{ "schema_version": "1.0", "created_utc": "2026-06-01T18:36:44Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 }, "camera": { "camera_id": "e", "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene8\\render_a.npz", "camera_matrix": [ [ 1777.77783203125, 0.0, 640.0 ], [ 0.0, 1777.77783203125, 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\\Scene8\\render_e.png", "image_sha256": "93eed378d49dea63dd061223c9be54d8f846670f4e1cec78655cae33fdc3dfb0", "width_px": 1280, "height_px": 720 }, "aruco": { "dictionary": "DICT_4X4_250", "num_detected_markers": 32, "num_rejected_candidates": 19 }, "detections": [ { "observation_id": "07a34448-aa58-40a3-ab2e-e53609a6b111", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, "image_points_px": [ [ 669.0, 145.0 ], [ 634.0, 146.0 ], [ 635.0, 107.0 ], [ 671.0, 109.0 ] ], "center_px": [ 652.25, 126.75 ], "quality": { "area_px": 1332.0, "perimeter_px": 146.13812255859375, "sharpness": { "laplacian_var": 469.3829971583863 }, "contrast": { "p05": 5.0, "p95": 95.0, "dynamic_range": 90.0, "mean_gray": 28.379162191192265, "std_gray": 36.010070732259464 }, "geometry": { "distance_to_center_norm": 0.3180862069129944, "distance_to_border_px": 107.0 }, "edge_ratio": 1.114197261859523, "edge_lengths_px": [ 35.0142822265625, 39.0128173828125, 36.055511474609375, 36.055511474609375 ] }, "confidence": 0.796986342003736 }, { "observation_id": "a771bdb1-31ed-4e0e-a32c-36711fbb3261", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, "image_points_px": [ [ 664.0, 248.0 ], [ 629.0, 248.0 ], [ 631.0, 212.0 ], [ 666.0, 213.0 ] ], "center_px": [ 647.5, 230.25 ], "quality": { "area_px": 1243.5, "perimeter_px": 141.12688827514648, "sharpness": { "laplacian_var": 515.1758792877674 }, "contrast": { "p05": 6.0, "p95": 97.0, "dynamic_range": 91.0, "mean_gray": 27.06993006993007, "std_gray": 34.76862926040931 }, "geometry": { "distance_to_center_norm": 0.17699328064918518, "distance_to_border_px": 212.0 }, "edge_ratio": 1.030157470703125, "edge_lengths_px": [ 35.0, 36.055511474609375, 35.0142822265625, 35.05709457397461 ] }, "confidence": 0.8047313382430487 }, { "observation_id": "21b971f1-37f4-453c-b53d-912794e5bfcb", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, "image_points_px": [ [ 586.0, 48.0 ], [ 586.0, 12.0 ], [ 618.0, 8.0 ], [ 618.0, 45.0 ] ], "center_px": [ 602.0, 28.25 ], "quality": { "area_px": 1168.0, "perimeter_px": 137.38934707641602, "sharpness": { "laplacian_var": 1330.3737327416175 }, "contrast": { "p05": 43.0, "p95": 170.0, "dynamic_range": 127.0, "mean_gray": 85.94358974358974, "std_gray": 50.665159195886375 }, "geometry": { "distance_to_center_norm": 0.45474353432655334, "distance_to_border_px": 8.0 }, "edge_ratio": 1.1512021222516557, "edge_lengths_px": [ 36.0, 32.24903106689453, 37.0, 32.140316009521484 ] }, "confidence": 0.10822310370917793 }, { "observation_id": "07d22f24-3463-40a3-8ec6-5ee2eee906fc", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, "image_points_px": [ [ 991.0, 686.0 ], [ 1021.0, 676.0 ], [ 1054.0, 690.0 ], [ 1026.0, 702.0 ] ], "center_px": [ 1023.0, 688.5 ], "quality": { "area_px": 809.0, "perimeter_px": 136.41653060913086, "sharpness": { "laplacian_var": 1174.1654170514005 }, "contrast": { "p05": 20.0, "p95": 165.0, "dynamic_range": 145.0, "mean_gray": 71.80175438596491, "std_gray": 57.641094597481526 }, "geometry": { "distance_to_center_norm": 0.6871559619903564, "distance_to_border_px": 18.0 }, "edge_ratio": 1.263291448970706, "edge_lengths_px": [ 31.62277603149414, 35.84689712524414, 30.463092803955078, 38.4837646484375 ] }, "confidence": 0.15369374989294518 }, { "observation_id": "d30d69fa-b173-4756-aed0-8dbbfd564601", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, "image_points_px": [ [ 1138.0, 589.0 ], [ 1171.0, 602.0 ], [ 1146.0, 612.0 ], [ 1110.0, 599.0 ] ], "center_px": [ 1141.25, 600.5 ], "quality": { "area_px": 689.5, "perimeter_px": 130.40157508850098, "sharpness": { "laplacian_var": 1822.5796735195684 }, "contrast": { "p05": 17.0, "p95": 162.0, "dynamic_range": 145.0, "mean_gray": 74.05578512396694, "std_gray": 56.905269509398686 }, "geometry": { "distance_to_center_norm": 0.7571271657943726, "distance_to_border_px": 108.0 }, "edge_ratio": 1.4215096728839491, "edge_lengths_px": [ 35.46829605102539, 26.925823211669922, 38.27531814575195, 29.73213768005371 ] }, "confidence": 0.3233651345714012 }, { "observation_id": "f6bf98d3-a583-45c0-a542-113ef9075917", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, "image_points_px": [ [ 645.0, 664.0 ], [ 678.0, 653.0 ], [ 705.0, 667.0 ], [ 673.0, 678.0 ] ], "center_px": [ 675.25, 665.5 ], "quality": { "area_px": 757.5, "perimeter_px": 130.34166717529297, "sharpness": { "laplacian_var": 1389.600737796958 }, "contrast": { "p05": 23.6, "p95": 171.0, "dynamic_range": 147.4, "mean_gray": 123.84990619136961, "std_gray": 54.26628100591184 }, "geometry": { "distance_to_center_norm": 0.418801486492157, "distance_to_border_px": 42.0 }, "edge_ratio": 1.1437255061695086, "edge_lengths_px": [ 34.78505325317383, 30.4138126373291, 33.83784866333008, 31.30495262145996 ] }, "confidence": 0.37089318871684795 }, { "observation_id": "539bde1d-301a-4da4-9236-d4bf2edc6133", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, "image_points_px": [ [ 730.0, 653.0 ], [ 763.0, 643.0 ], [ 790.0, 656.0 ], [ 759.0, 667.0 ] ], "center_px": [ 760.5, 654.75 ], "quality": { "area_px": 726.0, "perimeter_px": 129.54478073120117, "sharpness": { "laplacian_var": 1552.6334707669414 }, "contrast": { "p05": 18.0, "p95": 163.64999999999998, "dynamic_range": 145.64999999999998, "mean_gray": 46.061023622047244, "std_gray": 48.985999692578815 }, "geometry": { "distance_to_center_norm": 0.43365001678466797, "distance_to_border_px": 53.0 }, "edge_ratio": 1.1506752463886485, "edge_lengths_px": [ 34.48188018798828, 29.96664810180664, 32.893768310546875, 32.202484130859375 ] }, "confidence": 0.420622587927407 }, { "observation_id": "0d88ffb4-04d5-483c-a834-a49039247fde", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, "image_points_px": [ [ 1217.0, 556.0 ], [ 1251.0, 568.0 ], [ 1231.0, 579.0 ], [ 1193.0, 565.0 ] ], "center_px": [ 1223.0, 567.0 ], "quality": { "area_px": 646.0, "perimeter_px": 125.00986099243164, "sharpness": { "laplacian_var": 2270.350266666667 }, "contrast": { "p05": 22.0, "p95": 160.0, "dynamic_range": 138.0, "mean_gray": 78.43333333333334, "std_gray": 51.03816654665844 }, "geometry": { "distance_to_center_norm": 0.8425115346908569, "distance_to_border_px": 29.0 }, "edge_ratio": 1.7742020286291678, "edge_lengths_px": [ 36.055511474609375, 22.825424194335938, 40.49691390991211, 25.63201141357422 ] }, "confidence": 0.14078817554935588 }, { "observation_id": "0daf5eab-3807-4590-8150-9d5607ad3edd", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, "image_points_px": [ [ 673.0, 403.0 ], [ 646.0, 408.0 ], [ 648.0, 374.0 ], [ 675.0, 370.0 ] ], "center_px": [ 660.5, 388.75 ], "quality": { "area_px": 895.5, "perimeter_px": 121.87307167053223, "sharpness": { "laplacian_var": 614.8180654841751 }, "contrast": { "p05": 9.0, "p95": 90.0, "dynamic_range": 81.0, "mean_gray": 43.92758089368259, "std_gray": 35.71798449646885 }, "geometry": { "distance_to_center_norm": 0.048086777329444885, "distance_to_border_px": 312.0 }, "edge_ratio": 1.247816936038345, "edge_lengths_px": [ 27.459060668945312, 34.058773040771484, 27.294687271118164, 33.060550689697266 ] }, "confidence": 0.4784355643508066 }, { "observation_id": "f69a434a-74c7-4cb4-8ce3-12ab014e5197", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, "image_points_px": [ [ 385.0, 577.0 ], [ 417.0, 568.0 ], [ 438.0, 579.0 ], [ 404.0, 588.0 ] ], "center_px": [ 411.0, 578.0 ], "quality": { "area_px": 543.0, "perimeter_px": 114.0735855102539, "sharpness": { "laplacian_var": 3889.170728895399 }, "contrast": { "p05": 23.0, "p95": 177.0, "dynamic_range": 154.0, "mean_gray": 102.53645833333333, "std_gray": 65.8328749242347 }, "geometry": { "distance_to_center_norm": 0.43057525157928467, "distance_to_border_px": 132.0 }, "edge_ratio": 1.6019955727302424, "edge_lengths_px": [ 33.241539001464844, 23.706539154052734, 35.1710090637207, 21.954498291015625 ] }, "confidence": 0.22596816505744277 }, { "observation_id": "034ab893-3044-4822-814a-4c16e1fdf9e5", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, "image_points_px": [ [ 518.0, 568.0 ], [ 548.0, 560.0 ], [ 570.0, 570.0 ], [ 539.0, 579.0 ] ], "center_px": [ 543.75, 569.25 ], "quality": { "area_px": 503.0, "perimeter_px": 111.20100593566895, "sharpness": { "laplacian_var": 3416.503388941199 }, "contrast": { "p05": 28.0, "p95": 175.0, "dynamic_range": 147.0, "mean_gray": 84.90616621983914, "std_gray": 59.67022231521041 }, "geometry": { "distance_to_center_norm": 0.31366512179374695, "distance_to_border_px": 141.0 }, "edge_ratio": 1.361650693608701, "edge_lengths_px": [ 31.048349380493164, 24.166091918945312, 32.280025482177734, 23.706539154052734 ] }, "confidence": 0.24626971873720385 }, { "observation_id": "665f8ed1-469e-40e5-b0dd-c47e1a65ad05", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, "image_points_px": [ [ 665.0, 543.0 ], [ 692.0, 535.0 ], [ 715.0, 545.0 ], [ 688.0, 554.0 ] ], "center_px": [ 690.0, 544.25 ], "quality": { "area_px": 479.0, "perimeter_px": 107.19572448730469, "sharpness": { "laplacian_var": 3568.7575918354605 }, "contrast": { "p05": 21.0, "p95": 172.0, "dynamic_range": 151.0, "mean_gray": 86.95810055865921, "std_gray": 64.42275638721306 }, "geometry": { "distance_to_center_norm": 0.25999337434768677, "distance_to_border_px": 166.0 }, "edge_ratio": 1.1347944144516315, "edge_lengths_px": [ 28.160255432128906, 25.079872131347656, 28.460498809814453, 25.495098114013672 ] }, "confidence": 0.28140192555287236 }, { "observation_id": "76071e2d-22aa-4900-95d2-b8bf775fa06f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, "image_points_px": [ [ 601.0, 372.0 ], [ 599.0, 404.0 ], [ 579.0, 397.0 ], [ 580.0, 364.0 ] ], "center_px": [ 589.75, 384.25 ], "quality": { "area_px": 677.5, "perimeter_px": 108.73941230773926, "sharpness": { "laplacian_var": 2713.9134670360113 }, "contrast": { "p05": 34.0, "p95": 178.0, "dynamic_range": 144.0, "mean_gray": 92.56842105263158, "std_gray": 63.79131315742788 }, "geometry": { "distance_to_center_norm": 0.07598420977592468, "distance_to_border_px": 316.0 }, "edge_ratio": 1.5580811099437382, "edge_lengths_px": [ 32.06243896484375, 21.189620971679688, 33.0151481628418, 22.472204208374023 ] }, "confidence": 0.28988649164931873 }, { "observation_id": "7bda6068-75bd-4202-ad5d-4a5570156d06", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, "image_points_px": [ [ 713.0, 555.0 ], [ 741.0, 547.0 ], [ 764.0, 557.0 ], [ 736.0, 565.0 ] ], "center_px": [ 738.5, 556.0 ], "quality": { "area_px": 464.0, "perimeter_px": 108.4006233215332, "sharpness": { "laplacian_var": 2525.9330891040295 }, "contrast": { "p05": 23.0, "p95": 166.89999999999998, "dynamic_range": 143.89999999999998, "mean_gray": 52.994169096209916, "std_gray": 47.4435060190186 }, "geometry": { "distance_to_center_norm": 0.2987307906150818, "distance_to_border_px": 155.0 }, "edge_ratio": 1.161107974431055, "edge_lengths_px": [ 29.120439529418945, 25.079872131347656, 29.120439529418945, 25.079872131347656 ] }, "confidence": 0.2664122029520185 }, { "observation_id": "60478cfe-dfed-4f74-91d3-839d3060755c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, "image_points_px": [ [ 695.0, 87.0 ], [ 677.0, 90.0 ], [ 679.0, 53.0 ], [ 697.0, 52.0 ] ], "center_px": [ 687.0, 70.5 ], "quality": { "area_px": 644.0, "perimeter_px": 108.38715362548828, "sharpness": { "laplacian_var": 614.9337098692034 }, "contrast": { "p05": 8.0, "p95": 77.84999999999997, "dynamic_range": 69.84999999999997, "mean_gray": 33.372844827586206, "std_gray": 28.163182810983688 }, "geometry": { "distance_to_center_norm": 0.3994136452674866, "distance_to_border_px": 52.0 }, "edge_ratio": 2.055387073866642, "edge_lengths_px": [ 18.248287200927734, 37.05401611328125, 18.027755737304688, 35.05709457397461 ] }, "confidence": 0.18238008374815162 }, { "observation_id": "3592ee97-40fd-43d7-8663-ca8059a431c0", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, "image_points_px": [ [ 306.0, 536.0 ], [ 339.0, 529.0 ], [ 356.0, 538.0 ], [ 324.0, 546.0 ] ], "center_px": [ 331.25, 537.25 ], "quality": { "area_px": 440.0, "perimeter_px": 106.54574584960938, "sharpness": { "laplacian_var": 3556.017999105521 }, "contrast": { "p05": 24.0, "p95": 178.5, "dynamic_range": 154.5, "mean_gray": 74.09365558912387, "std_gray": 62.59258029339184 }, "geometry": { "distance_to_center_norm": 0.48482945561408997, "distance_to_border_px": 174.0 }, "edge_ratio": 1.7537605054536587, "edge_lengths_px": [ 33.734256744384766, 19.235383987426758, 32.98484420776367, 20.59126091003418 ] }, "confidence": 0.16725963004706537 }, { "observation_id": "95814aa6-5710-40c3-80ae-07db2b751107", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, "image_points_px": [ [ 568.0, 360.0 ], [ 567.0, 393.0 ], [ 547.0, 385.0 ], [ 548.0, 353.0 ] ], "center_px": [ 557.5, 372.75 ], "quality": { "area_px": 657.5, "perimeter_px": 107.76104927062988, "sharpness": { "laplacian_var": 3474.863086846939 }, "contrast": { "p05": 35.0, "p95": 179.0, "dynamic_range": 144.0, "mean_gray": 99.33769063180829, "std_gray": 62.82504423318867 }, "geometry": { "distance_to_center_norm": 0.11368533968925476, "distance_to_border_px": 327.0 }, "edge_ratio": 1.5580811099437382, "edge_lengths_px": [ 33.0151481628418, 21.540658950805664, 32.015621185302734, 21.189620971679688 ] }, "confidence": 0.28132895684048276 }, { "observation_id": "9881d7ba-bb4c-4a1c-8c1f-3e545082af9b", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, "image_points_px": [ [ 643.0, 510.0 ], [ 668.0, 503.0 ], [ 693.0, 514.0 ], [ 663.0, 520.0 ] ], "center_px": [ 666.75, 511.75 ], "quality": { "area_px": 435.0, "perimeter_px": 106.22930526733398, "sharpness": { "laplacian_var": 5755.361941550289 }, "contrast": { "p05": 24.0, "p95": 173.0, "dynamic_range": 149.0, "mean_gray": 96.15170278637771, "std_gray": 59.538669344009676 }, "geometry": { "distance_to_center_norm": 0.20984497666358948, "distance_to_border_px": 200.0 }, "edge_ratio": 1.368210480272166, "edge_lengths_px": [ 25.961509704589844, 27.312999725341797, 30.5941162109375, 22.360679626464844 ] }, "confidence": 0.21195569262290176 }, { "observation_id": "4c590a7c-a664-478d-8e2f-22a9084d6162", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, "image_points_px": [ [ 495.0, 533.0 ], [ 524.0, 525.0 ], [ 544.0, 535.0 ], [ 515.0, 543.0 ] ], "center_px": [ 519.5, 534.0 ], "quality": { "area_px": 450.0, "perimeter_px": 104.8877944946289, "sharpness": { "laplacian_var": 4148.963948750263 }, "contrast": { "p05": 27.0, "p95": 177.0, "dynamic_range": 150.0, "mean_gray": 88.84057971014492, "std_gray": 61.37332262554081 }, "geometry": { "distance_to_center_norm": 0.2882344722747803, "distance_to_border_px": 177.0 }, "edge_ratio": 1.3453624005794889, "edge_lengths_px": [ 30.08321762084961, 22.360679626464844, 30.08321762084961, 22.360679626464844 ] }, "confidence": 0.22298824455832925 }, { "observation_id": "25c0a64e-a7c3-4108-afbe-91a313d1889b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, "image_points_px": [ [ 504.0, 342.0 ], [ 524.0, 349.0 ], [ 525.0, 380.0 ], [ 507.0, 374.0 ] ], "center_px": [ 515.0, 361.25 ], "quality": { "area_px": 585.5, "perimeter_px": 103.31972694396973, "sharpness": { "laplacian_var": 3023.515327203894 }, "contrast": { "p05": 34.0, "p95": 178.0, "dynamic_range": 144.0, "mean_gray": 81.84186046511628, "std_gray": 60.155481617485975 }, "geometry": { "distance_to_center_norm": 0.17023810744285583, "distance_to_border_px": 340.0 }, "edge_ratio": 1.6939434530615978, "edge_lengths_px": [ 21.189620971679688, 31.016124725341797, 18.973665237426758, 32.140316009521484 ] }, "confidence": 0.23042878593606714 }, { "observation_id": "fcdd75d9-da62-4e62-afe7-81a6c0a84e00", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, "image_points_px": [ [ 859.0, 438.0 ], [ 882.0, 445.0 ], [ 856.0, 451.0 ], [ 835.0, 444.0 ] ], "center_px": [ 858.0, 444.5 ], "quality": { "area_px": 307.0, "perimeter_px": 97.59953689575195, "sharpness": { "laplacian_var": 4953.1880017543535 }, "contrast": { "p05": 20.0, "p95": 142.0, "dynamic_range": 122.0, "mean_gray": 78.48034934497817, "std_gray": 48.64680485484511 }, "geometry": { "distance_to_center_norm": 0.3184027075767517, "distance_to_border_px": 269.0 }, "edge_ratio": 1.205429874000591, "edge_lengths_px": [ 24.041629791259766, 26.68332862854004, 22.135944366455078, 24.73863410949707 ] }, "confidence": 0.1697872859143744 }, { "observation_id": "c155e7c6-5a0d-41f1-89b6-9151eaf08fbb", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, "image_points_px": [ [ 507.0, 462.0 ], [ 535.0, 457.0 ], [ 551.0, 464.0 ], [ 524.0, 470.0 ] ], "center_px": [ 529.25, 463.25 ], "quality": { "area_px": 297.0, "perimeter_px": 92.35410118103027, "sharpness": { "laplacian_var": 6128.6329908058415 }, "contrast": { "p05": 30.0, "p95": 178.0, "dynamic_range": 148.0, "mean_gray": 92.2139534883721, "std_gray": 59.31469711355066 }, "geometry": { "distance_to_center_norm": 0.20620082318782806, "distance_to_border_px": 250.0 }, "edge_ratio": 1.6286371694405686, "edge_lengths_px": [ 28.44292449951172, 17.464248657226562, 27.658634185791016, 18.788293838500977 ] }, "confidence": 0.12157403976480062 }, { "observation_id": "43f18a7e-49a0-4ba5-b832-c91a4658f139", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, "image_points_px": [ [ 1108.0, 454.0 ], [ 1131.0, 449.0 ], [ 1156.0, 456.0 ], [ 1136.0, 462.0 ] ], "center_px": [ 1132.75, 455.25 ], "quality": { "area_px": 307.0, "perimeter_px": 99.4997673034668, "sharpness": { "laplacian_var": 6015.53668126975 }, "contrast": { "p05": 15.0, "p95": 155.0, "dynamic_range": 140.0, "mean_gray": 60.38559322033898, "std_gray": 51.485636923260955 }, "geometry": { "distance_to_center_norm": 0.6834672689437866, "distance_to_border_px": 124.0 }, "edge_ratio": 1.394616100271707, "edge_lengths_px": [ 23.53720474243164, 25.961509704589844, 20.880613327026367, 29.120439529418945 ] }, "confidence": 0.14675484287524884 }, { "observation_id": "61c56c1f-2c39-4c98-8622-f23cb22e32a9", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, "image_points_px": [ [ 402.0, 498.0 ], [ 431.0, 491.0 ], [ 449.0, 500.0 ], [ 419.0, 506.0 ] ], "center_px": [ 425.25, 498.75 ], "quality": { "area_px": 364.5, "perimeter_px": 99.33988952636719, "sharpness": { "laplacian_var": 5621.020098940312 }, "contrast": { "p05": 23.0, "p95": 179.0, "dynamic_range": 156.0, "mean_gray": 88.8529411764706, "std_gray": 65.58806713246709 }, "geometry": { "distance_to_center_norm": 0.34818607568740845, "distance_to_border_px": 214.0 }, "edge_ratio": 1.6283605352309334, "edge_lengths_px": [ 29.832868576049805, 20.124610900878906, 30.5941162109375, 18.788293838500977 ] }, "confidence": 0.14922985097126407 }, { "observation_id": "c715c2d8-0f40-4bbc-b880-f250f1161e14", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, "image_points_px": [ [ 444.0, 446.0 ], [ 471.0, 441.0 ], [ 486.0, 448.0 ], [ 459.0, 453.0 ] ], "center_px": [ 465.0, 447.0 ], "quality": { "area_px": 264.0, "perimeter_px": 88.02401351928711, "sharpness": { "laplacian_var": 7616.010237639051 }, "contrast": { "p05": 29.3, "p95": 179.0, "dynamic_range": 149.7, "mean_gray": 129.62566844919786, "std_gray": 55.38363031533882 }, "geometry": { "distance_to_center_norm": 0.266147643327713, "distance_to_border_px": 267.0 }, "edge_ratio": 1.6588624477171257, "edge_lengths_px": [ 27.459060668945312, 16.552946090698242, 27.459060668945312, 16.552946090698242 ] }, "confidence": 0.10609680160172753 }, { "observation_id": "6abbeb62-f795-4cf5-b228-829b0811259f", "type": "aruco", "marker_id": 60, "marker_size_m": 0.025, "image_points_px": [ [ 1174.0, 430.0 ], [ 1193.0, 425.0 ], [ 1217.0, 432.0 ], [ 1199.0, 437.0 ] ], "center_px": [ 1195.75, 431.0 ], "quality": { "area_px": 252.0, "perimeter_px": 89.2899341583252, "sharpness": { "laplacian_var": 5458.464570455971 }, "contrast": { "p05": 16.0, "p95": 155.0, "dynamic_range": 139.0, "mean_gray": 102.47540983606558, "std_gray": 54.46519113706534 }, "geometry": { "distance_to_center_norm": 0.7629922032356262, "distance_to_border_px": 63.0 }, "edge_ratio": 1.3896877719636351, "edge_lengths_px": [ 19.646883010864258, 25.0, 18.681541442871094, 25.961509704589844 ] }, "confidence": 0.1208904643109979 }, { "observation_id": "d3b09995-2427-4c55-93fe-eee8519d6982", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, "image_points_px": [ [ 274.0, 439.0 ], [ 302.0, 434.0 ], [ 319.0, 442.0 ], [ 287.0, 446.0 ] ], "center_px": [ 295.5, 440.25 ], "quality": { "area_px": 292.5, "perimeter_px": 94.24507236480713, "sharpness": { "laplacian_var": 7671.742542524209 }, "contrast": { "p05": 24.0, "p95": 180.0, "dynamic_range": 156.0, "mean_gray": 84.50239234449761, "std_gray": 62.98014606290175 }, "geometry": { "distance_to_center_norm": 0.4817137122154236, "distance_to_border_px": 274.0 }, "edge_ratio": 2.1841800036803938, "edge_lengths_px": [ 28.44292449951172, 18.788293838500977, 32.24903106689453, 14.764822959899902 ] }, "confidence": 0.08927835602899967 }, { "observation_id": "1d458d9f-13dd-4614-a389-051719733f8e", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, "image_points_px": [ [ 686.0, 426.0 ], [ 707.0, 434.0 ], [ 680.0, 439.0 ], [ 662.0, 432.0 ] ], "center_px": [ 683.75, 432.75 ], "quality": { "area_px": 298.5, "perimeter_px": 93.98310661315918, "sharpness": { "laplacian_var": 841.6697733575195 }, "contrast": { "p05": 12.0, "p95": 69.0, "dynamic_range": 57.0, "mean_gray": 33.8675799086758, "std_gray": 20.978479929931893 }, "geometry": { "distance_to_center_norm": 0.11560884118080139, "distance_to_border_px": 281.0 }, "edge_ratio": 1.42177628906613, "edge_lengths_px": [ 22.472204208374023, 27.459060668945312, 19.313207626342773, 24.73863410949707 ] }, "confidence": 0.09972560457674447 }, { "observation_id": "7151bcf1-4741-45f4-b14a-80d85be3935b", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, "image_points_px": [ [ 767.0, 407.0 ], [ 785.0, 414.0 ], [ 761.0, 419.0 ], [ 742.0, 412.0 ] ], "center_px": [ 763.75, 413.0 ], "quality": { "area_px": 264.0, "perimeter_px": 89.57206344604492, "sharpness": { "laplacian_var": 4134.954579095966 }, "contrast": { "p05": 14.0, "p95": 136.0, "dynamic_range": 122.0, "mean_gray": 64.81151832460733, "std_gray": 47.12549885356449 }, "geometry": { "distance_to_center_norm": 0.18333308398723602, "distance_to_border_px": 301.0 }, "edge_ratio": 1.320086161101429, "edge_lengths_px": [ 19.313207626342773, 24.515300750732422, 20.248456954956055, 25.495098114013672 ] }, "confidence": 0.13332463075982282 }, { "observation_id": "a64e08e8-58d0-42ca-b3df-4c496a2a21b9", "type": "aruco", "marker_id": 84, "marker_size_m": 0.025, "image_points_px": [ [ 1126.0, 428.0 ], [ 1145.0, 423.0 ], [ 1169.0, 430.0 ], [ 1150.0, 435.0 ] ], "center_px": [ 1147.5, 429.0 ], "quality": { "area_px": 253.0, "perimeter_px": 89.29376602172852, "sharpness": { "laplacian_var": 6507.626777662157 }, "contrast": { "p05": 16.0, "p95": 155.0, "dynamic_range": 139.0, "mean_gray": 85.89247311827957, "std_gray": 52.75821545678702 }, "geometry": { "distance_to_center_norm": 0.6974908709526062, "distance_to_border_px": 111.0 }, "edge_ratio": 1.272466476548753, "edge_lengths_px": [ 19.646883010864258, 25.0, 19.646883010864258, 25.0 ] }, "confidence": 0.13255097071329755 }, { "observation_id": "223d5066-9586-44bf-b6c8-b63413be641c", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, "image_points_px": [ [ 1106.0, 408.0 ], [ 1128.0, 404.0 ], [ 1147.0, 409.0 ], [ 1128.0, 414.0 ] ], "center_px": [ 1127.25, 408.75 ], "quality": { "area_px": 205.0, "perimeter_px": 84.45795440673828, "sharpness": { "laplacian_var": 6562.795155709344 }, "contrast": { "p05": 16.0, "p95": 154.0, "dynamic_range": 138.0, "mean_gray": 83.61764705882354, "std_gray": 52.60273684776708 }, "geometry": { "distance_to_center_norm": 0.6668679118156433, "distance_to_border_px": 133.0 }, "edge_ratio": 1.1606680177173716, "edge_lengths_px": [ 22.360679626464844, 19.646883010864258, 19.646883010864258, 22.803508758544922 ] }, "confidence": 0.11774828338549573 }, { "observation_id": "13c49bc5-8f3b-432b-92d6-2fc38a5ed82a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, "image_points_px": [ [ 359.0, 408.0 ], [ 385.0, 404.0 ], [ 399.0, 410.0 ], [ 373.0, 415.0 ] ], "center_px": [ 379.0, 409.25 ], "quality": { "area_px": 232.0, "perimeter_px": 83.66631984710693, "sharpness": { "laplacian_var": 7777.418181818181 }, "contrast": { "p05": 23.0, "p95": 179.0, "dynamic_range": 156.0, "mean_gray": 90.14545454545454, "std_gray": 61.52823983766041 }, "geometry": { "distance_to_center_norm": 0.3617120683193207, "distance_to_border_px": 305.0 }, "edge_ratio": 1.7382610728629626, "edge_lengths_px": [ 26.305892944335938, 15.231546401977539, 26.476404190063477, 15.65247631072998 ] }, "confidence": 0.08897781183808398 } ], "rejected_candidates": [ { "image_points_px": [ [ 596.0, 145.0 ], [ 626.0, 151.0 ], [ 624.0, 186.0 ], [ 595.0, 180.0 ] ], "center_px": [ 610.25, 165.5 ], "area_px": 1041.5 }, { "image_points_px": [ [ 511.0, 586.0 ], [ 477.0, 595.0 ], [ 457.0, 584.0 ], [ 489.0, 575.0 ] ], "center_px": [ 483.5, 585.0 ], "area_px": 552.0 }, { "image_points_px": [ [ 752.0, 466.0 ], [ 780.0, 460.0 ], [ 805.0, 469.0 ], [ 777.0, 475.0 ] ], "center_px": [ 778.5, 467.5 ], "area_px": 402.0 }, { "image_points_px": [ [ 1177.0, 465.0 ], [ 1198.0, 459.0 ], [ 1226.0, 468.0 ], [ 1205.0, 475.0 ] ], "center_px": [ 1201.5, 466.75 ], "area_px": 381.5 }, { "image_points_px": [ [ 580.0, 403.0 ], [ 600.0, 410.0 ], [ 619.0, 430.0 ], [ 597.0, 421.0 ] ], "center_px": [ 599.0, 416.0 ], "area_px": 255.0 }, { "image_points_px": [ [ 575.0, 306.0 ], [ 548.0, 312.0 ], [ 530.0, 306.0 ], [ 556.0, 301.0 ] ], "center_px": [ 552.25, 306.25 ], "area_px": 247.5 }, { "image_points_px": [ [ 729.0, 282.0 ], [ 692.0, 295.0 ], [ 687.0, 291.0 ], [ 702.0, 284.0 ] ], "center_px": [ 702.5, 288.0 ], "area_px": 186.0 }, { "image_points_px": [ [ 414.0, 438.0 ], [ 388.0, 444.0 ], [ 373.0, 436.0 ], [ 399.0, 431.0 ] ], "center_px": [ 393.5, 437.25 ], "area_px": 277.5 }, { "image_points_px": [ [ 976.0, 370.0 ], [ 997.0, 366.0 ], [ 1016.0, 373.0 ], [ 998.0, 377.0 ] ], "center_px": [ 996.75, 371.5 ], "area_px": 218.5 }, { "image_points_px": [ [ 1005.0, 363.0 ], [ 1026.0, 360.0 ], [ 1044.0, 366.0 ], [ 1027.0, 371.0 ] ], "center_px": [ 1025.5, 365.0 ], "area_px": 213.0 }, { "image_points_px": [ [ 806.0, 357.0 ], [ 824.0, 353.0 ], [ 844.0, 360.0 ], [ 823.0, 363.0 ] ], "center_px": [ 824.25, 358.25 ], "area_px": 191.5 }, { "image_points_px": [ [ 893.0, 346.0 ], [ 913.0, 343.0 ], [ 930.0, 349.0 ], [ 913.0, 353.0 ] ], "center_px": [ 912.25, 347.75 ], "area_px": 185.0 }, { "image_points_px": [ [ 866.0, 324.0 ], [ 885.0, 321.0 ], [ 902.0, 327.0 ], [ 885.0, 331.0 ] ], "center_px": [ 884.5, 325.75 ], "area_px": 180.0 }, { "image_points_px": [ [ 817.0, 312.0 ], [ 834.0, 309.0 ], [ 851.0, 315.0 ], [ 833.0, 318.0 ] ], "center_px": [ 833.75, 313.5 ], "area_px": 154.5 }, { "image_points_px": [ [ 589.0, 316.0 ], [ 593.0, 318.0 ], [ 592.0, 339.0 ], [ 588.0, 337.0 ] ], "center_px": [ 590.5, 327.5 ], "area_px": 86.0 }, { "image_points_px": [ [ 439.0, 497.0 ], [ 428.0, 504.0 ], [ 416.0, 502.0 ], [ 431.0, 494.0 ] ], "center_px": [ 428.5, 499.25 ], "area_px": 107.5 }, { "image_points_px": [ [ 602.0, 319.0 ], [ 606.0, 321.0 ], [ 606.0, 341.0 ], [ 601.0, 340.0 ] ], "center_px": [ 603.75, 330.25 ], "area_px": 93.0 }, { "image_points_px": [ [ 1243.0, 567.0 ], [ 1226.0, 575.0 ], [ 1220.0, 572.0 ], [ 1234.0, 565.0 ] ], "center_px": [ 1230.75, 569.75 ], "area_px": 95.0 }, { "image_points_px": [ [ 687.0, 133.0 ], [ 688.0, 150.0 ], [ 685.0, 155.0 ], [ 684.0, 136.0 ] ], "center_px": [ 686.0, 143.5 ], "area_px": 58.0 } ] }