{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T08:47:09Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "g",
    "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_g.png",
    "image_sha256": "ee05ed691725acbb5b2a536191368390dc6536a4824d3f8523d5bce6ef8c5228",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 35,
    "num_rejected_candidates": 3
  },
  "detections": [
    {
      "observation_id": "6f9e7654-a6e3-4795-99f3-d1098a899578",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          483.0,
          509.0
        ],
        [
          459.0,
          486.0
        ],
        [
          472.0,
          458.0
        ],
        [
          498.0,
          484.0
        ]
      ],
      "center_px": [
        478.0,
        484.25
      ],
      "quality": {
        "area_px": 1005.5,
        "perimeter_px": 130.03655242919922,
        "sharpness": {
          "laplacian_var": 708.0575425324779
        },
        "contrast": {
          "p05": 5.0,
          "p95": 94.0,
          "dynamic_range": 89.0,
          "mean_gray": 28.12146892655367,
          "std_gray": 35.303637591908085
        },
        "geometry": {
          "distance_to_center_norm": 0.27803513407707214,
          "distance_to_border_px": 211.0
        },
        "edge_ratio": 1.2611852638557701,
        "edge_lengths_px": [
          33.241539001464844,
          30.870698928833008,
          36.769554138183594,
          29.154760360717773
        ]
      },
      "confidence": 0.5315105976452267
    },
    {
      "observation_id": "a4292486-d21a-4af7-819c-1ed79e415381",
      "type": "aruco",
      "marker_id": 247,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          465.0,
          410.0
        ],
        [
          442.0,
          387.0
        ],
        [
          467.0,
          371.0
        ],
        [
          491.0,
          394.0
        ]
      ],
      "center_px": [
        466.25,
        390.5
      ],
      "quality": {
        "area_px": 962.5,
        "perimeter_px": 125.9787712097168,
        "sharpness": {
          "laplacian_var": 4499.941903064191
        },
        "contrast": {
          "p05": 27.0,
          "p95": 186.0,
          "dynamic_range": 159.0,
          "mean_gray": 104.40204678362574,
          "std_gray": 71.19636010160286
        },
        "geometry": {
          "distance_to_center_norm": 0.24023708701133728,
          "distance_to_border_px": 310.0
        },
        "edge_ratio": 1.1199358940169248,
        "edge_lengths_px": [
          32.526912689208984,
          29.681644439697266,
          33.241539001464844,
          30.528675079345703
        ]
      },
      "confidence": 0.5729494608527742
    },
    {
      "observation_id": "03baadaa-520c-4abb-b8a7-4fada5328682",
      "type": "aruco",
      "marker_id": 246,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          428.0,
          374.0
        ],
        [
          405.0,
          352.0
        ],
        [
          431.0,
          337.0
        ],
        [
          454.0,
          359.0
        ]
      ],
      "center_px": [
        429.5,
        355.5
      ],
      "quality": {
        "area_px": 917.0,
        "perimeter_px": 123.68864822387695,
        "sharpness": {
          "laplacian_var": 3658.215499427867
        },
        "contrast": {
          "p05": 24.0,
          "p95": 185.0,
          "dynamic_range": 161.0,
          "mean_gray": 74.30757341576506,
          "std_gray": 67.26022491852113
        },
        "geometry": {
          "distance_to_center_norm": 0.28673213720321655,
          "distance_to_border_px": 337.0
        },
        "edge_ratio": 1.060333120337215,
        "edge_lengths_px": [
          31.827661514282227,
          30.01666259765625,
          31.827661514282227,
          30.01666259765625
        ]
      },
      "confidence": 0.5765483710806963
    },
    {
      "observation_id": "25476efb-763e-460a-91d9-56bafa8fc456",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          555.0,
          326.0
        ],
        [
          538.0,
          298.0
        ],
        [
          561.0,
          283.0
        ],
        [
          577.0,
          312.0
        ]
      ],
      "center_px": [
        557.75,
        304.75
      ],
      "quality": {
        "area_px": 880.5,
        "perimeter_px": 119.41353988647461,
        "sharpness": {
          "laplacian_var": 3966.028053348047
        },
        "contrast": {
          "p05": 77.0,
          "p95": 195.0,
          "dynamic_range": 118.0,
          "mean_gray": 118.12214983713355,
          "std_gray": 51.075753899678716
        },
        "geometry": {
          "distance_to_center_norm": 0.1349361389875412,
          "distance_to_border_px": 283.0
        },
        "edge_ratio": 1.2701320488557506,
        "edge_lengths_px": [
          32.75667953491211,
          27.459060668945312,
          33.12099075317383,
          26.07680892944336
        ]
      },
      "confidence": 0.4621566714491005
    },
    {
      "observation_id": "b6d0798e-baf1-4f7f-af0e-acddb709b755",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          430.0,
          598.0
        ],
        [
          408.0,
          575.0
        ],
        [
          420.0,
          552.0
        ],
        [
          444.0,
          575.0
        ]
      ],
      "center_px": [
        425.5,
        575.0
      ],
      "quality": {
        "area_px": 828.0,
        "perimeter_px": 117.9372673034668,
        "sharpness": {
          "laplacian_var": 1365.3885822306238
        },
        "contrast": {
          "p05": 6.0,
          "p95": 94.0,
          "dynamic_range": 88.0,
          "mean_gray": 39.61217391304348,
          "std_gray": 37.19197002586092
        },
        "geometry": {
          "distance_to_center_norm": 0.4135933518409729,
          "distance_to_border_px": 122.0
        },
        "edge_ratio": 1.281367161017401,
        "edge_lengths_px": [
          31.827661514282227,
          25.942243576049805,
          33.241539001464844,
          26.925823211669922
        ]
      },
      "confidence": 0.43078987568380794
    },
    {
      "observation_id": "5e5f3558-11ec-4a2c-8be6-c59adbdf28d1",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          86.0,
          662.0
        ],
        [
          62.0,
          682.0
        ],
        [
          45.0,
          662.0
        ],
        [
          68.0,
          642.0
        ]
      ],
      "center_px": [
        65.25,
        662.0
      ],
      "quality": {
        "area_px": 820.0,
        "perimeter_px": 114.87655830383301,
        "sharpness": {
          "laplacian_var": 4012.6808869247284
        },
        "contrast": {
          "p05": 9.0,
          "p95": 151.0,
          "dynamic_range": 142.0,
          "mean_gray": 74.82149362477232,
          "std_gray": 61.21719978039714
        },
        "geometry": {
          "distance_to_center_norm": 0.8841893672943115,
          "distance_to_border_px": 38.0
        },
        "edge_ratio": 1.1901872672565836,
        "edge_lengths_px": [
          31.240999221801758,
          26.248809814453125,
          30.479501724243164,
          26.90724754333496
        ]
      },
      "confidence": 0.3490767193505014
    },
    {
      "observation_id": "4012cbf6-af42-4029-911e-720d9601dc1e",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          840.0,
          647.0
        ],
        [
          820.0,
          667.0
        ],
        [
          799.0,
          647.0
        ],
        [
          819.0,
          627.0
        ]
      ],
      "center_px": [
        819.5,
        647.0
      ],
      "quality": {
        "area_px": 820.0,
        "perimeter_px": 114.56854248046875,
        "sharpness": {
          "laplacian_var": 3857.329531184244
        },
        "contrast": {
          "p05": 41.0,
          "p95": 184.0,
          "dynamic_range": 143.0,
          "mean_gray": 94.4,
          "std_gray": 61.82779874172868
        },
        "geometry": {
          "distance_to_center_norm": 0.4609958529472351,
          "distance_to_border_px": 53.0
        },
        "edge_ratio": 1.0253048329824916,
        "edge_lengths_px": [
          28.284271240234375,
          29.0,
          28.284271240234375,
          29.0
        ]
      },
      "confidence": 0.5331747682067169
    },
    {
      "observation_id": "25901d5b-2a1c-4531-8299-5dc07448851d",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          123.0,
          581.0
        ],
        [
          99.0,
          600.0
        ],
        [
          82.0,
          581.0
        ],
        [
          105.0,
          562.0
        ]
      ],
      "center_px": [
        102.25,
        581.0
      ],
      "quality": {
        "area_px": 779.0,
        "perimeter_px": 112.11092758178711,
        "sharpness": {
          "laplacian_var": 2721.029379133925
        },
        "contrast": {
          "p05": 9.0,
          "p95": 151.0,
          "dynamic_range": 142.0,
          "mean_gray": 52.349624060150376,
          "std_gray": 58.337380327434076
        },
        "geometry": {
          "distance_to_center_norm": 0.7917603254318237,
          "distance_to_border_px": 82.0
        },
        "edge_ratio": 1.2006408576968535,
        "edge_lengths_px": [
          30.610456466674805,
          25.495098114013672,
          29.832868576049805,
          26.172504425048828
        ]
      },
      "confidence": 0.43254677700170213
    },
    {
      "observation_id": "5cfa5600-5262-4a7d-a69d-03db75b552fc",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          652.0,
          263.0
        ],
        [
          637.0,
          236.0
        ],
        [
          658.0,
          223.0
        ],
        [
          673.0,
          250.0
        ]
      ],
      "center_px": [
        655.0,
        243.0
      ],
      "quality": {
        "area_px": 762.0,
        "perimeter_px": 111.17013549804688,
        "sharpness": {
          "laplacian_var": 4372.906252992435
        },
        "contrast": {
          "p05": 75.0,
          "p95": 196.0,
          "dynamic_range": 121.0,
          "mean_gray": 124.36158192090396,
          "std_gray": 52.962278732090475
        },
        "geometry": {
          "distance_to_center_norm": 0.16063903272151947,
          "distance_to_border_px": 223.0
        },
        "edge_ratio": 1.2505736755034653,
        "edge_lengths_px": [
          30.886890411376953,
          24.698177337646484,
          30.886890411376953,
          24.698177337646484
        ]
      },
      "confidence": 0.4062135721795724
    },
    {
      "observation_id": "1c33de07-23d0-4572-93c7-e3acf913a7a7",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          72.0,
          559.0
        ],
        [
          49.0,
          578.0
        ],
        [
          32.0,
          559.0
        ],
        [
          55.0,
          540.0
        ]
      ],
      "center_px": [
        52.0,
        559.0
      ],
      "quality": {
        "area_px": 760.0,
        "perimeter_px": 110.65593338012695,
        "sharpness": {
          "laplacian_var": 3674.896461077506
        },
        "contrast": {
          "p05": 9.0,
          "p95": 152.0,
          "dynamic_range": 143.0,
          "mean_gray": 85.33082706766918,
          "std_gray": 62.42938528798966
        },
        "geometry": {
          "distance_to_center_norm": 0.8453760743141174,
          "distance_to_border_px": 32.0
        },
        "edge_ratio": 1.170141351982161,
        "edge_lengths_px": [
          29.832868576049805,
          25.495098114013672,
          29.832868576049805,
          25.495098114013672
        ]
      },
      "confidence": 0.27711751756945874
    },
    {
      "observation_id": "4ab41dd3-62fb-480b-8c66-702389b226aa",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          801.0,
          564.0
        ],
        [
          782.0,
          583.0
        ],
        [
          761.0,
          564.0
        ],
        [
          780.0,
          545.0
        ]
      ],
      "center_px": [
        781.0,
        564.0
      ],
      "quality": {
        "area_px": 760.0,
        "perimeter_px": 110.37932586669922,
        "sharpness": {
          "laplacian_var": 4225.734994660021
        },
        "contrast": {
          "p05": 38.0,
          "p95": 183.0,
          "dynamic_range": 145.0,
          "mean_gray": 91.05094339622642,
          "std_gray": 62.451938117096915
        },
        "geometry": {
          "distance_to_center_norm": 0.33771631121635437,
          "distance_to_border_px": 137.0
        },
        "edge_ratio": 1.053946545658541,
        "edge_lengths_px": [
          26.870058059692383,
          28.319604873657227,
          26.870058059692383,
          28.319604873657227
        ]
      },
      "confidence": 0.48073279309443956
    },
    {
      "observation_id": "6b6d8a74-4f99-445a-82e5-091d8fc067df",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          533.0,
          450.0
        ],
        [
          509.0,
          427.0
        ],
        [
          530.0,
          419.0
        ],
        [
          553.0,
          441.0
        ]
      ],
      "center_px": [
        531.25,
        434.25
      ],
      "quality": {
        "area_px": 661.0,
        "perimeter_px": 109.47311782836914,
        "sharpness": {
          "laplacian_var": 3921.222244565545
        },
        "contrast": {
          "p05": 30.0,
          "p95": 190.0,
          "dynamic_range": 160.0,
          "mean_gray": 92.50224215246637,
          "std_gray": 70.99484440572064
        },
        "geometry": {
          "distance_to_center_norm": 0.17932668328285217,
          "distance_to_border_px": 270.0
        },
        "edge_ratio": 1.5156836514985301,
        "edge_lengths_px": [
          33.241539001464844,
          22.472204208374023,
          31.827661514282227,
          21.931713104248047
        ]
      },
      "confidence": 0.29073788994886046
    },
    {
      "observation_id": "0e8e4398-31d2-4fe2-82ce-40afd0d3dc24",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          889.0,
          547.0
        ],
        [
          871.0,
          566.0
        ],
        [
          849.0,
          548.0
        ],
        [
          867.0,
          529.0
        ]
      ],
      "center_px": [
        869.0,
        547.5
      ],
      "quality": {
        "area_px": 742.0,
        "perimeter_px": 109.1956901550293,
        "sharpness": {
          "laplacian_var": 4098.093369780376
        },
        "contrast": {
          "p05": 44.0,
          "p95": 185.0,
          "dynamic_range": 141.0,
          "mean_gray": 96.65242718446602,
          "std_gray": 60.46536013009576
        },
        "geometry": {
          "distance_to_center_norm": 0.40306055545806885,
          "distance_to_border_px": 154.0
        },
        "edge_ratio": 1.0860764484296306,
        "edge_lengths_px": [
          26.172504425048828,
          28.42534065246582,
          26.172504425048828,
          28.42534065246582
        ]
      },
      "confidence": 0.45546210617301425
    },
    {
      "observation_id": "e48f8c4c-995c-4d9d-b87b-dbd77a3da6e2",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          728.0,
          543.0
        ],
        [
          709.0,
          562.0
        ],
        [
          688.0,
          544.0
        ],
        [
          707.0,
          525.0
        ]
      ],
      "center_px": [
        708.0,
        543.5
      ],
      "quality": {
        "area_px": 741.0,
        "perimeter_px": 109.0573844909668,
        "sharpness": {
          "laplacian_var": 3836.346157792141
        },
        "contrast": {
          "p05": 33.0,
          "p95": 182.0,
          "dynamic_range": 149.0,
          "mean_gray": 121.95711500974659,
          "std_gray": 65.1558493965447
        },
        "geometry": {
          "distance_to_center_norm": 0.2665036618709564,
          "distance_to_border_px": 158.0
        },
        "edge_ratio": 1.0293477641301256,
        "edge_lengths_px": [
          26.870058059692383,
          27.658634185791016,
          26.870058059692383,
          27.658634185791016
        ]
      },
      "confidence": 0.47991555158957017
    },
    {
      "observation_id": "192f4fa2-f958-42bc-82a0-59df612ac1fb",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          663.0,
          507.0
        ],
        [
          643.0,
          526.0
        ],
        [
          623.0,
          507.0
        ],
        [
          644.0,
          489.0
        ]
      ],
      "center_px": [
        643.25,
        507.25
      ],
      "quality": {
        "area_px": 740.0,
        "perimeter_px": 109.00359725952148,
        "sharpness": {
          "laplacian_var": 4066.913990629595
        },
        "contrast": {
          "p05": 29.6,
          "p95": 180.0,
          "dynamic_range": 150.4,
          "mean_gray": 84.09746588693957,
          "std_gray": 64.2452526550015
        },
        "geometry": {
          "distance_to_center_norm": 0.20057930052280426,
          "distance_to_border_px": 194.0
        },
        "edge_ratio": 1.056782099894111,
        "edge_lengths_px": [
          27.58622932434082,
          27.58622932434082,
          27.658634185791016,
          26.172504425048828
        ]
      },
      "confidence": 0.4668259742313624
    },
    {
      "observation_id": "a16d40c2-4c9c-4ecb-beeb-4ab023808ee6",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          104.0,
          515.0
        ],
        [
          81.0,
          533.0
        ],
        [
          65.0,
          515.0
        ],
        [
          87.0,
          496.0
        ]
      ],
      "center_px": [
        84.25,
        514.75
      ],
      "quality": {
        "area_px": 721.5,
        "perimeter_px": 107.85333442687988,
        "sharpness": {
          "laplacian_var": 2809.465666548872
        },
        "contrast": {
          "p05": 8.0,
          "p95": 150.0,
          "dynamic_range": 142.0,
          "mean_gray": 45.60233918128655,
          "std_gray": 54.90588930787002
        },
        "geometry": {
          "distance_to_center_norm": 0.7856342196464539,
          "distance_to_border_px": 65.0
        },
        "edge_ratio": 1.2127199347849176,
        "edge_lengths_px": [
          29.20616340637207,
          24.083189010620117,
          29.068883895874023,
          25.495098114013672
        ]
      },
      "confidence": 0.39662908657084783
    },
    {
      "observation_id": "b9e74a92-cd82-4835-b29d-151c3fb8c6c5",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          534.0,
          293.0
        ],
        [
          511.0,
          279.0
        ],
        [
          532.0,
          265.0
        ],
        [
          557.0,
          278.0
        ]
      ],
      "center_px": [
        533.5,
        278.75
      ],
      "quality": {
        "area_px": 645.0,
        "perimeter_px": 107.80174827575684,
        "sharpness": {
          "laplacian_var": 3895.710538049941
        },
        "contrast": {
          "p05": 13.0,
          "p95": 177.0,
          "dynamic_range": 164.0,
          "mean_gray": 57.50646551724138,
          "std_gray": 64.0328239608717
        },
        "geometry": {
          "distance_to_center_norm": 0.18242418766021729,
          "distance_to_border_px": 265.0
        },
        "edge_ratio": 1.1164532050082105,
        "edge_lengths_px": [
          26.925823211669922,
          25.238859176635742,
          28.17800521850586,
          27.459060668945312
        ]
      },
      "confidence": 0.3851482516876627
    },
    {
      "observation_id": "5afec636-d2bf-435c-89d9-f8d036479136",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          61.0,
          498.0
        ],
        [
          38.0,
          516.0
        ],
        [
          22.0,
          498.0
        ],
        [
          45.0,
          480.0
        ]
      ],
      "center_px": [
        41.5,
        498.0
      ],
      "quality": {
        "area_px": 702.0,
        "perimeter_px": 106.57870483398438,
        "sharpness": {
          "laplacian_var": 3758.9107674266365
        },
        "contrast": {
          "p05": 9.0,
          "p95": 152.0,
          "dynamic_range": 143.0,
          "mean_gray": 80.61723446893788,
          "std_gray": 62.215152768720294
        },
        "geometry": {
          "distance_to_center_norm": 0.8364452719688416,
          "distance_to_border_px": 22.0
        },
        "edge_ratio": 1.2127199347849176,
        "edge_lengths_px": [
          29.20616340637207,
          24.083189010620117,
          29.20616340637207,
          24.083189010620117
        ]
      },
      "confidence": 0.1698001278724927
    },
    {
      "observation_id": "fb3cfe63-1875-4fab-bc54-0a12a23346c3",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          49.0,
          458.0
        ],
        [
          26.0,
          476.0
        ],
        [
          10.0,
          458.0
        ],
        [
          32.0,
          440.0
        ]
      ],
      "center_px": [
        29.25,
        458.0
      ],
      "quality": {
        "area_px": 702.0,
        "perimeter_px": 106.47352981567383,
        "sharpness": {
          "laplacian_var": 3588.3251460473098
        },
        "contrast": {
          "p05": 8.0,
          "p95": 153.0,
          "dynamic_range": 145.0,
          "mean_gray": 59.23943661971831,
          "std_gray": 60.178448702287014
        },
        "geometry": {
          "distance_to_center_norm": 0.8423811793327332,
          "distance_to_border_px": 10.0
        },
        "edge_ratio": 1.2127199347849176,
        "edge_lengths_px": [
          29.20616340637207,
          24.083189010620117,
          28.42534065246582,
          24.75883674621582
        ]
      },
      "confidence": 0.07718187630567852
    },
    {
      "observation_id": "059b200b-5d64-4180-b337-1afe0cb7bdfe",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          599.0,
          252.0
        ],
        [
          576.0,
          238.0
        ],
        [
          598.0,
          225.0
        ],
        [
          621.0,
          239.0
        ]
      ],
      "center_px": [
        598.5,
        238.5
      ],
      "quality": {
        "area_px": 607.0,
        "perimeter_px": 104.95937728881836,
        "sharpness": {
          "laplacian_var": 3570.9032636581346
        },
        "contrast": {
          "p05": 14.0,
          "p95": 178.0,
          "dynamic_range": 164.0,
          "mean_gray": 63.63279445727483,
          "std_gray": 66.91221049237745
        },
        "geometry": {
          "distance_to_center_norm": 0.17484892904758453,
          "distance_to_border_px": 225.0
        },
        "edge_ratio": 1.053688855118292,
        "edge_lengths_px": [
          26.925823211669922,
          25.553865432739258,
          26.925823211669922,
          25.553865432739258
        ]
      },
      "confidence": 0.3840475911850059
    },
    {
      "observation_id": "721f86a3-ae50-44d8-b572-b26751895c29",
      "type": "aruco",
      "marker_id": 40,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          700.0,
          166.0
        ],
        [
          680.0,
          174.0
        ],
        [
          681.0,
          145.0
        ],
        [
          702.0,
          136.0
        ]
      ],
      "center_px": [
        690.75,
        155.25
      ],
      "quality": {
        "area_px": 592.0,
        "perimeter_px": 103.4718074798584,
        "sharpness": {
          "laplacian_var": 834.7063688862439
        },
        "contrast": {
          "p05": 11.0,
          "p95": 102.0,
          "dynamic_range": 91.0,
          "mean_gray": 35.62676056338028,
          "std_gray": 34.08177320934028
        },
        "geometry": {
          "distance_to_center_norm": 0.28727373480796814,
          "distance_to_border_px": 136.0
        },
        "edge_ratio": 1.3958065646381475,
        "edge_lengths_px": [
          21.540658950805664,
          29.017236709594727,
          22.847318649291992,
          30.066593170166016
        ]
      },
      "confidence": 0.2827516911478211
    },
    {
      "observation_id": "3b2824ee-8dbc-4b88-9092-dbf8e189cbf7",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          730.0,
          415.0
        ],
        [
          711.0,
          433.0
        ],
        [
          692.0,
          415.0
        ],
        [
          710.0,
          398.0
        ]
      ],
      "center_px": [
        710.75,
        415.25
      ],
      "quality": {
        "area_px": 665.0,
        "perimeter_px": 103.3526554107666,
        "sharpness": {
          "laplacian_var": 3852.725559756008
        },
        "contrast": {
          "p05": 30.0,
          "p95": 180.0,
          "dynamic_range": 150.0,
          "mean_gray": 93.07264957264957,
          "std_gray": 66.2097407091633
        },
        "geometry": {
          "distance_to_center_norm": 0.1222480833530426,
          "distance_to_border_px": 287.0
        },
        "edge_ratio": 1.0601794455656337,
        "edge_lengths_px": [
          26.172504425048828,
          26.172504425048828,
          24.75883674621582,
          26.248809814453125
        ]
      },
      "confidence": 0.4181682027393045
    },
    {
      "observation_id": "c65ae958-9591-4789-b061-9cc12f562c36",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          641.0,
          352.0
        ],
        [
          623.0,
          369.0
        ],
        [
          603.0,
          350.0
        ],
        [
          623.0,
          335.0
        ]
      ],
      "center_px": [
        622.5,
        351.5
      ],
      "quality": {
        "area_px": 646.0,
        "perimeter_px": 102.10390281677246,
        "sharpness": {
          "laplacian_var": 4344.822420081314
        },
        "contrast": {
          "p05": 23.0,
          "p95": 177.0,
          "dynamic_range": 154.0,
          "mean_gray": 87.27455357142857,
          "std_gray": 66.94506059593611
        },
        "geometry": {
          "distance_to_center_norm": 0.026494638994336128,
          "distance_to_border_px": 335.0
        },
        "edge_ratio": 1.1141973109280727,
        "edge_lengths_px": [
          24.75883674621582,
          27.58622932434082,
          25.0,
          24.75883674621582
        ]
      },
      "confidence": 0.3865263920875397
    },
    {
      "observation_id": "5d3b4fa9-1a98-4d68-8655-938ee93daf96",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          780.0,
          332.0
        ],
        [
          763.0,
          349.0
        ],
        [
          743.0,
          333.0
        ],
        [
          760.0,
          316.0
        ]
      ],
      "center_px": [
        761.5,
        332.5
      ],
      "quality": {
        "area_px": 612.0,
        "perimeter_px": 99.30825424194336,
        "sharpness": {
          "laplacian_var": 3964.411360802523
        },
        "contrast": {
          "p05": 30.0,
          "p95": 181.0,
          "dynamic_range": 151.0,
          "mean_gray": 80.70308788598575,
          "std_gray": 63.46450344181219
        },
        "geometry": {
          "distance_to_center_norm": 0.16964846849441528,
          "distance_to_border_px": 316.0
        },
        "edge_ratio": 1.0653394779010876,
        "edge_lengths_px": [
          24.041629791259766,
          25.612497329711914,
          24.041629791259766,
          25.612497329711914
        ]
      },
      "confidence": 0.3829765144945479
    },
    {
      "observation_id": "437d776a-cbe6-48a5-b2e1-a300bb6bf283",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          200.0,
          218.0
        ],
        [
          183.0,
          202.0
        ],
        [
          204.0,
          186.0
        ],
        [
          220.0,
          202.0
        ]
      ],
      "center_px": [
        201.75,
        202.0
      ],
      "quality": {
        "area_px": 592.0,
        "perimeter_px": 97.98590660095215,
        "sharpness": {
          "laplacian_var": 3556.5983996539794
        },
        "contrast": {
          "p05": 10.0,
          "p95": 164.0,
          "dynamic_range": 154.0,
          "mean_gray": 69.31862745098039,
          "std_gray": 62.845175818087306
        },
        "geometry": {
          "distance_to_center_norm": 0.634427547454834,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.1667596566650227,
        "edge_lengths_px": [
          23.34523582458496,
          26.4007568359375,
          22.627416610717773,
          25.612497329711914
        ]
      },
      "confidence": 0.3382587531306593
    },
    {
      "observation_id": "21d95087-a5e1-4a3a-b970-04f13e2d9653",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          130.0,
          150.0
        ],
        [
          115.0,
          135.0
        ],
        [
          136.0,
          120.0
        ],
        [
          151.0,
          135.0
        ]
      ],
      "center_px": [
        133.0,
        135.0
      ],
      "quality": {
        "area_px": 540.0,
        "perimeter_px": 94.04035949707031,
        "sharpness": {
          "laplacian_var": 3590.4910556815316
        },
        "contrast": {
          "p05": 9.0,
          "p95": 162.0,
          "dynamic_range": 153.0,
          "mean_gray": 77.87301587301587,
          "std_gray": 62.68713581529001
        },
        "geometry": {
          "distance_to_center_norm": 0.7553886771202087,
          "distance_to_border_px": 115.0
        },
        "edge_ratio": 1.216552530753038,
        "edge_lengths_px": [
          21.21320343017578,
          25.806976318359375,
          21.21320343017578,
          25.806976318359375
        ]
      },
      "confidence": 0.29591817114314195
    },
    {
      "observation_id": "8a202d87-e0c3-4ade-9059-db618dfaa554",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          309.0,
          157.0
        ],
        [
          289.0,
          172.0
        ],
        [
          273.0,
          157.0
        ],
        [
          293.0,
          142.0
        ]
      ],
      "center_px": [
        291.0,
        157.0
      ],
      "quality": {
        "area_px": 540.0,
        "perimeter_px": 93.8634262084961,
        "sharpness": {
          "laplacian_var": 3324.2364715433496
        },
        "contrast": {
          "p05": 11.0,
          "p95": 166.14999999999998,
          "dynamic_range": 155.14999999999998,
          "mean_gray": 63.08994708994709,
          "std_gray": 63.1081825373842
        },
        "geometry": {
          "distance_to_center_norm": 0.5498347282409668,
          "distance_to_border_px": 142.0
        },
        "edge_ratio": 1.1399018344425471,
        "edge_lengths_px": [
          25.0,
          21.931713104248047,
          25.0,
          21.931713104248047
        ]
      },
      "confidence": 0.3158166687011719
    },
    {
      "observation_id": "4817da56-afa5-4099-8c59-d81bbe1b4562",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          460.0,
          183.0
        ],
        [
          441.0,
          198.0
        ],
        [
          425.0,
          182.0
        ],
        [
          444.0,
          168.0
        ]
      ],
      "center_px": [
        442.5,
        182.75
      ],
      "quality": {
        "area_px": 526.5,
        "perimeter_px": 92.3674144744873,
        "sharpness": {
          "laplacian_var": 2485.6460574216553
        },
        "contrast": {
          "p05": 14.0,
          "p95": 167.0,
          "dynamic_range": 153.0,
          "mean_gray": 43.104109589041094,
          "std_gray": 51.82150724600997
        },
        "geometry": {
          "distance_to_center_norm": 0.36139723658561707,
          "distance_to_border_px": 168.0
        },
        "edge_ratio": 1.1037640972318732,
        "edge_lengths_px": [
          24.20743751525879,
          22.627416610717773,
          23.600847244262695,
          21.931713104248047
        ]
      },
      "confidence": 0.31800273344664126
    },
    {
      "observation_id": "dc9990d7-442a-4269-b50a-be4a4c5def56",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          511.0,
          166.0
        ],
        [
          493.0,
          181.0
        ],
        [
          476.0,
          166.0
        ],
        [
          496.0,
          151.0
        ]
      ],
      "center_px": [
        494.0,
        166.0
      ],
      "quality": {
        "area_px": 525.0,
        "perimeter_px": 92.31552124023438,
        "sharpness": {
          "laplacian_var": 3879.5390266299355
        },
        "contrast": {
          "p05": 17.0,
          "p95": 172.0,
          "dynamic_range": 155.0,
          "mean_gray": 124.20936639118457,
          "std_gray": 58.41209373614219
        },
        "geometry": {
          "distance_to_center_norm": 0.33065441250801086,
          "distance_to_border_px": 151.0
        },
        "edge_ratio": 1.1785113022787261,
        "edge_lengths_px": [
          23.430749893188477,
          22.671567916870117,
          25.0,
          21.21320343017578
        ]
      },
      "confidence": 0.2969848480224609
    },
    {
      "observation_id": "6121d9b2-36e0-4dec-b0a6-91e1e82e8754",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          336.0,
          130.0
        ],
        [
          317.0,
          145.0
        ],
        [
          301.0,
          130.0
        ],
        [
          320.0,
          115.0
        ]
      ],
      "center_px": [
        318.5,
        130.0
      ],
      "quality": {
        "area_px": 525.0,
        "perimeter_px": 92.27830123901367,
        "sharpness": {
          "laplacian_var": 4030.342278100957
        },
        "contrast": {
          "p05": 12.0,
          "p95": 167.8,
          "dynamic_range": 155.8,
          "mean_gray": 102.48493150684932,
          "std_gray": 63.310436870836156
        },
        "geometry": {
          "distance_to_center_norm": 0.5383343696594238,
          "distance_to_border_px": 115.0
        },
        "edge_ratio": 1.1037640972318732,
        "edge_lengths_px": [
          24.20743751525879,
          21.931713104248047,
          24.20743751525879,
          21.931713104248047
        ]
      },
      "confidence": 0.3170967427530611
    },
    {
      "observation_id": "53c0c869-8130-46dc-b45b-8edb2178e6f1",
      "type": "aruco",
      "marker_id": 59,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          397.0,
          109.0
        ],
        [
          379.0,
          124.0
        ],
        [
          362.0,
          109.0
        ],
        [
          381.0,
          94.0
        ]
      ],
      "center_px": [
        379.75,
        109.0
      ],
      "quality": {
        "area_px": 525.0,
        "perimeter_px": 92.24146842956543,
        "sharpness": {
          "laplacian_var": 3272.638048414337
        },
        "contrast": {
          "p05": 12.0,
          "p95": 168.0,
          "dynamic_range": 156.0,
          "mean_gray": 99.65479452054795,
          "std_gray": 66.68269792862291
        },
        "geometry": {
          "distance_to_center_norm": 0.49239593744277954,
          "distance_to_border_px": 94.0
        },
        "edge_ratio": 1.1037640972318732,
        "edge_lengths_px": [
          23.430749893188477,
          22.671567916870117,
          24.20743751525879,
          21.931713104248047
        ]
      },
      "confidence": 0.3170967427530611
    },
    {
      "observation_id": "6d1009ad-303f-4309-bc3c-d9ff9fcd5537",
      "type": "aruco",
      "marker_id": 48,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          387.0,
          44.0
        ],
        [
          368.0,
          59.0
        ],
        [
          352.0,
          44.0
        ],
        [
          371.0,
          30.0
        ]
      ],
      "center_px": [
        369.5,
        44.25
      ],
      "quality": {
        "area_px": 507.5,
        "perimeter_px": 91.00028991699219,
        "sharpness": {
          "laplacian_var": 3284.3956014261594
        },
        "contrast": {
          "p05": 11.0,
          "p95": 166.8,
          "dynamic_range": 155.8,
          "mean_gray": 62.131506849315066,
          "std_gray": 62.004102552539564
        },
        "geometry": {
          "distance_to_center_norm": 0.5662168264389038,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.1386220591259189,
        "edge_lengths_px": [
          24.20743751525879,
          21.931713104248047,
          23.600847244262695,
          21.260292053222656
        ]
      },
      "confidence": 0.17828567290874034
    },
    {
      "observation_id": "240bf892-88b2-4a21-9b78-f315fa68b8b8",
      "type": "aruco",
      "marker_id": 57,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          480.0,
          71.0
        ],
        [
          462.0,
          85.0
        ],
        [
          446.0,
          70.0
        ],
        [
          464.0,
          56.0
        ]
      ],
      "center_px": [
        463.0,
        70.5
      ],
      "quality": {
        "area_px": 494.0,
        "perimeter_px": 89.47044372558594,
        "sharpness": {
          "laplacian_var": 4745.964997094526
        },
        "contrast": {
          "p05": 13.0,
          "p95": 170.0,
          "dynamic_range": 157.0,
          "mean_gray": 84.34375,
          "std_gray": 65.06053575870881
        },
        "geometry": {
          "distance_to_center_norm": 0.4621008336544037,
          "distance_to_border_px": 56.0
        },
        "edge_ratio": 1.0397504586236819,
        "edge_lengths_px": [
          22.803508758544922,
          21.931713104248047,
          22.803508758544922,
          21.931713104248047
        ]
      },
      "confidence": 0.3167426670523156
    },
    {
      "observation_id": "8f6d08f0-56b3-42af-8f75-52e28846f30c",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          260.0,
          42.0
        ],
        [
          241.0,
          56.0
        ],
        [
          226.0,
          42.0
        ],
        [
          245.0,
          28.0
        ]
      ],
      "center_px": [
        243.0,
        42.0
      ],
      "quality": {
        "area_px": 476.0,
        "perimeter_px": 88.23826217651367,
        "sharpness": {
          "laplacian_var": 3130.2829120128845
        },
        "contrast": {
          "p05": 9.0,
          "p95": 163.0,
          "dynamic_range": 154.0,
          "mean_gray": 54.15680473372781,
          "std_gray": 59.87147697752868
        },
        "geometry": {
          "distance_to_center_norm": 0.6927092671394348,
          "distance_to_border_px": 28.0
        },
        "edge_ratio": 1.1502349525772275,
        "edge_lengths_px": [
          23.600847244262695,
          20.51828384399414,
          23.600847244262695,
          20.51828384399414
        ]
      },
      "confidence": 0.15449597168691093
    },
    {
      "observation_id": "539569c4-e4b9-4403-ae1d-487d69ef5d61",
      "type": "aruco",
      "marker_id": 71,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          316.0,
          30.0
        ],
        [
          297.0,
          43.0
        ],
        [
          282.0,
          29.0
        ],
        [
          302.0,
          16.0
        ]
      ],
      "center_px": [
        299.25,
        29.5
      ],
      "quality": {
        "area_px": 461.5,
        "perimeter_px": 87.19272422790527,
        "sharpness": {
          "laplacian_var": 4539.605128791342
        },
        "contrast": {
          "p05": 10.0,
          "p95": 165.0,
          "dynamic_range": 155.0,
          "mean_gray": 102.75925925925925,
          "std_gray": 63.56680218629881
        },
        "geometry": {
          "distance_to_center_norm": 0.646465003490448,
          "distance_to_border_px": 16.0
        },
        "edge_ratio": 1.2047948566010105,
        "edge_lengths_px": [
          23.021728515625,
          20.51828384399414,
          23.853721618652344,
          19.79899024963379
        ]
      },
      "confidence": 0.08171792300897739
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          708.0,
          137.0
        ],
        [
          721.0,
          176.0
        ],
        [
          720.0,
          191.0
        ],
        [
          707.0,
          152.0
        ]
      ],
      "center_px": [
        714.0,
        164.0
      ],
      "area_px": 234.0
    },
    {
      "image_points_px": [
        [
          713.0,
          143.0
        ],
        [
          723.0,
          186.0
        ],
        [
          718.0,
          184.0
        ],
        [
          712.0,
          169.0
        ]
      ],
      "center_px": [
        716.5,
        170.5
      ],
      "area_px": 183.0
    },
    {
      "image_points_px": [
        [
          389.0,
          631.0
        ],
        [
          402.0,
          642.0
        ],
        [
          394.0,
          655.0
        ],
        [
          377.0,
          637.0
        ]
      ],
      "center_px": [
        390.5,
        641.25
      ],
      "area_px": 287.5
    }
  ]
}