{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T17:39:23Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "c",
    "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_c.png",
    "image_sha256": "f983121eb8b5fbda68529f2a2745d24bcc9057585ae23fc1c4e2bd0799fd0887",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 8,
    "num_rejected_candidates": 17
  },
  "detections": [
    {
      "observation_id": "6b702a27-d28d-4495-9f34-60a4caa12254",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          792.0,
          241.0
        ],
        [
          737.0,
          244.0
        ],
        [
          738.0,
          186.0
        ],
        [
          793.0,
          184.0
        ]
      ],
      "center_px": [
        765.0,
        213.75
      ],
      "quality": {
        "area_px": 3160.0,
        "perimeter_px": 225.135498046875,
        "sharpness": {
          "laplacian_var": 783.9717735258657
        },
        "contrast": {
          "p05": 11.0,
          "p95": 166.0,
          "dynamic_range": 155.0,
          "mean_gray": 48.51561021759697,
          "std_gray": 62.30701894393334
        },
        "geometry": {
          "distance_to_center_norm": 0.2620043158531189,
          "distance_to_border_px": 184.0
        },
        "edge_ratio": 1.0540055972473026,
        "edge_lengths_px": [
          55.081756591796875,
          58.00862121582031,
          55.03635025024414,
          57.00876998901367
        ]
      },
      "confidence": 0.9487615650349993
    },
    {
      "observation_id": "46cc4c8e-b8b9-46f7-afba-da4d24da9a33",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          759.0,
          595.0
        ],
        [
          758.0,
          646.0
        ],
        [
          704.0,
          644.0
        ],
        [
          704.0,
          593.0
        ]
      ],
      "center_px": [
        731.25,
        619.5
      ],
      "quality": {
        "area_px": 2780.5,
        "perimeter_px": 211.08317947387695,
        "sharpness": {
          "laplacian_var": 1532.8395161428696
        },
        "contrast": {
          "p05": 20.0,
          "p95": 178.0,
          "dynamic_range": 158.0,
          "mean_gray": 79.50802139037434,
          "std_gray": 72.00556789106693
        },
        "geometry": {
          "distance_to_center_norm": 0.3746086359024048,
          "distance_to_border_px": 74.0
        },
        "edge_ratio": 1.0791441225538068,
        "edge_lengths_px": [
          51.009803771972656,
          54.037025451660156,
          51.0,
          55.03635025024414
        ]
      },
      "confidence": 0.9266602848500798
    },
    {
      "observation_id": "29a0e049-9ecf-4662-8385-4656717bf3c5",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          505.0,
          591.0
        ],
        [
          559.0,
          593.0
        ],
        [
          560.0,
          642.0
        ],
        [
          507.0,
          639.0
        ]
      ],
      "center_px": [
        532.75,
        616.25
      ],
      "quality": {
        "area_px": 2591.0,
        "perimeter_px": 204.1737174987793,
        "sharpness": {
          "laplacian_var": 1258.1230975706499
        },
        "contrast": {
          "p05": 22.0,
          "p95": 177.0,
          "dynamic_range": 155.0,
          "mean_gray": 73.14044289044288,
          "std_gray": 69.15072198022662
        },
        "geometry": {
          "distance_to_center_norm": 0.37830305099487305,
          "distance_to_border_px": 78.0
        },
        "edge_ratio": 1.1247953958406616,
        "edge_lengths_px": [
          54.037025451660156,
          49.01020431518555,
          53.0848388671875,
          48.041648864746094
        ]
      },
      "confidence": 0.8890505808415132
    },
    {
      "observation_id": "67b4cc8b-73e5-4307-8ef0-daf6f715b14a",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          522.0,
          501.0
        ],
        [
          573.0,
          503.0
        ],
        [
          566.0,
          524.0
        ],
        [
          513.0,
          522.0
        ]
      ],
      "center_px": [
        543.5,
        512.5
      ],
      "quality": {
        "area_px": 1108.0,
        "perimeter_px": 149.0601863861084,
        "sharpness": {
          "laplacian_var": 2601.130769916611
        },
        "contrast": {
          "p05": 16.0,
          "p95": 179.0,
          "dynamic_range": 163.0,
          "mean_gray": 65.09597924773023,
          "std_gray": 67.48087972012829
        },
        "geometry": {
          "distance_to_center_norm": 0.24576722085475922,
          "distance_to_border_px": 196.0
        },
        "edge_ratio": 2.396000037912699,
        "edge_lengths_px": [
          51.03919982910156,
          22.135944366455078,
          53.037723541259766,
          22.847318649291992
        ]
      },
      "confidence": 0.3082915922280886
    },
    {
      "observation_id": "a38c028a-79b4-45d5-83f4-30a9d891fca5",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          897.0,
          638.0
        ],
        [
          946.0,
          641.0
        ],
        [
          949.0,
          662.0
        ],
        [
          898.0,
          660.0
        ]
      ],
      "center_px": [
        922.5,
        650.25
      ],
      "quality": {
        "area_px": 1070.0,
        "perimeter_px": 143.36686897277832,
        "sharpness": {
          "laplacian_var": 1772.5351793651153
        },
        "contrast": {
          "p05": 11.0,
          "p95": 142.0,
          "dynamic_range": 131.0,
          "mean_gray": 53.849405548216644,
          "std_gray": 54.81491413295803
        },
        "geometry": {
          "distance_to_center_norm": 0.5515881180763245,
          "distance_to_border_px": 58.0
        },
        "edge_ratio": 2.4060109543143446,
        "edge_lengths_px": [
          49.09175109863281,
          21.21320343017578,
          51.03919982910156,
          22.022714614868164
        ]
      },
      "confidence": 0.2964796698261984
    },
    {
      "observation_id": "18d48a79-b877-466f-8063-deaa13baec23",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          552.0,
          431.0
        ],
        [
          599.0,
          433.0
        ],
        [
          592.0,
          450.0
        ],
        [
          545.0,
          448.0
        ]
      ],
      "center_px": [
        572.0,
        440.5
      ],
      "quality": {
        "area_px": 813.0,
        "perimeter_px": 130.85462188720703,
        "sharpness": {
          "laplacian_var": 3900.866266383413
        },
        "contrast": {
          "p05": 16.0,
          "p95": 176.0,
          "dynamic_range": 160.0,
          "mean_gray": 82.33276740237692,
          "std_gray": 67.51528504030205
        },
        "geometry": {
          "distance_to_center_norm": 0.14350588619709015,
          "distance_to_border_px": 270.0
        },
        "edge_ratio": 2.558776410381331,
        "edge_lengths_px": [
          47.04253387451172,
          18.384777069091797,
          47.04253387451172,
          18.384777069091797
        ]
      },
      "confidence": 0.21181999247805575
    },
    {
      "observation_id": "7b9ff620-f60b-4ce6-8a53-5f65ce9eabfc",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          893.0,
          574.0
        ],
        [
          937.0,
          575.0
        ],
        [
          940.0,
          594.0
        ],
        [
          895.0,
          592.0
        ]
      ],
      "center_px": [
        916.25,
        583.75
      ],
      "quality": {
        "area_px": 819.5,
        "perimeter_px": 126.40194129943848,
        "sharpness": {
          "laplacian_var": 1381.931686421121
        },
        "contrast": {
          "p05": 12.0,
          "p95": 139.0,
          "dynamic_range": 127.0,
          "mean_gray": 72.07573149741825,
          "std_gray": 54.09716934533152
        },
        "geometry": {
          "distance_to_center_norm": 0.4841289222240448,
          "distance_to_border_px": 126.0
        },
        "edge_ratio": 2.4871620155740866,
        "edge_lengths_px": [
          44.0113639831543,
          19.235383987426758,
          45.0444221496582,
          18.11077117919922
        ]
      },
      "confidence": 0.21966133686197709
    },
    {
      "observation_id": "0828ba21-00e9-48d7-aa7a-ecee11d5d351",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          299.0,
          554.0
        ],
        [
          341.0,
          556.0
        ],
        [
          330.0,
          573.0
        ],
        [
          287.0,
          571.0
        ]
      ],
      "center_px": [
        314.25,
        563.5
      ],
      "quality": {
        "area_px": 745.5,
        "perimeter_px": 126.15118789672852,
        "sharpness": {
          "laplacian_var": 2605.5282780049174
        },
        "contrast": {
          "p05": 23.0,
          "p95": 179.0,
          "dynamic_range": 156.0,
          "mean_gray": 83.94227188081936,
          "std_gray": 63.09531689303867
        },
        "geometry": {
          "distance_to_center_norm": 0.5230682492256165,
          "distance_to_border_px": 147.0
        },
        "edge_ratio": 2.1259143843226416,
        "edge_lengths_px": [
          42.04759216308594,
          20.248456954956055,
          43.046485900878906,
          20.808652877807617
        ]
      },
      "confidence": 0.233781757000696
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          651.0,
          427.0
        ],
        [
          648.0,
          483.0
        ],
        [
          638.0,
          501.0
        ],
        [
          634.0,
          484.0
        ]
      ],
      "center_px": [
        642.75,
        473.75
      ],
      "area_px": 511.5
    },
    {
      "image_points_px": [
        [
          1228.0,
          489.0
        ],
        [
          1265.0,
          491.0
        ],
        [
          1273.0,
          504.0
        ],
        [
          1235.0,
          502.0
        ]
      ],
      "center_px": [
        1250.25,
        496.5
      ],
      "area_px": 472.5
    },
    {
      "image_points_px": [
        [
          1092.0,
          484.0
        ],
        [
          1128.0,
          486.0
        ],
        [
          1135.0,
          498.0
        ],
        [
          1096.0,
          496.0
        ]
      ],
      "center_px": [
        1112.75,
        491.0
      ],
      "area_px": 439.0
    },
    {
      "image_points_px": [
        [
          1025.0,
          491.0
        ],
        [
          1062.0,
          493.0
        ],
        [
          1066.0,
          505.0
        ],
        [
          1028.0,
          504.0
        ]
      ],
      "center_px": [
        1045.25,
        498.25
      ],
      "area_px": 463.5
    },
    {
      "image_points_px": [
        [
          1137.0,
          457.0
        ],
        [
          1172.0,
          459.0
        ],
        [
          1177.0,
          470.0
        ],
        [
          1142.0,
          469.0
        ]
      ],
      "center_px": [
        1157.0,
        463.75
      ],
      "area_px": 395.0
    },
    {
      "image_points_px": [
        [
          1118.0,
          517.0
        ],
        [
          1141.0,
          511.0
        ],
        [
          1164.0,
          518.0
        ],
        [
          1151.0,
          521.0
        ]
      ],
      "center_px": [
        1143.5,
        516.75
      ],
      "area_px": 225.0
    },
    {
      "image_points_px": [
        [
          967.0,
          455.0
        ],
        [
          1001.0,
          456.0
        ],
        [
          1005.0,
          467.0
        ],
        [
          970.0,
          467.0
        ]
      ],
      "center_px": [
        985.75,
        461.25
      ],
      "area_px": 395.0
    },
    {
      "image_points_px": [
        [
          1202.0,
          436.0
        ],
        [
          1234.0,
          437.0
        ],
        [
          1241.0,
          448.0
        ],
        [
          1207.0,
          447.0
        ]
      ],
      "center_px": [
        1221.0,
        442.0
      ],
      "area_px": 357.0
    },
    {
      "image_points_px": [
        [
          1004.0,
          444.0
        ],
        [
          1037.0,
          445.0
        ],
        [
          1041.0,
          456.0
        ],
        [
          1006.0,
          455.0
        ]
      ],
      "center_px": [
        1022.0,
        450.0
      ],
      "area_px": 371.0
    },
    {
      "image_points_px": [
        [
          901.0,
          436.0
        ],
        [
          933.0,
          437.0
        ],
        [
          935.0,
          448.0
        ],
        [
          901.0,
          447.0
        ]
      ],
      "center_px": [
        917.5,
        442.0
      ],
      "area_px": 362.0
    },
    {
      "image_points_px": [
        [
          508.0,
          447.0
        ],
        [
          493.0,
          478.0
        ],
        [
          493.0,
          453.0
        ],
        [
          499.0,
          447.0
        ]
      ],
      "center_px": [
        498.25,
        456.25
      ],
      "area_px": 214.5
    },
    {
      "image_points_px": [
        [
          564.0,
          612.0
        ],
        [
          567.0,
          610.0
        ],
        [
          591.0,
          613.0
        ],
        [
          566.0,
          614.0
        ]
      ],
      "center_px": [
        572.0,
        612.25
      ],
      "area_px": 54.5
    },
    {
      "image_points_px": [
        [
          578.0,
          384.0
        ],
        [
          586.0,
          378.0
        ],
        [
          601.0,
          381.0
        ],
        [
          598.0,
          385.0
        ]
      ],
      "center_px": [
        590.75,
        382.0
      ],
      "area_px": 98.5
    },
    {
      "image_points_px": [
        [
          774.0,
          212.0
        ],
        [
          785.0,
          213.0
        ],
        [
          784.0,
          224.0
        ],
        [
          773.0,
          224.0
        ]
      ],
      "center_px": [
        779.0,
        218.25
      ],
      "area_px": 127.0
    },
    {
      "image_points_px": [
        [
          702.0,
          41.0
        ],
        [
          705.0,
          48.0
        ],
        [
          704.0,
          63.0
        ],
        [
          702.0,
          56.0
        ]
      ],
      "center_px": [
        703.25,
        52.0
      ],
      "area_px": 41.0
    },
    {
      "image_points_px": [
        [
          939.0,
          455.0
        ],
        [
          930.0,
          457.0
        ],
        [
          918.0,
          456.0
        ],
        [
          929.0,
          454.0
        ]
      ],
      "center_px": [
        929.0,
        455.5
      ],
      "area_px": 32.0
    },
    {
      "image_points_px": [
        [
          310.0,
          569.0
        ],
        [
          313.0,
          565.0
        ],
        [
          328.0,
          567.0
        ],
        [
          324.0,
          571.0
        ]
      ],
      "center_px": [
        318.75,
        568.0
      ],
      "area_px": 65.0
    }
  ]
}