{ "schema_version": "1.0", "created_utc": "2026-06-02T05:23:59Z", "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\\Scene5\\render_a.npz", "camera_matrix": [ [ 2000.0, 0.0, 720.0 ], [ 0.0, 2000.0, 540.0 ], [ 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\\Scene5\\render_e.png", "image_sha256": "c61061f0b72de2d6c7027d2afc81684a5fcd0876ef57525ca3d40ed605453e82", "width_px": 1440, "height_px": 1080 }, "aruco": { "dictionary": "DICT_4X4_250", "num_detected_markers": 25, "num_rejected_candidates": 23 }, "detections": [ { "observation_id": "27715e37-ba59-4df9-81cd-82b76040362e", "type": "aruco", "marker_id": 111, "marker_size_m": 0.025, "image_points_px": [ [ 1272.0, 616.0 ], [ 1293.0, 609.0 ], [ 1369.0, 622.0 ], [ 1349.0, 628.0 ] ], "center_px": [ 1320.75, 618.75 ], "quality": { "area_px": 753.5, "perimeter_px": 198.0498447418213, "sharpness": { "laplacian_var": 3611.8536135661543 }, "contrast": { "p05": 19.5, "p95": 120.0, "dynamic_range": 100.5, "mean_gray": 73.71065989847716, "std_gray": 32.03206734107579 }, "geometry": { "distance_to_center_norm": 0.6732105612754822, "distance_to_border_px": 71.0 }, "edge_ratio": 3.7321441376100655, "edge_lengths_px": [ 22.135944366455078, 77.10382843017578, 20.880613327026367, 77.92945861816406 ] }, "confidence": 0.13459644504914808 }, { "observation_id": "499b9056-c877-4825-9066-4b883443f848", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, "image_points_px": [ [ 1276.0, 1049.0 ], [ 1308.0, 1032.0 ], [ 1355.0, 1054.0 ], [ 1323.0, 1071.0 ] ], "center_px": [ 1315.5, 1051.5 ], "quality": { "area_px": 1503.0, "perimeter_px": 176.25892639160156, "sharpness": { "laplacian_var": 372.16707972404066 }, "contrast": { "p05": 15.0, "p95": 160.0, "dynamic_range": 145.0, "mean_gray": 62.84694835680751, "std_gray": 55.423627210141966 }, "geometry": { "distance_to_center_norm": 0.8722416758537292, "distance_to_border_px": 9.0 }, "edge_ratio": 1.4321411889005407, "edge_lengths_px": [ 36.2353401184082, 51.89412307739258, 36.2353401184082, 51.89412307739258 ] }, "confidence": 0.12568593194235728 }, { "observation_id": "42282cf4-e8f2-45aa-98c1-69fa781bc47a", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, "image_points_px": [ [ 985.0, 1028.0 ], [ 1023.0, 1012.0 ], [ 1063.0, 1033.0 ], [ 1025.0, 1050.0 ] ], "center_px": [ 1024.0, 1030.75 ], "quality": { "area_px": 1477.0, "perimeter_px": 173.68865203857422, "sharpness": { "laplacian_var": 356.64727633176295 }, "contrast": { "p05": 17.0, "p95": 165.0, "dynamic_range": 148.0, "mean_gray": 72.87764932562621, "std_gray": 57.176462319862004 }, "geometry": { "distance_to_center_norm": 0.6414215564727783, "distance_to_border_px": 30.0 }, "edge_ratio": 1.1071957058878061, "edge_lengths_px": [ 41.231056213378906, 45.17742919921875, 41.62931823730469, 45.650848388671875 ] }, "confidence": 0.5336003353862959 }, { "observation_id": "f35eef11-599f-49d4-a3c5-06ca7a77dfd9", "type": "aruco", "marker_id": 42, "marker_size_m": 0.025, "image_points_px": [ [ 775.0, 468.0 ], [ 814.0, 471.0 ], [ 810.0, 515.0 ], [ 771.0, 510.0 ] ], "center_px": [ 792.5, 491.0 ], "quality": { "area_px": 1693.0, "perimeter_px": 164.805908203125, "sharpness": { "laplacian_var": 734.1485471747303 }, "contrast": { "p05": 26.0, "p95": 162.0, "dynamic_range": 136.0, "mean_gray": 68.128160418483, "std_gray": 56.52426287270758 }, "geometry": { "distance_to_center_norm": 0.09722857177257538, "distance_to_border_px": 468.0 }, "edge_ratio": 1.1295206205609831, "edge_lengths_px": [ 39.11521530151367, 44.18144226074219, 39.31920623779297, 42.19004440307617 ] }, "confidence": 0.8853313359638747 }, { "observation_id": "59b7b620-6207-4a6d-bf49-718fffeaef54", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, "image_points_px": [ [ 976.0, 284.0 ], [ 1005.0, 314.0 ], [ 981.0, 343.0 ], [ 951.0, 312.0 ] ], "center_px": [ 978.25, 313.25 ], "quality": { "area_px": 1588.0, "perimeter_px": 160.04430770874023, "sharpness": { "laplacian_var": 274.6069774213414 }, "contrast": { "p05": 4.0, "p95": 102.0, "dynamic_range": 98.0, "mean_gray": 27.544949026876736, "std_gray": 37.11534971415816 }, "geometry": { "distance_to_center_norm": 0.3818548321723938, "distance_to_border_px": 284.0 }, "edge_ratio": 1.1492584304055882, "edge_lengths_px": [ 41.72529220581055, 37.64305877685547, 43.13930892944336, 37.53664779663086 ] }, "confidence": 0.8701263123622135 }, { "observation_id": "a40a8a67-0aea-4851-a2ca-8cf47660bb47", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, "image_points_px": [ [ 954.0, 950.0 ], [ 988.0, 935.0 ], [ 1026.0, 953.0 ], [ 991.0, 968.0 ] ], "center_px": [ 989.75, 951.5 ], "quality": { "area_px": 1183.5, "perimeter_px": 158.43434524536133, "sharpness": { "laplacian_var": 609.4685497214302 }, "contrast": { "p05": 20.0, "p95": 166.0, "dynamic_range": 146.0, "mean_gray": 110.89084065244667, "std_gray": 56.55025749282976 }, "geometry": { "distance_to_center_norm": 0.5467042922973633, "distance_to_border_px": 112.0 }, "edge_ratio": 1.1314732627470745, "edge_lengths_px": [ 37.161808013916016, 42.04759216308594, 38.07886505126953, 41.146080017089844 ] }, "confidence": 0.697320940739163 }, { "observation_id": "00c1a45b-640b-4dbc-8697-4bd41448f61c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, "image_points_px": [ [ 1070.0, 934.0 ], [ 1105.0, 921.0 ], [ 1142.0, 939.0 ], [ 1107.0, 953.0 ] ], "center_px": [ 1106.0, 936.75 ], "quality": { "area_px": 1147.0, "perimeter_px": 157.77181243896484, "sharpness": { "laplacian_var": 787.7908104790581 }, "contrast": { "p05": 21.0, "p95": 165.0, "dynamic_range": 144.0, "mean_gray": 112.17708333333333, "std_gray": 51.79881349020512 }, "geometry": { "distance_to_center_norm": 0.6150444746017456, "distance_to_border_px": 127.0 }, "edge_ratio": 1.1140166798654896, "edge_lengths_px": [ 37.336307525634766, 41.146080017089844, 37.6961555480957, 41.59326934814453 ] }, "confidence": 0.6864050426596802 }, { "observation_id": "3869bfe2-590a-45c1-910f-a2052e3c8ca9", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, "image_points_px": [ [ 1114.0, 909.0 ], [ 1146.0, 897.0 ], [ 1184.0, 913.0 ], [ 1150.0, 926.0 ] ], "center_px": [ 1148.5, 911.25 ], "quality": { "area_px": 1007.0, "perimeter_px": 151.61967849731445, "sharpness": { "laplacian_var": 972.7788822829964 }, "contrast": { "p05": 21.0, "p95": 164.0, "dynamic_range": 143.0, "mean_gray": 72.65241379310345, "std_gray": 56.89208669627404 }, "geometry": { "distance_to_center_norm": 0.6299508213996887, "distance_to_border_px": 154.0 }, "edge_ratio": 1.2064325663572992, "edge_lengths_px": [ 34.1760139465332, 41.231056213378906, 36.400550842285156, 39.81205749511719 ] }, "confidence": 0.5564615479175569 }, { "observation_id": "6cc13f30-5c48-4872-8dfe-c13d1d480b0b", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, "image_points_px": [ [ 726.0, 882.0 ], [ 765.0, 871.0 ], [ 792.0, 887.0 ], [ 753.0, 899.0 ] ], "center_px": [ 759.0, 884.75 ], "quality": { "area_px": 954.0, "perimeter_px": 144.61683464050293, "sharpness": { "laplacian_var": 785.5429949862831 }, "contrast": { "p05": 30.050000000000004, "p95": 170.0, "dynamic_range": 139.95, "mean_gray": 126.20821114369501, "std_gray": 49.84236785563949 }, "geometry": { "distance_to_center_norm": 0.3854988217353821, "distance_to_border_px": 181.0 }, "edge_ratio": 1.3001366728033397, "edge_lengths_px": [ 40.52159881591797, 31.38471031188965, 40.804412841796875, 31.906112670898438 ] }, "confidence": 0.48917934037555 }, { "observation_id": "e0f8038f-6ce1-4382-ba76-3f389c0186ca", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, "image_points_px": [ [ 816.0, 869.0 ], [ 850.0, 858.0 ], [ 882.0, 872.0 ], [ 849.0, 885.0 ] ], "center_px": [ 849.25, 871.0 ], "quality": { "area_px": 892.5, "perimeter_px": 142.80617141723633, "sharpness": { "laplacian_var": 587.1200582737985 }, "contrast": { "p05": 25.0, "p95": 161.0, "dynamic_range": 136.0, "mean_gray": 53.705329153605014, "std_gray": 46.85401529249749 }, "geometry": { "distance_to_center_norm": 0.39482229948043823, "distance_to_border_px": 195.0 }, "edge_ratio": 1.049980472453053, "edge_lengths_px": [ 35.735137939453125, 34.928497314453125, 35.46829605102539, 36.67424011230469 ] }, "confidence": 0.5666772055387952 }, { "observation_id": "371b06a2-b57b-4e9c-bbd0-2bb359319a7d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, "image_points_px": [ [ 1368.0, 761.0 ], [ 1406.0, 774.0 ], [ 1385.0, 786.0 ], [ 1342.0, 771.0 ] ], "center_px": [ 1375.25, 773.0 ], "quality": { "area_px": 774.5, "perimeter_px": 137.74691200256348, "sharpness": { "laplacian_var": 1106.33858547251 }, "contrast": { "p05": 24.400000000000002, "p95": 157.0, "dynamic_range": 132.6, "mean_gray": 82.06375227686704, "std_gray": 48.09986516138449 }, "geometry": { "distance_to_center_norm": 0.7727149128913879, "distance_to_border_px": 34.0 }, "edge_ratio": 1.8828965127296429, "edge_lengths_px": [ 40.16217041015625, 24.1867733001709, 45.54119110107422, 27.85677719116211 ] }, "confidence": 0.1864715688265129 }, { "observation_id": "9d60f1a9-0635-4a76-8b38-4743395ba448", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, "image_points_px": [ [ 516.0, 789.0 ], [ 552.0, 780.0 ], [ 575.0, 792.0 ], [ 540.0, 802.0 ] ], "center_px": [ 545.75, 790.75 ], "quality": { "area_px": 667.0, "perimeter_px": 126.74543380737305, "sharpness": { "laplacian_var": 1102.4890246140383 }, "contrast": { "p05": 22.0, "p95": 169.0, "dynamic_range": 147.0, "mean_gray": 63.70932754880694, "std_gray": 55.443333520531134 }, "geometry": { "distance_to_center_norm": 0.3392777740955353, "distance_to_border_px": 278.0 }, "edge_ratio": 1.430406433781943, "edge_lengths_px": [ 37.10795211791992, 25.942243576049805, 36.400550842285156, 27.294687271118164 ] }, "confidence": 0.31086735641350827 }, { "observation_id": "59d39d02-4382-4398-92d6-1154497bbe59", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, "image_points_px": [ [ 1185.0, 109.0 ], [ 1197.0, 142.0 ], [ 1175.0, 166.0 ], [ 1162.0, 134.0 ] ], "center_px": [ 1179.75, 137.75 ], "quality": { "area_px": 1037.5, "perimeter_px": 136.1821517944336, "sharpness": { "laplacian_var": 284.46109375 }, "contrast": { "p05": 5.0, "p95": 72.0, "dynamic_range": 67.0, "mean_gray": 35.0875, "std_gray": 29.077040568022813 }, "geometry": { "distance_to_center_norm": 0.6787562370300293, "distance_to_border_px": 109.0 }, "edge_ratio": 1.078521088392333, "edge_lengths_px": [ 35.11410140991211, 32.557640075683594, 34.539833068847656, 33.970577239990234 ] }, "confidence": 0.537097363758373 }, { "observation_id": "fbfbe5c5-ef23-462d-a701-2c10a23a1b6e", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, "image_points_px": [ [ 998.0, 123.0 ], [ 1000.0, 161.0 ], [ 973.0, 160.0 ], [ 971.0, 123.0 ] ], "center_px": [ 985.5, 141.75 ], "quality": { "area_px": 1011.5, "perimeter_px": 129.12512588500977, "sharpness": { "laplacian_var": 1376.438598202893 }, "contrast": { "p05": 34.0, "p95": 180.0, "dynamic_range": 146.0, "mean_gray": 86.88520055325034, "std_gray": 62.42181800678641 }, "geometry": { "distance_to_center_norm": 0.5318188071250916, "distance_to_border_px": 123.0 }, "edge_ratio": 1.4093554461443867, "edge_lengths_px": [ 38.05259704589844, 27.018512725830078, 37.05401611328125, 27.0 ] }, "confidence": 0.4784693138825454 }, { "observation_id": "a4a445ea-0774-43bd-ace9-4a5c5fb73b60", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, "image_points_px": [ [ 436.0, 785.0 ], [ 473.0, 775.0 ], [ 495.0, 788.0 ], [ 457.0, 797.0 ] ], "center_px": [ 465.25, 786.25 ], "quality": { "area_px": 673.0, "perimeter_px": 127.11942291259766, "sharpness": { "laplacian_var": 1407.900067904029 }, "contrast": { "p05": 23.0, "p95": 175.0, "dynamic_range": 152.0, "mean_gray": 109.63404255319149, "std_gray": 60.38921728677089 }, "geometry": { "distance_to_center_norm": 0.3936794400215149, "distance_to_border_px": 283.0 }, "edge_ratio": 1.6145703338936277, "edge_lengths_px": [ 38.327537536621094, 25.553865432739258, 39.051246643066406, 24.1867733001709 ] }, "confidence": 0.27788610830268484 }, { "observation_id": "13f2b6c9-2666-46f2-9041-3e4dc6ec6af4", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, "image_points_px": [ [ 343.0, 738.0 ], [ 380.0, 730.0 ], [ 398.0, 741.0 ], [ 361.0, 749.0 ] ], "center_px": [ 370.5, 739.5 ], "quality": { "area_px": 551.0, "perimeter_px": 117.90002059936523, "sharpness": { "laplacian_var": 1845.3298899565573 }, "contrast": { "p05": 24.0, "p95": 177.0, "dynamic_range": 153.0, "mean_gray": 78.32445520581113, "std_gray": 60.51463159277876 }, "geometry": { "distance_to_center_norm": 0.4471452534198761, "distance_to_border_px": 331.0 }, "edge_ratio": 1.794498613771757, "edge_lengths_px": [ 37.85498809814453, 21.095022201538086, 37.85498809814453, 21.095022201538086 ] }, "confidence": 0.20469970303362667 }, { "observation_id": "32b82bd7-ff25-427f-97b0-b855d9b620fd", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, "image_points_px": [ [ 752.0, 746.0 ], [ 783.0, 737.0 ], [ 808.0, 749.0 ], [ 777.0, 757.0 ] ], "center_px": [ 780.0, 747.25 ], "quality": { "area_px": 569.0, "perimeter_px": 119.3394947052002, "sharpness": { "laplacian_var": 1509.7141859212295 }, "contrast": { "p05": 32.0, "p95": 173.0, "dynamic_range": 141.0, "mean_gray": 102.06082725060827, "std_gray": 57.384634703425476 }, "geometry": { "distance_to_center_norm": 0.23973380029201508, "distance_to_border_px": 323.0 }, "edge_ratio": 1.1818557392737563, "edge_lengths_px": [ 32.280025482177734, 27.73084831237793, 32.015621185302734, 27.312999725341797 ] }, "confidence": 0.3209641589306251 }, { "observation_id": "70fa382f-1a46-464c-a450-c45c35207512", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, "image_points_px": [ [ 1105.0, 84.0 ], [ 1136.0, 85.0 ], [ 1115.0, 107.0 ], [ 1085.0, 105.0 ] ], "center_px": [ 1110.25, 95.25 ], "quality": { "area_px": 686.5, "perimeter_px": 120.49653053283691, "sharpness": { "laplacian_var": 2125.628525115585 }, "contrast": { "p05": 30.0, "p95": 182.0, "dynamic_range": 152.0, "mean_gray": 88.91416309012875, "std_gray": 62.66527617455689 }, "geometry": { "distance_to_center_norm": 0.6574338674545288, "distance_to_border_px": 84.0 }, "edge_ratio": 1.0695215422531654, "edge_lengths_px": [ 31.016124725341797, 30.4138126373291, 30.066593170166016, 29.0 ] }, "confidence": 0.42791720277321244 }, { "observation_id": "58bd7a0b-bdd1-496e-afd2-793bd42a775c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, "image_points_px": [ [ 1064.0, 76.0 ], [ 1093.0, 76.0 ], [ 1073.0, 99.0 ], [ 1043.0, 98.0 ] ], "center_px": [ 1068.25, 87.25 ], "quality": { "area_px": 674.0, "perimeter_px": 119.90997695922852, "sharpness": { "laplacian_var": 2001.7444137618832 }, "contrast": { "p05": 31.0, "p95": 183.0, "dynamic_range": 152.0, "mean_gray": 118.78510638297873, "std_gray": 59.67599210318435 }, "geometry": { "distance_to_center_norm": 0.6346580386161804, "distance_to_border_px": 76.0 }, "edge_ratio": 1.0510173008359711, "edge_lengths_px": [ 29.0, 30.479501724243164, 30.01666259765625, 30.4138126373291 ] }, "confidence": 0.4275222995624687 }, { "observation_id": "14725425-799e-46ea-90c4-c981ac9d7619", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, "image_points_px": [ [ 801.0, 757.0 ], [ 831.0, 748.0 ], [ 857.0, 759.0 ], [ 828.0, 768.0 ] ], "center_px": [ 829.25, 758.0 ], "quality": { "area_px": 563.0, "perimeter_px": 119.07131958007812, "sharpness": { "laplacian_var": 1102.0465007643961 }, "contrast": { "p05": 34.0, "p95": 163.0, "dynamic_range": 129.0, "mean_gray": 64.66995073891626, "std_gray": 43.597684142155416 }, "geometry": { "distance_to_center_norm": 0.2709370255470276, "distance_to_border_px": 312.0 }, "edge_ratio": 1.1094438971566838, "edge_lengths_px": [ 31.320919036865234, 28.23118782043457, 30.364452362060547, 29.154760360717773 ] }, "confidence": 0.33830762807857967 }, { "observation_id": "d8ce8e98-4141-428a-abd7-665bec1dfdc6", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, "image_points_px": [ [ 720.0, 708.0 ], [ 751.0, 701.0 ], [ 774.0, 712.0 ], [ 744.0, 720.0 ] ], "center_px": [ 747.25, 710.25 ], "quality": { "area_px": 527.0, "perimeter_px": 115.15675926208496, "sharpness": { "laplacian_var": 2501.0895831786343 }, "contrast": { "p05": 38.0, "p95": 172.0, "dynamic_range": 134.0, "mean_gray": 111.68905472636816, "std_gray": 48.36737860414607 }, "geometry": { "distance_to_center_norm": 0.19157445430755615, "distance_to_border_px": 360.0 }, "edge_ratio": 1.2465336063884973, "edge_lengths_px": [ 31.78049659729004, 25.495098114013672, 31.048349380493164, 26.832815170288086 ] }, "confidence": 0.28184826428485077 }, { "observation_id": "1c413fe1-0a1a-474c-949f-2ce7444566ec", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, "image_points_px": [ [ 559.0, 734.0 ], [ 592.0, 726.0 ], [ 614.0, 737.0 ], [ 580.0, 745.0 ] ], "center_px": [ 586.25, 735.5 ], "quality": { "area_px": 540.5, "perimeter_px": 117.18763732910156, "sharpness": { "laplacian_var": 1836.8002141582394 }, "contrast": { "p05": 23.0, "p95": 173.0, "dynamic_range": 150.0, "mean_gray": 93.60487804878049, "std_gray": 58.85418090799482 }, "geometry": { "distance_to_center_norm": 0.26319336891174316, "distance_to_border_px": 335.0 }, "edge_ratio": 1.47336973513833, "edge_lengths_px": [ 33.95585250854492, 24.59674835205078, 34.928497314453125, 23.706539154052734 ] }, "confidence": 0.24456409327527204 }, { "observation_id": "a9879294-9ec3-4a01-80fc-e48917fa3639", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, "image_points_px": [ [ 449.0, 697.0 ], [ 479.0, 689.0 ], [ 502.0, 698.0 ], [ 469.0, 706.0 ] ], "center_px": [ 474.75, 697.5 ], "quality": { "area_px": 455.5, "perimeter_px": 111.63409233093262, "sharpness": { "laplacian_var": 2092.135019239405 }, "contrast": { "p05": 23.0, "p95": 176.0, "dynamic_range": 153.0, "mean_gray": 97.1454005934718, "std_gray": 60.570920625602156 }, "geometry": { "distance_to_center_norm": 0.3238537609577179, "distance_to_border_px": 374.0 }, "edge_ratio": 1.548253542582037, "edge_lengths_px": [ 31.048349380493164, 24.698177337646484, 33.95585250854492, 21.931713104248047 ] }, "confidence": 0.19613497293230078 }, { "observation_id": "78ba251f-cfa7-4419-b0bc-ccb7c46706e9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, "image_points_px": [ [ 569.0, 655.0 ], [ 598.0, 649.0 ], [ 617.0, 658.0 ], [ 587.0, 664.0 ] ], "center_px": [ 592.75, 656.5 ], "quality": { "area_px": 376.5, "perimeter_px": 101.35670852661133, "sharpness": { "laplacian_var": 2749.8099114734855 }, "contrast": { "p05": 29.0, "p95": 173.0, "dynamic_range": 144.0, "mean_gray": 95.3851590106007, "std_gray": 55.12943387512407 }, "geometry": { "distance_to_center_norm": 0.1916942298412323, "distance_to_border_px": 416.0 }, "edge_ratio": 1.5202339246023067, "edge_lengths_px": [ 29.614185333251953, 21.02379608154297, 30.5941162109375, 20.124610900878906 ] }, "confidence": 0.1651061694769518 }, { "observation_id": "f37a5ea1-7d21-4f6f-a10a-b340f6201b1e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, "image_points_px": [ [ 494.0, 638.0 ], [ 524.0, 632.0 ], [ 542.0, 639.0 ], [ 514.0, 646.0 ] ], "center_px": [ 518.5, 638.75 ], "quality": { "area_px": 341.0, "perimeter_px": 100.30972290039062, "sharpness": { "laplacian_var": 3472.3613866799983 }, "contrast": { "p05": 30.0, "p95": 176.39999999999998, "dynamic_range": 146.39999999999998, "mean_gray": 130.0, "std_gray": 49.28211919882578 }, "geometry": { "distance_to_center_norm": 0.24932949244976044, "distance_to_border_px": 434.0 }, "edge_ratio": 1.5841033143146985, "edge_lengths_px": [ 30.5941162109375, 19.313207626342773, 28.861740112304688, 21.540658950805664 ] }, "confidence": 0.14350915832259362 } ], "rejected_candidates": [ { "image_points_px": [ [ 850.0, 993.0 ], [ 808.0, 1008.0 ], [ 776.0, 986.0 ], [ 817.0, 973.0 ] ], "center_px": [ 812.75, 990.0 ], "area_px": 1326.5 }, { "image_points_px": [ [ 1001.0, 371.0 ], [ 997.0, 444.0 ], [ 982.0, 434.0 ], [ 981.0, 393.0 ] ], "center_px": [ 990.25, 410.5 ], "area_px": 988.5 }, { "image_points_px": [ [ 1243.0, 805.0 ], [ 1273.0, 795.0 ], [ 1315.0, 812.0 ], [ 1282.0, 821.0 ] ], "center_px": [ 1278.25, 808.25 ], "area_px": 904.5 }, { "image_points_px": [ [ 637.0, 777.0 ], [ 601.0, 786.0 ], [ 579.0, 774.0 ], [ 612.0, 765.0 ] ], "center_px": [ 607.25, 775.5 ], "area_px": 625.5 }, { "image_points_px": [ [ 1062.0, 162.0 ], [ 1081.0, 183.0 ], [ 1058.0, 202.0 ], [ 1037.0, 187.0 ] ], "center_px": [ 1059.5, 183.5 ], "area_px": 872.0 }, { "image_points_px": [ [ 851.0, 659.0 ], [ 881.0, 653.0 ], [ 907.0, 664.0 ], [ 876.0, 671.0 ] ], "center_px": [ 878.75, 661.75 ], "area_px": 516.5 }, { "image_points_px": [ [ 936.0, 633.0 ], [ 963.0, 627.0 ], [ 990.0, 637.0 ], [ 963.0, 644.0 ] ], "center_px": [ 963.0, 635.25 ], "area_px": 459.0 }, { "image_points_px": [ [ 799.0, 625.0 ], [ 769.0, 631.0 ], [ 746.0, 621.0 ], [ 774.0, 614.0 ] ], "center_px": [ 772.0, 622.75 ], "area_px": 460.5 }, { "image_points_px": [ [ 1329.0, 658.0 ], [ 1354.0, 651.0 ], [ 1380.0, 660.0 ], [ 1359.0, 667.0 ] ], "center_px": [ 1355.5, 659.0 ], "area_px": 403.0 }, { "image_points_px": [ [ 1072.0, 124.0 ], [ 1059.0, 153.0 ], [ 1036.0, 157.0 ], [ 1059.0, 126.0 ] ], "center_px": [ 1056.5, 140.0 ], "area_px": 486.0 }, { "image_points_px": [ [ 360.0, 631.0 ], [ 327.0, 638.0 ], [ 311.0, 627.0 ], [ 342.0, 621.0 ] ], "center_px": [ 335.0, 629.25 ], "area_px": 446.5 }, { "image_points_px": [ [ 838.0, 599.0 ], [ 867.0, 594.0 ], [ 887.0, 603.0 ], [ 861.0, 609.0 ] ], "center_px": [ 863.25, 601.25 ], "area_px": 379.5 }, { "image_points_px": [ [ 1251.0, 647.0 ], [ 1271.0, 640.0 ], [ 1300.0, 649.0 ], [ 1279.0, 655.0 ] ], "center_px": [ 1275.25, 647.75 ], "area_px": 359.5 }, { "image_points_px": [ [ 464.0, 629.0 ], [ 439.0, 635.0 ], [ 418.0, 625.0 ], [ 448.0, 619.0 ] ], "center_px": [ 442.25, 627.0 ], "area_px": 386.0 }, { "image_points_px": [ [ 449.0, 599.0 ], [ 421.0, 605.0 ], [ 403.0, 595.0 ], [ 431.0, 590.0 ] ], "center_px": [ 426.0, 597.25 ], "area_px": 365.0 }, { "image_points_px": [ [ 1097.0, 551.0 ], [ 1124.0, 547.0 ], [ 1143.0, 555.0 ], [ 1122.0, 559.0 ] ], "center_px": [ 1121.5, 553.0 ], "area_px": 280.0 }, { "image_points_px": [ [ 1248.0, 592.0 ], [ 1270.0, 587.0 ], [ 1292.0, 594.0 ], [ 1274.0, 600.0 ] ], "center_px": [ 1271.0, 593.25 ], "area_px": 282.0 }, { "image_points_px": [ [ 623.0, 533.0 ], [ 651.0, 529.0 ], [ 667.0, 534.0 ], [ 641.0, 539.0 ] ], "center_px": [ 645.5, 533.75 ], "area_px": 225.0 }, { "image_points_px": [ [ 1130.0, 544.0 ], [ 1151.0, 540.0 ], [ 1173.0, 548.0 ], [ 1153.0, 553.0 ] ], "center_px": [ 1151.75, 546.25 ], "area_px": 275.5 }, { "image_points_px": [ [ 718.0, 498.0 ], [ 732.0, 496.0 ], [ 745.0, 500.0 ], [ 757.0, 512.0 ] ], "center_px": [ 738.0, 501.5 ], "area_px": 191.0 }, { "image_points_px": [ [ 793.0, 531.0 ], [ 827.0, 538.0 ], [ 828.0, 543.0 ], [ 823.0, 544.0 ] ], "center_px": [ 817.75, 539.0 ], "area_px": 129.0 }, { "image_points_px": [ [ 823.0, 426.0 ], [ 837.0, 426.0 ], [ 843.0, 434.0 ], [ 835.0, 437.0 ] ], "center_px": [ 834.5, 430.75 ], "area_px": 118.0 }, { "image_points_px": [ [ 493.0, 790.0 ], [ 476.0, 796.0 ], [ 471.0, 795.0 ], [ 489.0, 789.0 ] ], "center_px": [ 482.25, 792.5 ], "area_px": 44.5 } ] }