths_px": [
          19.10497283935547,
          25.0,
          18.11077117919922,
          25.01999282836914
        ]
      },
      "confidence": 0.22367025973033955
    },
    {
      "observation_id": "bddf74fb-a851-44f6-8112-e44937f6c805",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          726.0,
          226.0
        ],
        [
          725.0,
          208.0
        ],
        [
          750.0,
          208.0
        ],
        [
          751.0,
          226.0
        ]
      ],
      "center_px": [
        738.0,
        217.0
      ],
      "quality": {
        "area_px": 450.0,
        "perimeter_px": 86.05551147460938,
        "sharpness": {
          "laplacian_var": 2310.1611305980728
        },
        "contrast": {
          "p05": 8.0,
          "p95": 152.0,
          "dynamic_range": 144.0,
          "mean_gray": 74.375,
          "std_gray": 56.50033580810447
        },
        "geometry": {
          "distance_to_center_norm": 0.23608532547950745,
          "distance_to_border_px": 208.0
        },
        "edge_ratio": 1.3867505397950175,
        "edge_lengths_px": [
          18.027755737304688,
          25.0,
          18.027755737304688,
          25.0
        ]
      },
      "confidence": 0.21633306884765624
    },
    {
      "observation_id": "8b4ec879-2e43-4974-8811-3648cbf0d7f1",
      "type": "aruco",
      "marker_id": 67,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          848.0,
          218.0
        ],
        [
          846.0,
          201.0
        ],
        [
          870.0,
          200.0
        ],
        [
          873.0,
          218.0
        ]
      ],
      "center_px": [
        859.25,
        209.25
      ],
      "quality": {
        "area_px": 430.0,
        "perimeter_px": 84.38635444641113,
        "sharpness": {
          "laplacian_var": 2435.1556490207445
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 56.44827586206897,
          "std_gray": 54.31023436322547
        },
        "geometry": {
          "distance_to_center_norm": 0.36235129833221436,
          "distance_to_border_px": 200.0
        },
        "edge_ratio": 1.4605155907966747,
        "edge_lengths_px": [
          17.11724281311035,
          24.020824432373047,
          18.248287200927734,
          25.0
        ]
      },
      "confidence": 0.19627771759033205
    },
    {
      "observation_id": "327d7571-4882-4527-9b50-b8052b7a5fef",
      "type": "aruco",
      "marker_id": 60,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          753.0,
          206.0
        ],
        [
          752.0,
          189.0
        ],
        [
          776.0,
          189.0
        ],
        [
          778.0,
          206.0
        ]
      ],
      "center_px": [
        764.75,
        197.5
      ],
      "quality": {
        "area_px": 416.5,
        "perimeter_px": 83.1466293334961,
        "sharpness": {
          "laplacian_var": 1940.412327120931
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 95.29220779220779,
          "std_gray": 59.30500354755072
        },
        "geometry": {
          "distance_to_center_norm": 0.27898985147476196,
          "distance_to_border_px": 189.0
        },
        "edge_ratio": 1.4680505354712985,
        "edge_lengths_px": [
          17.029386520385742,
          24.0,
          17.11724281311035,
          25.0
        ]
      },
      "confidence": 0.18913971961975098
    },
    {
      "observation_id": "5db32777-73d4-42ab-b026-ec01e146c085",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          679.0,
          201.0
        ],
        [
          677.0,
          184.0
        ],
        [
          702.0,
          183.0
        ],
        [
          703.0,
          200.0
        ]
      ],
      "center_px": [
        690.25,
        192.0
      ],
      "quality": {
        "area_px": 418.0,
        "perimeter_px": 83.18744659423828,
        "sharpness": {
          "laplacian_var": 1836.615481109799
        },
        "contrast": {
          "p05": 7.350000000000001,
          "p95": 150.0,
          "dynamic_range": 142.65,
          "mean_gray": 74.3538961038961,
          "std_gray": 59.53146132439365
        },
        "geometry": {
          "distance_to_center_norm": 0.2388036847114563,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.4692245547670144,
        "edge_lengths_px": [
          17.11724281311035,
          25.01999282836914,
          17.029386520385742,
          24.020824432373047
        ]
      },
      "confidence": 0.18966921411877496
    },
    {
      "observation_id": "f8f7f529-1bd8-4bed-a1cb-ab7126df88a7",
      "type": "aruco",
      "marker_id": 88,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1096.0,
          179.0
        ],
        [
          1091.0,
          161.0
        ],
        [
          1114.0,
          161.0
        ],
        [
          1119.0,
          178.0
        ]
      ],
      "center_px": [
        1105.0,
        169.75
      ],
      "quality": {
        "area_px": 405.0,
        "perimeter_px": 82.42331504821777,
        "sharpness": {
          "laplacian_var": 2306.4865220249835
        },
        "contrast": {
          "p05": 7.0,
          "p95": 151.0,
          "dynamic_range": 144.0,
          "mean_gray": 72.43910256410257,
          "std_gray": 59.27967294811633
        },
        "geometry": {
          "distance_to_center_norm": 0.6842061877250671,
          "distance_to_border_px": 161.0
        },
        "edge_ratio": 1.2991913056123376,
        "edge_lengths_px": [
          18.681541442871094,
          23.0,
          17.72004508972168,
          23.021728515625
        ]
      },
      "confidence": 0.20782158780899712
    },
    {
      "observation_id": "031ac3e8-e589-4dd8-83f0-e2062931b90f",
      "type": "aruco",
      "marker_id": 70,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          927.0,
          192.0
        ],
        [
          925.0,
          175.0
        ],
        [
          949.0,
          175.0
        ],
        [
          951.0,
          192.0
        ]
      ],
      "center_px": [
        938.0,
        183.5
      ],
      "quality": {
        "area_px": 408.0,
        "perimeter_px": 82.2344856262207,
        "sharpness": {
          "laplacian_var": 2343.745988888889
        },
        "contrast": {
          "p05": 7.0,
          "p95": 154.0,
          "dynamic_range": 147.0,
          "mean_gray": 78.24333333333334,
          "std_gray": 59.16342441820697
        },
        "geometry": {
          "distance_to_center_norm": 0.4716681241989136,
          "distance_to_border_px": 175.0
        },
        "edge_ratio": 1.4020949671648077,
        "edge_lengths_px": [
          17.11724281311035,
          24.0,
          17.11724281311035,
          24.0
        ]
      },
      "confidence": 0.193995418548584
    },
    {
      "observation_id": "560d4e79-550e-408d-9196-1940ddb9495d",
      "type": "aruco",
      "marker_id": 98,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          898.0,
          181.0
        ],
        [
          896.0,
          164.0
        ],
        [
          919.0,
          164.0
        ],
        [
          922.0,
          181.0
        ]
      ],
      "center_px": [
        908.75,
        172.5
      ],
      "quality": {
        "area_px": 399.5,
        "perimeter_px": 81.37991905212402,
        "sharpness": {
          "laplacian_var": 2378.458997935823
        },
        "contrast": {
          "p05": 7.0,
          "p95": 154.0,
          "dynamic_range": 147.0,
          "mean_gray": 72.06164383561644,
          "std_gray": 59.69617396733982
        },
        "geometry": {
          "distance_to_center_norm": 0.4462646245956421,
          "distance_to_border_px": 164.0
        },
        "edge_ratio": 1.4020949671648077,
        "edge_lengths_px": [
          17.11724281311035,
          23.0,
          17.262676239013672,
          24.0
        ]
      },
      "confidence": 0.1899538473288218
    },
    {
      "observation_id": "3a1c8a62-4678-47a8-9516-62ce6c5b126c",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          348.0,
          168.0
        ],
        [
          350.0,
          152.0
        ],
        [
          374.0,
          151.0
        ],
        [
          372.0,
          168.0
        ]
      ],
      "center_px": [
        361.0,
        159.75
      ],
      "quality": {
        "area_px": 395.0,
        "perimeter_px": 81.26258277893066,
        "sharpness": {
          "laplacian_var": 3463.3613821673594
        },
        "contrast": {
          "p05": 10.0,
          "p95": 168.0,
          "dynamic_range": 158.0,
          "mean_gray": 98.52595155709342,
          "std_gray": 60.19719772309934
        },
        "geometry": {
          "distance_to_center_norm": 0.4676894545555115,
          "distance_to_border_px": 151.0
        },
        "edge_ratio": 1.489708288137177,
        "edge_lengths_px": [
          16.124515533447266,
          24.020824432373047,
          17.11724281311035,
          24.0
        ]
      },
      "confidence": 0.17676838843571283
    },
    {
      "observation_id": "be39f027-d73b-4fd8-8259-4450fc3747c8",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          279.0,
          171.0
        ],
        [
          281.0,
          155.0
        ],
        [
          305.0,
          154.0
        ],
        [
          304.0,
          170.0
        ]
      ],
      "center_px": [
        292.25,
        162.5
      ],
      "quality": {
        "area_px": 390.5,
        "perimeter_px": 81.19655227661133,
        "sharpness": {
          "laplacian_var": 3422.829771626974
        },
        "contrast": {
          "p05": 9.0,
          "p95": 168.75,
          "dynamic_range": 159.75,
          "mean_gray": 98.05944055944056,
          "std_gray": 62.98240373395261
        },
        "geometry": {
          "distance_to_center_norm": 0.5446262955665588,
          "distance_to_border_px": 154.0
        },
        "edge_ratio": 1.560704278037201,
        "edge_lengths_px": [
          16.124515533447266,
          24.020824432373047,
          16.031219482421875,
          25.01999282836914
        ]
      },
      "confidence": 0.1668050360320266
    },
    {
      "observation_id": "d08dfd4d-6854-4fe2-bf58-984fb43dc403",
      "type": "aruco",
      "marker_id": 90,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          968.0,
          179.0
        ],
        [
          965.0,
          163.0
        ],
        [
          988.0,
          162.0
        ],
        [
          992.0,
          179.0
        ]
      ],
      "center_px": [
        978.25,
        170.75
      ],
      "quality": {
        "area_px": 389.5,
        "perimeter_px": 80.76479721069336,
        "sharpness": {
          "laplacian_var": 1990.588963285743
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 77.13745704467354,
          "std_gray": 60.160338504105574
        },
        "geometry": {
          "distance_to_center_norm": 0.527838945388794,
          "distance_to_border_px": 162.0
        },
        "edge_ratio": 1.4743083309606915,
        "edge_lengths_px": [
          16.278820037841797,
          23.021728515625,
          17.464248657226562,
          24.0
        ]
      },
      "confidence": 0.17612778902053833
    },
    {
      "observation_id": "3ad5e067-35ff-4410-872c-1aba52a9d68a",
      "type": "aruco",
      "marker_id": 91,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1049.0,
          170.0
        ],
        [
          1046.0,
          154.0
        ],
        [
          1069.0,
          153.0
        ],
        [
          1073.0,
          170.0
        ]
      ],
      "center_px": [
        1059.25,
        161.75
      ],
      "quality": {
        "area_px": 389.5,
        "perimeter_px": 80.76479721069336,
        "sharpness": {
          "laplacian_var": 1711.2585113543769
        },
        "contrast": {
          "p05": 7.0,
          "p95": 151.5,
          "dynamic_range": 144.5,
          "mean_gray": 67.84536082474227,
          "std_gray": 60.10552122082625
        },
        "geometry": {
          "distance_to_center_norm": 0.6315658688545227,
          "distance_to_border_px": 153.0
        },
        "edge_ratio": 1.4743083309606915,
        "edge_lengths_px": [
          16.278820037841797,
          23.021728515625,
          17.464248657226562,
          24.0
        ]
      },
      "confidence": 0.17612778902053833
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          971.0,
          502.0
        ],
        [
          795.0,
          516.0
        ],
        [
          760.0,
          487.0
        ],
        [
          943.0,
          475.0
        ]
      ],
      "center_px": [
        867.25,
        495.0
      ],
      "area_px": 5435.5
    },
    {
      "image_points_px": [
        [
          433.0,
          310.0
        ],
        [
          426.0,
          353.0
        ],
        [
          423.0,
          344.0
        ],
        [
          426.0,
          310.0
        ]
      ],
      "center_px": [
        427.0,
        329.25
      ],
      "area_px": 215.0
    },
    {
      "image_points_px": [
        [
          434.0,
          420.0
        ],
        [
          434.0,
          452.0
        ],
        [
          429.0,
          450.0
        ],
        [
          429.0,
          440.0
        ]
      ],
      "center_px": [
        431.5,
        440.5
      ],
      "area_px": 105.0
    },
    {
      "image_points_px": [
        [
          544.0,
          317.0
        ],
        [
          550.0,
          328.0
        ],
        [
          549.0,
          344.0
        ],
        [
          543.0,
          324.0
        ]
      ],
      "center_px": [
        546.5,
        328.25
      ],
      "area_px": 84.5
    },
    {
      "image_points_px": [
        [
          49.0,
          268.0
        ],
        [
          55.0,
          266.0
        ],
        [
          70.0,
          266.0
        ],
        [
          64.0,
          268.0
        ]
      ],
      "center_px": [
        59.5,
        267.0
      ],
      "area_px": 30.0
    },
    {
      "image_points_px": [
        [
          908.0,
          245.0
        ],
        [
          923.0,
          244.0
        ],
        [
          924.0,
          248.0
        ],
        [
          909.0,
          250.0
        ]
      ],
      "center_px": [
        916.0,
        246.75
      ],
      "area_px": 69.0
    },
    {
      "image_points_px": [
        [
          643.0,
          337.0
        ],
        [
          643.0,
          353.0
        ],
        [
          641.0,
          355.0
        ],
        [
          640.0,
          340.0
        ]
      ],
      "center_px": [
        641.75,
        346.25
      ],
      "area_px": 40.0
    }
  ]
}