{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T19:31:49Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "b",
    "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,
        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\\Scene9\\render_b.png",
    "image_sha256": "48595f228e2f117251ebd8b9ca65d69583997da7f10da700ef392c8b23388302",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 44,
    "num_rejected_candidates": 12
  },
  "detections": [
    {
      "observation_id": "522bdd9a-9071-4e33-b3fb-b1490bc6f3fd",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          591.0,
          183.0
        ],
        [
          601.0,
          216.0
        ],
        [
          567.0,
          227.0
        ],
        [
          557.0,
          194.0
        ]
      ],
      "center_px": [
        579.0,
        205.0
      ],
      "quality": {
        "area_px": 1232.0,
        "perimeter_px": 140.4340362548828,
        "sharpness": {
          "laplacian_var": 2670.904443510934
        },
        "contrast": {
          "p05": 47.0,
          "p95": 190.0,
          "dynamic_range": 143.0,
          "mean_gray": 100.34057971014492,
          "std_gray": 62.345208863736836
        },
        "geometry": {
          "distance_to_center_norm": 0.2268429398536682,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.036345400675147,
        "edge_lengths_px": [
          34.48188018798828,
          35.735137939453125,
          34.48188018798828,
          35.735137939453125
        ]
      },
      "confidence": 0.7925285650886857
    },
    {
      "observation_id": "01beb2e5-9c64-49bf-9e86-c40e2b8b75e6",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1234.0,
          693.0
        ],
        [
          1227.0,
          665.0
        ],
        [
          1258.0,
          665.0
        ],
        [
          1265.0,
          692.0
        ]
      ],
      "center_px": [
        1246.0,
        678.75
      ],
      "quality": {
        "area_px": 856.0,
        "perimeter_px": 118.77051544189453,
        "sharpness": {
          "laplacian_var": 2510.105457352333
        },
        "contrast": {
          "p05": 8.0,
          "p95": 163.35000000000002,
          "dynamic_range": 155.35000000000002,
          "mean_gray": 46.51954397394137,
          "std_gray": 60.643311103129896
        },
        "geometry": {
          "distance_to_center_norm": 0.9324730634689331,
          "distance_to_border_px": 15.0
        },
        "edge_ratio": 1.1119819756612892,
        "edge_lengths_px": [
          28.861740112304688,
          31.0,
          27.892650604248047,
          31.016124725341797
        ]
      },
      "confidence": 0.1539593300495616
    },
    {
      "observation_id": "37c296b7-1d41-40ab-bcfd-785da8eaa730",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          440.0,
          490.0
        ],
        [
          471.0,
          490.0
        ],
        [
          470.0,
          517.0
        ],
        [
          438.0,
          517.0
        ]
      ],
      "center_px": [
        454.75,
        503.5
      ],
      "quality": {
        "area_px": 850.5,
        "perimeter_px": 117.09248542785645,
        "sharpness": {
          "laplacian_var": 3020.4483989732466
        },
        "contrast": {
          "p05": 14.0,
          "p95": 181.0,
          "dynamic_range": 167.0,
          "mean_gray": 64.72787979966611,
          "std_gray": 70.24237367224117
        },
        "geometry": {
          "distance_to_center_norm": 0.31911706924438477,
          "distance_to_border_px": 203.0
        },
        "edge_ratio": 1.1843731120480052,
        "edge_lengths_px": [
          31.0,
          27.018512725830078,
          32.0,
          27.073972702026367
        ]
      },
      "confidence": 0.4787342723608016
    },
    {
      "observation_id": "2597f8ae-39a9-4e97-a082-f8661b6230f1",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1065.0,
          679.0
        ],
        [
          1061.0,
          652.0
        ],
        [
          1091.0,
          652.0
        ],
        [
          1096.0,
          679.0
        ]
      ],
      "center_px": [
        1078.25,
        665.5
      ],
      "quality": {
        "area_px": 823.5,
        "perimeter_px": 115.75374794006348,
        "sharpness": {
          "laplacian_var": 3067.4495268001474
        },
        "contrast": {
          "p05": 9.0,
          "p95": 167.0,
          "dynamic_range": 158.0,
          "mean_gray": 93.34241908006814,
          "std_gray": 69.63832304900947
        },
        "geometry": {
          "distance_to_center_norm": 0.7275234460830688,
          "distance_to_border_px": 41.0
        },
        "edge_ratio": 1.1357521590951734,
        "edge_lengths_px": [
          27.294687271118164,
          30.0,
          27.459060668945312,
          31.0
        ]
      },
      "confidence": 0.39637168760361213
    },
    {
      "observation_id": "d5fdb84b-a907-4f71-b574-2a3ae1112404",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          203.0,
          649.0
        ],
        [
          207.0,
          622.0
        ],
        [
          238.0,
          622.0
        ],
        [
          234.0,
          648.0
        ]
      ],
      "center_px": [
        220.5,
        635.25
      ],
      "quality": {
        "area_px": 819.5,
        "perimeter_px": 115.6167049407959,
        "sharpness": {
          "laplacian_var": 3118.427976637268
        },
        "contrast": {
          "p05": 16.0,
          "p95": 182.0,
          "dynamic_range": 166.0,
          "mean_gray": 73.75856164383562,
          "std_gray": 71.36733257993441
        },
        "geometry": {
          "distance_to_center_norm": 0.6832876801490784,
          "distance_to_border_px": 71.0
        },
        "edge_ratio": 1.1790561449851884,
        "edge_lengths_px": [
          27.294687271118164,
          31.0,
          26.305892944335938,
          31.016124725341797
        ]
      },
      "confidence": 0.4633649853376546
    },
    {
      "observation_id": "fc6288c8-f9e7-42c9-968b-b519bb0992ad",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          290.0,
          682.0
        ],
        [
          294.0,
          655.0
        ],
        [
          324.0,
          654.0
        ],
        [
          321.0,
          681.0
        ]
      ],
      "center_px": [
        307.25,
        668.0
      ],
      "quality": {
        "area_px": 820.0,
        "perimeter_px": 115.4936294555664,
        "sharpness": {
          "laplacian_var": 3341.321495590167
        },
        "contrast": {
          "p05": 17.0,
          "p95": 181.0,
          "dynamic_range": 164.0,
          "mean_gray": 76.40582191780823,
          "std_gray": 70.9886738530897
        },
        "geometry": {
          "distance_to_center_norm": 0.6174793243408203,
          "distance_to_border_px": 38.0
        },
        "edge_ratio": 1.1417193520219107,
        "edge_lengths_px": [
          27.294687271118164,
          30.01666259765625,
          27.166154861450195,
          31.016124725341797
        ]
      },
      "confidence": 0.3638956157928849
    },
    {
      "observation_id": "97a3c472-5aeb-4f63-87ef-de24238d3691",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          600.0,
          408.0
        ],
        [
          567.0,
          417.0
        ],
        [
          566.0,
          394.0
        ],
        [
          600.0,
          385.0
        ]
      ],
      "center_px": [
        583.25,
        401.0
      ],
      "quality": {
        "area_px": 775.0,
        "perimeter_px": 115.39799880981445,
        "sharpness": {
          "laplacian_var": 2030.046404948709
        },
        "contrast": {
          "p05": 18.0,
          "p95": 166.0,
          "dynamic_range": 148.0,
          "mean_gray": 56.27324478178368,
          "std_gray": 58.54171306349663
        },
        "geometry": {
          "distance_to_center_norm": 0.09534377604722977,
          "distance_to_border_px": 303.0
        },
        "edge_ratio": 1.5291743071182915,
        "edge_lengths_px": [
          34.20526123046875,
          23.021728515625,
          35.1710090637207,
          23.0
        ]
      },
      "confidence": 0.33787297122479
    },
    {
      "observation_id": "3a16cc10-0e2c-4d48-a8fc-48f574c05c68",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1052.0,
          636.0
        ],
        [
          1047.0,
          610.0
        ],
        [
          1077.0,
          609.0
        ],
        [
          1082.0,
          636.0
        ]
      ],
      "center_px": [
        1064.5,
        622.75
      ],
      "quality": {
        "area_px": 797.5,
        "perimeter_px": 113.95212745666504,
        "sharpness": {
          "laplacian_var": 2844.7501886223026
        },
        "contrast": {
          "p05": 9.0,
          "p95": 167.0,
          "dynamic_range": 158.0,
          "mean_gray": 56.7145390070922,
          "std_gray": 64.96356099154649
        },
        "geometry": {
          "distance_to_center_norm": 0.6798796653747559,
          "distance_to_border_px": 84.0
        },
        "edge_ratio": 1.1337137166428901,
        "edge_lengths_px": [
          26.476404190063477,
          30.01666259765625,
          27.459060668945312,
          30.0
        ]
      },
      "confidence": 0.46896024883690896
    },
    {
      "observation_id": "eaa4c82b-3ee4-4721-a637-3f55159dfa05",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          702.0,
          641.0
        ],
        [
          701.0,
          615.0
        ],
        [
          731.0,
          615.0
        ],
        [
          733.0,
          641.0
        ]
      ],
      "center_px": [
        716.75,
        628.0
      ],
      "quality": {
        "area_px": 793.0,
        "perimeter_px": 113.09603309631348,
        "sharpness": {
          "laplacian_var": 2692.3726157453743
        },
        "contrast": {
          "p05": 12.0,
          "p95": 174.0,
          "dynamic_range": 162.0,
          "mean_gray": 82.47058823529412,
          "std_gray": 73.1507096243694
        },
        "geometry": {
          "distance_to_center_norm": 0.3796437680721283,
          "distance_to_border_px": 79.0
        },
        "edge_ratio": 1.1914267620428063,
        "edge_lengths_px": [
          26.019224166870117,
          30.0,
          26.07680892944336,
          31.0
        ]
      },
      "confidence": 0.44372569385651617
    },
    {
      "observation_id": "d9f6ab66-9d90-44c9-b6ce-be20de07fe90",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          366.0,
          646.0
        ],
        [
          368.0,
          620.0
        ],
        [
          398.0,
          620.0
        ],
        [
          396.0,
          646.0
        ]
      ],
      "center_px": [
        382.0,
        633.0
      ],
      "quality": {
        "area_px": 780.0,
        "perimeter_px": 112.15361785888672,
        "sharpness": {
          "laplacian_var": 3213.3631867768595
        },
        "contrast": {
          "p05": 18.0,
          "p95": 181.0,
          "dynamic_range": 163.0,
          "mean_gray": 114.29818181818182,
          "std_gray": 72.19976200139341
        },
        "geometry": {
          "distance_to_center_norm": 0.5115378499031067,
          "distance_to_border_px": 74.0
        },
        "edge_ratio": 1.150447513772552,
        "edge_lengths_px": [
          26.07680892944336,
          30.0,
          26.07680892944336,
          30.0
        ]
      },
      "confidence": 0.45199802144368495
    },
    {
      "observation_id": "4957b962-9689-473c-b4f1-ff8f282b9946",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          746.0,
          628.0
        ],
        [
          745.0,
          602.0
        ],
        [
          774.0,
          602.0
        ],
        [
          776.0,
          628.0
        ]
      ],
      "center_px": [
        760.25,
        615.0
      ],
      "quality": {
        "area_px": 767.0,
        "perimeter_px": 111.09603309631348,
        "sharpness": {
          "laplacian_var": 2066.411144116949
        },
        "contrast": {
          "p05": 11.0,
          "p95": 172.0,
          "dynamic_range": 161.0,
          "mean_gray": 39.53617810760668,
          "std_gray": 53.84082987860157
        },
        "geometry": {
          "distance_to_center_norm": 0.38394394516944885,
          "distance_to_border_px": 92.0
        },
        "edge_ratio": 1.1529936406865868,
        "edge_lengths_px": [
          26.019224166870117,
          29.0,
          26.07680892944336,
          30.0
        ]
      },
      "confidence": 0.44348322079976393
    },
    {
      "observation_id": "c5da39f6-dc0e-4952-b6b5-3bae49ae7748",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          446.0,
          628.0
        ],
        [
          448.0,
          602.0
        ],
        [
          477.0,
          602.0
        ],
        [
          476.0,
          628.0
        ]
      ],
      "center_px": [
        461.75,
        615.0
      ],
      "quality": {
        "area_px": 767.0,
        "perimeter_px": 111.09603309631348,
        "sharpness": {
          "laplacian_var": 3687.600607185023
        },
        "contrast": {
          "p05": 17.0,
          "p95": 180.0,
          "dynamic_range": 163.0,
          "mean_gray": 76.78849721706865,
          "std_gray": 70.0189993919454
        },
        "geometry": {
          "distance_to_center_norm": 0.4236999452114105,
          "distance_to_border_px": 92.0
        },
        "edge_ratio": 1.1529936406865868,
        "edge_lengths_px": [
          26.07680892944336,
          29.0,
          26.019224166870117,
          30.0
        ]
      },
      "confidence": 0.44348322079976393
    },
    {
      "observation_id": "2597babb-7e75-4619-9eab-49c9c5f769a2",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          510.0,
          198.0
        ],
        [
          495.0,
          230.0
        ],
        [
          482.0,
          212.0
        ],
        [
          497.0,
          183.0
        ]
      ],
      "center_px": [
        496.0,
        205.75
      ],
      "quality": {
        "area_px": 644.0,
        "perimeter_px": 110.04388618469238,
        "sharpness": {
          "laplacian_var": 3800.8725528644395
        },
        "contrast": {
          "p05": 19.0,
          "p95": 190.0,
          "dynamic_range": 171.0,
          "mean_gray": 75.28025477707007,
          "std_gray": 71.48457595530982
        },
        "geometry": {
          "distance_to_center_norm": 0.2873735725879669,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.7804635806134823,
        "edge_lengths_px": [
          35.34119415283203,
          22.203603744506836,
          32.649654388427734,
          19.84943389892578
        ]
      },
      "confidence": 0.24113570084112637
    },
    {
      "observation_id": "68fe9098-45aa-4251-ab30-2a5d1e19fb35",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          629.0,
          612.0
        ],
        [
          629.0,
          586.0
        ],
        [
          658.0,
          586.0
        ],
        [
          659.0,
          611.0
        ]
      ],
      "center_px": [
        643.75,
        598.75
      ],
      "quality": {
        "area_px": 752.5,
        "perimeter_px": 110.03665542602539,
        "sharpness": {
          "laplacian_var": 4331.039762441095
        },
        "contrast": {
          "p05": 12.0,
          "p95": 174.0,
          "dynamic_range": 162.0,
          "mean_gray": 93.27881040892193,
          "std_gray": 70.34701794604273
        },
        "geometry": {
          "distance_to_center_norm": 0.3251786530017853,
          "distance_to_border_px": 108.0
        },
        "edge_ratio": 1.1997070823945877,
        "edge_lengths_px": [
          26.0,
          29.0,
          25.01999282836914,
          30.01666259765625
        ]
      },
      "confidence": 0.41815762699787656
    },
    {
      "observation_id": "ac028b5c-cbdb-43bb-ae95-49c6d8ab0f2b",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1163.0,
          490.0
        ],
        [
          1193.0,
          490.0
        ],
        [
          1199.0,
          514.0
        ],
        [
          1169.0,
          514.0
        ]
      ],
      "center_px": [
        1181.0,
        502.0
      ],
      "quality": {
        "area_px": 720.0,
        "perimeter_px": 109.47726821899414,
        "sharpness": {
          "laplacian_var": 3341.655244
        },
        "contrast": {
          "p05": 8.0,
          "p95": 163.0,
          "dynamic_range": 155.0,
          "mean_gray": 71.464,
          "std_gray": 65.93867381135293
        },
        "geometry": {
          "distance_to_center_norm": 0.7617100477218628,
          "distance_to_border_px": 81.0
        },
        "edge_ratio": 1.2126781077409245,
        "edge_lengths_px": [
          30.0,
          24.73863410949707,
          30.0,
          24.73863410949707
        ]
      },
      "confidence": 0.3958181457519531
    },
    {
      "observation_id": "a22dcb17-7961-4007-9865-b29213ac7ee3",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          446.0,
          394.0
        ],
        [
          476.0,
          393.0
        ],
        [
          475.0,
          418.0
        ],
        [
          445.0,
          418.0
        ]
      ],
      "center_px": [
        460.5,
        405.75
      ],
      "quality": {
        "area_px": 734.5,
        "perimeter_px": 109.05747985839844,
        "sharpness": {
          "laplacian_var": 4078.9251556396484
        },
        "contrast": {
          "p05": 12.0,
          "p95": 178.0,
          "dynamic_range": 166.0,
          "mean_gray": 83.5625,
          "std_gray": 71.70057640110015
        },
        "geometry": {
          "distance_to_center_norm": 0.2522646486759186,
          "distance_to_border_px": 302.0
        },
        "edge_ratio": 1.2496100074401513,
        "edge_lengths_px": [
          30.01666259765625,
          25.01999282836914,
          30.0,
          24.020824432373047
        ]
      },
      "confidence": 0.3918555899450243
    },
    {
      "observation_id": "3c10c448-613d-4cc2-8fd0-dca44dc63770",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1041.0,
          491.0
        ],
        [
          1070.0,
          491.0
        ],
        [
          1075.0,
          515.0
        ],
        [
          1046.0,
          516.0
        ]
      ],
      "center_px": [
        1058.0,
        503.25
      ],
      "quality": {
        "area_px": 713.0,
        "perimeter_px": 108.02763557434082,
        "sharpness": {
          "laplacian_var": 3239.3608524971723
        },
        "contrast": {
          "p05": 8.0,
          "p95": 166.0,
          "dynamic_range": 158.0,
          "mean_gray": 65.90688259109312,
          "std_gray": 65.98330847391902
        },
        "geometry": {
          "distance_to_center_norm": 0.6017478704452515,
          "distance_to_border_px": 204.0
        },
        "edge_ratio": 1.1836378025559324,
        "edge_lengths_px": [
          29.0,
          24.515300750732422,
          29.017236709594727,
          25.495098114013672
        ]
      },
      "confidence": 0.4015868133874269
    },
    {
      "observation_id": "7eab9e7e-8d24-433f-9d54-6f8f8bea7df2",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          674.0,
          495.0
        ],
        [
          703.0,
          495.0
        ],
        [
          704.0,
          519.0
        ],
        [
          674.0,
          519.0
        ]
      ],
      "center_px": [
        688.75,
        507.0
      ],
      "quality": {
        "area_px": 708.0,
        "perimeter_px": 107.02082443237305,
        "sharpness": {
          "laplacian_var": 2046.862784
        },
        "contrast": {
          "p05": 6.0,
          "p95": 145.0,
          "dynamic_range": 139.0,
          "mean_gray": 54.514,
          "std_gray": 57.331089332054376
        },
        "geometry": {
          "distance_to_center_norm": 0.21091137826442719,
          "distance_to_border_px": 201.0
        },
        "edge_ratio": 1.25,
        "edge_lengths_px": [
          29.0,
          24.020824432373047,
          30.0,
          24.0
        ]
      },
      "confidence": 0.3776
    },
    {
      "observation_id": "18589f9f-2bf1-461b-a484-3e054e0374bc",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          278.0,
          431.0
        ],
        [
          307.0,
          430.0
        ],
        [
          304.0,
          453.0
        ],
        [
          275.0,
          453.0
        ]
      ],
      "center_px": [
        291.0,
        441.75
      ],
      "quality": {
        "area_px": 651.0,
        "perimeter_px": 103.4156665802002,
        "sharpness": {
          "laplacian_var": 3432.1838073060244
        },
        "contrast": {
          "p05": 15.100000000000001,
          "p95": 181.0,
          "dynamic_range": 165.9,
          "mean_gray": 80.15801354401806,
          "std_gray": 69.74291616013058
        },
        "geometry": {
          "distance_to_center_norm": 0.48814597725868225,
          "distance_to_border_px": 267.0
        },
        "edge_ratio": 1.306870589274211,
        "edge_lengths_px": [
          29.017236709594727,
          23.194826126098633,
          29.0,
          22.203603744506836
        ]
      },
      "confidence": 0.3320910299473707
    },
    {
      "observation_id": "9e8f729f-632e-45eb-a40a-0d03e808ec6b",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          672.0,
          416.0
        ],
        [
          700.0,
          416.0
        ],
        [
          701.0,
          439.0
        ],
        [
          672.0,
          439.0
        ]
      ],
      "center_px": [
        686.25,
        427.5
      ],
      "quality": {
        "area_px": 655.5,
        "perimeter_px": 103.021728515625,
        "sharpness": {
          "laplacian_var": 1943.6184494096408
        },
        "contrast": {
          "p05": 6.0,
          "p95": 142.0,
          "dynamic_range": 136.0,
          "mean_gray": 69.1716738197425,
          "std_gray": 58.5903847832033
        },
        "geometry": {
          "distance_to_center_norm": 0.11143215000629425,
          "distance_to_border_px": 281.0
        },
        "edge_ratio": 1.2608695652173914,
        "edge_lengths_px": [
          28.0,
          23.021728515625,
          29.0,
          23.0
        ]
      },
      "confidence": 0.3465862068965517
    },
    {
      "observation_id": "ca44becc-afbe-447e-b3c1-c9aa3a3c2759",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1027.0,
          413.0
        ],
        [
          1055.0,
          413.0
        ],
        [
          1059.0,
          436.0
        ],
        [
          1031.0,
          436.0
        ]
      ],
      "center_px": [
        1043.0,
        424.5
      ],
      "quality": {
        "area_px": 644.0,
        "perimeter_px": 102.69047164916992,
        "sharpness": {
          "laplacian_var": 3025.323636363636
        },
        "contrast": {
          "p05": 9.0,
          "p95": 164.0,
          "dynamic_range": 155.0,
          "mean_gray": 67.10227272727273,
          "std_gray": 64.25121855454418
        },
        "geometry": {
          "distance_to_center_norm": 0.5558050274848938,
          "distance_to_border_px": 221.0
        },
        "edge_ratio": 1.1993881839699854,
        "edge_lengths_px": [
          28.0,
          23.34523582458496,
          28.0,
          23.34523582458496
        ]
      },
      "confidence": 0.3579602826436361
    },
    {
      "observation_id": "3abdcd40-500b-41b4-8c91-2485d69a35e6",
      "type": "aruco",
      "marker_id": 207,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1145.0,
          412.0
        ],
        [
          1173.0,
          412.0
        ],
        [
          1179.0,
          434.0
        ],
        [
          1151.0,
          435.0
        ]
      ],
      "center_px": [
        1162.0,
        423.25
      ],
      "quality": {
        "area_px": 633.0,
        "perimeter_px": 102.5910873413086,
        "sharpness": {
          "laplacian_var": 2928.0651811281186
        },
        "contrast": {
          "p05": 8.0,
          "p95": 162.0,
          "dynamic_range": 154.0,
          "mean_gray": 66.48717948717949,
          "std_gray": 64.9448605912703
        },
        "geometry": {
          "distance_to_center_norm": 0.7160782814025879,
          "distance_to_border_px": 101.0
        },
        "edge_ratio": 1.2286640258971397,
        "edge_lengths_px": [
          28.0,
          22.803508758544922,
          28.017850875854492,
          23.76972770690918
        ]
      },
      "confidence": 0.343462485354258
    },
    {
      "observation_id": "9d0ebea8-73b6-4696-a4d6-30020a5e61da",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          541.0,
          556.0
        ],
        [
          542.0,
          574.0
        ],
        [
          510.0,
          574.0
        ],
        [
          509.0,
          556.0
        ]
      ],
      "center_px": [
        525.5,
        565.0
      ],
      "quality": {
        "area_px": 576.0,
        "perimeter_px": 100.05551147460938,
        "sharpness": {
          "laplacian_var": 4034.890480538091
        },
        "contrast": {
          "p05": 26.0,
          "p95": 178.0,
          "dynamic_range": 152.0,
          "mean_gray": 93.29567307692308,
          "std_gray": 66.76895136134101
        },
        "geometry": {
          "distance_to_center_norm": 0.31977149844169617,
          "distance_to_border_px": 146.0
        },
        "edge_ratio": 1.7750406909376224,
        "edge_lengths_px": [
          18.027755737304688,
          32.0,
          18.027755737304688,
          32.0
        ]
      },
      "confidence": 0.21633306884765627
    },
    {
      "observation_id": "141efd7b-5c73-4127-a984-fcc722aaa7e8",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          591.0,
          555.0
        ],
        [
          591.0,
          573.0
        ],
        [
          560.0,
          573.0
        ],
        [
          559.0,
          555.0
        ]
      ],
      "center_px": [
        575.25,
        564.0
      ],
      "quality": {
        "area_px": 567.0,
        "perimeter_px": 99.02775573730469,
        "sharpness": {
          "laplacian_var": 3278.8644691945406
        },
        "contrast": {
          "p05": 24.0,
          "p95": 178.0,
          "dynamic_range": 154.0,
          "mean_gray": 85.8529411764706,
          "std_gray": 67.40260177948325
        },
        "geometry": {
          "distance_to_center_norm": 0.29147303104400635,
          "distance_to_border_px": 147.0
        },
        "edge_ratio": 1.7777777777777777,
        "edge_lengths_px": [
          18.0,
          31.0,
          18.027755737304688,
          32.0
        ]
      },
      "confidence": 0.212625
    },
    {
      "observation_id": "eb460807-35a7-42e9-ab23-89edfcc56587",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          439.0,
          560.0
        ],
        [
          471.0,
          560.0
        ],
        [
          473.0,
          575.0
        ],
        [
          442.0,
          576.0
        ]
      ],
      "center_px": [
        456.25,
        567.75
      ],
      "quality": {
        "area_px": 489.5,
        "perimeter_px": 94.42769050598145,
        "sharpness": {
          "laplacian_var": 2630.949314940233
        },
        "contrast": {
          "p05": 28.0,
          "p95": 177.0,
          "dynamic_range": 149.0,
          "mean_gray": 80.22905027932961,
          "std_gray": 63.11944909776458
        },
        "geometry": {
          "distance_to_center_norm": 0.3777081370353699,
          "distance_to_border_px": 144.0
        },
        "edge_ratio": 2.114619550469207,
        "edge_lengths_px": [
          32.0,
          15.132745742797852,
          31.016124725341797,
          16.278820037841797
        ]
      },
      "confidence": 0.15432248002290727
    },
    {
      "observation_id": "835810e7-df5b-47b8-a765-f9380200dea9",
      "type": "aruco",
      "marker_id": 94,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1242.0,
          289.0
        ],
        [
          1236.0,
          270.0
        ],
        [
          1262.0,
          270.0
        ],
        [
          1268.0,
          289.0
        ]
      ],
      "center_px": [
        1252.0,
        279.5
      ],
      "quality": {
        "area_px": 494.0,
        "perimeter_px": 91.84971618652344,
        "sharpness": {
          "laplacian_var": 2260.5863584002836
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 59.0625,
          "std_gray": 58.19517298683278
        },
        "geometry": {
          "distance_to_center_norm": 0.8406231999397278,
          "distance_to_border_px": 12.0
        },
        "edge_ratio": 1.3049026436375375,
        "edge_lengths_px": [
          19.92485809326172,
          26.0,
          19.92485809326172,
          26.0
        ]
      },
      "confidence": 0.06057156860351561
    },
    {
      "observation_id": "76f015a8-ee35-4231-a91d-b2616820f88e",
      "type": "aruco",
      "marker_id": 76,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1035.0,
          297.0
        ],
        [
          1031.0,
          278.0
        ],
        [
          1057.0,
          278.0
        ],
        [
          1061.0,
          297.0
        ]
      ],
      "center_px": [
        1046.0,
        287.5
      ],
      "quality": {
        "area_px": 494.0,
        "perimeter_px": 90.83297729492188,
        "sharpness": {
          "laplacian_var": 2497.3537039224952
        },
        "contrast": {
          "p05": 7.0,
          "p95": 154.0,
          "dynamic_range": 147.0,
          "mean_gray": 73.58695652173913,
          "std_gray": 60.39361868354769
        },
        "geometry": {
          "distance_to_center_norm": 0.5616520643234253,
          "distance_to_border_px": 219.0
        },
        "edge_ratio": 1.339068071064434,
        "edge_lengths_px": [
          19.416488647460938,
          26.0,
          19.416488647460938,
          26.0
        ]
      },
      "confidence": 0.2459421895345052
    },
    {
      "observation_id": "160f950b-c25e-4e35-9e6b-65b41afbc887",
      "type": "aruco",
      "marker_id": 100,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1163.0,
          291.0
        ],
        [
          1158.0,
          272.0
        ],
        [
          1183.0,
          272.0
        ],
        [
          1189.0,
          291.0
        ]
      ],
      "center_px": [
        1173.25,
        281.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 90.57174110412598,
        "sharpness": {
          "laplacian_var": 2246.282901451032
        },
        "contrast": {
          "p05": 7.0,
          "p95": 154.0,
          "dynamic_range": 147.0,
          "mean_gray": 79.89473684210526,
          "std_gray": 61.485399027970935
        },
        "geometry": {
          "distance_to_center_norm": 0.7340260744094849,
          "distance_to_border_px": 91.0
        },
        "edge_ratio": 1.3233651356107032,
        "edge_lengths_px": [
          19.646883010864258,
          25.0,
          19.92485809326172,
          26.0
        ]
      },
      "confidence": 0.24407473894265982
    },
    {
      "observation_id": "f3dab172-aad8-4452-86e0-9f2be218512b",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          257.0,
          281.0
        ],
        [
          261.0,
          262.0
        ],
        [
          286.0,
          262.0
        ],
        [
          283.0,
          281.0
        ]
      ],
      "center_px": [
        271.75,
        271.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 89.6518726348877,
        "sharpness": {
          "laplacian_var": 3804.66575348535
        },
        "contrast": {
          "p05": 10.0,
          "p95": 174.0,
          "dynamic_range": 164.0,
          "mean_gray": 100.94565217391305,
          "std_gray": 65.79437073357296
        },
        "geometry": {
          "distance_to_center_norm": 0.5157754421234131,
          "distance_to_border_px": 257.0
        },
        "edge_ratio": 1.3516756419832816,
        "edge_lengths_px": [
          19.416488647460938,
          25.0,
          19.235383987426758,
          26.0
        ]
      },
      "confidence": 0.23896265492072474
    },
    {
      "observation_id": "da2fa795-d972-4ba2-9008-70d663559bb8",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          913.0,
          295.0
        ],
        [
          910.0,
          275.0
        ],
        [
          935.0,
          276.0
        ],
        [
          938.0,
          295.0
        ]
      ],
      "center_px": [
        924.0,
        285.25
      ],
      "quality": {
        "area_px": 486.0,
        "perimeter_px": 89.4791259765625,
        "sharpness": {
          "laplacian_var": 2670.836241066134
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 61.56983240223464,
          "std_gray": 58.306926152920106
        },
        "geometry": {
          "distance_to_center_norm": 0.3999340832233429,
          "distance_to_border_px": 275.0
        },
        "edge_ratio": 1.300727494950114,
        "edge_lengths_px": [
          20.2237491607666,
          25.01999282836914,
          19.235383987426758,
          25.0
        ]
      },
      "confidence": 0.24909137483284013
    },
    {
      "observation_id": "21ce63dc-db84-4e1c-8f3f-836403017fa3",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          870.0,
          283.0
        ],
        [
          868.0,
          264.0
        ],
        [
          893.0,
          264.0
        ],
        [
          896.0,
          283.0
        ]
      ],
      "center_px": [
        881.75,
        273.5
      ],
      "quality": {
        "area_px": 484.5,
        "perimeter_px": 89.34035682678223,
        "sharpness": {
          "laplacian_var": 2230.0964592505693
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 78.42506811989101,
          "std_gray": 60.52485447476553
        },
        "geometry": {
          "distance_to_center_norm": 0.34966418147087097,
          "distance_to_border_px": 264.0
        },
        "edge_ratio": 1.360902222610914,
        "edge_lengths_px": [
          19.10497283935547,
          25.0,
          19.235383987426758,
          26.0
        ]
      },
      "confidence": 0.23734254719660833
    },
    {
      "observation_id": "d740d95b-9671-4759-9289-4873f7e4b557",
      "type": "aruco",
      "marker_id": 50,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          907.0,
          261.0
        ],
        [
          905.0,
          242.0
        ],
        [
          930.0,
          242.0
        ],
        [
          933.0,
          260.0
        ]
      ],
      "center_px": [
        918.75,
        251.25
      ],
      "quality": {
        "area_px": 473.0,
        "perimeter_px": 88.37248420715332,
        "sharpness": {
          "laplacian_var": 2707.1814137419674
        },
        "contrast": {
          "p05": 7.0,
          "p95": 154.0,
          "dynamic_range": 147.0,
          "mean_gray": 53.29131652661064,
          "std_gray": 56.06048412009446
        },
        "geometry": {
          "distance_to_center_norm": 0.40747860074043274,
          "distance_to_border_px": 242.0
        },
        "edge_ratio": 1.425844731638557,
        "edge_lengths_px": [
          19.10497283935547,
          25.0,
          18.248287200927734,
          26.019224166870117
        ]
      },
      "confidence": 0.2211554500544793
    },
    {
      "observation_id": "92df77e3-fede-4a29-a2c3-3c3761995209",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          766.0,
          277.0
        ],
        [
          764.0,
          258.0
        ],
        [
          790.0,
          258.0
        ],
        [
          791.0,
          276.0
        ]
      ],
      "center_px": [
        777.75,
        267.25
      ],
      "quality": {
        "area_px": 472.5,
        "perimeter_px": 88.1527214050293,
        "sharpness": {
          "laplacian_var": 2263.6618568996223
        },
        "contrast": {
          "p05": 7.0,
          "p95": 156.0,
          "dynamic_range": 149.0,
          "mean_gray": 54.85434173669468,
          "std_gray": 59.11277797875015
        },
        "geometry": {
          "distance_to_center_norm": 0.22615359723567963,
          "distance_to_border_px": 258.0
        },
        "edge_ratio": 1.4422205613868182,
        "edge_lengths_px": [
          19.10497283935547,
          26.0,
          18.027755737304688,
          25.01999282836914
        ]
      },
      "confidence": 0.21841319450965294
    },
    {
      "observation_id": "4386215c-7005-4ef1-9a61-70b754417bd7",
      "type": "aruco",
      "marker_id": 104,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1174.0,
          237.0
        ],
        [
          1169.0,
          219.0
        ],
        [
          1194.0,
          219.0
        ],
        [
          1199.0,
          237.0
        ]
      ],
      "center_px": [
        1184.0,
        228.0
      ],
      "quality": {
        "area_px": 450.0,
        "perimeter_px": 87.36308288574219,
        "sharpness": {
          "laplacian_var": 1947.656170280612
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 85.45535714285714,
          "std_gray": 61.192400768209865
        },
        "geometry": {
          "distance_to_center_norm": 0.7623366713523865,
          "distance_to_border_px": 81.0
        },
        "edge_ratio": 1.3382193367956818,
        "edge_lengths_px": [
          18.681541442871094,
          25.0,
          18.681541442871094,
          25.0
        ]
      },
      "confidence": 0.22417849731445313
    },
    {
      "observation_id": "85a82c1b-c95d-4f10-8c07-173e4da47cbb",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          814.0,
          262.0
        ],
        [
          812.0,
          243.0
        ],
        [
          837.0,
          243.0
        ],
        [
          839.0,
          261.0
        ]
      ],
      "center_px": [
        825.5,
        252.25
      ],
      "quality": {
        "area_px": 463.5,
        "perimeter_px": 87.23573684692383,
        "sharpness": {
          "laplacian_var": 2473.9636948793527
        },
        "contrast": {
          "p05": 7.0,
          "p95": 158.0,
          "dynamic_range": 151.0,
          "mean_gray": 88.810888252149,
          "std_gray": 61.13565916283267
        },
        "geometry": {
          "distance_to_center_norm": 0.2921459376811981,
          "distance_to_border_px": 243.0
        },
        "edge_ratio": 1.3814979263337708,
        "edge_lengths_px": [
          19.10497283935547,
          25.0,
          18.11077117919922,
          25.01999282836914
        ]
      },
      "confidence": 0.22367025973033955
    },
    {
      "observation_id": "9be7c13c-664b-469f-b022-08b907a7ed76",
      "type": "aruco",
      "marker_id": 60,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          753.0,
          206.0
        ],
        [
          752.0,
          189.0
        ],
        [
          777.0,
          188.0
        ],
        [
          778.0,
          206.0
        ]
      ],
      "center_px": [
        765.0,
        197.25
      ],
      "quality": {
        "area_px": 438.0,
        "perimeter_px": 85.07713508605957,
        "sharpness": {
          "laplacian_var": 1900.4491794949
        },
        "contrast": {
          "p05": 7.0,
          "p95": 157.0,
          "dynamic_range": 150.0,
          "mean_gray": 93.65644171779141,
          "std_gray": 61.81487108071269
        },
        "geometry": {
          "distance_to_center_norm": 0.27946722507476807,
          "distance_to_border_px": 188.0
        },
        "edge_ratio": 1.4692245547670144,
        "edge_lengths_px": [
          17.029386520385742,
          25.01999282836914,
          18.027755737304688,
          25.0
        ]
      },
      "confidence": 0.19874429613402733
    },
    {
      "observation_id": "ebdb2efd-9ea6-4b4c-8745-6d265f2c796f",
      "type": "aruco",
      "marker_id": 67,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          848.0,
          218.0
        ],
        [
          846.0,
          201.0
        ],
        [
          870.0,
          200.0
        ],
        [
          873.0,
          218.0
        ]
      ],
      "center_px": [
        859.25,
        209.25
      ],
      "quality": {
        "area_px": 430.0,
        "perimeter_px": 84.38635444641113,
        "sharpness": {
          "laplacian_var": 2619.1129804148936
        },
        "contrast": {
          "p05": 7.0,
          "p95": 156.0,
          "dynamic_range": 149.0,
          "mean_gray": 58.06583072100314,
          "std_gray": 55.90895020779871
        },
        "geometry": {
          "distance_to_center_norm": 0.36235129833221436,
          "distance_to_border_px": 200.0
        },
        "edge_ratio": 1.4605155907966747,
        "edge_lengths_px": [
          17.11724281311035,
          24.020824432373047,
          18.248287200927734,
          25.0
        ]
      },
      "confidence": 0.19627771759033205
    },
    {
      "observation_id": "1bda7b8f-4558-4379-9fc3-c1c4057d3d12",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          679.0,
          201.0
        ],
        [
          677.0,
          184.0
        ],
        [
          702.0,
          183.0
        ],
        [
          703.0,
          200.0
        ]
      ],
      "center_px": [
        690.25,
        192.0
      ],
      "quality": {
        "area_px": 418.0,
        "perimeter_px": 83.18744659423828,
        "sharpness": {
          "laplacian_var": 1969.3273317591497
        },
        "contrast": {
          "p05": 8.0,
          "p95": 154.0,
          "dynamic_range": 146.0,
          "mean_gray": 77.09740259740259,
          "std_gray": 61.283434498262665
        },
        "geometry": {
          "distance_to_center_norm": 0.2388036847114563,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.4692245547670144,
        "edge_lengths_px": [
          17.11724281311035,
          25.01999282836914,
          17.029386520385742,
          24.020824432373047
        ]
      },
      "confidence": 0.18966921411877496
    },
    {
      "observation_id": "e505fb91-db07-4894-906a-c0156a31f7bb",
      "type": "aruco",
      "marker_id": 88,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1096.0,
          179.0
        ],
        [
          1091.0,
          161.0
        ],
        [
          1116.0,
          162.0
        ],
        [
          1119.0,
          178.0
        ]
      ],
      "center_px": [
        1105.5,
        170.0
      ],
      "quality": {
        "area_px": 408.0,
        "perimeter_px": 83.00208282470703,
        "sharpness": {
          "laplacian_var": 2371.8261405801986
        },
        "contrast": {
          "p05": 7.0,
          "p95": 152.0,
          "dynamic_range": 145.0,
          "mean_gray": 73.87337662337663,
          "std_gray": 59.65828182153015
        },
        "geometry": {
          "distance_to_center_norm": 0.6847077012062073,
          "distance_to_border_px": 161.0
        },
        "edge_ratio": 1.536965994476724,
        "edge_lengths_px": [
          18.681541442871094,
          25.01999282836914,
          16.278820037841797,
          23.021728515625
        ]
      },
      "confidence": 0.17697203515072252
    },
    {
      "observation_id": "40bbb878-ffce-4348-9aa0-da2fb8e05a66",
      "type": "aruco",
      "marker_id": 70,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          927.0,
          192.0
        ],
        [
          925.0,
          175.0
        ],
        [
          949.0,
          175.0
        ],
        [
          951.0,
          192.0
        ]
      ],
      "center_px": [
        938.0,
        183.5
      ],
      "quality": {
        "area_px": 408.0,
        "perimeter_px": 82.2344856262207,
        "sharpness": {
          "laplacian_var": 2348.548566666667
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 77.37666666666667,
          "std_gray": 58.90745387658698
        },
        "geometry": {
          "distance_to_center_norm": 0.4716681241989136,
          "distance_to_border_px": 175.0
        },
        "edge_ratio": 1.4020949671648077,
        "edge_lengths_px": [
          17.11724281311035,
          24.0,
          17.11724281311035,
          24.0
        ]
      },
      "confidence": 0.193995418548584
    },
    {
      "observation_id": "36707540-0e15-4dcf-915f-5d2e60104c47",
      "type": "aruco",
      "marker_id": 90,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          968.0,
          179.0
        ],
        [
          965.0,
          163.0
        ],
        [
          989.0,
          162.0
        ],
        [
          992.0,
          179.0
        ]
      ],
      "center_px": [
        978.5,
        170.75
      ],
      "quality": {
        "area_px": 397.5,
        "perimeter_px": 81.56232070922852,
        "sharpness": {
          "laplacian_var": 2046.70570730152
        },
        "contrast": {
          "p05": 7.0,
          "p95": 155.0,
          "dynamic_range": 148.0,
          "mean_gray": 77.95876288659794,
          "std_gray": 60.68422875087157
        },
        "geometry": {
          "distance_to_center_norm": 0.5281360745429993,
          "distance_to_border_px": 162.0
        },
        "edge_ratio": 1.475587565716321,
        "edge_lengths_px": [
          16.278820037841797,
          24.020824432373047,
          17.262676239013672,
          24.0
        ]
      },
      "confidence": 0.17958947754575058
    },
    {
      "observation_id": "7a41aa8e-f7c9-47ab-a0c6-b850c852b67b",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          348.0,
          168.0
        ],
        [
          350.0,
          152.0
        ],
        [
          374.0,
          151.0
        ],
        [
          372.0,
          168.0
        ]
      ],
      "center_px": [
        361.0,
        159.75
      ],
      "quality": {
        "area_px": 395.0,
        "perimeter_px": 81.26258277893066,
        "sharpness": {
          "laplacian_var": 3441.8131487889273
        },
        "contrast": {
          "p05": 9.4,
          "p95": 168.0,
          "dynamic_range": 158.6,
          "mean_gray": 98.29411764705883,
          "std_gray": 60.15780861796964
        },
        "geometry": {
          "distance_to_center_norm": 0.4676894545555115,
          "distance_to_border_px": 151.0
        },
        "edge_ratio": 1.489708288137177,
        "edge_lengths_px": [
          16.124515533447266,
          24.020824432373047,
          17.11724281311035,
          24.0
        ]
      },
      "confidence": 0.17676838843571283
    },
    {
      "observation_id": "9068aa4e-1ac8-47c3-a5df-7a4ff113c286",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          279.0,
          171.0
        ],
        [
          281.0,
          155.0
        ],
        [
          305.0,
          154.0
        ],
        [
          304.0,
          170.0
        ]
      ],
      "center_px": [
        292.25,
        162.5
      ],
      "quality": {
        "area_px": 390.5,
        "perimeter_px": 81.19655227661133,
        "sharpness": {
          "laplacian_var": 3470.1584429556456
        },
        "contrast": {
          "p05": 9.0,
          "p95": 168.0,
          "dynamic_range": 159.0,
          "mean_gray": 98.06293706293707,
          "std_gray": 63.03852931966488
        },
        "geometry": {
          "distance_to_center_norm": 0.5446262955665588,
          "distance_to_border_px": 154.0
        },
        "edge_ratio": 1.560704278037201,
        "edge_lengths_px": [
          16.124515533447266,
          24.020824432373047,
          16.031219482421875,
          25.01999282836914
        ]
      },
      "confidence": 0.1668050360320266
    },
    {
      "observation_id": "6656cff2-9404-4880-b4b8-020aad799274",
      "type": "aruco",
      "marker_id": 91,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1049.0,
          170.0
        ],
        [
          1046.0,
          154.0
        ],
        [
          1069.0,
          153.0
        ],
        [
          1073.0,
          170.0
        ]
      ],
      "center_px": [
        1059.25,
        161.75
      ],
      "quality": {
        "area_px": 389.5,
        "perimeter_px": 80.76479721069336,
        "sharpness": {
          "laplacian_var": 1794.650889809993
        },
        "contrast": {
          "p05": 7.0,
          "p95": 153.0,
          "dynamic_range": 146.0,
          "mean_gray": 68.91752577319588,
          "std_gray": 60.82819082774436
        },
        "geometry": {
          "distance_to_center_norm": 0.6315658688545227,
          "distance_to_border_px": 153.0
        },
        "edge_ratio": 1.4743083309606915,
        "edge_lengths_px": [
          16.278820037841797,
          23.021728515625,
          17.464248657226562,
          24.0
        ]
      },
      "confidence": 0.17612778902053833
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          759.0,
          486.0
        ],
        [
          943.0,
          475.0
        ],
        [
          971.0,
          502.0
        ],
        [
          792.0,
          516.0
        ]
      ],
      "center_px": [
        866.25,
        494.75
      ],
      "area_px": 5554.0
    },
    {
      "image_points_px": [
        [
          829.0,
          278.0
        ],
        [
          854.0,
          278.0
        ],
        [
          856.0,
          297.0
        ],
        [
          830.0,
          297.0
        ]
      ],
      "center_px": [
        842.25,
        287.5
      ],
      "area_px": 484.5
    },
    {
      "image_points_px": [
        [
          725.0,
          208.0
        ],
        [
          750.0,
          208.0
        ],
        [
          751.0,
          226.0
        ],
        [
          726.0,
          226.0
        ]
      ],
      "center_px": [
        738.0,
        217.0
      ],
      "area_px": 450.0
    },
    {
      "image_points_px": [
        [
          896.0,
          164.0
        ],
        [
          919.0,
          164.0
        ],
        [
          923.0,
          181.0
        ],
        [
          898.0,
          181.0
        ]
      ],
      "center_px": [
        909.0,
        172.5
      ],
      "area_px": 408.0
    },
    {
      "image_points_px": [
        [
          438.0,
          275.0
        ],
        [
          463.0,
          273.0
        ],
        [
          465.0,
          288.0
        ],
        [
          438.0,
          290.0
        ]
      ],
      "center_px": [
        451.0,
        281.5
      ],
      "area_px": 392.0
    },
    {
      "image_points_px": [
        [
          286.0,
          327.0
        ],
        [
          298.0,
          325.0
        ],
        [
          310.0,
          339.0
        ],
        [
          285.0,
          341.0
        ]
      ],
      "center_px": [
        294.75,
        333.0
      ],
      "area_px": 270.0
    },
    {
      "image_points_px": [
        [
          564.0,
          579.0
        ],
        [
          542.0,
          584.0
        ],
        [
          536.0,
          577.0
        ],
        [
          561.0,
          576.0
        ]
      ],
      "center_px": [
        550.75,
        579.0
      ],
      "area_px": 131.0
    },
    {
      "image_points_px": [
        [
          598.0,
          320.0
        ],
        [
          609.0,
          333.0
        ],
        [
          610.0,
          336.0
        ],
        [
          607.0,
          340.0
        ]
      ],
      "center_px": [
        606.0,
        332.25
      ],
      "area_px": 58.0
    },
    {
      "image_points_px": [
        [
          49.0,
          268.0
        ],
        [
          55.0,
          266.0
        ],
        [
          70.0,
          266.0
        ],
        [
          64.0,
          268.0
        ]
      ],
      "center_px": [
        59.5,
        267.0
      ],
      "area_px": 30.0
    },
    {
      "image_points_px": [
        [
          581.0,
          191.0
        ],
        [
          584.0,
          197.0
        ],
        [
          571.0,
          202.0
        ],
        [
          568.0,
          195.0
        ]
      ],
      "center_px": [
        576.0,
        196.25
      ],
      "area_px": 98.0
    },
    {
      "image_points_px": [
        [
          938.0,
          118.0
        ],
        [
          944.0,
          116.0
        ],
        [
          958.0,
          116.0
        ],
        [
          956.0,
          118.0
        ]
      ],
      "center_px": [
        949.0,
        117.0
      ],
      "area_px": 32.0
    },
    {
      "image_points_px": [
        [
          908.0,
          245.0
        ],
        [
          923.0,
          244.0
        ],
        [
          924.0,
          248.0
        ],
        [
          909.0,
          250.0
        ]
      ],
      "center_px": [
        916.0,
        246.75
      ],
      "area_px": 69.0
    }
  ]
}