{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T11:34:30Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "a",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene4\\render_a.npz",
    "camera_matrix": [
      [
        1992.8416748046875,
        0.0,
        719.249267578125
      ],
      [
        0.0,
        1997.40380859375,
        537.7935791015625
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene4\\render_a.png",
    "image_sha256": "23b6bf65738367787449760d74b07263cd30956b779d4430e39210afb27acd4f",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 32,
    "num_rejected_candidates": 18
  },
  "detections": [
    {
      "observation_id": "dcdb068d-c434-4f81-a514-70cafb8eb772",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          970.0,
          627.0
        ],
        [
          1012.0,
          599.0
        ],
        [
          1040.0,
          638.0
        ],
        [
          997.0,
          665.0
        ]
      ],
      "center_px": [
        1004.75,
        632.25
      ],
      "quality": {
        "area_px": 2392.5,
        "perimeter_px": 195.87759017944336,
        "sharpness": {
          "laplacian_var": 1105.1519807215236
        },
        "contrast": {
          "p05": 39.0,
          "p95": 188.0,
          "dynamic_range": 149.0,
          "mean_gray": 104.25109580463369,
          "std_gray": 65.17184216369526
        },
        "geometry": {
          "distance_to_center_norm": 0.3325780928134918,
          "distance_to_border_px": 400.0
        },
        "edge_ratio": 1.0892099483140698,
        "edge_lengths_px": [
          50.477718353271484,
          48.010414123535156,
          50.774009704589844,
          46.615447998046875
        ]
      },
      "confidence": 0.918096645690619
    },
    {
      "observation_id": "30a73e11-0fb1-4495-a6f3-aa1fffede094",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1192.0,
          758.0
        ],
        [
          1161.0,
          731.0
        ],
        [
          1201.0,
          698.0
        ],
        [
          1232.0,
          727.0
        ]
      ],
      "center_px": [
        1196.5,
        728.5
      ],
      "quality": {
        "area_px": 2112.0,
        "perimeter_px": 186.02146911621094,
        "sharpness": {
          "laplacian_var": 562.0041109883813
        },
        "contrast": {
          "p05": 20.0,
          "p95": 183.0,
          "dynamic_range": 163.0,
          "mean_gray": 76.89769452449568,
          "std_gray": 69.04133306880895
        },
        "geometry": {
          "distance_to_center_norm": 0.5693666338920593,
          "distance_to_border_px": 208.0
        },
        "edge_ratio": 1.2613977811445258,
        "edge_lengths_px": [
          41.1096076965332,
          51.855567932128906,
          42.44997024536133,
          50.6063232421875
        ]
      },
      "confidence": 0.7927713326819497
    },
    {
      "observation_id": "2b8f1fc3-2aa6-4895-8c5d-4a63065554eb",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          834.0,
          475.0
        ],
        [
          871.0,
          446.0
        ],
        [
          900.0,
          478.0
        ],
        [
          863.0,
          508.0
        ]
      ],
      "center_px": [
        867.0,
        476.75
      ],
      "quality": {
        "area_px": 2058.0,
        "perimeter_px": 181.76206970214844,
        "sharpness": {
          "laplacian_var": 895.3370556170097
        },
        "contrast": {
          "p05": 31.0,
          "p95": 186.0,
          "dynamic_range": 155.0,
          "mean_gray": 90.83553597650514,
          "std_gray": 68.02238531979935
        },
        "geometry": {
          "distance_to_center_norm": 0.17781096696853638,
          "distance_to_border_px": 446.0
        },
        "edge_ratio": 1.1030058852429736,
        "edge_lengths_px": [
          47.01063537597656,
          43.185646057128906,
          47.6340217590332,
          43.931766510009766
        ]
      },
      "confidence": 0.9066134763004613
    },
    {
      "observation_id": "f72e9b92-938a-4972-b360-944d59b12227",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          617.0,
          369.0
        ],
        [
          657.0,
          355.0
        ],
        [
          677.0,
          397.0
        ],
        [
          638.0,
          411.0
        ]
      ],
      "center_px": [
        647.25,
        383.0
      ],
      "quality": {
        "area_px": 1946.0,
        "perimeter_px": 177.29218292236328,
        "sharpness": {
          "laplacian_var": 924.1453215553967
        },
        "contrast": {
          "p05": 20.0,
          "p95": 184.0,
          "dynamic_range": 164.0,
          "mean_gray": 79.72652141247183,
          "std_gray": 71.8545072575043
        },
        "geometry": {
          "distance_to_center_norm": 0.19226256012916565,
          "distance_to_border_px": 355.0
        },
        "edge_ratio": 1.133232839721527,
        "edge_lengths_px": [
          42.379241943359375,
          46.51881408691406,
          41.43669891357422,
          46.957427978515625
        ]
      },
      "confidence": 0.8824311870857301
    },
    {
      "observation_id": "275aaf08-2c1f-4a80-9013-75312ca8e6af",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1154.0,
          1048.0
        ],
        [
          1121.0,
          1020.0
        ],
        [
          1153.0,
          1000.0
        ],
        [
          1185.0,
          1028.0
        ]
      ],
      "center_px": [
        1153.25,
        1024.0
      ],
      "quality": {
        "area_px": 1532.0,
        "perimeter_px": 160.4264144897461,
        "sharpness": {
          "laplacian_var": 621.524909607391
        },
        "contrast": {
          "p05": 9.0,
          "p95": 170.0,
          "dynamic_range": 161.0,
          "mean_gray": 96.21223709369025,
          "std_gray": 69.52318404569809
        },
        "geometry": {
          "distance_to_center_norm": 0.7217618823051453,
          "distance_to_border_px": 32.0
        },
        "edge_ratio": 1.173112932994049,
        "edge_lengths_px": [
          43.27817153930664,
          37.735923767089844,
          42.52058410644531,
          36.8917350769043
        ]
      },
      "confidence": 0.5455570235395628
    },
    {
      "observation_id": "12a2ce52-03cb-439d-8559-a87b2bef3dcd",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          880.0,
          1056.0
        ],
        [
          850.0,
          1028.0
        ],
        [
          883.0,
          1007.0
        ],
        [
          913.0,
          1033.0
        ]
      ],
      "center_px": [
        881.5,
        1031.0
      ],
      "quality": {
        "area_px": 1551.0,
        "perimeter_px": 160.07501983642578,
        "sharpness": {
          "laplacian_var": 669.9176916537534
        },
        "contrast": {
          "p05": 11.0,
          "p95": 172.0,
          "dynamic_range": 161.0,
          "mean_gray": 82.70170454545455,
          "std_gray": 70.0069736578499
        },
        "geometry": {
          "distance_to_center_norm": 0.5743092894554138,
          "distance_to_border_px": 24.0
        },
        "edge_ratio": 1.049120332629238,
        "edge_lengths_px": [
          41.03656768798828,
          39.11521530151367,
          39.69886779785156,
          40.224369049072266
        ]
      },
      "confidence": 0.45752616270152235
    },
    {
      "observation_id": "dc0a55e8-4044-41d7-b75c-d14d6d7f3f3d",
      "type": "aruco",
      "marker_id": 247,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          680.0,
          315.0
        ],
        [
          717.0,
          302.0
        ],
        [
          743.0,
          331.0
        ],
        [
          706.0,
          346.0
        ]
      ],
      "center_px": [
        711.5,
        323.5
      ],
      "quality": {
        "area_px": 1474.0,
        "perimeter_px": 158.5508155822754,
        "sharpness": {
          "laplacian_var": 1022.3532208807299
        },
        "contrast": {
          "p05": 11.0,
          "p95": 178.0,
          "dynamic_range": 167.0,
          "mean_gray": 107.04383282364934,
          "std_gray": 67.98144733410534
        },
        "geometry": {
          "distance_to_center_norm": 0.24074088037014008,
          "distance_to_border_px": 302.0
        },
        "edge_ratio": 1.038799082953026,
        "edge_lengths_px": [
          39.217342376708984,
          38.94868469238281,
          39.924930572509766,
          40.45985794067383
        ]
      },
      "confidence": 0.9459641260687389
    },
    {
      "observation_id": "e79114d8-a0ff-46d6-8b51-b2ebe405604e",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          656.0,
          1024.0
        ],
        [
          631.0,
          996.0
        ],
        [
          666.0,
          976.0
        ],
        [
          692.0,
          1003.0
        ]
      ],
      "center_px": [
        661.25,
        999.75
      ],
      "quality": {
        "area_px": 1499.0,
        "perimeter_px": 157.00859832763672,
        "sharpness": {
          "laplacian_var": 671.9409106531893
        },
        "contrast": {
          "p05": 13.0,
          "p95": 173.0,
          "dynamic_range": 160.0,
          "mean_gray": 113.91205533596838,
          "std_gray": 66.08071759649773
        },
        "geometry": {
          "distance_to_center_norm": 0.5149872303009033,
          "distance_to_border_px": 56.0
        },
        "edge_ratio": 1.1118898476800905,
        "edge_lengths_px": [
          37.53664779663086,
          40.31128692626953,
          37.48332977294922,
          41.67733383178711
        ]
      },
      "confidence": 0.8987700853806685
    },
    {
      "observation_id": "2c6dedac-77df-4a12-bfe3-6b104cbf5e96",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          968.0,
          539.0
        ],
        [
          999.0,
          531.0
        ],
        [
          1028.0,
          566.0
        ],
        [
          997.0,
          574.0
        ]
      ],
      "center_px": [
        998.0,
        552.5
      ],
      "quality": {
        "area_px": 1317.0,
        "perimeter_px": 154.9377899169922,
        "sharpness": {
          "laplacian_var": 646.4938226763041
        },
        "contrast": {
          "p05": 9.0,
          "p95": 169.0,
          "dynamic_range": 160.0,
          "mean_gray": 66.87813211845102,
          "std_gray": 65.90612465219353
        },
        "geometry": {
          "distance_to_center_norm": 0.3092009723186493,
          "distance_to_border_px": 412.0
        },
        "edge_ratio": 1.4197217511450124,
        "edge_lengths_px": [
          32.015621185302734,
          45.45327377319336,
          32.015621185302734,
          45.45327377319336
        ]
      },
      "confidence": 0.6184310406541907
    },
    {
      "observation_id": "e0ee035e-2f00-4383-8ff7-0ddac38d7cd9",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1156.0,
          984.0
        ],
        [
          1124.0,
          957.0
        ],
        [
          1154.0,
          938.0
        ],
        [
          1186.0,
          964.0
        ]
      ],
      "center_px": [
        1155.0,
        960.75
      ],
      "quality": {
        "area_px": 1419.0,
        "perimeter_px": 154.66597366333008,
        "sharpness": {
          "laplacian_var": 544.7390621689851
        },
        "contrast": {
          "p05": 8.0,
          "p95": 167.0,
          "dynamic_range": 159.0,
          "mean_gray": 48.2436974789916,
          "std_gray": 59.034986975258875
        },
        "geometry": {
          "distance_to_center_norm": 0.6724338531494141,
          "distance_to_border_px": 96.0
        },
        "edge_ratio": 1.1790532073618731,
        "edge_lengths_px": [
          41.86884307861328,
          35.510562896728516,
          41.231056213378906,
          36.055511474609375
        ]
      },
      "confidence": 0.8023386850510938
    },
    {
      "observation_id": "f4e7a33c-b32a-4c88-a022-28a7685ba7a1",
      "type": "aruco",
      "marker_id": 246,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          746.0,
          302.0
        ],
        [
          782.0,
          290.0
        ],
        [
          808.0,
          319.0
        ],
        [
          770.0,
          330.0
        ]
      ],
      "center_px": [
        776.5,
        310.25
      ],
      "quality": {
        "area_px": 1342.0,
        "perimeter_px": 153.3342742919922,
        "sharpness": {
          "laplacian_var": 929.0999616901186
        },
        "contrast": {
          "p05": 10.0,
          "p95": 176.0,
          "dynamic_range": 166.0,
          "mean_gray": 72.41176470588235,
          "std_gray": 69.45224275452789
        },
        "geometry": {
          "distance_to_center_norm": 0.26288360357284546,
          "distance_to_border_px": 290.0
        },
        "edge_ratio": 1.0727233288229825,
        "edge_lengths_px": [
          37.947330474853516,
          38.94868469238281,
          39.560081481933594,
          36.878177642822266
        ]
      },
      "confidence": 0.8340143657063152
    },
    {
      "observation_id": "93a8e5e8-f2af-478b-b4a1-09bc13a350c6",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          731.0,
          951.0
        ],
        [
          707.0,
          925.0
        ],
        [
          742.0,
          908.0
        ],
        [
          766.0,
          933.0
        ]
      ],
      "center_px": [
        736.5,
        929.25
      ],
      "quality": {
        "area_px": 1312.5,
        "perimeter_px": 148.30654907226562,
        "sharpness": {
          "laplacian_var": 779.6622358024691
        },
        "contrast": {
          "p05": 13.0,
          "p95": 171.0,
          "dynamic_range": 158.0,
          "mean_gray": 78.82777777777778,
          "std_gray": 65.31721149347966
        },
        "geometry": {
          "distance_to_center_norm": 0.432888388633728,
          "distance_to_border_px": 129.0
        },
        "edge_ratio": 1.135675442614228,
        "edge_lengths_px": [
          35.38361358642578,
          38.910152435302734,
          34.65544509887695,
          39.357337951660156
        ]
      },
      "confidence": 0.7704666026640716
    },
    {
      "observation_id": "fb1e192c-d881-4e7f-8edf-6cfd47e32603",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          995.0,
          954.0
        ],
        [
          968.0,
          927.0
        ],
        [
          1001.0,
          911.0
        ],
        [
          1027.0,
          936.0
        ]
      ],
      "center_px": [
        997.75,
        932.0
      ],
      "quality": {
        "area_px": 1295.5,
        "perimeter_px": 147.6425018310547,
        "sharpness": {
          "laplacian_var": 710.8023508723217
        },
        "contrast": {
          "p05": 8.0,
          "p95": 168.0,
          "dynamic_range": 160.0,
          "mean_gray": 82.7063492063492,
          "std_gray": 67.54406426388591
        },
        "geometry": {
          "distance_to_center_norm": 0.533806562423706,
          "distance_to_border_px": 126.0
        },
        "edge_ratio": 1.0586200160734043,
        "edge_lengths_px": [
          38.18376541137695,
          36.67424011230469,
          36.06937789916992,
          36.715118408203125
        ]
      },
      "confidence": 0.8158419957617544
    },
    {
      "observation_id": "ff880e35-0dd9-461f-b525-b55900e95de4",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          886.0,
          439.0
        ],
        [
          916.0,
          432.0
        ],
        [
          944.0,
          464.0
        ],
        [
          915.0,
          472.0
        ]
      ],
      "center_px": [
        915.25,
        451.75
      ],
      "quality": {
        "area_px": 1172.5,
        "perimeter_px": 147.34141159057617,
        "sharpness": {
          "laplacian_var": 623.502143636993
        },
        "contrast": {
          "p05": 9.0,
          "p95": 168.0,
          "dynamic_range": 159.0,
          "mean_gray": 58.93992490613267,
          "std_gray": 62.77814320744989
        },
        "geometry": {
          "distance_to_center_norm": 0.2380751669406891,
          "distance_to_border_px": 432.0
        },
        "edge_ratio": 1.4603413459191352,
        "edge_lengths_px": [
          30.805843353271484,
          42.52058410644531,
          30.08321762084961,
          43.931766510009766
        ]
      },
      "confidence": 0.5352629841310749
    },
    {
      "observation_id": "f074c0a8-bcaf-4ccb-aac8-b11e26e39610",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1110.0,
          936.0
        ],
        [
          1079.0,
          912.0
        ],
        [
          1108.0,
          894.0
        ],
        [
          1138.0,
          918.0
        ]
      ],
      "center_px": [
        1108.75,
        915.0
      ],
      "quality": {
        "area_px": 1233.0,
        "perimeter_px": 145.04206466674805,
        "sharpness": {
          "laplacian_var": 746.0148267553726
        },
        "contrast": {
          "p05": 8.0,
          "p95": 165.0,
          "dynamic_range": 157.0,
          "mean_gray": 75.05966587112172,
          "std_gray": 65.73495832107209
        },
        "geometry": {
          "distance_to_center_norm": 0.6001558899879456,
          "distance_to_border_px": 144.0
        },
        "edge_ratio": 1.1777878041336982,
        "edge_lengths_px": [
          39.20458984375,
          34.13209533691406,
          38.41874694824219,
          33.2866325378418
        ]
      },
      "confidence": 0.6979185869602446
    },
    {
      "observation_id": "865a4c71-c1d0-4487-af09-1178ab6a7032",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          341.0,
          842.0
        ],
        [
          378.0,
          825.0
        ],
        [
          398.0,
          848.0
        ],
        [
          360.0,
          866.0
        ]
      ],
      "center_px": [
        369.25,
        845.25
      ],
      "quality": {
        "area_px": 1222.5,
        "perimeter_px": 143.85609817504883,
        "sharpness": {
          "laplacian_var": 1164.710538010332
        },
        "contrast": {
          "p05": 18.0,
          "p95": 173.0,
          "dynamic_range": 155.0,
          "mean_gray": 84.00607533414338,
          "std_gray": 63.28823694134463
        },
        "geometry": {
          "distance_to_center_norm": 0.5166405439376831,
          "distance_to_border_px": 214.0
        },
        "edge_ratio": 1.3795367307347286,
        "edge_lengths_px": [
          40.71854782104492,
          30.479501724243164,
          42.04759216308594,
          30.610456466674805
        ]
      },
      "confidence": 0.5907780357293846
    },
    {
      "observation_id": "ff34d728-a8c0-400b-a01b-425f8b30199c",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1337.0,
          841.0
        ],
        [
          1307.0,
          818.0
        ],
        [
          1334.0,
          803.0
        ],
        [
          1363.0,
          825.0
        ]
      ],
      "center_px": [
        1335.25,
        821.75
      ],
      "quality": {
        "area_px": 1053.5,
        "perimeter_px": 135.61823272705078,
        "sharpness": {
          "laplacian_var": 548.0790398568402
        },
        "contrast": {
          "p05": 14.0,
          "p95": 162.0,
          "dynamic_range": 148.0,
          "mean_gray": 118.25644504748982,
          "std_gray": 52.47844465272994
        },
        "geometry": {
          "distance_to_center_norm": 0.7518829107284546,
          "distance_to_border_px": 77.0
        },
        "edge_ratio": 1.2382494915286428,
        "edge_lengths_px": [
          37.80211639404297,
          30.886890411376953,
          36.400550842285156,
          30.528675079345703
        ]
      },
      "confidence": 0.5671985638906173
    },
    {
      "observation_id": "90cb73bd-3308-4c61-ab9b-4e03e7eab22a",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          912.0,
          829.0
        ],
        [
          888.0,
          806.0
        ],
        [
          919.0,
          792.0
        ],
        [
          943.0,
          814.0
        ]
      ],
      "center_px": [
        915.5,
        810.25
      ],
      "quality": {
        "area_px": 1045.5,
        "perimeter_px": 134.2522315979004,
        "sharpness": {
          "laplacian_var": 761.1911299319264
        },
        "contrast": {
          "p05": 11.0,
          "p95": 159.0,
          "dynamic_range": 148.0,
          "mean_gray": 96.78236914600551,
          "std_gray": 55.92359524011296
        },
        "geometry": {
          "distance_to_center_norm": 0.37061062455177307,
          "distance_to_border_px": 251.0
        },
        "edge_ratio": 1.0577655689243672,
        "edge_lengths_px": [
          33.241539001464844,
          34.01470184326172,
          32.557640075683594,
          34.438350677490234
        ]
      },
      "confidence": 0.6589361768588983
    },
    {
      "observation_id": "3c26a0bd-2dc8-4170-9202-1deb22a15b3c",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          736.0,
          748.0
        ],
        [
          769.0,
          734.0
        ],
        [
          791.0,
          755.0
        ],
        [
          758.0,
          770.0
        ]
      ],
      "center_px": [
        763.5,
        751.75
      ],
      "quality": {
        "area_px": 1028.5,
        "perimeter_px": 133.62254524230957,
        "sharpness": {
          "laplacian_var": 629.9438390393899
        },
        "contrast": {
          "p05": 8.0,
          "p95": 166.0,
          "dynamic_range": 158.0,
          "mean_gray": 80.08628005657708,
          "std_gray": 66.14068988481485
        },
        "geometry": {
          "distance_to_center_norm": 0.24019105732440948,
          "distance_to_border_px": 310.0
        },
        "edge_ratio": 1.1918643121358203,
        "edge_lengths_px": [
          35.84689712524414,
          30.4138126373291,
          36.24913787841797,
          31.11269760131836
        ]
      },
      "confidence": 0.5752892000247514
    },
    {
      "observation_id": "6192ead5-42ec-49a9-b725-a75e711a4982",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1296.0,
          787.0
        ],
        [
          1266.0,
          766.0
        ],
        [
          1291.0,
          751.0
        ],
        [
          1321.0,
          771.0
        ]
      ],
      "center_px": [
        1293.5,
        768.75
      ],
      "quality": {
        "area_px": 977.5,
        "perimeter_px": 131.51158332824707,
        "sharpness": {
          "laplacian_var": 393.36305953360767
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 37.92740740740741,
          "std_gray": 50.05717387389571
        },
        "geometry": {
          "distance_to_center_norm": 0.6860414743423462,
          "distance_to_border_px": 119.0
        },
        "edge_ratio": 1.2560441794117048,
        "edge_lengths_px": [
          36.619667053222656,
          29.154760360717773,
          36.055511474609375,
          29.681644439697266
        ]
      },
      "confidence": 0.5188246379772157
    },
    {
      "observation_id": "0c784c06-f52d-4767-a032-0a96d570c7c3",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1016.0,
          811.0
        ],
        [
          991.0,
          789.0
        ],
        [
          1020.0,
          775.0
        ],
        [
          1045.0,
          796.0
        ]
      ],
      "center_px": [
        1018.0,
        792.75
      ],
      "quality": {
        "area_px": 986.0,
        "perimeter_px": 130.8034439086914,
        "sharpness": {
          "laplacian_var": 475.4373271244004
        },
        "contrast": {
          "p05": 8.0,
          "p95": 154.0,
          "dynamic_range": 146.0,
          "mean_gray": 83.64349112426035,
          "std_gray": 60.581002077087845
        },
        "geometry": {
          "distance_to_center_norm": 0.43416810035705566,
          "distance_to_border_px": 269.0
        },
        "edge_ratio": 1.0341329838297744,
        "edge_lengths_px": [
          33.30165100097656,
          32.202484130859375,
          32.649654388427734,
          32.649654388427734
        ]
      },
      "confidence": 0.6356371410754026
    },
    {
      "observation_id": "f8e4c8b9-7492-49d6-8733-5a3d14a6d4fc",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          868.0,
          683.0
        ],
        [
          898.0,
          671.0
        ],
        [
          921.0,
          691.0
        ],
        [
          890.0,
          704.0
        ]
      ],
      "center_px": [
        894.25,
        687.25
      ],
      "quality": {
        "area_px": 906.5,
        "perimeter_px": 126.81977462768555,
        "sharpness": {
          "laplacian_var": 730.5440749284464
        },
        "contrast": {
          "p05": 7.0,
          "p95": 147.0,
          "dynamic_range": 140.0,
          "mean_gray": 64.88888888888889,
          "std_gray": 55.53092591297538
        },
        "geometry": {
          "distance_to_center_norm": 0.25348344445228577,
          "distance_to_border_px": 376.0
        },
        "edge_ratio": 1.1052698748124639,
        "edge_lengths_px": [
          32.31098937988281,
          30.479501724243164,
          33.61547088623047,
          30.4138126373291
        ]
      },
      "confidence": 0.5467744549138944
    },
    {
      "observation_id": "6b7d4353-ec3e-494c-ae06-dac1a6212024",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          132.0,
          733.0
        ],
        [
          120.0,
          713.0
        ],
        [
          156.0,
          699.0
        ],
        [
          169.0,
          720.0
        ]
      ],
      "center_px": [
        144.25,
        716.25
      ],
      "quality": {
        "area_px": 917.0,
        "perimeter_px": 125.86574172973633,
        "sharpness": {
          "laplacian_var": 1445.8816273060513
        },
        "contrast": {
          "p05": 10.0,
          "p95": 164.0,
          "dynamic_range": 154.0,
          "mean_gray": 104.95038759689922,
          "std_gray": 55.85163641781182
        },
        "geometry": {
          "distance_to_center_norm": 0.6690255403518677,
          "distance_to_border_px": 120.0
        },
        "edge_ratio": 1.6814297415391983,
        "edge_lengths_px": [
          23.323806762695312,
          38.62641525268555,
          24.698177337646484,
          39.217342376708984
        ]
      },
      "confidence": 0.36357946944230474
    },
    {
      "observation_id": "03e18e34-5ff0-4506-bed3-88e2ea0896f5",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          665.0,
          678.0
        ],
        [
          696.0,
          665.0
        ],
        [
          716.0,
          685.0
        ],
        [
          684.0,
          698.0
        ]
      ],
      "center_px": [
        690.25,
        681.5
      ],
      "quality": {
        "area_px": 883.5,
        "perimeter_px": 124.02580451965332,
        "sharpness": {
          "laplacian_var": 1179.5768516590308
        },
        "contrast": {
          "p05": 9.0,
          "p95": 164.0,
          "dynamic_range": 155.0,
          "mean_gray": 82.41496598639456,
          "std_gray": 65.03223622795365
        },
        "geometry": {
          "distance_to_center_norm": 0.1606595665216446,
          "distance_to_border_px": 382.0
        },
        "edge_ratio": 1.252067930805291,
        "edge_lengths_px": [
          33.61547088623047,
          28.284271240234375,
          34.539833068847656,
          27.58622932434082
        ]
      },
      "confidence": 0.47042176028034954
    },
    {
      "observation_id": "b1d54610-4c89-4757-b349-d279017c695d",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          786.0,
          625.0
        ],
        [
          815.0,
          612.0
        ],
        [
          837.0,
          630.0
        ],
        [
          807.0,
          643.0
        ]
      ],
      "center_px": [
        811.25,
        627.5
      ],
      "quality": {
        "area_px": 810.5,
        "perimeter_px": 120.5600357055664,
        "sharpness": {
          "laplacian_var": 967.6256231985326
        },
        "contrast": {
          "p05": 8.0,
          "p95": 146.0,
          "dynamic_range": 138.0,
          "mean_gray": 86.19252336448598,
          "std_gray": 53.51396306727191
        },
        "geometry": {
          "distance_to_center_norm": 0.14047016203403473,
          "distance_to_border_px": 437.0
        },
        "edge_ratio": 1.1821105861697294,
        "edge_lengths_px": [
          31.78049659729004,
          28.42534065246582,
          32.69556427001953,
          27.658634185791016
        ]
      },
      "confidence": 0.45709203492045486
    },
    {
      "observation_id": "d79fcc51-b0b9-4bfc-b8c5-64ecdc85df61",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1374.0,
          670.0
        ],
        [
          1348.0,
          650.0
        ],
        [
          1371.0,
          639.0
        ],
        [
          1398.0,
          657.0
        ]
      ],
      "center_px": [
        1372.75,
        654.0
      ],
      "quality": {
        "area_px": 764.5,
        "perimeter_px": 118.04218864440918,
        "sharpness": {
          "laplacian_var": 1322.152791026487
        },
        "contrast": {
          "p05": 11.0,
          "p95": 157.0,
          "dynamic_range": 146.0,
          "mean_gray": 106.14757281553398,
          "std_gray": 50.89797112835208
        },
        "geometry": {
          "distance_to_center_norm": 0.7362555861473083,
          "distance_to_border_px": 42.0
        },
        "edge_ratio": 1.2866175488565903,
        "edge_lengths_px": [
          32.80244064331055,
          25.495098114013672,
          32.4499626159668,
          27.294687271118164
        ]
      },
      "confidence": 0.33274845378913714
    },
    {
      "observation_id": "447e8b23-a6d2-4a7b-bf29-3328e3a36d6d",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1325.0,
          643.0
        ],
        [
          1299.0,
          626.0
        ],
        [
          1321.0,
          614.0
        ],
        [
          1348.0,
          631.0
        ]
      ],
      "center_px": [
        1323.25,
        628.5
      ],
      "quality": {
        "area_px": 700.5,
        "perimeter_px": 113.97273445129395,
        "sharpness": {
          "laplacian_var": 648.8164916580263
        },
        "contrast": {
          "p05": 9.0,
          "p95": 153.0,
          "dynamic_range": 144.0,
          "mean_gray": 65.70291262135922,
          "std_gray": 55.509424471064996
        },
        "geometry": {
          "distance_to_center_norm": 0.6774523854255676,
          "distance_to_border_px": 92.0
        },
        "edge_ratio": 1.2731924661798575,
        "edge_lengths_px": [
          31.064449310302734,
          25.05992889404297,
          31.906112670898438,
          25.942243576049805
        ]
      },
      "confidence": 0.3667945046841247
    },
    {
      "observation_id": "f2a951e2-8ea8-4f2e-850a-725c4a372aa5",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          59.0,
          618.0
        ],
        [
          46.0,
          602.0
        ],
        [
          78.0,
          589.0
        ],
        [
          92.0,
          605.0
        ]
      ],
      "center_px": [
        68.75,
        603.5
      ],
      "quality": {
        "area_px": 695.5,
        "perimeter_px": 111.88394927978516,
        "sharpness": {
          "laplacian_var": 1391.873056
        },
        "contrast": {
          "p05": 10.0,
          "p95": 159.0,
          "dynamic_range": 149.0,
          "mean_gray": 96.96,
          "std_gray": 54.07626466389853
        },
        "geometry": {
          "distance_to_center_norm": 0.7270427346229553,
          "distance_to_border_px": 46.0
        },
        "edge_ratio": 1.7204650721276658,
        "edge_lengths_px": [
          20.615528106689453,
          34.539833068847656,
          21.260292053222656,
          35.46829605102539
        ]
      },
      "confidence": 0.2479407110577365
    },
    {
      "observation_id": "3f7f23e7-a96d-49c9-8bca-9d0f29d75804",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1196.0,
          524.0
        ],
        [
          1219.0,
          513.0
        ],
        [
          1244.0,
          529.0
        ],
        [
          1219.0,
          540.0
        ]
      ],
      "center_px": [
        1219.5,
        526.5
      ],
      "quality": {
        "area_px": 648.0,
        "perimeter_px": 110.50759315490723,
        "sharpness": {
          "laplacian_var": 1236.1684744228157
        },
        "contrast": {
          "p05": 9.0,
          "p95": 150.54999999999995,
          "dynamic_range": 141.54999999999995,
          "mean_gray": 71.13617021276596,
          "std_gray": 51.13376877110649
        },
        "geometry": {
          "distance_to_center_norm": 0.5552026629447937,
          "distance_to_border_px": 196.0
        },
        "edge_ratio": 1.1642098534769871,
        "edge_lengths_px": [
          25.495098114013672,
          29.681644439697266,
          27.312999725341797,
          28.017850875854492
        ]
      },
      "confidence": 0.37106712222869814
    },
    {
      "observation_id": "2775fb42-6e41-4355-83cc-dcef96f65c38",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1299.0,
          475.0
        ],
        [
          1322.0,
          465.0
        ],
        [
          1346.0,
          479.0
        ],
        [
          1325.0,
          490.0
        ]
      ],
      "center_px": [
        1323.0,
        477.25
      ],
      "quality": {
        "area_px": 581.5,
        "perimeter_px": 106.58796119689941,
        "sharpness": {
          "laplacian_var": 967.6145005085059
        },
        "contrast": {
          "p05": 10.0,
          "p95": 147.0,
          "dynamic_range": 137.0,
          "mean_gray": 81.11057692307692,
          "std_gray": 47.879830381481796
        },
        "geometry": {
          "distance_to_center_norm": 0.673617959022522,
          "distance_to_border_px": 94.0
        },
        "edge_ratio": 1.2661764925954944,
        "edge_lengths_px": [
          25.079872131347656,
          27.784887313842773,
          23.706539154052734,
          30.01666259765625
        ]
      },
      "confidence": 0.3061711135325228
    },
    {
      "observation_id": "70aad15d-3740-4450-afb0-648ced2b9e21",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1117.0,
          472.0
        ],
        [
          1139.0,
          461.0
        ],
        [
          1163.0,
          475.0
        ],
        [
          1139.0,
          486.0
        ]
      ],
      "center_px": [
        1139.5,
        473.5
      ],
      "quality": {
        "area_px": 575.0,
        "perimeter_px": 104.85920143127441,
        "sharpness": {
          "laplacian_var": 1184.4415888282053
        },
        "contrast": {
          "p05": 10.0,
          "p95": 145.0,
          "dynamic_range": 135.0,
          "mean_gray": 73.6029776674938,
          "std_gray": 48.246227341336834
        },
        "geometry": {
          "distance_to_center_norm": 0.4719312787055969,
          "distance_to_border_px": 277.0
        },
        "edge_ratio": 1.1296162775729734,
        "edge_lengths_px": [
          24.59674835205078,
          27.784887313842773,
          26.4007568359375,
          26.07680892944336
        ]
      },
      "confidence": 0.33934827334193574
    },
    {
      "observation_id": "263c03ac-9e48-48f0-bd77-b67d0f7f7d11",
      "type": "aruco",
      "marker_id": 94,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1163.0,
          324.0
        ],
        [
          1145.0,
          312.0
        ],
        [
          1164.0,
          306.0
        ],
        [
          1182.0,
          316.0
        ]
      ],
      "center_px": [
        1163.5,
        314.5
      ],
      "quality": {
        "area_px": 335.0,
        "perimeter_px": 82.76495552062988,
        "sharpness": {
          "laplacian_var": 2072.4698333740234
        },
        "contrast": {
          "p05": 16.75,
          "p95": 129.0,
          "dynamic_range": 112.25,
          "mean_gray": 70.95703125,
          "std_gray": 37.76523530227931
        },
        "geometry": {
          "distance_to_center_norm": 0.552818238735199,
          "distance_to_border_px": 258.0
        },
        "edge_ratio": 1.0857446667567778,
        "edge_lengths_px": [
          21.63330841064453,
          19.92485809326172,
          20.59126091003418,
          20.615528106689453
        ]
      },
      "confidence": 0.20569599848963674
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          836.0,
          563.0
        ],
        [
          592.0,
          674.0
        ],
        [
          551.0,
          640.0
        ],
        [
          804.0,
          529.0
        ]
      ],
      "center_px": [
        695.75,
        601.5
      ],
      "area_px": 12500.5
    },
    {
      "image_points_px": [
        [
          712.0,
          776.0
        ],
        [
          505.0,
          896.0
        ],
        [
          442.0,
          878.0
        ],
        [
          650.0,
          774.0
        ]
      ],
      "center_px": [
        577.25,
        831.0
      ],
      "area_px": 9075.0
    },
    {
      "image_points_px": [
        [
          841.0,
          341.0
        ],
        [
          858.0,
          344.0
        ],
        [
          915.0,
          425.0
        ],
        [
          891.0,
          408.0
        ]
      ],
      "center_px": [
        876.25,
        379.5
      ],
      "area_px": 982.0
    },
    {
      "image_points_px": [
        [
          1116.0,
          604.0
        ],
        [
          1133.0,
          650.0
        ],
        [
          1132.0,
          663.0
        ],
        [
          1114.0,
          617.0
        ]
      ],
      "center_px": [
        1123.75,
        633.5
      ],
      "area_px": 296.5
    },
    {
      "image_points_px": [
        [
          726.0,
          619.0
        ],
        [
          723.0,
          625.0
        ],
        [
          680.0,
          644.0
        ],
        [
          674.0,
          641.0
        ]
      ],
      "center_px": [
        700.75,
        632.25
      ],
      "area_px": 244.5
    },
    {
      "image_points_px": [
        [
          180.0,
          565.0
        ],
        [
          147.0,
          577.0
        ],
        [
          137.0,
          560.0
        ],
        [
          169.0,
          550.0
        ]
      ],
      "center_px": [
        158.25,
        563.0
      ],
      "area_px": 635.5
    },
    {
      "image_points_px": [
        [
          416.0,
          765.0
        ],
        [
          385.0,
          780.0
        ],
        [
          372.0,
          773.0
        ],
        [
          408.0,
          756.0
        ]
      ],
      "center_px": [
        395.25,
        768.5
      ],
      "area_px": 436.0
    },
    {
      "image_points_px": [
        [
          1217.0,
          427.0
        ],
        [
          1237.0,
          417.0
        ],
        [
          1261.0,
          431.0
        ],
        [
          1241.0,
          441.0
        ]
      ],
      "center_px": [
        1239.0,
        429.0
      ],
      "area_px": 520.0
    },
    {
      "image_points_px": [
        [
          985.0,
          384.0
        ],
        [
          1007.0,
          376.0
        ],
        [
          1024.0,
          388.0
        ],
        [
          1002.0,
          397.0
        ]
      ],
      "center_px": [
        1004.5,
        386.25
      ],
      "area_px": 419.5
    },
    {
      "image_points_px": [
        [
          1084.0,
          530.0
        ],
        [
          1101.0,
          526.0
        ],
        [
          1124.0,
          527.0
        ],
        [
          1119.0,
          530.0
        ]
      ],
      "center_px": [
        1107.0,
        528.25
      ],
      "area_px": 107.0
    },
    {
      "image_points_px": [
        [
          891.0,
          293.0
        ],
        [
          912.0,
          286.0
        ],
        [
          927.0,
          296.0
        ],
        [
          907.0,
          304.0
        ]
      ],
      "center_px": [
        909.25,
        294.75
      ],
      "area_px": 331.5
    },
    {
      "image_points_px": [
        [
          1052.0,
          297.0
        ],
        [
          1072.0,
          290.0
        ],
        [
          1088.0,
          301.0
        ],
        [
          1070.0,
          308.0
        ]
      ],
      "center_px": [
        1070.5,
        299.0
      ],
      "area_px": 328.0
    },
    {
      "image_points_px": [
        [
          936.0,
          284.0
        ],
        [
          956.0,
          278.0
        ],
        [
          971.0,
          288.0
        ],
        [
          952.0,
          295.0
        ]
      ],
      "center_px": [
        953.75,
        286.25
      ],
      "area_px": 305.5
    },
    {
      "image_points_px": [
        [
          302.0,
          1026.0
        ],
        [
          281.0,
          1041.0
        ],
        [
          273.0,
          1043.0
        ],
        [
          281.0,
          1036.0
        ]
      ],
      "center_px": [
        284.25,
        1036.5
      ],
      "area_px": 72.5
    },
    {
      "image_points_px": [
        [
          83.0,
          1039.0
        ],
        [
          81.0,
          1044.0
        ],
        [
          59.0,
          1057.0
        ],
        [
          68.0,
          1048.0
        ]
      ],
      "center_px": [
        72.75,
        1047.0
      ],
      "area_px": 69.0
    },
    {
      "image_points_px": [
        [
          806.0,
          955.0
        ],
        [
          791.0,
          965.0
        ],
        [
          783.0,
          965.0
        ],
        [
          802.0,
          955.0
        ]
      ],
      "center_px": [
        795.5,
        960.0
      ],
      "area_px": 60.0
    },
    {
      "image_points_px": [
        [
          332.0,
          624.0
        ],
        [
          335.0,
          641.0
        ],
        [
          334.0,
          647.0
        ],
        [
          331.0,
          629.0
        ]
      ],
      "center_px": [
        333.0,
        635.25
      ],
      "area_px": 34.0
    },
    {
      "image_points_px": [
        [
          281.0,
          924.0
        ],
        [
          265.0,
          935.0
        ],
        [
          261.0,
          934.0
        ],
        [
          278.0,
          924.0
        ]
      ],
      "center_px": [
        271.25,
        929.25
      ],
      "area_px": 45.0
    }
  ]
}