{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T17:39:24Z",
  "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\\Scene9\\render_a.npz",
    "camera_matrix": [
      [
        1777.77783203125,
        0.0,
        640.0
      ],
      [
        0.0,
        1500.0,
        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\\Scene9\\render_e.png",
    "image_sha256": "1e3b7817bb58783826cf29c0636df212b76dbe6d64837dbe50a3ef25e59e405b",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 30,
    "num_rejected_candidates": 16
  },
  "detections": [
    {
      "observation_id": "d4c2d49a-d5a2-41e8-ab16-c56d09039b0f",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          991.0,
          686.0
        ],
        [
          1021.0,
          676.0
        ],
        [
          1054.0,
          690.0
        ],
        [
          1026.0,
          702.0
        ]
      ],
      "center_px": [
        1023.0,
        688.5
      ],
      "quality": {
        "area_px": 809.0,
        "perimeter_px": 136.41653060913086,
        "sharpness": {
          "laplacian_var": 1170.1715758694984
        },
        "contrast": {
          "p05": 20.0,
          "p95": 165.0,
          "dynamic_range": 145.0,
          "mean_gray": 71.86491228070176,
          "std_gray": 57.6321760496719
        },
        "geometry": {
          "distance_to_center_norm": 0.6871559619903564,
          "distance_to_border_px": 18.0
        },
        "edge_ratio": 1.263291448970706,
        "edge_lengths_px": [
          31.62277603149414,
          35.84689712524414,
          30.463092803955078,
          38.4837646484375
        ]
      },
      "confidence": 0.15369374989294518
    },
    {
      "observation_id": "c13f1780-9fb6-4e71-a8c8-81f48f6e4a59",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          640.0,
          146.0
        ],
        [
          609.0,
          142.0
        ],
        [
          611.0,
          106.0
        ],
        [
          642.0,
          109.0
        ]
      ],
      "center_px": [
        625.5,
        125.75
      ],
      "quality": {
        "area_px": 1138.5,
        "perimeter_px": 135.51135063171387,
        "sharpness": {
          "laplacian_var": 1395.54265041454
        },
        "contrast": {
          "p05": 30.0,
          "p95": 168.0,
          "dynamic_range": 138.0,
          "mean_gray": 63.54150702426565,
          "std_gray": 53.90550837087516
        },
        "geometry": {
          "distance_to_center_norm": 0.31962084770202637,
          "distance_to_border_px": 106.0
        },
        "edge_ratio": 1.1897327534927888,
        "edge_lengths_px": [
          31.256999969482422,
          36.055511474609375,
          31.14482307434082,
          37.05401611328125
        ]
      },
      "confidence": 0.6379583967674639
    },
    {
      "observation_id": "c5c22347-c916-4b33-93b9-7dead9184c3b",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1138.0,
          589.0
        ],
        [
          1171.0,
          602.0
        ],
        [
          1146.0,
          612.0
        ],
        [
          1110.0,
          599.0
        ]
      ],
      "center_px": [
        1141.25,
        600.5
      ],
      "quality": {
        "area_px": 689.5,
        "perimeter_px": 130.40157508850098,
        "sharpness": {
          "laplacian_var": 1840.348657024793
        },
        "contrast": {
          "p05": 17.0,
          "p95": 162.0,
          "dynamic_range": 145.0,
          "mean_gray": 74.32231404958678,
          "std_gray": 57.071466706231995
        },
        "geometry": {
          "distance_to_center_norm": 0.7571271657943726,
          "distance_to_border_px": 108.0
        },
        "edge_ratio": 1.4215096728839491,
        "edge_lengths_px": [
          35.46829605102539,
          26.925823211669922,
          38.27531814575195,
          29.73213768005371
        ]
      },
      "confidence": 0.3233651345714012
    },
    {
      "observation_id": "83fbec59-ae42-4d8c-986b-206286e18707",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          730.0,
          653.0
        ],
        [
          763.0,
          643.0
        ],
        [
          790.0,
          656.0
        ],
        [
          759.0,
          667.0
        ]
      ],
      "center_px": [
        760.5,
        654.75
      ],
      "quality": {
        "area_px": 726.0,
        "perimeter_px": 129.54478073120117,
        "sharpness": {
          "laplacian_var": 1552.4957839915678
        },
        "contrast": {
          "p05": 19.0,
          "p95": 164.0,
          "dynamic_range": 145.0,
          "mean_gray": 46.78740157480315,
          "std_gray": 48.665316906665055
        },
        "geometry": {
          "distance_to_center_norm": 0.43365001678466797,
          "distance_to_border_px": 53.0
        },
        "edge_ratio": 1.1506752463886485,
        "edge_lengths_px": [
          34.48188018798828,
          29.96664810180664,
          32.893768310546875,
          32.202484130859375
        ]
      },
      "confidence": 0.420622587927407
    },
    {
      "observation_id": "a9d18886-3b74-49ae-a5b8-b52b1a0b7cb4",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          645.0,
          664.0
        ],
        [
          680.0,
          654.0
        ],
        [
          705.0,
          667.0
        ],
        [
          670.0,
          677.0
        ]
      ],
      "center_px": [
        675.0,
        665.5
      ],
      "quality": {
        "area_px": 705.0,
        "perimeter_px": 129.15711212158203,
        "sharpness": {
          "laplacian_var": 2392.7856022683077
        },
        "contrast": {
          "p05": 26.0,
          "p95": 171.0,
          "dynamic_range": 145.0,
          "mean_gray": 130.17791411042944,
          "std_gray": 51.46018218641758
        },
        "geometry": {
          "distance_to_center_norm": 0.4187626242637634,
          "distance_to_border_px": 43.0
        },
        "edge_ratio": 1.2918072290787694,
        "edge_lengths_px": [
          36.400550842285156,
          28.17800521850586,
          36.400550842285156,
          28.17800521850586
        ]
      },
      "confidence": 0.3128949822399185
    },
    {
      "observation_id": "361f898d-4df7-4264-8afb-b3eb5d8f998d",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1217.0,
          556.0
        ],
        [
          1251.0,
          568.0
        ],
        [
          1233.0,
          578.0
        ],
        [
          1193.0,
          565.0
        ]
      ],
      "center_px": [
        1223.5,
        566.75
      ],
      "quality": {
        "area_px": 614.0,
        "perimeter_px": 124.33826637268066,
        "sharpness": {
          "laplacian_var": 2848.1774430402274
        },
        "contrast": {
          "p05": 23.0,
          "p95": 161.0,
          "dynamic_range": 138.0,
          "mean_gray": 81.125,
          "std_gray": 51.497169161069166
        },
        "geometry": {
          "distance_to_center_norm": 0.8430395126342773,
          "distance_to_border_px": 29.0
        },
        "edge_ratio": 2.0425889778302593,
        "edge_lengths_px": [
          36.055511474609375,
          20.59126091003418,
          42.05948257446289,
          25.63201141357422
        ]
      },
      "confidence": 0.11623157468788738
    },
    {
      "observation_id": "cd26fca3-64f5-4bda-9136-1483b4055d11",
      "type": "aruco",
      "marker_id": 244,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          683.0,
          407.0
        ],
        [
          656.0,
          411.0
        ],
        [
          657.0,
          377.0
        ],
        [
          684.0,
          373.0
        ]
      ],
      "center_px": [
        670.0,
        392.0
      ],
      "quality": {
        "area_px": 914.0,
        "perimeter_px": 122.61877822875977,
        "sharpness": {
          "laplacian_var": 605.5716694535059
        },
        "contrast": {
          "p05": 10.0,
          "p95": 90.0,
          "dynamic_range": 80.0,
          "mean_gray": 43.77182235834609,
          "std_gray": 35.104721948918254
        },
        "geometry": {
          "distance_to_center_norm": 0.059734828770160675,
          "distance_to_border_px": 309.0
        },
        "edge_ratio": 1.246202292240744,
        "edge_lengths_px": [
          27.294687271118164,
          34.01470184326172,
          27.294687271118164,
          34.01470184326172
        ]
      },
      "confidence": 0.48895218467117135
    },
    {
      "observation_id": "c44ff6c1-bf51-454b-b472-b578a37dc7a1",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          385.0,
          577.0
        ],
        [
          417.0,
          568.0
        ],
        [
          438.0,
          579.0
        ],
        [
          404.0,
          588.0
        ]
      ],
      "center_px": [
        411.0,
        578.0
      ],
      "quality": {
        "area_px": 543.0,
        "perimeter_px": 114.0735855102539,
        "sharpness": {
          "laplacian_var": 3936.05531141493
        },
        "contrast": {
          "p05": 22.0,
          "p95": 177.0,
          "dynamic_range": 155.0,
          "mean_gray": 102.42708333333333,
          "std_gray": 66.00216928121674
        },
        "geometry": {
          "distance_to_center_norm": 0.43057525157928467,
          "distance_to_border_px": 132.0
        },
        "edge_ratio": 1.6019955727302424,
        "edge_lengths_px": [
          33.241539001464844,
          23.706539154052734,
          35.1710090637207,
          21.954498291015625
        ]
      },
      "confidence": 0.22596816505744277
    },
    {
      "observation_id": "99aa3687-533b-4c99-bc5b-4d581bb7830d",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          610.0,
          375.0
        ],
        [
          608.0,
          408.0
        ],
        [
          587.0,
          400.0
        ],
        [
          588.0,
          367.0
        ]
      ],
      "center_px": [
        598.25,
        387.5
      ],
      "quality": {
        "area_px": 721.5,
        "perimeter_px": 111.95730209350586,
        "sharpness": {
          "laplacian_var": 2651.282638480307
        },
        "contrast": {
          "p05": 33.6,
          "p95": 178.0,
          "dynamic_range": 144.4,
          "mean_gray": 91.25963488843813,
          "std_gray": 63.714703337359325
        },
        "geometry": {
          "distance_to_center_norm": 0.06808248162269592,
          "distance_to_border_px": 312.0
        },
        "edge_ratio": 1.471175252019898,
        "edge_lengths_px": [
          33.060550689697266,
          22.472204208374023,
          33.0151481628418,
          23.409399032592773
        ]
      },
      "confidence": 0.32694949112255345
    },
    {
      "observation_id": "cbaa94d0-b167-4732-a9fd-0e8f99f8ac12",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          518.0,
          568.0
        ],
        [
          548.0,
          560.0
        ],
        [
          570.0,
          570.0
        ],
        [
          539.0,
          579.0
        ]
      ],
      "center_px": [
        543.75,
        569.25
      ],
      "quality": {
        "area_px": 503.0,
        "perimeter_px": 111.20100593566895,
        "sharpness": {
          "laplacian_var": 3261.1373761041914
        },
        "contrast": {
          "p05": 28.0,
          "p95": 175.0,
          "dynamic_range": 147.0,
          "mean_gray": 86.02680965147454,
          "std_gray": 58.83333418681533
        },
        "geometry": {
          "distance_to_center_norm": 0.31366512179374695,
          "distance_to_border_px": 141.0
        },
        "edge_ratio": 1.361650693608701,
        "edge_lengths_px": [
          31.048349380493164,
          24.166091918945312,
          32.280025482177734,
          23.706539154052734
        ]
      },
      "confidence": 0.24626971873720385
    },
    {
      "observation_id": "aabe2ac4-c842-4fa3-98e0-48041e69f5ff",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          665.0,
          543.0
        ],
        [
          694.0,
          536.0
        ],
        [
          715.0,
          545.0
        ],
        [
          687.0,
          553.0
        ]
      ],
      "center_px": [
        690.25,
        544.25
      ],
      "quality": {
        "area_px": 432.0,
        "perimeter_px": 105.96671867370605,
        "sharpness": {
          "laplacian_var": 4367.582266422802
        },
        "contrast": {
          "p05": 21.0,
          "p95": 172.0,
          "dynamic_range": 151.0,
          "mean_gray": 92.24382716049382,
          "std_gray": 65.13072651191699
        },
        "geometry": {
          "distance_to_center_norm": 0.26008275151252747,
          "distance_to_border_px": 167.0
        },
        "edge_ratio": 1.3057492230920622,
        "edge_lengths_px": [
          29.832868576049805,
          22.847318649291992,
          29.120439529418945,
          24.166091918945312
        ]
      },
      "confidence": 0.2205630261207473
    },
    {
      "observation_id": "0d59062d-e9f7-436b-be31-a1f48562cb53",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          780.0,
          460.0
        ],
        [
          805.0,
          469.0
        ],
        [
          776.0,
          475.0
        ],
        [
          753.0,
          466.0
        ]
      ],
      "center_px": [
        778.5,
        467.5
      ],
      "quality": {
        "area_px": 396.0,
        "perimeter_px": 108.54165649414062,
        "sharpness": {
          "laplacian_var": 2603.223745586377
        },
        "contrast": {
          "p05": 13.0,
          "p95": 139.0,
          "dynamic_range": 126.0,
          "mean_gray": 56.766323024054984,
          "std_gray": 49.3015864450501
        },
        "geometry": {
          "distance_to_center_norm": 0.23876266181468964,
          "distance_to_border_px": 245.0
        },
        "edge_ratio": 1.1990433515963215,
        "edge_lengths_px": [
          26.570659637451172,
          29.614185333251953,
          24.698177337646484,
          27.658634185791016
        ]
      },
      "confidence": 0.22017552547080893
    },
    {
      "observation_id": "df48a7ee-fb72-4bb7-a880-7bafbd7e4745",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          713.0,
          555.0
        ],
        [
          742.0,
          547.0
        ],
        [
          764.0,
          557.0
        ],
        [
          736.0,
          565.0
        ]
      ],
      "center_px": [
        738.75,
        556.0
      ],
      "quality": {
        "area_px": 465.0,
        "perimeter_px": 108.44962120056152,
        "sharpness": {
          "laplacian_var": 2477.282990805841
        },
        "contrast": {
          "p05": 23.0,
          "p95": 166.0,
          "dynamic_range": 143.0,
          "mean_gray": 52.51162790697674,
          "std_gray": 47.46295843003588
        },
        "geometry": {
          "distance_to_center_norm": 0.2988838255405426,
          "distance_to_border_px": 155.0
        },
        "edge_ratio": 1.2448524040109892,
        "edge_lengths_px": [
          30.08321762084961,
          24.166091918945312,
          29.120439529418945,
          25.079872131347656
        ]
      },
      "confidence": 0.24902550615732547
    },
    {
      "observation_id": "7d333789-0ec1-4adc-a929-f76a5cf68cc7",
      "type": "aruco",
      "marker_id": 124,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          704.0,
          89.0
        ],
        [
          687.0,
          91.0
        ],
        [
          688.0,
          54.0
        ],
        [
          706.0,
          53.0
        ]
      ],
      "center_px": [
        696.25,
        71.75
      ],
      "quality": {
        "area_px": 636.5,
        "perimeter_px": 108.21402168273926,
        "sharpness": {
          "laplacian_var": 598.769370855703
        },
        "contrast": {
          "p05": 8.0,
          "p95": 78.0,
          "dynamic_range": 70.0,
          "mean_gray": 35.67515923566879,
          "std_gray": 28.932210811254524
        },
        "geometry": {
          "distance_to_center_norm": 0.3999539613723755,
          "distance_to_border_px": 53.0
        },
        "edge_ratio": 2.16235243384908,
        "edge_lengths_px": [
          17.11724281311035,
          37.013511657714844,
          18.027755737304688,
          36.055511474609375
        ]
      },
      "confidence": 0.1717072854797086
    },
    {
      "observation_id": "57ceb64f-09b9-4e22-8f46-6d01af4c0004",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          643.0,
          510.0
        ],
        [
          668.0,
          503.0
        ],
        [
          694.0,
          514.0
        ],
        [
          663.0,
          520.0
        ]
      ],
      "center_px": [
        667.0,
        511.75
      ],
      "quality": {
        "area_px": 443.5,
        "perimeter_px": 108.12868309020996,
        "sharpness": {
          "laplacian_var": 5640.742011019284
        },
        "contrast": {
          "p05": 22.45,
          "p95": 173.0,
          "dynamic_range": 150.55,
          "mean_gray": 94.48787878787878,
          "std_gray": 59.70687112164581
        },
        "geometry": {
          "distance_to_center_norm": 0.20990434288978577,
          "distance_to_border_px": 200.0
        },
        "edge_ratio": 1.4120906191665992,
        "edge_lengths_px": [
          25.961509704589844,
          28.23118782043457,
          31.575305938720703,
          22.360679626464844
        ]
      },
      "confidence": 0.2093822185726055
    },
    {
      "observation_id": "35e0c1de-8fed-4d9a-8c86-3b38d73803ca",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          306.0,
          536.0
        ],
        [
          339.0,
          529.0
        ],
        [
          356.0,
          538.0
        ],
        [
          324.0,
          546.0
        ]
      ],
      "center_px": [
        331.25,
        537.25
      ],
      "quality": {
        "area_px": 440.0,
        "perimeter_px": 106.54574584960938,
        "sharpness": {
          "laplacian_var": 3590.8840919670315
        },
        "contrast": {
          "p05": 23.0,
          "p95": 179.0,
          "dynamic_range": 156.0,
          "mean_gray": 74.11480362537765,
          "std_gray": 62.70926627640594
        },
        "geometry": {
          "distance_to_center_norm": 0.48482945561408997,
          "distance_to_border_px": 174.0
        },
        "edge_ratio": 1.7537605054536587,
        "edge_lengths_px": [
          33.734256744384766,
          19.235383987426758,
          32.98484420776367,
          20.59126091003418
        ]
      },
      "confidence": 0.16725963004706537
    },
    {
      "observation_id": "e78ef00a-beef-4848-a38b-c8f8663076cd",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          495.0,
          533.0
        ],
        [
          524.0,
          525.0
        ],
        [
          544.0,
          535.0
        ],
        [
          515.0,
          543.0
        ]
      ],
      "center_px": [
        519.5,
        534.0
      ],
      "quality": {
        "area_px": 450.0,
        "perimeter_px": 104.8877944946289,
        "sharpness": {
          "laplacian_var": 4139.5130098718755
        },
        "contrast": {
          "p05": 27.0,
          "p95": 177.0,
          "dynamic_range": 150.0,
          "mean_gray": 88.50434782608696,
          "std_gray": 61.76839029040196
        },
        "geometry": {
          "distance_to_center_norm": 0.2882344722747803,
          "distance_to_border_px": 177.0
        },
        "edge_ratio": 1.3453624005794889,
        "edge_lengths_px": [
          30.08321762084961,
          22.360679626464844,
          30.08321762084961,
          22.360679626464844
        ]
      },
      "confidence": 0.22298824455832925
    },
    {
      "observation_id": "29005bee-121b-49ae-b499-9d2701b1f2eb",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1176.0,
          465.0
        ],
        [
          1195.0,
          459.0
        ],
        [
          1222.0,
          467.0
        ],
        [
          1204.0,
          473.0
        ]
      ],
      "center_px": [
        1199.25,
        466.0
      ],
      "quality": {
        "area_px": 313.0,
        "perimeter_px": 96.17921829223633,
        "sharpness": {
          "laplacian_var": 4910.08346868159
        },
        "contrast": {
          "p05": 15.0,
          "p95": 155.0,
          "dynamic_range": 140.0,
          "mean_gray": 91.31932773109244,
          "std_gray": 54.795484199190035
        },
        "geometry": {
          "distance_to_center_norm": 0.7751669883728027,
          "distance_to_border_px": 58.0
        },
        "edge_ratio": 1.5347819815001813,
        "edge_lengths_px": [
          19.92485809326172,
          28.160255432128906,
          18.973665237426758,
          29.120439529418945
        ]
      },
      "confidence": 0.13595850692924102
    },
    {
      "observation_id": "3adbc624-a548-46ff-8107-f2f714b62b9f",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          513.0,
          346.0
        ],
        [
          532.0,
          352.0
        ],
        [
          533.0,
          383.0
        ],
        [
          515.0,
          377.0
        ]
      ],
      "center_px": [
        523.25,
        364.5
      ],
      "quality": {
        "area_px": 564.5,
        "perimeter_px": 100.97909736633301,
        "sharpness": {
          "laplacian_var": 3179.1891357498475
        },
        "contrast": {
          "p05": 34.0,
          "p95": 178.0,
          "dynamic_range": 144.0,
          "mean_gray": 84.89294403892944,
          "std_gray": 61.369474360657826
        },
        "geometry": {
          "distance_to_center_norm": 0.15911251306533813,
          "distance_to_border_px": 337.0
        },
        "edge_ratio": 1.6372402970948459,
        "edge_lengths_px": [
          19.92485809326172,
          31.016124725341797,
          18.973665237426758,
          31.064449310302734
        ]
      },
      "confidence": 0.2298583378390498
    },
    {
      "observation_id": "fcbc80bc-52f5-4293-8ea8-20c89b8e50cf",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          859.0,
          438.0
        ],
        [
          881.0,
          445.0
        ],
        [
          856.0,
          451.0
        ],
        [
          835.0,
          444.0
        ]
      ],
      "center_px": [
        857.75,
        444.5
      ],
      "quality": {
        "area_px": 300.5,
        "perimeter_px": 95.67129135131836,
        "sharpness": {
          "laplacian_var": 4738.917789176912
        },
        "contrast": {
          "p05": 18.0,
          "p95": 140.0,
          "dynamic_range": 122.0,
          "mean_gray": 76.86283185840708,
          "std_gray": 48.26598262447623
        },
        "geometry": {
          "distance_to_center_norm": 0.31808528304100037,
          "distance_to_border_px": 269.0
        },
        "edge_ratio": 1.16145579594696,
        "edge_lengths_px": [
          23.0867919921875,
          25.70992088317871,
          22.135944366455078,
          24.73863410949707
        ]
      },
      "confidence": 0.17248468175234963
    },
    {
      "observation_id": "5b244d03-f503-4361-a3e2-cf2c1ff8ce83",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          507.0,
          462.0
        ],
        [
          535.0,
          457.0
        ],
        [
          551.0,
          464.0
        ],
        [
          524.0,
          470.0
        ]
      ],
      "center_px": [
        529.25,
        463.25
      ],
      "quality": {
        "area_px": 297.0,
        "perimeter_px": 92.35410118103027,
        "sharpness": {
          "laplacian_var": 6161.774061654949
        },
        "contrast": {
          "p05": 30.0,
          "p95": 178.0,
          "dynamic_range": 148.0,
          "mean_gray": 92.22325581395349,
          "std_gray": 59.20556556651442
        },
        "geometry": {
          "distance_to_center_norm": 0.20620082318782806,
          "distance_to_border_px": 250.0
        },
        "edge_ratio": 1.6286371694405686,
        "edge_lengths_px": [
          28.44292449951172,
          17.464248657226562,
          27.658634185791016,
          18.788293838500977
        ]
      },
      "confidence": 0.12157403976480062
    },
    {
      "observation_id": "b257701e-d5cf-4c8c-833c-9a0a96bbc26d",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          402.0,
          498.0
        ],
        [
          431.0,
          491.0
        ],
        [
          449.0,
          500.0
        ],
        [
          419.0,
          506.0
        ]
      ],
      "center_px": [
        425.25,
        498.75
      ],
      "quality": {
        "area_px": 364.5,
        "perimeter_px": 99.33988952636719,
        "sharpness": {
          "laplacian_var": 5461.123269896194
        },
        "contrast": {
          "p05": 23.0,
          "p95": 179.0,
          "dynamic_range": 156.0,
          "mean_gray": 88.88970588235294,
          "std_gray": 65.4384727630509
        },
        "geometry": {
          "distance_to_center_norm": 0.34818607568740845,
          "distance_to_border_px": 214.0
        },
        "edge_ratio": 1.6283605352309334,
        "edge_lengths_px": [
          29.832868576049805,
          20.124610900878906,
          30.5941162109375,
          18.788293838500977
        ]
      },
      "confidence": 0.14922985097126407
    },
    {
      "observation_id": "e8b44df3-65fb-432e-9bfc-aa4ec85d9674",
      "type": "aruco",
      "marker_id": 122,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          696.0,
          245.0
        ],
        [
          681.0,
          249.0
        ],
        [
          681.0,
          217.0
        ],
        [
          697.0,
          211.0
        ]
      ],
      "center_px": [
        688.75,
        230.5
      ],
      "quality": {
        "area_px": 509.0,
        "perimeter_px": 98.6268835067749,
        "sharpness": {
          "laplacian_var": 586.2660619803477
        },
        "contrast": {
          "p05": 11.0,
          "p95": 82.0,
          "dynamic_range": 71.0,
          "mean_gray": 33.01322751322751,
          "std_gray": 27.984828366164543
        },
        "geometry": {
          "distance_to_center_norm": 0.18844009935855865,
          "distance_to_border_px": 211.0
        },
        "edge_ratio": 2.1910795595872954,
        "edge_lengths_px": [
          15.524174690246582,
          32.0,
          17.0880069732666,
          34.01470184326172
        ]
      },
      "confidence": 0.1374474660290558
    },
    {
      "observation_id": "5cc4c46e-38e6-4d0c-8e5b-ad2c0298e003",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          444.0,
          446.0
        ],
        [
          471.0,
          441.0
        ],
        [
          486.0,
          448.0
        ],
        [
          461.0,
          454.0
        ]
      ],
      "center_px": [
        465.5,
        447.25
      ],
      "quality": {
        "area_px": 283.0,
        "perimeter_px": 88.51022148132324,
        "sharpness": {
          "laplacian_var": 5927.498845320012
        },
        "contrast": {
          "p05": 29.0,
          "p95": 179.0,
          "dynamic_range": 150.0,
          "mean_gray": 124.41747572815534,
          "std_gray": 57.40522358286679
        },
        "geometry": {
          "distance_to_center_norm": 0.2656901776790619,
          "distance_to_border_px": 266.0
        },
        "edge_ratio": 1.6588624477171257,
        "edge_lengths_px": [
          27.459060668945312,
          16.552946090698242,
          25.70992088317871,
          18.788293838500977
        ]
      },
      "confidence": 0.11373255626245794
    },
    {
      "observation_id": "73f51982-82b1-484a-99df-ba16cf7f2ae2",
      "type": "aruco",
      "marker_id": 60,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1174.0,
          430.0
        ],
        [
          1193.0,
          425.0
        ],
        [
          1217.0,
          432.0
        ],
        [
          1199.0,
          437.0
        ]
      ],
      "center_px": [
        1195.75,
        431.0
      ],
      "quality": {
        "area_px": 252.0,
        "perimeter_px": 89.2899341583252,
        "sharpness": {
          "laplacian_var": 5202.709008928306
        },
        "contrast": {
          "p05": 16.0,
          "p95": 154.0,
          "dynamic_range": 138.0,
          "mean_gray": 101.44808743169399,
          "std_gray": 53.67760758874572
        },
        "geometry": {
          "distance_to_center_norm": 0.7629922032356262,
          "distance_to_border_px": 63.0
        },
        "edge_ratio": 1.3896877719636351,
        "edge_lengths_px": [
          19.646883010864258,
          25.0,
          18.681541442871094,
          25.961509704589844
        ]
      },
      "confidence": 0.1208904643109979
    },
    {
      "observation_id": "a1ea3edd-3a9f-4a5d-85eb-743202da150d",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1111.0,
          455.0
        ],
        [
          1131.0,
          449.0
        ],
        [
          1156.0,
          456.0
        ],
        [
          1136.0,
          462.0
        ]
      ],
      "center_px": [
        1133.5,
        455.5
      ],
      "quality": {
        "area_px": 290.0,
        "perimeter_px": 93.68424606323242,
        "sharpness": {
          "laplacian_var": 5264.456030070717
        },
        "contrast": {
          "p05": 15.0,
          "p95": 153.0,
          "dynamic_range": 138.0,
          "mean_gray": 61.21658986175115,
          "std_gray": 51.83520591936289
        },
        "geometry": {
          "distance_to_center_norm": 0.6845347285270691,
          "distance_to_border_px": 124.0
        },
        "edge_ratio": 1.243330801542459,
        "edge_lengths_px": [
          20.880613327026367,
          25.961509704589844,
          20.880613327026367,
          25.961509704589844
        ]
      },
      "confidence": 0.15549629518828512
    },
    {
      "observation_id": "7867756a-d0c9-4e96-aa6f-1885973ff5cd",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          767.0,
          407.0
        ],
        [
          785.0,
          414.0
        ],
        [
          761.0,
          419.0
        ],
        [
          742.0,
          412.0
        ]
      ],
      "center_px": [
        763.75,
        413.0
      ],
      "quality": {
        "area_px": 264.0,
        "perimeter_px": 89.57206344604492,
        "sharpness": {
          "laplacian_var": 3848.9887886845204
        },
        "contrast": {
          "p05": 12.0,
          "p95": 131.0,
          "dynamic_range": 119.0,
          "mean_gray": 61.94764397905759,
          "std_gray": 46.09661356767198
        },
        "geometry": {
          "distance_to_center_norm": 0.18333308398723602,
          "distance_to_border_px": 301.0
        },
        "edge_ratio": 1.320086161101429,
        "edge_lengths_px": [
          19.313207626342773,
          24.515300750732422,
          20.248456954956055,
          25.495098114013672
        ]
      },
      "confidence": 0.13332463075982282
    },
    {
      "observation_id": "0db37fb8-6ad5-4ced-96d7-7b8ff13f1019",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1126.0,
          428.0
        ],
        [
          1145.0,
          423.0
        ],
        [
          1169.0,
          430.0
        ],
        [
          1150.0,
          435.0
        ]
      ],
      "center_px": [
        1147.5,
        429.0
      ],
      "quality": {
        "area_px": 253.0,
        "perimeter_px": 89.29376602172852,
        "sharpness": {
          "laplacian_var": 6541.367470227771
        },
        "contrast": {
          "p05": 16.0,
          "p95": 153.0,
          "dynamic_range": 137.0,
          "mean_gray": 84.08064516129032,
          "std_gray": 52.320958933010665
        },
        "geometry": {
          "distance_to_center_norm": 0.6974908709526062,
          "distance_to_border_px": 111.0
        },
        "edge_ratio": 1.272466476548753,
        "edge_lengths_px": [
          19.646883010864258,
          25.0,
          19.646883010864258,
          25.0
        ]
      },
      "confidence": 0.13255097071329755
    },
    {
      "observation_id": "848bb571-2e54-474f-89ae-704020f2aaa4",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1106.0,
          408.0
        ],
        [
          1128.0,
          404.0
        ],
        [
          1148.0,
          409.0
        ],
        [
          1128.0,
          414.0
        ]
      ],
      "center_px": [
        1127.5,
        408.75
      ],
      "quality": {
        "area_px": 210.0,
        "perimeter_px": 86.39524459838867,
        "sharpness": {
          "laplacian_var": 6340.843079584774
        },
        "contrast": {
          "p05": 16.0,
          "p95": 152.54999999999998,
          "dynamic_range": 136.54999999999998,
          "mean_gray": 82.48823529411764,
          "std_gray": 52.06548345568346
        },
        "geometry": {
          "distance_to_center_norm": 0.6672066450119019,
          "distance_to_border_px": 132.0
        },
        "edge_ratio": 1.1061326511031992,
        "edge_lengths_px": [
          22.360679626464844,
          20.615528106689453,
          20.615528106689453,
          22.803508758544922
        ]
      },
      "confidence": 0.1265670983135443
    },
    {
      "observation_id": "74036fa3-4dc1-4374-9b33-fde262445c0e",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          358.0,
          408.0
        ],
        [
          384.0,
          404.0
        ],
        [
          399.0,
          410.0
        ],
        [
          373.0,
          415.0
        ]
      ],
      "center_px": [
        378.5,
        409.25
      ],
      "quality": {
        "area_px": 236.5,
        "perimeter_px": 85.49073791503906,
        "sharpness": {
          "laplacian_var": 8047.443895002974
        },
        "contrast": {
          "p05": 23.0,
          "p95": 179.0,
          "dynamic_range": 156.0,
          "mean_gray": 91.1890243902439,
          "std_gray": 60.69009342974849
        },
        "geometry": {
          "distance_to_center_norm": 0.3623812198638916,
          "distance_to_border_px": 305.0
        },
        "edge_ratio": 1.6388482493543195,
        "edge_lengths_px": [
          26.305892944335938,
          16.155494689941406,
          26.476404190063477,
          16.552946090698242
        ]
      },
      "confidence": 0.09620577544552089
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          753.0,
          306.0
        ],
        [
          733.0,
          326.0
        ],
        [
          693.0,
          343.0
        ],
        [
          695.0,
          320.0
        ]
      ],
      "center_px": [
        718.5,
        323.75
      ],
      "area_px": 883.0
    },
    {
      "image_points_px": [
        [
          511.0,
          586.0
        ],
        [
          477.0,
          595.0
        ],
        [
          457.0,
          584.0
        ],
        [
          489.0,
          575.0
        ]
      ],
      "center_px": [
        483.5,
        585.0
      ],
      "area_px": 552.0
    },
    {
      "image_points_px": [
        [
          319.0,
          442.0
        ],
        [
          289.0,
          448.0
        ],
        [
          274.0,
          439.0
        ],
        [
          302.0,
          434.0
        ]
      ],
      "center_px": [
        296.0,
        440.75
      ],
      "area_px": 334.5
    },
    {
      "image_points_px": [
        [
          414.0,
          438.0
        ],
        [
          388.0,
          444.0
        ],
        [
          373.0,
          436.0
        ],
        [
          399.0,
          431.0
        ]
      ],
      "center_px": [
        393.5,
        437.25
      ],
      "area_px": 277.5
    },
    {
      "image_points_px": [
        [
          976.0,
          370.0
        ],
        [
          997.0,
          366.0
        ],
        [
          1016.0,
          373.0
        ],
        [
          998.0,
          377.0
        ]
      ],
      "center_px": [
        996.75,
        371.5
      ],
      "area_px": 218.5
    },
    {
      "image_points_px": [
        [
          1005.0,
          363.0
        ],
        [
          1026.0,
          360.0
        ],
        [
          1044.0,
          366.0
        ],
        [
          1027.0,
          371.0
        ]
      ],
      "center_px": [
        1025.5,
        365.0
      ],
      "area_px": 213.0
    },
    {
      "image_points_px": [
        [
          806.0,
          357.0
        ],
        [
          824.0,
          353.0
        ],
        [
          845.0,
          360.0
        ],
        [
          823.0,
          363.0
        ]
      ],
      "center_px": [
        824.5,
        358.25
      ],
      "area_px": 196.5
    },
    {
      "image_points_px": [
        [
          893.0,
          346.0
        ],
        [
          914.0,
          343.0
        ],
        [
          930.0,
          349.0
        ],
        [
          913.0,
          353.0
        ]
      ],
      "center_px": [
        912.5,
        347.75
      ],
      "area_px": 186.5
    },
    {
      "image_points_px": [
        [
          866.0,
          324.0
        ],
        [
          885.0,
          321.0
        ],
        [
          902.0,
          327.0
        ],
        [
          885.0,
          331.0
        ]
      ],
      "center_px": [
        884.5,
        325.75
      ],
      "area_px": 180.0
    },
    {
      "image_points_px": [
        [
          817.0,
          312.0
        ],
        [
          834.0,
          309.0
        ],
        [
          851.0,
          315.0
        ],
        [
          833.0,
          318.0
        ]
      ],
      "center_px": [
        833.75,
        313.5
      ],
      "area_px": 154.5
    },
    {
      "image_points_px": [
        [
          663.0,
          312.0
        ],
        [
          674.0,
          332.0
        ],
        [
          666.0,
          335.0
        ],
        [
          663.0,
          325.0
        ]
      ],
      "center_px": [
        666.5,
        326.0
      ],
      "area_px": 116.0
    },
    {
      "image_points_px": [
        [
          439.0,
          497.0
        ],
        [
          428.0,
          504.0
        ],
        [
          416.0,
          502.0
        ],
        [
          431.0,
          494.0
        ]
      ],
      "center_px": [
        428.5,
        499.25
      ],
      "area_px": 107.5
    },
    {
      "image_points_px": [
        [
          777.0,
          361.0
        ],
        [
          794.0,
          364.0
        ],
        [
          800.0,
          368.0
        ],
        [
          783.0,
          365.0
        ]
      ],
      "center_px": [
        788.5,
        364.5
      ],
      "area_px": 50.0
    },
    {
      "image_points_px": [
        [
          1016.0,
          362.0
        ],
        [
          1023.0,
          360.0
        ],
        [
          1038.0,
          365.0
        ],
        [
          1022.0,
          368.0
        ]
      ],
      "center_px": [
        1024.75,
        363.75
      ],
      "area_px": 89.5
    },
    {
      "image_points_px": [
        [
          806.0,
          377.0
        ],
        [
          816.0,
          378.0
        ],
        [
          826.0,
          382.0
        ],
        [
          810.0,
          380.0
        ]
      ],
      "center_px": [
        814.5,
        379.25
      ],
      "area_px": 35.0
    },
    {
      "image_points_px": [
        [
          715.0,
          11.0
        ],
        [
          729.0,
          9.0
        ],
        [
          734.0,
          14.0
        ],
        [
          719.0,
          14.0
        ]
      ],
      "center_px": [
        724.25,
        12.0
      ],
      "area_px": 62.5
    }
  ]
}