{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T17:39:26Z",
  "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\\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_g.png",
    "image_sha256": "3668ddce2e536e84df6a2d773efb16e31efa2bd81adf9ae0393362aef8915e39",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 35,
    "num_rejected_candidates": 2
  },
  "detections": [
    {
      "observation_id": "d34538a1-e688-470d-ba56-5b68f95d195f",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          485.0,
          275.0
        ],
        [
          517.0,
          284.0
        ],
        [
          512.0,
          319.0
        ],
        [
          479.0,
          310.0
        ]
      ],
      "center_px": [
        498.25,
        297.0
      ],
      "quality": {
        "area_px": 1187.0,
        "perimeter_px": 138.31270217895508,
        "sharpness": {
          "laplacian_var": 997.9794875889099
        },
        "contrast": {
          "p05": 7.0,
          "p95": 135.0,
          "dynamic_range": 128.0,
          "mean_gray": 39.0,
          "std_gray": 47.89994592144242
        },
        "geometry": {
          "distance_to_center_norm": 0.21124745905399323,
          "distance_to_border_px": 275.0
        },
        "edge_ratio": 1.0682586896823183,
        "edge_lengths_px": [
          33.241539001464844,
          35.35533905029297,
          34.20526123046875,
          35.510562896728516
        ]
      },
      "confidence": 0.7407693857081211
    },
    {
      "observation_id": "a06715c2-aacf-4fa6-b407-98789f3ff35b",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          484.0,
          341.0
        ],
        [
          509.0,
          352.0
        ],
        [
          498.0,
          386.0
        ],
        [
          473.0,
          376.0
        ]
      ],
      "center_px": [
        491.0,
        363.75
      ],
      "quality": {
        "area_px": 978.0,
        "perimeter_px": 126.66183471679688,
        "sharpness": {
          "laplacian_var": 2584.449308059942
        },
        "contrast": {
          "p05": 45.0,
          "p95": 192.0,
          "dynamic_range": 147.0,
          "mean_gray": 92.59023668639053,
          "std_gray": 62.37906045127818
        },
        "geometry": {
          "distance_to_center_norm": 0.20297794044017792,
          "distance_to_border_px": 334.0
        },
        "edge_ratio": 1.3625534696532933,
        "edge_lengths_px": [
          27.312999725341797,
          35.735137939453125,
          26.925823211669922,
          36.68787384033203
        ]
      },
      "confidence": 0.47851333141876906
    },
    {
      "observation_id": "6a3d553e-9da5-48de-a753-fb97d111b4a1",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          532.0,
          576.0
        ],
        [
          511.0,
          554.0
        ],
        [
          533.0,
          534.0
        ],
        [
          554.0,
          556.0
        ]
      ],
      "center_px": [
        532.5,
        555.0
      ],
      "quality": {
        "area_px": 904.0,
        "perimeter_px": 120.29190063476562,
        "sharpness": {
          "laplacian_var": 4851.7140753794865
        },
        "contrast": {
          "p05": 26.0,
          "p95": 179.0,
          "dynamic_range": 153.0,
          "mean_gray": 91.95134228187919,
          "std_gray": 67.11431684107286
        },
        "geometry": {
          "distance_to_center_norm": 0.3032381236553192,
          "distance_to_border_px": 144.0
        },
        "edge_ratio": 1.0229272097624083,
        "edge_lengths_px": [
          30.4138126373291,
          29.73213768005371,
          30.4138126373291,
          29.73213768005371
        ]
      },
      "confidence": 0.5891588970505985
    },
    {
      "observation_id": "633990d1-d2d8-4e77-a5ae-d529f3fb734d",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          411.0,
          310.0
        ],
        [
          427.0,
          292.0
        ],
        [
          457.0,
          312.0
        ],
        [
          440.0,
          330.0
        ]
      ],
      "center_px": [
        433.75,
        311.0
      ],
      "quality": {
        "area_px": 861.0,
        "perimeter_px": 120.1253662109375,
        "sharpness": {
          "laplacian_var": 3660.4109650926243
        },
        "contrast": {
          "p05": 28.0,
          "p95": 189.0,
          "dynamic_range": 161.0,
          "mean_gray": 89.5625,
          "std_gray": 68.99687284341988
        },
        "geometry": {
          "distance_to_center_norm": 0.2886967360973358,
          "distance_to_border_px": 292.0
        },
        "edge_ratio": 1.4971236350264803,
        "edge_lengths_px": [
          24.083189010620117,
          36.055511474609375,
          24.75883674621582,
          35.22782897949219
        ]
      },
      "confidence": 0.38340186913811386
    },
    {
      "observation_id": "0158054c-8039-4fe8-bf93-1c4d5b51cb9a",
      "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": 4472.420980686859
        },
        "contrast": {
          "p05": 9.0,
          "p95": 158.0,
          "dynamic_range": 149.0,
          "mean_gray": 79.0127504553734,
          "std_gray": 64.01839601772852
        },
        "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": "b2868068-7a33-4055-962f-8ad70c2439d6",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          616.0,
          499.0
        ],
        [
          594.0,
          479.0
        ],
        [
          615.0,
          460.0
        ],
        [
          636.0,
          479.0
        ]
      ],
      "center_px": [
        615.25,
        479.25
      ],
      "quality": {
        "area_px": 819.0,
        "perimeter_px": 114.65561866760254,
        "sharpness": {
          "laplacian_var": 3735.5481060270263
        },
        "contrast": {
          "p05": 31.0,
          "p95": 183.0,
          "dynamic_range": 152.0,
          "mean_gray": 79.03914590747331,
          "std_gray": 64.26185226252063
        },
        "geometry": {
          "distance_to_center_norm": 0.1658599078655243,
          "distance_to_border_px": 221.0
        },
        "edge_ratio": 1.0511898089055145,
        "edge_lengths_px": [
          29.73213768005371,
          28.319604873657227,
          28.319604873657227,
          28.284271240234375
        ]
      },
      "confidence": 0.519411428244808
    },
    {
      "observation_id": "dc3aa998-b11c-4272-af8f-328c20594a7c",
      "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": 3883.6341183402074
        },
        "contrast": {
          "p05": 41.0,
          "p95": 184.0,
          "dynamic_range": 143.0,
          "mean_gray": 94.43853211009174,
          "std_gray": 61.89037646324936
        },
        "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": "2ce54a24-7f6b-4a72-83e3-9ba74b4f24fa",
      "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": 3025.2762168579343
        },
        "contrast": {
          "p05": 9.0,
          "p95": 158.0,
          "dynamic_range": 149.0,
          "mean_gray": 55.33646616541353,
          "std_gray": 60.846206542971174
        },
        "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": "b8dce317-8fb8-4d1c-853b-dde40976b4eb",
      "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": 4014.709028209623
        },
        "contrast": {
          "p05": 9.0,
          "p95": 158.0,
          "dynamic_range": 149.0,
          "mean_gray": 89.3157894736842,
          "std_gray": 64.90416514329539
        },
        "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": "2a5d127b-9e70-42ae-a37f-2a5b410b46fb",
      "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": 4254.985977216092
        },
        "contrast": {
          "p05": 38.0,
          "p95": 184.0,
          "dynamic_range": 146.0,
          "mean_gray": 91.14528301886793,
          "std_gray": 62.59645859546278
        },
        "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": "8bb73504-d7e8-42af-9bbc-417e3942a415",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          889.0,
          547.0
        ],
        [
          870.0,
          566.0
        ],
        [
          849.0,
          548.0
        ],
        [
          867.0,
          529.0
        ]
      ],
      "center_px": [
        868.75,
        547.5
      ],
      "quality": {
        "area_px": 741.5,
        "perimeter_px": 109.12653732299805,
        "sharpness": {
          "laplacian_var": 3955.264943819371
        },
        "contrast": {
          "p05": 44.0,
          "p95": 185.0,
          "dynamic_range": 141.0,
          "mean_gray": 96.92007797270955,
          "std_gray": 60.67765023631475
        },
        "geometry": {
          "distance_to_center_norm": 0.4027971923351288,
          "distance_to_border_px": 154.0
        },
        "edge_ratio": 1.0860764484296306,
        "edge_lengths_px": [
          26.870058059692383,
          27.658634185791016,
          26.172504425048828,
          28.42534065246582
        ]
      },
      "confidence": 0.45515519100712953
    },
    {
      "observation_id": "0ee6ae9c-7b3a-41b6-a509-f3f773bf5988",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          503.0,
          514.0
        ],
        [
          485.0,
          495.0
        ],
        [
          506.0,
          477.0
        ],
        [
          525.0,
          495.0
        ]
      ],
      "center_px": [
        504.75,
        495.25
      ],
      "quality": {
        "area_px": 740.0,
        "perimeter_px": 109.0725269317627,
        "sharpness": {
          "laplacian_var": 615.8272820886959
        },
        "contrast": {
          "p05": 2.0,
          "p95": 70.0,
          "dynamic_range": 68.0,
          "mean_gray": 28.321637426900583,
          "std_gray": 28.596470897755243
        },
        "geometry": {
          "distance_to_center_norm": 0.2604817748069763,
          "distance_to_border_px": 206.0
        },
        "edge_ratio": 1.1106649720556803,
        "edge_lengths_px": [
          26.172504425048828,
          27.658634185791016,
          26.172504425048828,
          29.068883895874023
        ]
      },
      "confidence": 0.3775515964613595
    },
    {
      "observation_id": "ff8672af-624a-47d4-96d9-f092e8c07b0f",
      "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": 3761.083075894197
        },
        "contrast": {
          "p05": 33.0,
          "p95": 182.0,
          "dynamic_range": 149.0,
          "mean_gray": 122.30214424951266,
          "std_gray": 65.33870618260373
        },
        "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": "02341e81-2489-4562-a583-dd2862f99122",
      "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": 3086.6808248691905
        },
        "contrast": {
          "p05": 9.0,
          "p95": 156.0,
          "dynamic_range": 147.0,
          "mean_gray": 47.89278752436647,
          "std_gray": 57.278041870631384
        },
        "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": "8aeba79d-60ed-4a1a-acde-c580c0b8c6cf",
      "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": 3897.8699844578937
        },
        "contrast": {
          "p05": 9.0,
          "p95": 155.0,
          "dynamic_range": 146.0,
          "mean_gray": 81.83567134268537,
          "std_gray": 63.093252945419366
        },
        "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": "cf7809e9-5ba6-4e0c-a38b-a5d76bcf569d",
      "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": 3656.4561453226397
        },
        "contrast": {
          "p05": 8.0,
          "p95": 153.0,
          "dynamic_range": 145.0,
          "mean_gray": 59.59758551307847,
          "std_gray": 60.39560254726759
        },
        "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": "764eb60f-1d17-499c-9427-9cb5c2db92b1",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          423.0,
          436.0
        ],
        [
          405.0,
          417.0
        ],
        [
          426.0,
          400.0
        ],
        [
          444.0,
          418.0
        ]
      ],
      "center_px": [
        424.5,
        417.75
      ],
      "quality": {
        "area_px": 703.5,
        "perimeter_px": 106.30549621582031,
        "sharpness": {
          "laplacian_var": 2509.0734750555653
        },
        "contrast": {
          "p05": 13.0,
          "p95": 145.0,
          "dynamic_range": 132.0,
          "mean_gray": 58.31790744466801,
          "std_gray": 54.9322203652192
        },
        "geometry": {
          "distance_to_center_norm": 0.3038310110569,
          "distance_to_border_px": 284.0
        },
        "edge_ratio": 1.0865337338869794,
        "edge_lengths_px": [
          26.172504425048828,
          27.018512725830078,
          25.45584487915039,
          27.658634185791016
        ]
      },
      "confidence": 0.4316478958478293
    },
    {
      "observation_id": "7aaeb7b4-8d20-4014-9ed6-5a55205a2629",
      "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": 3751.5066659361532
        },
        "contrast": {
          "p05": 30.0,
          "p95": 181.0,
          "dynamic_range": 151.0,
          "mean_gray": 93.3931623931624,
          "std_gray": 66.77154663797012
        },
        "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": "fa3d307f-7f23-4859-b767-283b1b95dd42",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          641.0,
          352.0
        ],
        [
          623.0,
          369.0
        ],
        [
          604.0,
          351.0
        ],
        [
          623.0,
          335.0
        ]
      ],
      "center_px": [
        622.75,
        351.75
      ],
      "quality": {
        "area_px": 629.0,
        "perimeter_px": 100.5296630859375,
        "sharpness": {
          "laplacian_var": 4251.100896389193
        },
        "contrast": {
          "p05": 24.0,
          "p95": 179.0,
          "dynamic_range": 155.0,
          "mean_gray": 90.29128440366972,
          "std_gray": 67.50351684485558
        },
        "geometry": {
          "distance_to_center_norm": 0.026040121912956238,
          "distance_to_border_px": 335.0
        },
        "edge_ratio": 1.057097499907748,
        "edge_lengths_px": [
          24.75883674621582,
          26.172504425048828,
          24.83948516845703,
          24.75883674621582
        ]
      },
      "confidence": 0.39668368657567366
    },
    {
      "observation_id": "f9ac1566-65e7-43f3-bfa7-485b539d6b17",
      "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": 4001.937599088247
        },
        "contrast": {
          "p05": 30.0,
          "p95": 182.0,
          "dynamic_range": 152.0,
          "mean_gray": 80.79809976247031,
          "std_gray": 63.76034848669227
        },
        "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": "7de918ad-3e0f-4ea9-9564-b319fe8ce9fb",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          199.0,
          218.0
        ],
        [
          183.0,
          202.0
        ],
        [
          204.0,
          186.0
        ],
        [
          220.0,
          202.0
        ]
      ],
      "center_px": [
        201.5,
        202.0
      ],
      "quality": {
        "area_px": 592.0,
        "perimeter_px": 98.05634689331055,
        "sharpness": {
          "laplacian_var": 3678.3265852119675
        },
        "contrast": {
          "p05": 10.0,
          "p95": 166.0,
          "dynamic_range": 156.0,
          "mean_gray": 70.3743842364532,
          "std_gray": 63.70237704646197
        },
        "geometry": {
          "distance_to_center_norm": 0.6347478032112122,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.1667596566650227,
        "edge_lengths_px": [
          22.627416610717773,
          26.4007568359375,
          22.627416610717773,
          26.4007568359375
        ]
      },
      "confidence": 0.3382587531306593
    },
    {
      "observation_id": "6cd56bf7-5973-40ff-99fb-efd29788b837",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          612.0,
          293.0
        ],
        [
          594.0,
          308.0
        ],
        [
          576.0,
          291.0
        ],
        [
          595.0,
          276.0
        ]
      ],
      "center_px": [
        594.25,
        292.0
      ],
      "quality": {
        "area_px": 577.0,
        "perimeter_px": 96.43865394592285,
        "sharpness": {
          "laplacian_var": 3670.348205556527
        },
        "contrast": {
          "p05": 21.0,
          "p95": 177.0,
          "dynamic_range": 156.0,
          "mean_gray": 84.39440203562341,
          "std_gray": 66.48851261405774
        },
        "geometry": {
          "distance_to_center_norm": 0.11161299794912338,
          "distance_to_border_px": 276.0
        },
        "edge_ratio": 1.0566813635535168,
        "edge_lengths_px": [
          23.430749893188477,
          24.75883674621582,
          24.20743751525879,
          24.041629791259766
        ]
      },
      "confidence": 0.36403279165733554
    },
    {
      "observation_id": "9d8d38b9-4391-4555-afbc-cd742450ce4d",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          701.0,
          268.0
        ],
        [
          683.0,
          285.0
        ],
        [
          665.0,
          269.0
        ],
        [
          682.0,
          253.0
        ]
      ],
      "center_px": [
        682.75,
        268.75
      ],
      "quality": {
        "area_px": 576.5,
        "perimeter_px": 96.39469909667969,
        "sharpness": {
          "laplacian_var": 3831.886089129529
        },
        "contrast": {
          "p05": 25.0,
          "p95": 179.0,
          "dynamic_range": 154.0,
          "mean_gray": 108.68367346938776,
          "std_gray": 67.37722726450356
        },
        "geometry": {
          "distance_to_center_norm": 0.13722912967205048,
          "distance_to_border_px": 253.0
        },
        "edge_ratio": 1.0605520086518976,
        "edge_lengths_px": [
          24.75883674621582,
          24.083189010620117,
          23.34523582458496,
          24.20743751525879
        ]
      },
      "confidence": 0.3623898971459892
    },
    {
      "observation_id": "8ce583bf-7992-4460-a271-7999f0b05f66",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          648.0,
          262.0
        ],
        [
          631.0,
          278.0
        ],
        [
          612.0,
          263.0
        ],
        [
          630.0,
          247.0
        ]
      ],
      "center_px": [
        630.25,
        262.5
      ],
      "quality": {
        "area_px": 558.5,
        "perimeter_px": 95.06661224365234,
        "sharpness": {
          "laplacian_var": 3776.790998292321
        },
        "contrast": {
          "p05": 22.0,
          "p95": 178.0,
          "dynamic_range": 156.0,
          "mean_gray": 60.060846560846564,
          "std_gray": 59.04611238382357
        },
        "geometry": {
          "distance_to_center_norm": 0.13344134390354156,
          "distance_to_border_px": 247.0
        },
        "edge_ratio": 1.0369326614283263,
        "edge_lengths_px": [
          23.34523582458496,
          24.20743751525879,
          24.083189010620117,
          23.430749893188477
        ]
      },
      "confidence": 0.3590718541167963
    },
    {
      "observation_id": "31392ce5-c1c3-43cd-a4d6-702882dd4cb0",
      "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": 3620.2846574843925
        },
        "contrast": {
          "p05": 9.0,
          "p95": 163.0,
          "dynamic_range": 154.0,
          "mean_gray": 78.18253968253968,
          "std_gray": 62.88484488572215
        },
        "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": "540621e7-11c2-447f-9af6-85da0fa814d1",
      "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": 3395.807291229249
        },
        "contrast": {
          "p05": 11.0,
          "p95": 167.0,
          "dynamic_range": 156.0,
          "mean_gray": 63.47883597883598,
          "std_gray": 63.54838865173811
        },
        "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": "53f7ed02-9fcd-4636-bf28-22720365bcc7",
      "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": 2563.884376055545
        },
        "contrast": {
          "p05": 14.0,
          "p95": 168.0,
          "dynamic_range": 154.0,
          "mean_gray": 43.74246575342466,
          "std_gray": 52.57354383840108
        },
        "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": "08e7e727-f310-4a30-b191-9a0607d3d4db",
      "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": 4225.618574930371
        },
        "contrast": {
          "p05": 16.0,
          "p95": 173.0,
          "dynamic_range": 157.0,
          "mean_gray": 125.26997245179064,
          "std_gray": 58.98086589625927
        },
        "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": "f21f961e-6810-4cc5-b430-52f55642571a",
      "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": 4092.709581534997
        },
        "contrast": {
          "p05": 12.0,
          "p95": 168.0,
          "dynamic_range": 156.0,
          "mean_gray": 102.71506849315068,
          "std_gray": 63.58418790094519
        },
        "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": "ac237e04-6dd7-4482-bb6e-3ccf7fb43922",
      "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": 3282.957673109402
        },
        "contrast": {
          "p05": 12.0,
          "p95": 169.0,
          "dynamic_range": 157.0,
          "mean_gray": 99.79178082191781,
          "std_gray": 66.84179185153974
        },
        "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": "e40794bd-8340-4fb3-862e-9dff823eb60b",
      "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": 3256.497654344155
        },
        "contrast": {
          "p05": 11.0,
          "p95": 167.0,
          "dynamic_range": 156.0,
          "mean_gray": 62.153424657534245,
          "std_gray": 62.042791424336926
        },
        "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": "8aad007b-d6f5-4e2e-a4e1-596898987ff1",
      "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": 4662.113604080579
        },
        "contrast": {
          "p05": 13.0,
          "p95": 171.0,
          "dynamic_range": 158.0,
          "mean_gray": 84.40056818181819,
          "std_gray": 65.0561933649035
        },
        "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": "28663746-d22f-454d-9000-e0f73d5c4cc3",
      "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": 3148.8834512096914
        },
        "contrast": {
          "p05": 9.0,
          "p95": 163.0,
          "dynamic_range": 154.0,
          "mean_gray": 54.17751479289941,
          "std_gray": 59.89990045314865
        },
        "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": "fc521ee6-446a-4161-b748-24e45449b633",
      "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": 4527.538827922574
        },
        "contrast": {
          "p05": 10.0,
          "p95": 165.0,
          "dynamic_range": 155.0,
          "mean_gray": 102.71604938271605,
          "std_gray": 63.573323966858084
        },
        "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
    },
    {
      "observation_id": "766e02aa-cba1-44ca-9a61-c670c3a5c305",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          555.0,
          413.0
        ],
        [
          525.0,
          422.0
        ],
        [
          523.0,
          412.0
        ],
        [
          554.0,
          402.0
        ]
      ],
      "center_px": [
        539.25,
        412.25
      ],
      "quality": {
        "area_px": 334.5,
        "perimeter_px": 85.13731288909912,
        "sharpness": {
          "laplacian_var": 4196.178701877419
        },
        "contrast": {
          "p05": 27.0,
          "p95": 142.0,
          "dynamic_range": 115.0,
          "mean_gray": 60.31623931623932,
          "std_gray": 41.890302321567226
        },
        "geometry": {
          "distance_to_center_norm": 0.15455873310565948,
          "distance_to_border_px": 298.0
        },
        "edge_ratio": 3.194044860675524,
        "edge_lengths_px": [
          31.320919036865234,
          10.198039054870605,
          32.572994232177734,
          11.045360565185547
        ]
      },
      "confidence": 0.06981742891138876
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          519.0,
          323.0
        ],
        [
          521.0,
          330.0
        ],
        [
          510.0,
          350.0
        ],
        [
          506.0,
          347.0
        ]
      ],
      "center_px": [
        514.0,
        337.5
      ],
      "area_px": 126.0
    },
    {
      "image_points_px": [
        [
          273.0,
          678.0
        ],
        [
          275.0,
          678.0
        ],
        [
          289.0,
          692.0
        ],
        [
          281.0,
          687.0
        ]
      ],
      "center_px": [
        279.5,
        683.75
      ],
      "area_px": 30.0
    }
  ]
}