{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T08:47:06Z",
  "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\\Scene4\\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\\Scene4\\render_a.png",
    "image_sha256": "4e655d23f82b0d18e2b3443a1e69932cebaa2af8496a3891c5fc769f344c8066",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 27,
    "num_rejected_candidates": 17
  },
  "detections": [
    {
      "observation_id": "47838397-be6e-45aa-a6f1-0f646a7c7e32",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          856.0,
          437.0
        ],
        [
          891.0,
          410.0
        ],
        [
          919.0,
          444.0
        ],
        [
          883.0,
          470.0
        ]
      ],
      "center_px": [
        887.25,
        440.25
      ],
      "quality": {
        "area_px": 1918.0,
        "perimeter_px": 175.29471969604492,
        "sharpness": {
          "laplacian_var": 3356.032043477939
        },
        "contrast": {
          "p05": 43.0,
          "p95": 194.0,
          "dynamic_range": 151.0,
          "mean_gray": 104.56828885400314,
          "std_gray": 68.29040720729542
        },
        "geometry": {
          "distance_to_center_norm": 0.3540058732032776,
          "distance_to_border_px": 250.0
        },
        "edge_ratio": 1.0414933876243269,
        "edge_lengths_px": [
          44.204071044921875,
          44.04542922973633,
          44.40720748901367,
          42.63801193237305
        ]
      },
      "confidence": 0.9601597205345928
    },
    {
      "observation_id": "3e933766-f9eb-4688-8403-fa53df74032d",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1064.0,
          550.0
        ],
        [
          1036.0,
          526.0
        ],
        [
          1071.0,
          496.0
        ],
        [
          1100.0,
          521.0
        ]
      ],
      "center_px": [
        1067.75,
        523.25
      ],
      "quality": {
        "area_px": 1710.5,
        "perimeter_px": 167.49197387695312,
        "sharpness": {
          "laplacian_var": 2186.2729834110296
        },
        "contrast": {
          "p05": 23.0,
          "p95": 190.0,
          "dynamic_range": 167.0,
          "mean_gray": 75.13468309859155,
          "std_gray": 71.70221818645027
        },
        "geometry": {
          "distance_to_center_norm": 0.6235080361366272,
          "distance_to_border_px": 170.0
        },
        "edge_ratio": 1.2535243989770561,
        "edge_lengths_px": [
          36.878177642822266,
          46.097721099853516,
          38.28837966918945,
          46.22769546508789
        ]
      },
      "confidence": 0.7977507265243933
    },
    {
      "observation_id": "c0653e64-f844-4038-9d51-b1d78f9287ad",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          742.0,
          297.0
        ],
        [
          776.0,
          272.0
        ],
        [
          801.0,
          303.0
        ],
        [
          766.0,
          328.0
        ]
      ],
      "center_px": [
        771.25,
        300.0
      ],
      "quality": {
        "area_px": 1682.0,
        "perimeter_px": 164.24272918701172,
        "sharpness": {
          "laplacian_var": 3053.1298054540157
        },
        "contrast": {
          "p05": 34.0,
          "p95": 193.0,
          "dynamic_range": 159.0,
          "mean_gray": 87.41161178509532,
          "std_gray": 69.92093507331643
        },
        "geometry": {
          "distance_to_center_norm": 0.19653227925300598,
          "distance_to_border_px": 272.0
        },
        "edge_ratio": 1.0971069297928784,
        "edge_lengths_px": [
          42.20189666748047,
          39.824615478515625,
          43.011627197265625,
          39.20458984375
        ]
      },
      "confidence": 0.9114881811828396
    },
    {
      "observation_id": "d220625a-6d4b-4caa-ac48-a4f58bd03e15",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          544.0,
          202.0
        ],
        [
          580.0,
          190.0
        ],
        [
          598.0,
          227.0
        ],
        [
          563.0,
          240.0
        ]
      ],
      "center_px": [
        571.25,
        214.75
      ],
      "quality": {
        "area_px": 1562.5,
        "perimeter_px": 158.91500854492188,
        "sharpness": {
          "laplacian_var": 2631.553882786966
        },
        "contrast": {
          "p05": 22.0,
          "p95": 191.0,
          "dynamic_range": 169.0,
          "mean_gray": 79.57865168539325,
          "std_gray": 74.51505134925961
        },
        "geometry": {
          "distance_to_center_norm": 0.21884563565254211,
          "distance_to_border_px": 190.0
        },
        "edge_ratio": 1.1379082009696255,
        "edge_lengths_px": [
          37.947330474853516,
          41.146080017089844,
          37.336307525634766,
          42.48529052734375
        ]
      },
      "confidence": 0.8788055127363418
    },
    {
      "observation_id": "f47bdd0d-5cf1-45c1-9d34-8a3225a0d5b4",
      "type": "aruco",
      "marker_id": 247,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          607.0,
          163.0
        ],
        [
          641.0,
          151.0
        ],
        [
          663.0,
          179.0
        ],
        [
          630.0,
          191.0
        ]
      ],
      "center_px": [
        635.25,
        171.0
      ],
      "quality": {
        "area_px": 1208.0,
        "perimeter_px": 143.0139389038086,
        "sharpness": {
          "laplacian_var": 4738.438554117014
        },
        "contrast": {
          "p05": 12.0,
          "p95": 185.0,
          "dynamic_range": 173.0,
          "mean_gray": 98.81873479318735,
          "std_gray": 78.0660553126211
        },
        "geometry": {
          "distance_to_center_norm": 0.25746843218803406,
          "distance_to_border_px": 151.0
        },
        "edge_ratio": 1.0319312943653909,
        "edge_lengths_px": [
          36.055511474609375,
          35.608985900878906,
          35.11410140991211,
          36.2353401184082
        ]
      },
      "confidence": 0.7804137133263228
    },
    {
      "observation_id": "abaf559c-aa07-4e86-bc8b-6dc5de0d4862",
      "type": "aruco",
      "marker_id": 246,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          659.0,
          144.0
        ],
        [
          691.0,
          133.0
        ],
        [
          714.0,
          160.0
        ],
        [
          682.0,
          172.0
        ]
      ],
      "center_px": [
        686.5,
        152.25
      ],
      "quality": {
        "area_px": 1144.5,
        "perimeter_px": 139.71749877929688,
        "sharpness": {
          "laplacian_var": 3652.8700343350956
        },
        "contrast": {
          "p05": 12.0,
          "p95": 184.0,
          "dynamic_range": 172.0,
          "mean_gray": 63.14409937888199,
          "std_gray": 72.05761397842296
        },
        "geometry": {
          "distance_to_center_norm": 0.28992196917533875,
          "distance_to_border_px": 133.0
        },
        "edge_ratio": 1.070852360589823,
        "edge_lengths_px": [
          33.83784866333008,
          35.46829605102539,
          34.1760139465332,
          36.2353401184082
        ]
      },
      "confidence": 0.7125165224268091
    },
    {
      "observation_id": "f2135fd0-f994-4db3-be7c-b31098957721",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          857.0,
          357.0
        ],
        [
          885.0,
          350.0
        ],
        [
          911.0,
          381.0
        ],
        [
          884.0,
          389.0
        ]
      ],
      "center_px": [
        884.25,
        369.25
      ],
      "quality": {
        "area_px": 1065.0,
        "perimeter_px": 139.3506965637207,
        "sharpness": {
          "laplacian_var": 2652.481995436555
        },
        "contrast": {
          "p05": 11.0,
          "p95": 178.0,
          "dynamic_range": 167.0,
          "mean_gray": 62.93478260869565,
          "std_gray": 69.90001467124094
        },
        "geometry": {
          "distance_to_center_norm": 0.3328670859336853,
          "distance_to_border_px": 331.0
        },
        "edge_ratio": 1.4868062251610057,
        "edge_lengths_px": [
          28.861740112304688,
          40.45985794067383,
          28.160255432128906,
          41.86884307861328
        ]
      },
      "confidence": 0.4775336476164635
    },
    {
      "observation_id": "92febfcc-e966-45cd-8b60-868e105a03c6",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          782.0,
          269.0
        ],
        [
          811.0,
          263.0
        ],
        [
          836.0,
          293.0
        ],
        [
          808.0,
          299.0
        ]
      ],
      "center_px": [
        809.25,
        281.0
      ],
      "quality": {
        "area_px": 1008.0,
        "perimeter_px": 136.99994277954102,
        "sharpness": {
          "laplacian_var": 2606.333041377862
        },
        "contrast": {
          "p05": 11.0,
          "p95": 177.0,
          "dynamic_range": 166.0,
          "mean_gray": 53.76231884057971,
          "std_gray": 64.98359904889553
        },
        "geometry": {
          "distance_to_center_norm": 0.25436311960220337,
          "distance_to_border_px": 263.0
        },
        "edge_ratio": 1.3863445563420866,
        "edge_lengths_px": [
          29.614185333251953,
          39.051246643066406,
          28.635643005371094,
          39.69886779785156
        ]
      },
      "confidence": 0.48472798261140293
    },
    {
      "observation_id": "f25902ac-cf8e-4fdc-9788-5645b1c4a3f9",
      "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": 3874.2915393771077
        },
        "contrast": {
          "p05": 9.0,
          "p95": 175.0,
          "dynamic_range": 166.0,
          "mean_gray": 68.1830985915493,
          "std_gray": 71.49744600169245
        },
        "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": "9f1b0912-d591-4371-bfb9-a5fa6c571e60",
      "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
        ],
        [
          315.0,
          650.0
        ]
      ],
      "center_px": [
        324.0,
        632.0
      ],
      "quality": {
        "area_px": 990.0,
        "perimeter_px": 130.19475555419922,
        "sharpness": {
          "laplacian_var": 3789.6299740691434
        },
        "contrast": {
          "p05": 20.0,
          "p95": 181.0,
          "dynamic_range": 161.0,
          "mean_gray": 79.78761061946902,
          "std_gray": 69.22639759361587
        },
        "geometry": {
          "distance_to_center_norm": 0.5678059458732605,
          "distance_to_border_px": 70.0
        },
        "edge_ratio": 1.4093619970008786,
        "edge_lengths_px": [
          38.07886505126953,
          27.018512725830078,
          38.07886505126953,
          27.018512725830078
        ]
      },
      "confidence": 0.46829700346999537
    },
    {
      "observation_id": "d5647595-eed8-4487-b564-5e6bd14436a8",
      "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": 3650.026571955468
        },
        "contrast": {
          "p05": 9.0,
          "p95": 170.0,
          "dynamic_range": 161.0,
          "mean_gray": 113.10082644628099,
          "std_gray": 67.42325725706003
        },
        "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": "3a2b7364-a8bd-484d-aed5-314fbbc12d50",
      "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": 4147.377807253229
        },
        "contrast": {
          "p05": 12.0,
          "p95": 168.0,
          "dynamic_range": 156.0,
          "mean_gray": 92.27946127946127,
          "std_gray": 67.46161908479095
        },
        "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": "0a981d4c-f32c-42bc-ba1c-7db45aca4f09",
      "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": 2716.773726729014
        },
        "contrast": {
          "p05": 9.0,
          "p95": 164.0,
          "dynamic_range": 155.0,
          "mean_gray": 79.46819787985866,
          "std_gray": 68.98118921602436
        },
        "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": "4ba55d56-3956-4f58-9000-8c9e9b9ea4a0",
      "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": 3726.2944860418565
        },
        "contrast": {
          "p05": 10.0,
          "p95": 174.0,
          "dynamic_range": 164.0,
          "mean_gray": 78.53321364452424,
          "std_gray": 73.13690263482175
        },
        "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": "8800627a-400c-4cca-b4e2-89a1661fbcad",
      "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": 1903.9188676359188
        },
        "contrast": {
          "p05": 9.0,
          "p95": 167.0,
          "dynamic_range": 158.0,
          "mean_gray": 37.461832061068705,
          "std_gray": 53.238162800034154
        },
        "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": "077b0333-5b5a-4b9b-adb4-6b5a01517280",
      "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": 2619.9209463186303
        },
        "contrast": {
          "p05": 8.0,
          "p95": 157.0,
          "dynamic_range": 149.0,
          "mean_gray": 61.75675675675676,
          "std_gray": 62.26136452296316
        },
        "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": "c6a375f4-8084-490f-84f2-f59d68badae7",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          586.0,
          485.0
        ],
        [
          615.0,
          473.0
        ],
        [
          633.0,
          490.0
        ],
        [
          606.0,
          503.0
        ]
      ],
      "center_px": [
        610.0,
        487.75
      ],
      "quality": {
        "area_px": 727.5,
        "perimeter_px": 113.01744270324707,
        "sharpness": {
          "laplacian_var": 2689.622203094785
        },
        "contrast": {
          "p05": 11.0,
          "p95": 173.0,
          "dynamic_range": 162.0,
          "mean_gray": 78.524557956778,
          "std_gray": 70.74038624173426
        },
        "geometry": {
          "distance_to_center_norm": 0.17870736122131348,
          "distance_to_border_px": 217.0
        },
        "edge_ratio": 1.2676165133923967,
        "edge_lengths_px": [
          31.38471031188965,
          24.75883674621582,
          29.96664810180664,
          26.90724754333496
        ]
      },
      "confidence": 0.3826078272694969
    },
    {
      "observation_id": "af422433-75e2-4f3a-b2c1-d94d366d249d",
      "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": 3754.1500637192435
        },
        "contrast": {
          "p05": 10.0,
          "p95": 173.0,
          "dynamic_range": 163.0,
          "mean_gray": 103.17029702970297,
          "std_gray": 67.20592492821098
        },
        "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": "33e5f248-80ea-47b3-82d5-89d0865f9cf8",
      "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": 2926.229339018763
        },
        "contrast": {
          "p05": 9.0,
          "p95": 166.0,
          "dynamic_range": 157.0,
          "mean_gray": 100.42281879194631,
          "std_gray": 63.481912505221764
        },
        "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": "df611a6c-c7bf-46c6-9751-9a4c1df50115",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          699.0,
          433.0
        ],
        [
          725.0,
          422.0
        ],
        [
          745.0,
          438.0
        ],
        [
          719.0,
          449.0
        ]
      ],
      "center_px": [
        722.0,
        435.5
      ],
      "quality": {
        "area_px": 636.0,
        "perimeter_px": 107.68737030029297,
        "sharpness": {
          "laplacian_var": 2322.9680956406232
        },
        "contrast": {
          "p05": 8.0,
          "p95": 156.0,
          "dynamic_range": 148.0,
          "mean_gray": 82.85714285714286,
          "std_gray": 62.12783195899119
        },
        "geometry": {
          "distance_to_center_norm": 0.15179593861103058,
          "distance_to_border_px": 271.0
        },
        "edge_ratio": 1.1022426847726727,
        "edge_lengths_px": [
          28.23118782043457,
          25.612497329711914,
          28.23118782043457,
          25.612497329711914
        ]
      },
      "confidence": 0.38467027802270787
    },
    {
      "observation_id": "7769664a-962f-4d15-83a0-353f114f5be1",
      "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": 2341.8607387471316
        },
        "contrast": {
          "p05": 10.0,
          "p95": 166.0,
          "dynamic_range": 156.0,
          "mean_gray": 63.83213429256595,
          "std_gray": 62.22281940861428
        },
        "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": "203a986b-496b-4aa9-b09d-92f87f1e9c96",
      "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": 2696.1065650222895
        },
        "contrast": {
          "p05": 9.0,
          "p95": 162.0,
          "dynamic_range": 153.0,
          "mean_gray": 69.92953929539296,
          "std_gray": 60.03824815274981
        },
        "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": "e714abfe-bd7f-4f26-a013-7e8d30fc3e86",
      "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": 3950.9242108914323
        },
        "contrast": {
          "p05": 9.0,
          "p95": 168.0,
          "dynamic_range": 159.0,
          "mean_gray": 100.11290322580645,
          "std_gray": 64.39956876534717
        },
        "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": "10d67411-73d3-4a16-95fc-4b6fb66ce9d2",
      "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": 3554.597770061728
        },
        "contrast": {
          "p05": 10.0,
          "p95": 168.0,
          "dynamic_range": 158.0,
          "mean_gray": 99.91666666666667,
          "std_gray": 61.026804220222225
        },
        "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": "fe02d1ed-cbfe-4986-b8c4-07822592c803",
      "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": 2243.4884233295948
        },
        "contrast": {
          "p05": 10.0,
          "p95": 160.0,
          "dynamic_range": 150.0,
          "mean_gray": 74.45886075949367,
          "std_gray": 57.37778605766648
        },
        "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": "a64c5eb5-f28a-4443-b1b1-e38533229ae0",
      "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": 1924.9710527584878
        },
        "contrast": {
          "p05": 11.0,
          "p95": 158.64999999999998,
          "dynamic_range": 147.64999999999998,
          "mean_gray": 75.12152777777777,
          "std_gray": 56.40758009443712
        },
        "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": "921da138-9354-401f-b719-aad7dcb82b95",
      "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": 2766.549503780718
        },
        "contrast": {
          "p05": 13.0,
          "p95": 141.24999999999997,
          "dynamic_range": 128.24999999999997,
          "mean_gray": 71.73913043478261,
          "std_gray": 45.376293744933214
        },
        "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
        ],
        [
          449.0,
          676.0
        ],
        [
          394.0,
          662.0
        ],
        [
          578.0,
          568.0
        ]
      ],
      "center_px": [
        513.5,
        620.25
      ],
      "area_px": 7294.5
    },
    {
      "image_points_px": [
        [
          601.0,
          278.0
        ],
        [
          586.0,
          293.0
        ],
        [
          554.0,
          306.0
        ],
        [
          567.0,
          291.0
        ]
      ],
      "center_px": [
        577.0,
        292.0
      ],
      "area_px": 313.0
    },
    {
      "image_points_px": [
        [
          371.0,
          560.0
        ],
        [
          344.0,
          573.0
        ],
        [
          329.0,
          567.0
        ],
        [
          364.0,
          551.0
        ]
      ],
      "center_px": [
        352.0,
        562.75
      ],
      "area_px": 392.0
    },
    {
      "image_points_px": [
        [
          515.0,
          515.0
        ],
        [
          486.0,
          531.0
        ],
        [
          472.0,
          534.0
        ],
        [
          500.0,
          518.0
        ]
      ],
      "center_px": [
        493.25,
        524.5
      ],
      "area_px": 146.5
    },
    {
      "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": [
        [
          636.0,
          298.0
        ],
        [
          660.0,
          291.0
        ],
        [
          675.0,
          302.0
        ],
        [
          652.0,
          311.0
        ]
      ],
      "center_px": [
        655.75,
        300.5
      ],
      "area_px": 406.0
    },
    {
      "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
        ],
        [
          985.0,
          175.0
        ],
        [
          1001.0,
          185.0
        ],
        [
          984.0,
          192.0
        ]
      ],
      "center_px": [
        983.75,
        183.25
      ],
      "area_px": 308.0
    },
    {
      "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
        ],
        [
          953.0,
          140.0
        ],
        [
          968.0,
          149.0
        ],
        [
          951.0,
          156.0
        ]
      ],
      "center_px": [
        951.75,
        147.75
      ],
      "area_px": 267.0
    },
    {
      "image_points_px": [
        [
          793.0,
          140.0
        ],
        [
          811.0,
          134.0
        ],
        [
          825.0,
          143.0
        ],
        [
          807.0,
          150.0
        ]
      ],
      "center_px": [
        809.0,
        141.75
      ],
      "area_px": 262.0
    },
    {
      "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": [
        [
          591.0,
          286.0
        ],
        [
          583.0,
          292.0
        ],
        [
          563.0,
          298.0
        ],
        [
          573.0,
          289.0
        ]
      ],
      "center_px": [
        577.5,
        291.25
      ],
      "area_px": 102.0
    },
    {
      "image_points_px": [
        [
          949.0,
          526.0
        ],
        [
          938.0,
          535.0
        ],
        [
          929.0,
          535.0
        ],
        [
          923.0,
          532.0
        ]
      ],
      "center_px": [
        934.75,
        532.0
      ],
      "area_px": 97.5
    },
    {
      "image_points_px": [
        [
          1009.0,
          294.0
        ],
        [
          1014.0,
          292.0
        ],
        [
          1031.0,
          303.0
        ],
        [
          1023.0,
          305.0
        ]
      ],
      "center_px": [
        1019.25,
        298.5
      ],
      "area_px": 102.5
    },
    {
      "image_points_px": [
        [
          688.0,
          539.0
        ],
        [
          677.0,
          543.0
        ],
        [
          669.0,
          540.0
        ],
        [
          681.0,
          534.0
        ]
      ],
      "center_px": [
        678.75,
        539.0
      ],
      "area_px": 83.5
    },
    {
      "image_points_px": [
        [
          690.0,
          285.0
        ],
        [
          698.0,
          293.0
        ],
        [
          701.0,
          299.0
        ],
        [
          692.0,
          300.0
        ]
      ],
      "center_px": [
        695.25,
        294.25
      ],
      "area_px": 80.5
    }
  ]
}