{ "schema_version": "1.0", "created_utc": "2026-06-02T05:04:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 }, "camera": { "camera_id": "a", "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\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_a.png", "image_sha256": "b03d7c96dbc48777a105a30921888bc93b0f8e34629585940358d2f171f7ce7e", "width_px": 1280, "height_px": 720 }, "aruco": { "dictionary": "DICT_4X4_250", "num_detected_markers": 30, "num_rejected_candidates": 15 }, "detections": [ { "observation_id": "29fa79d9-5192-4a73-8e38-11288707c9d4", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, "image_points_px": [ [ 761.0, 82.0 ], [ 717.0, 87.0 ], [ 714.0, 45.0 ], [ 758.0, 39.0 ] ], "center_px": [ 737.5, 63.25 ], "quality": { "area_px": 1886.5, "perimeter_px": 173.90191650390625, "sharpness": { "laplacian_var": 2417.5352700351773 }, "contrast": { "p05": 35.0, "p95": 194.0, "dynamic_range": 159.0, "mean_gray": 97.80727554179566, "std_gray": 71.44470578159165 }, "geometry": { "distance_to_center_norm": 0.42537909746170044, "distance_to_border_px": 39.0 }, "edge_ratio": 1.0546275223659436, "edge_lengths_px": [ 44.283180236816406, 42.10700607299805, 44.40720748901367, 43.104522705078125 ] }, "confidence": 0.7395976147580084 }, { "observation_id": "3d289bcb-7af7-4701-a39a-172c87ef56ba", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, "image_points_px": [ [ 774.0, 259.0 ], [ 733.0, 264.0 ], [ 730.0, 226.0 ], [ 771.0, 220.0 ] ], "center_px": [ 752.0, 242.25 ], "quality": { "area_px": 1595.0, "perimeter_px": 159.97390365600586, "sharpness": { "laplacian_var": 2399.179560185185 }, "contrast": { "p05": 29.0, "p95": 192.0, "dynamic_range": 163.0, "mean_gray": 86.17962962962963, "std_gray": 72.05393525025549 }, "geometry": { "distance_to_center_norm": 0.22131025791168213, "distance_to_border_px": 220.0 }, "edge_ratio": 1.087057080098438, "edge_lengths_px": [ 41.30375289916992, 38.11823654174805, 41.43669891357422, 39.11521530151367 ] }, "confidence": 0.9199148952780339 }, { "observation_id": "006a4c7a-ec36-4f09-a611-77412b575b86", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, "image_points_px": [ [ 715.0, 150.0 ], [ 681.0, 144.0 ], [ 677.0, 103.0 ], [ 711.0, 109.0 ] ], "center_px": [ 696.0, 126.5 ], "quality": { "area_px": 1370.0, "perimeter_px": 151.44002532958984, "sharpness": { "laplacian_var": 2138.154716298284 }, "contrast": { "p05": 20.0, "p95": 184.0, "dynamic_range": 164.0, "mean_gray": 68.44852941176471, "std_gray": 69.13389364080552 }, "geometry": { "distance_to_center_norm": 0.327006071805954, "distance_to_border_px": 103.0 }, "edge_ratio": 1.1931713141229976, "edge_lengths_px": [ 34.525352478027344, 41.19466018676758, 34.525352478027344, 41.19466018676758 ] }, "confidence": 0.7654670561742843 }, { "observation_id": "34434ef3-972e-45c9-b85b-535f3b98d73e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, "image_points_px": [ [ 652.0, 439.0 ], [ 686.0, 424.0 ], [ 693.0, 462.0 ], [ 660.0, 477.0 ] ], "center_px": [ 672.75, 450.5 ], "quality": { "area_px": 1385.5, "perimeter_px": 150.88328170776367, "sharpness": { "laplacian_var": 2551.7106553444123 }, "contrast": { "p05": 17.0, "p95": 187.0, "dynamic_range": 170.0, "mean_gray": 77.61672095548317, "std_gray": 75.98468117013398 }, "geometry": { "distance_to_center_norm": 0.13106794655323029, "distance_to_border_px": 243.0 }, "edge_ratio": 1.0712800239600258, "edge_lengths_px": [ 37.161808013916016, 38.63935852050781, 36.24913787841797, 38.832977294921875 ] }, "confidence": 0.8622084291764343 }, { "observation_id": "3ae774e1-b9b4-4660-962e-552dad95217f", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, "image_points_px": [ [ 725.0, 264.0 ], [ 692.0, 256.0 ], [ 688.0, 218.0 ], [ 721.0, 226.0 ] ], "center_px": [ 706.5, 241.0 ], "quality": { "area_px": 1222.0, "perimeter_px": 144.33159637451172, "sharpness": { "laplacian_var": 2309.8137806498626 }, "contrast": { "p05": 21.0, "p95": 183.0, "dynamic_range": 162.0, "mean_gray": 62.63773148148148, "std_gray": 64.3486201788966 }, "geometry": { "distance_to_center_norm": 0.18564613163471222, "distance_to_border_px": 218.0 }, "edge_ratio": 1.1252830618549625, "edge_lengths_px": [ 33.95585250854492, 38.20994567871094, 33.95585250854492, 38.20994567871094 ] }, "confidence": 0.7239659906759255 }, { "observation_id": "dc4286a4-727c-4dc6-b1e4-665829e35cd2", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, "image_points_px": [ [ 759.0, 402.0 ], [ 762.0, 437.0 ], [ 731.0, 452.0 ], [ 727.0, 417.0 ] ], "center_px": [ 744.75, 427.0 ], "quality": { "area_px": 1155.0, "perimeter_px": 140.13571166992188, "sharpness": { "laplacian_var": 3720.340037122882 }, "contrast": { "p05": 17.0, "p95": 184.0, "dynamic_range": 167.0, "mean_gray": 90.0375939849624, "std_gray": 75.13028677039019 }, "geometry": { "distance_to_center_norm": 0.1693369597196579, "distance_to_border_px": 268.0 }, "edge_ratio": 1.026216222832411, "edge_lengths_px": [ 35.12833786010742, 34.438350677490234, 35.22782897949219, 35.34119415283203 ] }, "confidence": 0.7503292024313934 }, { "observation_id": "7a7b5999-f407-403f-b72c-2c84956b85ba", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, "image_points_px": [ [ 807.0, 380.0 ], [ 810.0, 415.0 ], [ 779.0, 429.0 ], [ 777.0, 394.0 ] ], "center_px": [ 793.25, 404.5 ], "quality": { "area_px": 1102.5, "perimeter_px": 137.30602645874023, "sharpness": { "laplacian_var": 3007.758277024331 }, "contrast": { "p05": 16.0, "p95": 182.0, "dynamic_range": 166.0, "mean_gray": 81.13715046604527, "std_gray": 74.37812194883978 }, "geometry": { "distance_to_center_norm": 0.21732206642627716, "distance_to_border_px": 291.0 }, "edge_ratio": 1.0610902031465996, "edge_lengths_px": [ 35.12833786010742, 34.01470184326172, 35.05709457397461, 33.105892181396484 ] }, "confidence": 0.6926838055995629 }, { "observation_id": "683a9c09-4855-4cc6-855b-2b1a8f8f9bf7", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, "image_points_px": [ [ 984.0, 710.0 ], [ 957.0, 687.0 ], [ 985.0, 672.0 ], [ 1011.0, 694.0 ] ], "center_px": [ 984.25, 690.75 ], "quality": { "area_px": 1029.5, "perimeter_px": 132.67654037475586, "sharpness": { "laplacian_var": 4016.018252330887 }, "contrast": { "p05": 10.0, "p95": 176.0, "dynamic_range": 166.0, "mean_gray": 69.37464788732395, "std_gray": 72.21094240030942 }, "geometry": { "distance_to_center_norm": 0.6501306891441345, "distance_to_border_px": 10.0 }, "edge_ratio": 1.13011385794403, "edge_lengths_px": [ 35.46829605102539, 31.764760971069336, 34.058773040771484, 31.38471031188965 ] }, "confidence": 0.12146268776527554 }, { "observation_id": "eb1757a5-10df-469e-a3a3-049c5f17ef7d", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, "image_points_px": [ [ 298.0, 629.0 ], [ 333.0, 614.0 ], [ 350.0, 635.0 ], [ 316.0, 651.0 ] ], "center_px": [ 324.25, 632.25 ], "quality": { "area_px": 1013.0, "perimeter_px": 131.09930610656738, "sharpness": { "laplacian_var": 3728.7409086405078 }, "contrast": { "p05": 19.0, "p95": 180.0, "dynamic_range": 161.0, "mean_gray": 77.67097701149426, "std_gray": 68.8909021500332 }, "geometry": { "distance_to_center_norm": 0.5677701830863953, "distance_to_border_px": 69.0 }, "edge_ratio": 1.4093619970008786, "edge_lengths_px": [ 38.07886505126953, 27.018512725830078, 37.57658767700195, 28.42534065246582 ] }, "confidence": 0.47917663082333867 }, { "observation_id": "e2967c32-2799-495e-bd04-19b9a1c269ab", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, "image_points_px": [ [ 1186.0, 628.0 ], [ 1158.0, 607.0 ], [ 1181.0, 593.0 ], [ 1210.0, 613.0 ] ], "center_px": [ 1183.75, 610.25 ], "quality": { "area_px": 895.0, "perimeter_px": 125.45559501647949, "sharpness": { "laplacian_var": 3908.004835735264 }, "contrast": { "p05": 9.0, "p95": 172.0, "dynamic_range": 163.0, "mean_gray": 114.25289256198347, "std_gray": 68.18410065801393 }, "geometry": { "distance_to_center_norm": 0.8151581883430481, "distance_to_border_px": 70.0 }, "edge_ratio": 1.3083287631564071, "edge_lengths_px": [ 35.0, 26.925823211669922, 35.22782897949219, 28.301942825317383 ] }, "confidence": 0.4560525484643318 }, { "observation_id": "6151b3a6-a5bc-46cc-aff1-9f3f420226ff", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, "image_points_px": [ [ 812.0, 616.0 ], [ 789.0, 596.0 ], [ 816.0, 582.0 ], [ 839.0, 602.0 ] ], "center_px": [ 814.0, 599.0 ], "quality": { "area_px": 862.0, "perimeter_px": 121.78662872314453, "sharpness": { "laplacian_var": 4465.862386491175 }, "contrast": { "p05": 13.0, "p95": 176.0, "dynamic_range": 163.0, "mean_gray": 98.14478114478115, "std_gray": 69.89898373588134 }, "geometry": { "distance_to_center_norm": 0.402599573135376, "distance_to_border_px": 104.0 }, "edge_ratio": 1.0021598438741428, "edge_lengths_px": [ 30.479501724243164, 30.4138126373291, 30.479501724243164, 30.4138126373291 ] }, "confidence": 0.5734281513866332 }, { "observation_id": "4ba0d634-7578-4681-8a69-190fc620c47a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, "image_points_px": [ [ 904.0, 604.0 ], [ 880.0, 584.0 ], [ 907.0, 571.0 ], [ 930.0, 590.0 ] ], "center_px": [ 905.25, 587.25 ], "quality": { "area_px": 834.0, "perimeter_px": 120.57016181945801, "sharpness": { "laplacian_var": 3479.921487345328 }, "contrast": { "p05": 11.0, "p95": 174.0, "dynamic_range": 163.0, "mean_gray": 85.87632508833923, "std_gray": 73.2955841442461 }, "geometry": { "distance_to_center_norm": 0.47566938400268555, "distance_to_border_px": 116.0 }, "edge_ratio": 1.057953735938787, "edge_lengths_px": [ 31.240999221801758, 29.96664810180664, 29.832868576049805, 29.529645919799805 ] }, "confidence": 0.525542829627259 }, { "observation_id": "835877f5-551f-479e-a28e-cef71eaa8a37", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, "image_points_px": [ [ 654.0, 546.0 ], [ 683.0, 533.0 ], [ 704.0, 551.0 ], [ 674.0, 565.0 ] ], "center_px": [ 678.75, 548.75 ], "quality": { "area_px": 822.5, "perimeter_px": 120.13125228881836, "sharpness": { "laplacian_var": 3264.823744798533 }, "contrast": { "p05": 8.0, "p95": 166.0, "dynamic_range": 158.0, "mean_gray": 72.90125673249551, "std_gray": 69.29298721671074 }, "geometry": { "distance_to_center_norm": 0.26240772008895874, "distance_to_border_px": 155.0 }, "edge_ratio": 1.2000876158955645, "edge_lengths_px": [ 31.78049659729004, 27.658634185791016, 33.105892181396484, 27.58622932434082 ] }, "confidence": 0.456911083882938 }, { "observation_id": "2d912a0f-479d-49e6-9649-f100fb58595f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, "image_points_px": [ [ 930.0, 573.0 ], [ 906.0, 555.0 ], [ 932.0, 542.0 ], [ 956.0, 560.0 ] ], "center_px": [ 931.0, 557.5 ], "quality": { "area_px": 780.0, "perimeter_px": 118.13776779174805, "sharpness": { "laplacian_var": 2263.393171246023 }, "contrast": { "p05": 11.0, "p95": 172.0, "dynamic_range": 161.0, "mean_gray": 41.589595375722546, "std_gray": 54.67750228298329 }, "geometry": { "distance_to_center_norm": 0.47894710302352905, "distance_to_border_px": 147.0 }, "edge_ratio": 1.03203136754274, "edge_lengths_px": [ 30.0, 29.068883895874023, 30.0, 29.068883895874023 ] }, "confidence": 0.5038606541951498 }, { "observation_id": "c7a1ed03-34d3-4a36-b4e1-ca83a9ce2bed", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, "image_points_px": [ [ 1151.0, 576.0 ], [ 1125.0, 557.0 ], [ 1150.0, 545.0 ], [ 1175.0, 563.0 ] ], "center_px": [ 1150.25, 560.25 ], "quality": { "area_px": 772.0, "perimeter_px": 118.03386306762695, "sharpness": { "laplacian_var": 2194.7754319386977 }, "contrast": { "p05": 9.0, "p95": 169.0, "dynamic_range": 160.0, "mean_gray": 38.04389312977099, "std_gray": 54.12436185929218 }, "geometry": { "distance_to_center_norm": 0.7464743256568909, "distance_to_border_px": 105.0 }, "edge_ratio": 1.1798077703177934, "edge_lengths_px": [ 32.202484130859375, 27.73084831237793, 30.805843353271484, 27.294687271118164 ] }, "confidence": 0.43622925667631085 }, { "observation_id": "a930aeb4-a7b6-4440-8975-04d208d89dbd", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, "image_points_px": [ [ 769.0, 490.0 ], [ 796.0, 478.0 ], [ 817.0, 495.0 ], [ 790.0, 508.0 ] ], "center_px": [ 793.0, 492.75 ], "quality": { "area_px": 735.0, "perimeter_px": 114.19036865234375, "sharpness": { "laplacian_var": 2753.7530001043515 }, "contrast": { "p05": 8.0, "p95": 162.0, "dynamic_range": 154.0, "mean_gray": 64.33783783783784, "std_gray": 64.3663482903625 }, "geometry": { "distance_to_center_norm": 0.2758570611476898, "distance_to_border_px": 212.0 }, "edge_ratio": 1.1091153834370056, "edge_lengths_px": [ 29.546573638916016, 27.018512725830078, 29.96664810180664, 27.658634185791016 ] }, "confidence": 0.4417935296159658 }, { "observation_id": "f83b604f-5e63-4e50-a714-8a88563f75b9", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, "image_points_px": [ [ 119.0, 530.0 ], [ 106.0, 512.0 ], [ 138.0, 500.0 ], [ 151.0, 517.0 ] ], "center_px": [ 128.5, 514.75 ], "quality": { "area_px": 722.5, "perimeter_px": 112.32038497924805, "sharpness": { "laplacian_var": 3756.544142731105 }, "contrast": { "p05": 10.0, "p95": 173.0, "dynamic_range": 163.0, "mean_gray": 103.16039603960397, "std_gray": 67.19906894570703 }, "geometry": { "distance_to_center_norm": 0.7277610301971436, "distance_to_border_px": 106.0 }, "edge_ratio": 1.6139404343199748, "edge_lengths_px": [ 22.203603744506836, 34.1760139465332, 21.40093421936035, 34.539833068847656 ] }, "confidence": 0.29844141482805986 }, { "observation_id": "228496a9-ada7-41ef-a7c9-f1707ef07c64", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, "image_points_px": [ [ 1220.0, 475.0 ], [ 1194.0, 459.0 ], [ 1216.0, 448.0 ], [ 1241.0, 464.0 ] ], "center_px": [ 1217.75, 461.5 ], "quality": { "area_px": 624.5, "perimeter_px": 108.51360702514648, "sharpness": { "laplacian_var": 2972.1987698251824 }, "contrast": { "p05": 9.0, "p95": 167.0, "dynamic_range": 158.0, "mean_gray": 100.78523489932886, "std_gray": 63.66237466148982 }, "geometry": { "distance_to_center_norm": 0.7988508939743042, "distance_to_border_px": 39.0 }, "edge_ratio": 1.2877744356086955, "edge_lengths_px": [ 30.528675079345703, 24.59674835205078, 29.681644439697266, 23.706539154052734 ] }, "confidence": 0.2521714913889437 }, { "observation_id": "aa54c57b-d1cb-41b0-9098-20fd567baddf", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, "image_points_px": [ [ 523.0, 362.0 ], [ 552.0, 350.0 ], [ 574.0, 355.0 ], [ 542.0, 368.0 ] ], "center_px": [ 547.75, 358.75 ], "quality": { "area_px": 424.0, "perimeter_px": 108.41042900085449, "sharpness": { "laplacian_var": 4190.491188462125 }, "contrast": { "p05": 15.0, "p95": 153.0, "dynamic_range": 138.0, "mean_gray": 73.24382716049382, "std_gray": 53.737293578624815 }, "geometry": { "distance_to_center_norm": 0.12564097344875336, "distance_to_border_px": 350.0 }, "edge_ratio": 1.7335045954745594, "edge_lengths_px": [ 31.38471031188965, 22.56102752685547, 34.539833068847656, 19.92485809326172 ] }, "confidence": 0.16306081184012358 }, { "observation_id": "35aa2bec-ea3d-45e4-8c37-6d2dfe7778e2", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, "image_points_px": [ [ 1174.0, 451.0 ], [ 1151.0, 435.0 ], [ 1172.0, 425.0 ], [ 1196.0, 440.0 ] ], "center_px": [ 1173.25, 437.75 ], "quality": { "area_px": 580.0, "perimeter_px": 104.17594909667969, "sharpness": { "laplacian_var": 2396.9549540223934 }, "contrast": { "p05": 10.0, "p95": 166.2, "dynamic_range": 156.2, "mean_gray": 64.18465227817745, "std_gray": 62.61524208550065 }, "geometry": { "distance_to_center_norm": 0.733877956867218, "distance_to_border_px": 84.0 }, "edge_ratio": 1.2167955430866773, "edge_lengths_px": [ 28.017850875854492, 23.25940704345703, 28.301942825317383, 24.59674835205078 ] }, "confidence": 0.31777455864589965 }, { "observation_id": "163f8505-d4c0-404e-9fd6-5f51c31ee5ad", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, "image_points_px": [ [ 1066.0, 345.0 ], [ 1087.0, 335.0 ], [ 1110.0, 349.0 ], [ 1088.0, 359.0 ] ], "center_px": [ 1087.75, 347.0 ], "quality": { "area_px": 526.0, "perimeter_px": 100.42813110351562, "sharpness": { "laplacian_var": 2713.1108467182235 }, "contrast": { "p05": 9.0, "p95": 163.0, "dynamic_range": 154.0, "mean_gray": 70.99457994579946, "std_gray": 60.59854992048763 }, "geometry": { "distance_to_center_norm": 0.6100193858146667, "distance_to_border_px": 170.0 }, "edge_ratio": 1.1576315407079247, "edge_lengths_px": [ 23.25940704345703, 26.925823211669922, 24.166091918945312, 26.07680892944336 ] }, "confidence": 0.3029173397022545 }, { "observation_id": "6f5a4e89-5dd7-45cf-b3c0-824aa68454f4", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, "image_points_px": [ [ 49.0, 428.0 ], [ 38.0, 414.0 ], [ 68.0, 403.0 ], [ 79.0, 417.0 ] ], "center_px": [ 58.5, 415.5 ], "quality": { "area_px": 541.0, "perimeter_px": 99.51516723632812, "sharpness": { "laplacian_var": 3865.1225213897565 }, "contrast": { "p05": 9.55, "p95": 168.0, "dynamic_range": 158.45, "mean_gray": 100.17204301075269, "std_gray": 64.35162539924715 }, "geometry": { "distance_to_center_norm": 0.7955067753791809, "distance_to_border_px": 38.0 }, "edge_ratio": 1.7946644567002925, "edge_lengths_px": [ 17.804492950439453, 31.95309066772461, 17.804492950439453, 31.95309066772461 ] }, "confidence": 0.1527342148240039 }, { "observation_id": "5ab78f3b-f134-4bc5-b45b-b94a179e5ab5", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, "image_points_px": [ [ 130.0, 395.0 ], [ 119.0, 381.0 ], [ 147.0, 371.0 ], [ 160.0, 385.0 ] ], "center_px": [ 139.0, 383.0 ], "quality": { "area_px": 526.0, "perimeter_px": 98.26437950134277, "sharpness": { "laplacian_var": 3546.107708333333 }, "contrast": { "p05": 10.0, "p95": 168.0, "dynamic_range": 158.0, "mean_gray": 100.025, "std_gray": 61.00238554078575 }, "geometry": { "distance_to_center_norm": 0.6829988360404968, "distance_to_border_px": 119.0 }, "edge_ratio": 1.7761121375104154, "edge_lengths_px": [ 17.804492950439453, 29.73213768005371, 19.10497283935547, 31.62277603149414 ] }, "confidence": 0.19743498130596515 }, { "observation_id": "25d984b5-b189-4c3d-9c14-85f55a238e52", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, "image_points_px": [ [ 992.0, 299.0 ], [ 1013.0, 290.0 ], [ 1034.0, 303.0 ], [ 1013.0, 312.0 ] ], "center_px": [ 1013.0, 301.0 ], "quality": { "area_px": 462.0, "perimeter_px": 95.09099197387695, "sharpness": { "laplacian_var": 2293.821533007531 }, "contrast": { "p05": 11.0, "p95": 161.0, "dynamic_range": 150.0, "mean_gray": 75.58227848101266, "std_gray": 57.75978356382726 }, "geometry": { "distance_to_center_norm": 0.5142804980278015, "distance_to_border_px": 246.0 }, "edge_ratio": 1.0810098864013458, "edge_lengths_px": [ 22.847318649291992, 24.698177337646484, 22.847318649291992, 24.698177337646484 ] }, "confidence": 0.2849187633475991 }, { "observation_id": "13a8b820-916c-4eb9-8998-94aa7faf4b00", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, "image_points_px": [ [ 1078.0, 260.0 ], [ 1098.0, 252.0 ], [ 1118.0, 264.0 ], [ 1098.0, 272.0 ] ], "center_px": [ 1098.0, 262.0 ], "quality": { "area_px": 400.0, "perimeter_px": 89.72893142700195, "sharpness": { "laplacian_var": 1954.950954861111 }, "contrast": { "p05": 11.0, "p95": 160.0, "dynamic_range": 149.0, "mean_gray": 76.05902777777777, "std_gray": 56.836510069079374 }, "geometry": { "distance_to_center_norm": 0.6378399133682251, "distance_to_border_px": 162.0 }, "edge_ratio": 1.0827805600544524, "edge_lengths_px": [ 21.540658950805664, 23.323806762695312, 21.540658950805664, 23.323806762695312 ] }, "confidence": 0.24627951083020566 }, { "observation_id": "bfc73e67-e831-4474-b9c6-bc2adc58bab4", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, "image_points_px": [ [ 652.0, 311.0 ], [ 636.0, 299.0 ], [ 658.0, 290.0 ], [ 675.0, 302.0 ] ], "center_px": [ 655.25, 300.5 ], "quality": { "area_px": 418.5, "perimeter_px": 89.27655792236328, "sharpness": { "laplacian_var": 2129.6008144754496 }, "contrast": { "p05": 9.0, "p95": 149.0, "dynamic_range": 140.0, "mean_gray": 59.34013605442177, "std_gray": 53.85120550809765 }, "geometry": { "distance_to_center_norm": 0.08364841341972351, "distance_to_border_px": 290.0 }, "edge_ratio": 1.2349088668823243, "edge_lengths_px": [ 20.0, 23.76972770690918, 20.808652877807617, 24.698177337646484 ] }, "confidence": 0.22592760282333144 }, { "observation_id": "6793ee57-f827-4bd7-b727-730e0f60a521", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, "image_points_px": [ [ 575.0, 290.0 ], [ 560.0, 278.0 ], [ 583.0, 270.0 ], [ 598.0, 281.0 ] ], "center_px": [ 579.0, 279.75 ], "quality": { "area_px": 392.0, "perimeter_px": 86.8602180480957, "sharpness": { "laplacian_var": 2317.567167259527 }, "contrast": { "p05": 11.0, "p95": 150.0, "dynamic_range": 139.0, "mean_gray": 84.00696864111498, "std_gray": 49.56142094625174 }, "geometry": { "distance_to_center_norm": 0.13727600872516632, "distance_to_border_px": 270.0 }, "edge_ratio": 1.3277821761609365, "edge_lengths_px": [ 19.209373474121094, 24.351591110229492, 18.601076126098633, 24.698177337646484 ] }, "confidence": 0.19681943169996122 }, { "observation_id": "2618ccd1-4220-4fc4-9eb0-e557a00a684f", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, "image_points_px": [ [ 509.0, 289.0 ], [ 496.0, 277.0 ], [ 519.0, 270.0 ], [ 533.0, 280.0 ] ], "center_px": [ 514.25, 279.0 ], "quality": { "area_px": 366.5, "perimeter_px": 84.57009887695312, "sharpness": { "laplacian_var": 1702.0985084980923 }, "contrast": { "p05": 9.9, "p95": 150.0, "dynamic_range": 140.1, "mean_gray": 80.68458781362007, "std_gray": 55.93686417039481 }, "geometry": { "distance_to_center_norm": 0.20370303094387054, "distance_to_border_px": 270.0 }, "edge_ratio": 1.489830371681667, "edge_lengths_px": [ 17.69180679321289, 24.041629791259766, 17.20465087890625, 25.63201141357422 ] }, "confidence": 0.1640007734958032 }, { "observation_id": "594854cf-db4f-4f35-bb47-e07b2acfa154", "type": "aruco", "marker_id": 60, "marker_size_m": 0.025, "image_points_px": [ [ 584.0, 266.0 ], [ 570.0, 255.0 ], [ 592.0, 248.0 ], [ 606.0, 258.0 ] ], "center_px": [ 588.0, 256.75 ], "quality": { "area_px": 336.0, "perimeter_px": 81.50533485412598, "sharpness": { "laplacian_var": 1625.1656132256821 }, "contrast": { "p05": 11.0, "p95": 152.0, "dynamic_range": 141.0, "mean_gray": 104.23529411764706, "std_gray": 49.48178045970571 }, "geometry": { "distance_to_center_norm": 0.15743541717529297, "distance_to_border_px": 248.0 }, "edge_ratio": 1.3606436537049322, "edge_lengths_px": [ 17.804492950439453, 23.0867919921875, 17.20465087890625, 23.409399032592773 ] }, "confidence": 0.1646279680870627 }, { "observation_id": "49f3b688-eed0-462b-90a3-2eddbb027e6d", "type": "aruco", "marker_id": 93, "marker_size_m": 0.025, "image_points_px": [ [ 1103.0, 162.0 ], [ 1088.0, 153.0 ], [ 1105.0, 147.0 ], [ 1121.0, 156.0 ] ], "center_px": [ 1104.25, 154.5 ], "quality": { "area_px": 250.5, "perimeter_px": 72.85183525085449, "sharpness": { "laplacian_var": 2774.7069647920607 }, "contrast": { "p05": 12.15, "p95": 141.24999999999997, "dynamic_range": 129.09999999999997, "mean_gray": 71.58152173913044, "std_gray": 45.464318138197854 }, "geometry": { "distance_to_center_norm": 0.6914032101631165, "distance_to_border_px": 147.0 }, "edge_ratio": 1.0846522857079928, "edge_lengths_px": [ 17.492855072021484, 18.027755737304688, 18.357559204101562, 18.973665237426758 ] }, "confidence": 0.15396639291733288 } ], "rejected_candidates": [ { "image_points_px": [ [ 633.0, 575.0 ], [ 447.0, 677.0 ], [ 395.0, 664.0 ], [ 578.0, 568.0 ] ], "center_px": [ 513.25, 621.0 ], "area_px": 7141.5 }, { "image_points_px": [ [ 1022.0, 383.0 ], [ 882.0, 460.0 ], [ 829.0, 444.0 ], [ 963.0, 382.0 ] ], "center_px": [ 924.0, 417.25 ], "area_px": 5056.5 }, { "image_points_px": [ [ 794.0, 146.0 ], [ 814.0, 160.0 ], [ 816.0, 249.0 ], [ 804.0, 269.0 ] ], "center_px": [ 807.0, 206.0 ], "area_px": 1714.0 }, { "image_points_px": [ [ 810.0, 420.0 ], [ 791.0, 435.0 ], [ 766.0, 447.0 ], [ 778.0, 435.0 ] ], "center_px": [ 786.25, 434.25 ], "area_px": 175.5 }, { "image_points_px": [ [ 1152.0, 303.0 ], [ 1172.0, 294.0 ], [ 1194.0, 307.0 ], [ 1174.0, 316.0 ] ], "center_px": [ 1173.0, 305.0 ], "area_px": 458.0 }, { "image_points_px": [ [ 875.0, 223.0 ], [ 896.0, 216.0 ], [ 912.0, 226.0 ], [ 892.0, 234.0 ] ], "center_px": [ 893.75, 224.75 ], "area_px": 339.0 }, { "image_points_px": [ [ 965.0, 181.0 ], [ 986.0, 175.0 ], [ 1001.0, 185.0 ], [ 983.0, 192.0 ] ], "center_px": [ 983.75, 183.25 ], "area_px": 312.0 }, { "image_points_px": [ [ 474.0, 536.0 ], [ 446.0, 549.0 ], [ 438.0, 547.0 ], [ 462.0, 535.0 ] ], "center_px": [ 455.0, 541.75 ], "area_px": 164.0 }, { "image_points_px": [ [ 1020.0, 158.0 ], [ 1037.0, 152.0 ], [ 1054.0, 161.0 ], [ 1037.0, 168.0 ] ], "center_px": [ 1037.0, 159.75 ], "area_px": 272.0 }, { "image_points_px": [ [ 935.0, 146.0 ], [ 951.0, 140.0 ], [ 968.0, 149.0 ], [ 951.0, 156.0 ] ], "center_px": [ 951.25, 147.75 ], "area_px": 264.0 }, { "image_points_px": [ [ 834.0, 133.0 ], [ 850.0, 126.0 ], [ 866.0, 136.0 ], [ 848.0, 142.0 ] ], "center_px": [ 849.5, 134.25 ], "area_px": 259.0 }, { "image_points_px": [ [ 312.0, 508.0 ], [ 286.0, 520.0 ], [ 291.0, 514.0 ], [ 309.0, 507.0 ] ], "center_px": [ 299.5, 512.25 ], "area_px": 67.5 }, { "image_points_px": [ [ 1009.0, 294.0 ], [ 1014.0, 292.0 ], [ 1031.0, 303.0 ], [ 1024.0, 305.0 ] ], "center_px": [ 1019.5, 298.5 ], "area_px": 98.0 }, { "image_points_px": [ [ 663.0, 479.0 ], [ 684.0, 480.0 ], [ 685.0, 484.0 ], [ 679.0, 485.0 ] ], "center_px": [ 677.75, 482.0 ], "area_px": 67.5 }, { "image_points_px": [ [ 688.0, 539.0 ], [ 677.0, 543.0 ], [ 667.0, 541.0 ], [ 681.0, 534.0 ] ], "center_px": [ 678.25, 539.25 ], "area_px": 90.5 } ] }