{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T16:36:39Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "g",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_a.npz",
    "camera_matrix": [
      [
        1768.8695068359375,
        0.0,
        639.249267578125
      ],
      [
        0.0,
        1774.5469970703125,
        357.7935485839844
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene11\\render_g.png",
    "image_sha256": "89a491ecd3d8d00baec65055c90b4467738d6108e06aa12af3f110be2cd18df1",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 30,
    "num_rejected_candidates": 11
  },
  "detections": [
    {
      "observation_id": "3eaeb394-1751-4379-b8c3-b37fc707dab5",
      "type": "aruco",
      "marker_id": 115,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          387.0,
          555.0
        ],
        [
          406.0,
          579.0
        ],
        [
          381.0,
          599.0
        ],
        [
          362.0,
          575.0
        ]
      ],
      "center_px": [
        384.0,
        577.0
      ],
      "quality": {
        "area_px": 980.0,
        "perimeter_px": 125.25215530395508,
        "sharpness": {
          "laplacian_var": 1067.4117975206611
        },
        "contrast": {
          "p05": 36.0,
          "p95": 164.0,
          "dynamic_range": 128.0,
          "mean_gray": 69.62727272727273,
          "std_gray": 46.60843188592611
        },
        "geometry": {
          "distance_to_center_norm": 0.4570276737213135,
          "distance_to_border_px": 121.0
        },
        "edge_ratio": 1.0459047293253438,
        "edge_lengths_px": [
          30.610456466674805,
          32.015621185302734,
          30.610456466674805,
          32.015621185302734
        ]
      },
      "confidence": 0.6246585516013137
    },
    {
      "observation_id": "1c7ef823-1ed2-47e7-9171-0be601d36a41",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          534.0,
          580.0
        ],
        [
          515.0,
          558.0
        ],
        [
          537.0,
          539.0
        ],
        [
          557.0,
          560.0
        ]
      ],
      "center_px": [
        535.75,
        559.25
      ],
      "quality": {
        "area_px": 864.0,
        "perimeter_px": 117.61726951599121,
        "sharpness": {
          "laplacian_var": 1708.089520144862
        },
        "contrast": {
          "p05": 16.0,
          "p95": 160.0,
          "dynamic_range": 144.0,
          "mean_gray": 90.04964539007092,
          "std_gray": 55.93446345502843
        },
        "geometry": {
          "distance_to_center_norm": 0.3062426447868347,
          "distance_to_border_px": 140.0
        },
        "edge_ratio": 1.0510173008359711,
        "edge_lengths_px": [
          29.068883895874023,
          29.068883895874023,
          29.0,
          30.479501724243164
        ]
      },
      "confidence": 0.5480404552254792
    },
    {
      "observation_id": "0408fde4-b975-4173-8d27-ce27dcda0d83",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          621.0,
          502.0
        ],
        [
          601.0,
          482.0
        ],
        [
          623.0,
          462.0
        ],
        [
          644.0,
          482.0
        ]
      ],
      "center_px": [
        622.25,
        482.0
      ],
      "quality": {
        "area_px": 860.0,
        "perimeter_px": 117.49591064453125,
        "sharpness": {
          "laplacian_var": 734.0139839697412
        },
        "contrast": {
          "p05": 18.0,
          "p95": 161.0,
          "dynamic_range": 143.0,
          "mean_gray": 70.37132987910189,
          "std_gray": 57.870517788825715
        },
        "geometry": {
          "distance_to_center_norm": 0.16789333522319794,
          "distance_to_border_px": 218.0
        },
        "edge_ratio": 1.0776131180953348,
        "edge_lengths_px": [
          28.284271240234375,
          29.73213768005371,
          29.0,
          30.479501724243164
        ]
      },
      "confidence": 0.532040046382037
    },
    {
      "observation_id": "30735557-ce3d-43b4-8721-12ab18084317",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          522.0,
          400.0
        ],
        [
          544.0,
          382.0
        ],
        [
          565.0,
          401.0
        ],
        [
          542.0,
          420.0
        ]
      ],
      "center_px": [
        543.25,
        400.75
      ],
      "quality": {
        "area_px": 818.0,
        "perimeter_px": 114.86208534240723,
        "sharpness": {
          "laplacian_var": 816.6798957713302
        },
        "contrast": {
          "p05": 18.0,
          "p95": 165.0,
          "dynamic_range": 147.0,
          "mean_gray": 85.05160142348754,
          "std_gray": 60.05847541326446
        },
        "geometry": {
          "distance_to_center_norm": 0.14296773076057434,
          "distance_to_border_px": 300.0
        },
        "edge_ratio": 1.0547511838881163,
        "edge_lengths_px": [
          28.42534065246582,
          28.319604873657227,
          29.832868576049805,
          28.284271240234375
        ]
      },
      "confidence": 0.5170255712092
    },
    {
      "observation_id": "6ca5148d-2830-42dd-bba0-a0e77e63f69c",
      "type": "aruco",
      "marker_id": 44,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          314.0,
          590.0
        ],
        [
          296.0,
          618.0
        ],
        [
          276.0,
          607.0
        ],
        [
          294.0,
          580.0
        ]
      ],
      "center_px": [
        295.0,
        598.75
      ],
      "quality": {
        "area_px": 739.0,
        "perimeter_px": 110.92269897460938,
        "sharpness": {
          "laplacian_var": 499.9863456293601
        },
        "contrast": {
          "p05": 5.0,
          "p95": 124.0,
          "dynamic_range": 119.0,
          "mean_gray": 45.463276836158194,
          "std_gray": 45.03039429490512
        },
        "geometry": {
          "distance_to_center_norm": 0.5713657140731812,
          "distance_to_border_px": 102.0
        },
        "edge_ratio": 1.4886234718217424,
        "edge_lengths_px": [
          33.2866325378418,
          22.825424194335938,
          32.4499626159668,
          22.360679626464844
        ]
      },
      "confidence": 0.3309545200598999
    },
    {
      "observation_id": "e8f495ee-d0cc-460b-91d4-8a8823c8e69b",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          839.0,
          643.0
        ],
        [
          820.0,
          663.0
        ],
        [
          799.0,
          644.0
        ],
        [
          818.0,
          625.0
        ]
      ],
      "center_px": [
        819.0,
        643.75
      ],
      "quality": {
        "area_px": 761.0,
        "perimeter_px": 110.43452644348145,
        "sharpness": {
          "laplacian_var": 1123.1195571771113
        },
        "contrast": {
          "p05": 34.0,
          "p95": 169.0,
          "dynamic_range": 135.0,
          "mean_gray": 92.84877126654064,
          "std_gray": 53.45343894962469
        },
        "geometry": {
          "distance_to_center_norm": 0.4568857252597809,
          "distance_to_border_px": 57.0
        },
        "edge_ratio": 1.053946545658541,
        "edge_lengths_px": [
          27.58622932434082,
          28.319604873657227,
          26.870058059692383,
          27.658634185791016
        ]
      },
      "confidence": 0.48136533624324795
    },
    {
      "observation_id": "f3c68344-62e9-4a3c-b64b-4e533edb8d4d",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          68.0,
          559.0
        ],
        [
          45.0,
          578.0
        ],
        [
          29.0,
          559.0
        ],
        [
          51.0,
          541.0
        ]
      ],
      "center_px": [
        48.25,
        559.25
      ],
      "quality": {
        "area_px": 721.5,
        "perimeter_px": 107.85653114318848,
        "sharpness": {
          "laplacian_var": 668.2103895215622
        },
        "contrast": {
          "p05": 7.0,
          "p95": 143.0,
          "dynamic_range": 136.0,
          "mean_gray": 90.63352826510722,
          "std_gray": 48.50162480576201
        },
        "geometry": {
          "distance_to_center_norm": 0.8503235578536987,
          "distance_to_border_px": 29.0
        },
        "edge_ratio": 1.2049382158719355,
        "edge_lengths_px": [
          29.832868576049805,
          24.83948516845703,
          28.42534065246582,
          24.75883674621582
        ]
      },
      "confidence": 0.23153054349605823
    },
    {
      "observation_id": "a86d8888-3c68-4975-93c3-a8b019ff21bd",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          122.0,
          579.0
        ],
        [
          100.0,
          599.0
        ],
        [
          83.0,
          581.0
        ],
        [
          105.0,
          562.0
        ]
      ],
      "center_px": [
        102.5,
        580.25
      ],
      "quality": {
        "area_px": 716.5,
        "perimeter_px": 107.60148811340332,
        "sharpness": {
          "laplacian_var": 786.9595732410611
        },
        "contrast": {
          "p05": 7.0,
          "p95": 138.54999999999995,
          "dynamic_range": 131.54999999999995,
          "mean_gray": 54.86078431372549,
          "std_gray": 50.51784999396058
        },
        "geometry": {
          "distance_to_center_norm": 0.7910576462745667,
          "distance_to_border_px": 83.0
        },
        "edge_ratio": 1.2366939320753831,
        "edge_lengths_px": [
          29.73213768005371,
          24.75883674621582,
          29.068883895874023,
          24.041629791259766
        ]
      },
      "confidence": 0.38624485353870913
    },
    {
      "observation_id": "4d762cf6-c818-41b9-b7af-936466ee179d",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          419.0,
          434.0
        ],
        [
          402.0,
          416.0
        ],
        [
          424.0,
          399.0
        ],
        [
          442.0,
          417.0
        ]
      ],
      "center_px": [
        421.75,
        416.5
      ],
      "quality": {
        "area_px": 702.5,
        "perimeter_px": 106.61825752258301,
        "sharpness": {
          "laplacian_var": 1099.4917120863067
        },
        "contrast": {
          "p05": 11.0,
          "p95": 142.0,
          "dynamic_range": 131.0,
          "mean_gray": 64.18087318087318,
          "std_gray": 51.1647143229897
        },
        "geometry": {
          "distance_to_center_norm": 0.307018905878067,
          "distance_to_border_px": 286.0
        },
        "edge_ratio": 1.1551713339456755,
        "edge_lengths_px": [
          24.75883674621582,
          27.80287742614746,
          25.45584487915039,
          28.600698471069336
        ]
      },
      "confidence": 0.40542326455908895
    },
    {
      "observation_id": "d3202c95-0d8d-4aa5-a385-411c06c4691c",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          732.0,
          541.0
        ],
        [
          713.0,
          560.0
        ],
        [
          693.0,
          543.0
        ],
        [
          710.0,
          524.0
        ]
      ],
      "center_px": [
        712.0,
        542.0
      ],
      "quality": {
        "area_px": 705.0,
        "perimeter_px": 106.41684341430664,
        "sharpness": {
          "laplacian_var": 1065.796071837551
        },
        "contrast": {
          "p05": 27.85,
          "p95": 169.0,
          "dynamic_range": 141.15,
          "mean_gray": 119.93373493975903,
          "std_gray": 52.57331490658633
        },
        "geometry": {
          "distance_to_center_norm": 0.26654455065727234,
          "distance_to_border_px": 160.0
        },
        "edge_ratio": 1.090518549950796,
        "edge_lengths_px": [
          26.870058059692383,
          26.248809814453125,
          25.495098114013672,
          27.80287742614746
        ]
      },
      "confidence": 0.4309876251267861
    },
    {
      "observation_id": "50b37168-02c4-4407-a988-2ef7cbc1eb16",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          802.0,
          566.0
        ],
        [
          784.0,
          585.0
        ],
        [
          763.0,
          567.0
        ],
        [
          781.0,
          549.0
        ]
      ],
      "center_px": [
        782.5,
        566.75
      ],
      "quality": {
        "area_px": 703.5,
        "perimeter_px": 106.30549621582031,
        "sharpness": {
          "laplacian_var": 1607.8844009732436
        },
        "contrast": {
          "p05": 31.0,
          "p95": 169.0,
          "dynamic_range": 138.0,
          "mean_gray": 90.66398390342053,
          "std_gray": 54.61835551514542
        },
        "geometry": {
          "distance_to_center_norm": 0.3419588506221771,
          "distance_to_border_px": 135.0
        },
        "edge_ratio": 1.0865337338869794,
        "edge_lengths_px": [
          26.172504425048828,
          27.658634185791016,
          25.45584487915039,
          27.018512725830078
        ]
      },
      "confidence": 0.4316478958478293
    },
    {
      "observation_id": "111b2ab7-b003-49eb-9890-b4b90cd30b5e",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          888.0,
          551.0
        ],
        [
          869.0,
          569.0
        ],
        [
          849.0,
          551.0
        ],
        [
          867.0,
          533.0
        ]
      ],
      "center_px": [
        868.25,
        551.0
      ],
      "quality": {
        "area_px": 702.0,
        "perimeter_px": 106.1942310333252,
        "sharpness": {
          "laplacian_var": 1481.1479986559195
        },
        "contrast": {
          "p05": 36.0,
          "p95": 170.0,
          "dynamic_range": 134.0,
          "mean_gray": 95.2655935613682,
          "std_gray": 52.37123601242012
        },
        "geometry": {
          "distance_to_center_norm": 0.40531307458877563,
          "distance_to_border_px": 151.0
        },
        "edge_ratio": 1.0865337338869794,
        "edge_lengths_px": [
          26.172504425048828,
          26.90724754333496,
          25.45584487915039,
          27.658634185791016
        ]
      },
      "confidence": 0.43072753786094703
    },
    {
      "observation_id": "9d46b210-ea6f-41d3-9e76-32195ed875aa",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          65.0,
          497.0
        ],
        [
          42.0,
          515.0
        ],
        [
          26.0,
          498.0
        ],
        [
          49.0,
          480.0
        ]
      ],
      "center_px": [
        45.5,
        497.5
      ],
      "quality": {
        "area_px": 679.0,
        "perimeter_px": 105.10279846191406,
        "sharpness": {
          "laplacian_var": 868.737420109821
        },
        "contrast": {
          "p05": 7.0,
          "p95": 144.0,
          "dynamic_range": 137.0,
          "mean_gray": 87.0,
          "std_gray": 49.39438614886083
        },
        "geometry": {
          "distance_to_center_norm": 0.8309844732284546,
          "distance_to_border_px": 26.0
        },
        "edge_ratio": 1.251054546024973,
        "edge_lengths_px": [
          29.20616340637207,
          23.34523582458496,
          29.20616340637207,
          23.34523582458496
        ]
      },
      "confidence": 0.1881506025573149
    },
    {
      "observation_id": "050d0e1f-c514-4c51-a86b-d30bb2d93ad8",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          106.0,
          511.0
        ],
        [
          83.0,
          528.0
        ],
        [
          68.0,
          510.0
        ],
        [
          89.0,
          493.0
        ]
      ],
      "center_px": [
        86.5,
        510.5
      ],
      "quality": {
        "area_px": 668.0,
        "perimeter_px": 103.80879783630371,
        "sharpness": {
          "laplacian_var": 1170.61960942551
        },
        "contrast": {
          "p05": 7.0,
          "p95": 139.7,
          "dynamic_range": 132.7,
          "mean_gray": 51.07494646680942,
          "std_gray": 49.54470169996879
        },
        "geometry": {
          "distance_to_center_norm": 0.7811443209648132,
          "distance_to_border_px": 68.0
        },
        "edge_ratio": 1.2206480202916514,
        "edge_lengths_px": [
          28.600698471069336,
          23.430749893188477,
          27.018512725830078,
          24.75883674621582
        ]
      },
      "confidence": 0.36483353590081535
    },
    {
      "observation_id": "4dc63df7-1b9f-4bc1-8f31-5e867708b318",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          44.0,
          459.0
        ],
        [
          22.0,
          477.0
        ],
        [
          6.0,
          460.0
        ],
        [
          27.0,
          442.0
        ]
      ],
      "center_px": [
        24.75,
        459.5
      ],
      "quality": {
        "area_px": 662.5,
        "perimeter_px": 103.47084045410156,
        "sharpness": {
          "laplacian_var": 921.3830316980682
        },
        "contrast": {
          "p05": 6.0,
          "p95": 142.0,
          "dynamic_range": 136.0,
          "mean_gray": 65.75802997858672,
          "std_gray": 50.89190916431435
        },
        "geometry": {
          "distance_to_center_norm": 0.8487563133239746,
          "distance_to_border_px": 6.0
        },
        "edge_ratio": 1.2176077751388992,
        "edge_lengths_px": [
          28.42534065246582,
          23.34523582458496,
          27.658634185791016,
          24.041629791259766
        ]
      },
      "confidence": 0.0435279743462167
    },
    {
      "observation_id": "bdc9cb12-bf33-4193-a9cc-93a70716a308",
      "type": "aruco",
      "marker_id": 124,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          377.0,
          613.0
        ],
        [
          384.0,
          630.0
        ],
        [
          361.0,
          649.0
        ],
        [
          350.0,
          634.0
        ]
      ],
      "center_px": [
        368.0,
        631.5
      ],
      "quality": {
        "area_px": 580.0,
        "perimeter_px": 101.02398300170898,
        "sharpness": {
          "laplacian_var": 1670.3720207315832
        },
        "contrast": {
          "p05": 7.0,
          "p95": 155.0,
          "dynamic_range": 148.0,
          "mean_gray": 86.19804400977995,
          "std_gray": 56.23811927637502
        },
        "geometry": {
          "distance_to_center_norm": 0.523371160030365,
          "distance_to_border_px": 71.0
        },
        "edge_ratio": 1.8605208592914682,
        "edge_lengths_px": [
          18.384777069091797,
          29.832868576049805,
          18.601076126098633,
          34.20526123046875
        ]
      },
      "confidence": 0.20782710644476127
    },
    {
      "observation_id": "26d8fc37-4bcf-4201-8854-204747a0b1e9",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          640.0,
          353.0
        ],
        [
          619.0,
          368.0
        ],
        [
          603.0,
          351.0
        ],
        [
          622.0,
          336.0
        ]
      ],
      "center_px": [
        621.0,
        352.0
      ],
      "quality": {
        "area_px": 595.0,
        "perimeter_px": 98.11848640441895,
        "sharpness": {
          "laplacian_var": 2066.872700710539
        },
        "contrast": {
          "p05": 20.0,
          "p95": 167.0,
          "dynamic_range": 147.0,
          "mean_gray": 93.56265356265357,
          "std_gray": 57.771432887054736
        },
        "geometry": {
          "distance_to_center_norm": 0.02807498537003994,
          "distance_to_border_px": 336.0
        },
        "edge_ratio": 1.1054493735797668,
        "edge_lengths_px": [
          25.806976318359375,
          23.34523582458496,
          24.20743751525879,
          24.75883674621582
        ]
      },
      "confidence": 0.3588284331666357
    },
    {
      "observation_id": "e4f5456c-ce7d-4385-be13-0f0752b72996",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          509.0,
          345.0
        ],
        [
          489.0,
          361.0
        ],
        [
          473.0,
          345.0
        ],
        [
          492.0,
          329.0
        ]
      ],
      "center_px": [
        490.75,
        345.0
      ],
      "quality": {
        "area_px": 576.0,
        "perimeter_px": 96.42463493347168,
        "sharpness": {
          "laplacian_var": 1175.625995834001
        },
        "contrast": {
          "p05": 14.0,
          "p95": 160.0,
          "dynamic_range": 146.0,
          "mean_gray": 95.73670886075949,
          "std_gray": 56.93355260260169
        },
        "geometry": {
          "distance_to_center_norm": 0.20427808165550232,
          "distance_to_border_px": 329.0
        },
        "edge_ratio": 1.1319231784321422,
        "edge_lengths_px": [
          25.612497329711914,
          22.627416610717773,
          24.83948516845703,
          23.34523582458496
        ]
      },
      "confidence": 0.33924563726302426
    },
    {
      "observation_id": "bd6ed8ef-0883-4960-85d0-eae905075741",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          780.0,
          332.0
        ],
        [
          763.0,
          348.0
        ],
        [
          744.0,
          332.0
        ],
        [
          762.0,
          316.0
        ]
      ],
      "center_px": [
        762.25,
        332.0
      ],
      "quality": {
        "area_px": 576.0,
        "perimeter_px": 96.35109901428223,
        "sharpness": {
          "laplacian_var": 1458.1086313281405
        },
        "contrast": {
          "p05": 25.0,
          "p95": 165.0,
          "dynamic_range": 140.0,
          "mean_gray": 80.6030534351145,
          "std_gray": 56.43073342740554
        },
        "geometry": {
          "distance_to_center_norm": 0.1707955300807953,
          "distance_to_border_px": 316.0
        },
        "edge_ratio": 1.0640066073908951,
        "edge_lengths_px": [
          23.34523582458496,
          24.83948516845703,
          24.083189010620117,
          24.083189010620117
        ]
      },
      "confidence": 0.36090001446666387
    },
    {
      "observation_id": "021fa254-517d-45db-845e-cd652c6d31f8",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          200.0,
          220.0
        ],
        [
          186.0,
          204.0
        ],
        [
          207.0,
          189.0
        ],
        [
          222.0,
          205.0
        ]
      ],
      "center_px": [
        203.75,
        204.5
      ],
      "quality": {
        "area_px": 561.5,
        "perimeter_px": 95.62603569030762,
        "sharpness": {
          "laplacian_var": 2019.2645414610038
        },
        "contrast": {
          "p05": 8.0,
          "p95": 148.0,
          "dynamic_range": 140.0,
          "mean_gray": 70.47229551451187,
          "std_gray": 51.117652567048125
        },
        "geometry": {
          "distance_to_center_norm": 0.6307147145271301,
          "distance_to_border_px": 186.0
        },
        "edge_ratio": 1.2524312529583235,
        "edge_lengths_px": [
          21.260292053222656,
          25.806976318359375,
          21.931713104248047,
          26.62705421447754
        ]
      },
      "confidence": 0.29888533398470685
    },
    {
      "observation_id": "85e193fa-c22a-4286-a682-09f4b9681f83",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          129.0,
          148.0
        ],
        [
          113.0,
          133.0
        ],
        [
          134.0,
          118.0
        ],
        [
          150.0,
          133.0
        ]
      ],
      "center_px": [
        131.5,
        133.0
      ],
      "quality": {
        "area_px": 555.0,
        "perimeter_px": 95.47737884521484,
        "sharpness": {
          "laplacian_var": 1026.0188512634008
        },
        "contrast": {
          "p05": 7.0,
          "p95": 144.0,
          "dynamic_range": 137.0,
          "mean_gray": 74.24040920716112,
          "std_gray": 48.70222169251125
        },
        "geometry": {
          "distance_to_center_norm": 0.7583624720573425,
          "distance_to_border_px": 113.0
        },
        "edge_ratio": 1.1766967858685289,
        "edge_lengths_px": [
          21.931713104248047,
          25.806976318359375,
          21.931713104248047,
          25.806976318359375
        ]
      },
      "confidence": 0.3144395433415756
    },
    {
      "observation_id": "0bb45fb3-c00c-4801-b8f7-8fe788fa458f",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          477.0,
          331.0
        ],
        [
          459.0,
          347.0
        ],
        [
          441.0,
          333.0
        ],
        [
          457.0,
          316.0
        ]
      ],
      "center_px": [
        458.5,
        331.75
      ],
      "quality": {
        "area_px": 560.0,
        "perimeter_px": 95.23193359375,
        "sharpness": {
          "laplacian_var": 1084.9131509695292
        },
        "contrast": {
          "p05": 13.0,
          "p95": 148.0,
          "dynamic_range": 135.0,
          "mean_gray": 47.28947368421053,
          "std_gray": 47.24059800344395
        },
        "geometry": {
          "distance_to_center_norm": 0.2501494884490967,
          "distance_to_border_px": 316.0
        },
        "edge_ratio": 1.0963225117990674,
        "edge_lengths_px": [
          24.083189010620117,
          22.803508758544922,
          23.34523582458496,
          25.0
        ]
      },
      "confidence": 0.3405323974609375
    },
    {
      "observation_id": "68b12dcc-eb69-45b0-9019-c9c06f05d440",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          649.0,
          266.0
        ],
        [
          631.0,
          282.0
        ],
        [
          613.0,
          267.0
        ],
        [
          630.0,
          251.0
        ]
      ],
      "center_px": [
        630.75,
        266.5
      ],
      "quality": {
        "area_px": 558.5,
        "perimeter_px": 95.06661224365234,
        "sharpness": {
          "laplacian_var": 1305.7798563869992
        },
        "contrast": {
          "p05": 17.0,
          "p95": 157.0,
          "dynamic_range": 140.0,
          "mean_gray": 58.82010582010582,
          "std_gray": 51.45372830614472
        },
        "geometry": {
          "distance_to_center_norm": 0.12795333564281464,
          "distance_to_border_px": 251.0
        },
        "edge_ratio": 1.0369326614283263,
        "edge_lengths_px": [
          24.083189010620117,
          23.430749893188477,
          23.34523582458496,
          24.20743751525879
        ]
      },
      "confidence": 0.3590718541167963
    },
    {
      "observation_id": "f1f8f28d-7a62-46ae-acbb-909a8740ec40",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          511.0,
          165.0
        ],
        [
          489.0,
          180.0
        ],
        [
          476.0,
          163.0
        ],
        [
          496.0,
          149.0
        ]
      ],
      "center_px": [
        493.0,
        164.25
      ],
      "quality": {
        "area_px": 549.5,
        "perimeter_px": 94.37281227111816,
        "sharpness": {
          "laplacian_var": 3059.520009400636
        },
        "contrast": {
          "p05": 32.400000000000006,
          "p95": 157.0,
          "dynamic_range": 124.6,
          "mean_gray": 115.30081300813008,
          "std_gray": 44.764230595447884
        },
        "geometry": {
          "distance_to_center_norm": 0.3333777189254761,
          "distance_to_border_px": 149.0
        },
        "edge_ratio": 1.2442005541229775,
        "edge_lengths_px": [
          26.62705421447754,
          21.40093421936035,
          24.413110733032227,
          21.931713104248047
        ]
      },
      "confidence": 0.29443270389118054
    },
    {
      "observation_id": "0f76b041-98fc-4bb9-87e9-6cd58e74d087",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          336.0,
          129.0
        ],
        [
          316.0,
          142.0
        ],
        [
          302.0,
          127.0
        ],
        [
          322.0,
          114.0
        ]
      ],
      "center_px": [
        319.0,
        128.0
      ],
      "quality": {
        "area_px": 482.0,
        "perimeter_px": 88.74401092529297,
        "sharpness": {
          "laplacian_var": 2119.276899931151
        },
        "contrast": {
          "p05": 15.0,
          "p95": 151.0,
          "dynamic_range": 136.0,
          "mean_gray": 100.79591836734694,
          "std_gray": 47.69160264587585
        },
        "geometry": {
          "distance_to_center_norm": 0.5393716096878052,
          "distance_to_border_px": 114.0
        },
        "edge_ratio": 1.162559295895232,
        "edge_lengths_px": [
          23.853721618652344,
          20.51828384399414,
          23.853721618652344,
          20.51828384399414
        ]
      },
      "confidence": 0.27640167212794914
    },
    {
      "observation_id": "26dba152-8e5c-4a24-8ade-9187668762a5",
      "type": "aruco",
      "marker_id": 59,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          395.0,
          109.0
        ],
        [
          377.0,
          124.0
        ],
        [
          361.0,
          110.0
        ],
        [
          380.0,
          96.0
        ]
      ],
      "center_px": [
        378.25,
        109.75
      ],
      "quality": {
        "area_px": 474.5,
        "perimeter_px": 88.14132308959961,
        "sharpness": {
          "laplacian_var": 1578.292131116158
        },
        "contrast": {
          "p05": 9.0,
          "p95": 153.0,
          "dynamic_range": 144.0,
          "mean_gray": 100.38643067846607,
          "std_gray": 52.50712488754368
        },
        "geometry": {
          "distance_to_center_norm": 0.4931619465351105,
          "distance_to_border_px": 96.0
        },
        "edge_ratio": 1.18899346774519,
        "edge_lengths_px": [
          23.430749893188477,
          21.260292053222656,
          23.600847244262695,
          19.84943389892578
        ]
      },
      "confidence": 0.2660513635396405
    },
    {
      "observation_id": "b29a2ea6-91d2-404b-a75f-7611844856f7",
      "type": "aruco",
      "marker_id": 57,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          480.0,
          70.0
        ],
        [
          459.0,
          83.0
        ],
        [
          446.0,
          69.0
        ],
        [
          465.0,
          56.0
        ]
      ],
      "center_px": [
        462.5,
        69.5
      ],
      "quality": {
        "area_px": 462.0,
        "perimeter_px": 87.3431625366211,
        "sharpness": {
          "laplacian_var": 2431.88491286838
        },
        "contrast": {
          "p05": 10.0,
          "p95": 152.0,
          "dynamic_range": 142.0,
          "mean_gray": 83.89877300613497,
          "std_gray": 51.04550055909768
        },
        "geometry": {
          "distance_to_center_norm": 0.4636179506778717,
          "distance_to_border_px": 56.0
        },
        "edge_ratio": 1.292761708970831,
        "edge_lengths_px": [
          24.698177337646484,
          19.10497283935547,
          23.021728515625,
          20.51828384399414
        ]
      },
      "confidence": 0.23824963089694168
    },
    {
      "observation_id": "83192e8f-cb44-4a7f-8f96-cab43dd03369",
      "type": "aruco",
      "marker_id": 71,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          316.0,
          28.0
        ],
        [
          296.0,
          41.0
        ],
        [
          283.0,
          27.0
        ],
        [
          302.0,
          14.0
        ]
      ],
      "center_px": [
        299.25,
        27.5
      ],
      "quality": {
        "area_px": 448.5,
        "perimeter_px": 85.7794132232666,
        "sharpness": {
          "laplacian_var": 2050.0545661081587
        },
        "contrast": {
          "p05": 9.0,
          "p95": 149.0,
          "dynamic_range": 140.0,
          "mean_gray": 99.60828025477707,
          "std_gray": 46.85581687207557
        },
        "geometry": {
          "distance_to_center_norm": 0.6483641862869263,
          "distance_to_border_px": 14.0
        },
        "edge_ratio": 1.248560875706384,
        "edge_lengths_px": [
          23.853721618652344,
          19.10497283935547,
          23.021728515625,
          19.79899024963379
        ]
      },
      "confidence": 0.06705319830932129
    },
    {
      "observation_id": "0bbbe8d4-2ff4-4bc5-a0c8-c8f340d2c83d",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          262.0,
          42.0
        ],
        [
          243.0,
          56.0
        ],
        [
          228.0,
          44.0
        ],
        [
          247.0,
          30.0
        ]
      ],
      "center_px": [
        245.0,
        43.0
      ],
      "quality": {
        "area_px": 438.0,
        "perimeter_px": 85.62044143676758,
        "sharpness": {
          "laplacian_var": 1039.1986368366286
        },
        "contrast": {
          "p05": 7.0,
          "p95": 141.0,
          "dynamic_range": 134.0,
          "mean_gray": 57.34193548387097,
          "std_gray": 49.06255897349929
        },
        "geometry": {
          "distance_to_center_norm": 0.6897323727607727,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.2286109839062582,
        "edge_lengths_px": [
          23.600847244262695,
          19.209373474121094,
          23.600847244262695,
          19.209373474121094
        ]
      },
      "confidence": 0.1426000599823447
    },
    {
      "observation_id": "682f03aa-22ca-4b94-8c9f-6f5c74349605",
      "type": "aruco",
      "marker_id": 48,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          386.0,
          46.0
        ],
        [
          367.0,
          60.0
        ],
        [
          353.0,
          47.0
        ],
        [
          371.0,
          33.0
        ]
      ],
      "center_px": [
        369.25,
        46.5
      ],
      "quality": {
        "area_px": 443.5,
        "perimeter_px": 85.35876274108887,
        "sharpness": {
          "laplacian_var": 1986.9672243260625
        },
        "contrast": {
          "p05": 8.0,
          "p95": 148.0,
          "dynamic_range": 140.0,
          "mean_gray": 65.89776357827476,
          "std_gray": 52.07547755336055
        },
        "geometry": {
          "distance_to_center_norm": 0.5641158223152161,
          "distance_to_border_px": 33.0
        },
        "edge_ratio": 1.2353248257776064,
        "edge_lengths_px": [
          23.600847244262695,
          19.10497283935547,
          22.803508758544922,
          19.84943389892578
        ]
      },
      "confidence": 0.15796654930589954
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          575.0,
          412.0
        ],
        [
          594.0,
          429.0
        ],
        [
          572.0,
          449.0
        ],
        [
          551.0,
          431.0
        ]
      ],
      "center_px": [
        573.0,
        430.25
      ],
      "area_px": 792.5
    },
    {
      "image_points_px": [
        [
          637.0,
          442.0
        ],
        [
          652.0,
          447.0
        ],
        [
          675.0,
          473.0
        ],
        [
          670.0,
          476.0
        ]
      ],
      "center_px": [
        658.5,
        459.5
      ],
      "area_px": 272.0
    },
    {
      "image_points_px": [
        [
          711.0,
          396.0
        ],
        [
          732.0,
          411.0
        ],
        [
          715.0,
          429.0
        ],
        [
          695.0,
          414.0
        ]
      ],
      "center_px": [
        713.25,
        412.5
      ],
      "area_px": 616.5
    },
    {
      "image_points_px": [
        [
          479.0,
          517.0
        ],
        [
          487.0,
          534.0
        ],
        [
          464.0,
          553.0
        ],
        [
          455.0,
          537.0
        ]
      ],
      "center_px": [
        471.25,
        535.25
      ],
      "area_px": 553.5
    },
    {
      "image_points_px": [
        [
          224.0,
          577.0
        ],
        [
          245.0,
          581.0
        ],
        [
          258.0,
          604.0
        ],
        [
          235.0,
          600.0
        ]
      ],
      "center_px": [
        240.5,
        590.5
      ],
      "area_px": 458.0
    },
    {
      "image_points_px": [
        [
          682.0,
          253.0
        ],
        [
          699.0,
          268.0
        ],
        [
          680.0,
          283.0
        ],
        [
          663.0,
          267.0
        ]
      ],
      "center_px": [
        681.0,
        267.75
      ],
      "area_px": 541.0
    },
    {
      "image_points_px": [
        [
          597.0,
          275.0
        ],
        [
          614.0,
          292.0
        ],
        [
          595.0,
          306.0
        ],
        [
          579.0,
          291.0
        ]
      ],
      "center_px": [
        596.25,
        291.0
      ],
      "area_px": 543.5
    },
    {
      "image_points_px": [
        [
          447.0,
          169.0
        ],
        [
          463.0,
          183.0
        ],
        [
          445.0,
          198.0
        ],
        [
          429.0,
          184.0
        ]
      ],
      "center_px": [
        446.0,
        183.5
      ],
      "area_px": 492.0
    },
    {
      "image_points_px": [
        [
          294.0,
          141.0
        ],
        [
          309.0,
          155.0
        ],
        [
          289.0,
          169.0
        ],
        [
          275.0,
          155.0
        ]
      ],
      "center_px": [
        291.75,
        155.0
      ],
      "area_px": 476.0
    },
    {
      "image_points_px": [
        [
          523.0,
          372.0
        ],
        [
          532.0,
          367.0
        ],
        [
          556.0,
          369.0
        ],
        [
          561.0,
          373.0
        ]
      ],
      "center_px": [
        543.0,
        370.25
      ],
      "area_px": 142.5
    },
    {
      "image_points_px": [
        [
          130.0,
          541.0
        ],
        [
          136.0,
          543.0
        ],
        [
          154.0,
          561.0
        ],
        [
          149.0,
          560.0
        ]
      ],
      "center_px": [
        142.25,
        551.25
      ],
      "area_px": 74.0
    }
  ]
}