{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T08:08:16Z",
  "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\\Scene4\\render_a.npz",
    "camera_matrix": [
      [
        1777.77783203125,
        0.0,
        640.0
      ],
      [
        0.0,
        1500.0,
        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\\Scene4\\render_e.png",
    "image_sha256": "ed61aa6e73484c8393824c1551840d854e7f5b493f4feac52a882b72d380f799",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 30,
    "num_rejected_candidates": 22
  },
  "detections": [
    {
      "observation_id": "259b220c-3c08-4b30-a0ff-6fa61a04731c",
      "type": "aruco",
      "marker_id": 44,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          535.0,
          228.0
        ],
        [
          517.0,
          262.0
        ],
        [
          482.0,
          244.0
        ],
        [
          501.0,
          210.0
        ]
      ],
      "center_px": [
        508.75,
        236.0
      ],
      "quality": {
        "area_px": 1506.0,
        "perimeter_px": 155.24755859375,
        "sharpness": {
          "laplacian_var": 980.8903046042857
        },
        "contrast": {
          "p05": 14.0,
          "p95": 143.0,
          "dynamic_range": 129.0,
          "mean_gray": 52.62072434607646,
          "std_gray": 53.200656690611865
        },
        "geometry": {
          "distance_to_center_norm": 0.24589569866657257,
          "distance_to_border_px": 210.0
        },
        "edge_ratio": 1.0230452892800619,
        "edge_lengths_px": [
          38.470767974853516,
          39.357337951660156,
          38.94868469238281,
          38.470767974853516
        ]
      },
      "confidence": 0.9774738327603469
    },
    {
      "observation_id": "b074ca3a-a898-45cd-bb31-1af2c1b4092c",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          991.0,
          686.0
        ],
        [
          1021.0,
          676.0
        ],
        [
          1054.0,
          690.0
        ],
        [
          1026.0,
          702.0
        ]
      ],
      "center_px": [
        1023.0,
        688.5
      ],
      "quality": {
        "area_px": 809.0,
        "perimeter_px": 136.41653060913086,
        "sharpness": {
          "laplacian_var": 1151.7123453370266
        },
        "contrast": {
          "p05": 20.0,
          "p95": 164.0,
          "dynamic_range": 144.0,
          "mean_gray": 70.9298245614035,
          "std_gray": 57.49698989806025
        },
        "geometry": {
          "distance_to_center_norm": 0.6871559619903564,
          "distance_to_border_px": 18.0
        },
        "edge_ratio": 1.263291448970706,
        "edge_lengths_px": [
          31.62277603149414,
          35.84689712524414,
          30.463092803955078,
          38.4837646484375
        ]
      },
      "confidence": 0.15369374989294518
    },
    {
      "observation_id": "5e4b9b75-96ff-43b9-9265-b75234311ffd",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1138.0,
          589.0
        ],
        [
          1171.0,
          602.0
        ],
        [
          1146.0,
          612.0
        ],
        [
          1110.0,
          599.0
        ]
      ],
      "center_px": [
        1141.25,
        600.5
      ],
      "quality": {
        "area_px": 689.5,
        "perimeter_px": 130.40157508850098,
        "sharpness": {
          "laplacian_var": 1805.2191790178267
        },
        "contrast": {
          "p05": 16.0,
          "p95": 161.0,
          "dynamic_range": 145.0,
          "mean_gray": 73.2004132231405,
          "std_gray": 56.46580841970125
        },
        "geometry": {
          "distance_to_center_norm": 0.7571271657943726,
          "distance_to_border_px": 108.0
        },
        "edge_ratio": 1.4215096728839491,
        "edge_lengths_px": [
          35.46829605102539,
          26.925823211669922,
          38.27531814575195,
          29.73213768005371
        ]
      },
      "confidence": 0.3233651345714012
    },
    {
      "observation_id": "ffcfec3d-1bdb-4019-9a16-f1f597d69a11",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          645.0,
          664.0
        ],
        [
          678.0,
          653.0
        ],
        [
          705.0,
          667.0
        ],
        [
          670.0,
          677.0
        ]
      ],
      "center_px": [
        674.5,
        665.25
      ],
      "quality": {
        "area_px": 732.0,
        "perimeter_px": 129.77742195129395,
        "sharpness": {
          "laplacian_var": 1977.7350077222632
        },
        "contrast": {
          "p05": 25.3,
          "p95": 169.0,
          "dynamic_range": 143.7,
          "mean_gray": 125.80670611439842,
          "std_gray": 52.41615935695922
        },
        "geometry": {
          "distance_to_center_norm": 0.4183473587036133,
          "distance_to_border_px": 43.0
        },
        "edge_ratio": 1.2918072290787694,
        "edge_lengths_px": [
          34.78505325317383,
          30.4138126373291,
          36.400550842285156,
          28.17800521850586
        ]
      },
      "confidence": 0.3248781943257027
    },
    {
      "observation_id": "58f81a0e-f462-4ac7-a92b-a51255dcc91e",
      "type": "aruco",
      "marker_id": 115,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          598.0,
          200.0
        ],
        [
          602.0,
          230.0
        ],
        [
          573.0,
          247.0
        ],
        [
          569.0,
          216.0
        ]
      ],
      "center_px": [
        585.5,
        223.25
      ],
      "quality": {
        "area_px": 950.5,
        "perimeter_px": 128.25895309448242,
        "sharpness": {
          "laplacian_var": 378.5817972673456
        },
        "contrast": {
          "p05": 11.0,
          "p95": 87.0,
          "dynamic_range": 76.0,
          "mean_gray": 26.103975535168196,
          "std_gray": 25.999556855303982
        },
        "geometry": {
          "distance_to_center_norm": 0.20047612488269806,
          "distance_to_border_px": 200.0
        },
        "edge_ratio": 1.110686436472678,
        "edge_lengths_px": [
          30.265491485595703,
          33.61547088623047,
          31.256999969482422,
          33.12099075317383
        ]
      },
      "confidence": 0.5419921532895585
    },
    {
      "observation_id": "7a873be7-6272-4367-b5f2-48f687472cc3",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          731.0,
          653.0
        ],
        [
          763.0,
          643.0
        ],
        [
          790.0,
          656.0
        ],
        [
          759.0,
          667.0
        ]
      ],
      "center_px": [
        760.75,
        654.75
      ],
      "quality": {
        "area_px": 714.0,
        "perimeter_px": 127.69147682189941,
        "sharpness": {
          "laplacian_var": 1469.8011462272925
        },
        "contrast": {
          "p05": 19.0,
          "p95": 161.64999999999998,
          "dynamic_range": 142.64999999999998,
          "mean_gray": 45.974409448818896,
          "std_gray": 47.99218004137435
        },
        "geometry": {
          "distance_to_center_norm": 0.4337789714336395,
          "distance_to_border_px": 53.0
        },
        "edge_ratio": 1.1187807082789718,
        "edge_lengths_px": [
          33.52610778808594,
          29.96664810180664,
          32.893768310546875,
          31.30495262145996
        ]
      },
      "confidence": 0.42546318190651866
    },
    {
      "observation_id": "ae0b827c-b350-4021-871a-83bd6a405ca1",
      "type": "aruco",
      "marker_id": 244,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          789.0,
          70.0
        ],
        [
          796.0,
          102.0
        ],
        [
          772.0,
          117.0
        ],
        [
          764.0,
          83.0
        ]
      ],
      "center_px": [
        780.25,
        93.0
      ],
      "quality": {
        "area_px": 913.5,
        "perimeter_px": 124.16512489318848,
        "sharpness": {
          "laplacian_var": 613.9190381651339
        },
        "contrast": {
          "p05": 5.0,
          "p95": 78.0,
          "dynamic_range": 73.0,
          "mean_gray": 37.146964856230035,
          "std_gray": 32.29646216574944
        },
        "geometry": {
          "distance_to_center_norm": 0.41072210669517517,
          "distance_to_border_px": 70.0
        },
        "edge_ratio": 1.239566003469752,
        "edge_lengths_px": [
          32.75667953491211,
          28.301942825317383,
          34.928497314453125,
          28.17800521850586
        ]
      },
      "confidence": 0.4483121499334993
    },
    {
      "observation_id": "7569b864-b200-4def-a21a-0a4acc395545",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1217.0,
          556.0
        ],
        [
          1251.0,
          568.0
        ],
        [
          1229.0,
          578.0
        ],
        [
          1193.0,
          565.0
        ]
      ],
      "center_px": [
        1222.5,
        566.75
      ],
      "quality": {
        "area_px": 620.0,
        "perimeter_px": 124.12893295288086,
        "sharpness": {
          "laplacian_var": 2090.6330560246865
        },
        "contrast": {
          "p05": 21.0,
          "p95": 158.0,
          "dynamic_range": 137.0,
          "mean_gray": 78.30365296803653,
          "std_gray": 50.65251426402935
        },
        "geometry": {
          "distance_to_center_norm": 0.8417559862136841,
          "distance_to_border_px": 29.0
        },
        "edge_ratio": 1.583843936128768,
        "edge_lengths_px": [
          36.055511474609375,
          24.166091918945312,
          38.27531814575195,
          25.63201141357422
        ]
      },
      "confidence": 0.15136171428561934
    },
    {
      "observation_id": "28293cc0-9ac6-4fcc-8f84-6b0ffd38d1a9",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          544.0,
          144.0
        ],
        [
          570.0,
          156.0
        ],
        [
          542.0,
          172.0
        ],
        [
          517.0,
          159.0
        ]
      ],
      "center_px": [
        543.25,
        157.75
      ],
      "quality": {
        "area_px": 739.0,
        "perimeter_px": 119.94956970214844,
        "sharpness": {
          "laplacian_var": 2439.1379011337867
        },
        "contrast": {
          "p05": 30.0,
          "p95": 178.0,
          "dynamic_range": 148.0,
          "mean_gray": 76.04380952380953,
          "std_gray": 60.71118187397728
        },
        "geometry": {
          "distance_to_center_norm": 0.3053237795829773,
          "distance_to_border_px": 144.0
        },
        "edge_ratio": 1.144475303231012,
        "edge_lengths_px": [
          28.635643005371094,
          32.24903106689453,
          28.17800521850586,
          30.886890411376953
        ]
      },
      "confidence": 0.430473829601915
    },
    {
      "observation_id": "834f6d41-11e6-44ed-8910-567cdf4f7b3f",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          624.0,
          99.0
        ],
        [
          649.0,
          110.0
        ],
        [
          624.0,
          125.0
        ],
        [
          598.0,
          114.0
        ]
      ],
      "center_px": [
        623.75,
        112.0
      ],
      "quality": {
        "area_px": 663.0,
        "perimeter_px": 114.71561050415039,
        "sharpness": {
          "laplacian_var": 3173.458180603329
        },
        "contrast": {
          "p05": 26.0,
          "p95": 177.0,
          "dynamic_range": 151.0,
          "mean_gray": 69.05206073752711,
          "std_gray": 60.025568495381265
        },
        "geometry": {
          "distance_to_center_norm": 0.3384597897529602,
          "distance_to_border_px": 99.0
        },
        "edge_ratio": 1.098988133837453,
        "edge_lengths_px": [
          27.312999725341797,
          29.154760360717773,
          28.23118782043457,
          30.01666259765625
        ]
      },
      "confidence": 0.40218814597808433
    },
    {
      "observation_id": "3006fb7c-ddc8-4285-9e74-a267027297dd",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          385.0,
          577.0
        ],
        [
          417.0,
          568.0
        ],
        [
          438.0,
          579.0
        ],
        [
          404.0,
          588.0
        ]
      ],
      "center_px": [
        411.0,
        578.0
      ],
      "quality": {
        "area_px": 543.0,
        "perimeter_px": 114.0735855102539,
        "sharpness": {
          "laplacian_var": 3968.780266655816
        },
        "contrast": {
          "p05": 22.0,
          "p95": 176.0,
          "dynamic_range": 154.0,
          "mean_gray": 102.19010416666667,
          "std_gray": 66.046328484172
        },
        "geometry": {
          "distance_to_center_norm": 0.43057525157928467,
          "distance_to_border_px": 132.0
        },
        "edge_ratio": 1.6019955727302424,
        "edge_lengths_px": [
          33.241539001464844,
          23.706539154052734,
          35.1710090637207,
          21.954498291015625
        ]
      },
      "confidence": 0.22596816505744277
    },
    {
      "observation_id": "dcc5885c-3c69-4319-9cd8-f96a5c869912",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          518.0,
          568.0
        ],
        [
          548.0,
          560.0
        ],
        [
          570.0,
          570.0
        ],
        [
          539.0,
          579.0
        ]
      ],
      "center_px": [
        543.75,
        569.25
      ],
      "quality": {
        "area_px": 503.0,
        "perimeter_px": 111.20100593566895,
        "sharpness": {
          "laplacian_var": 3409.45627439283
        },
        "contrast": {
          "p05": 23.0,
          "p95": 172.0,
          "dynamic_range": 149.0,
          "mean_gray": 79.67828418230563,
          "std_gray": 61.16657242352693
        },
        "geometry": {
          "distance_to_center_norm": 0.31366512179374695,
          "distance_to_border_px": 141.0
        },
        "edge_ratio": 1.361650693608701,
        "edge_lengths_px": [
          31.048349380493164,
          24.166091918945312,
          32.280025482177734,
          23.706539154052734
        ]
      },
      "confidence": 0.24626971873720385
    },
    {
      "observation_id": "0b37475e-365c-4e9f-be6e-0c6486693c5c",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          665.0,
          543.0
        ],
        [
          692.0,
          535.0
        ],
        [
          715.0,
          545.0
        ],
        [
          688.0,
          554.0
        ]
      ],
      "center_px": [
        690.0,
        544.25
      ],
      "quality": {
        "area_px": 479.0,
        "perimeter_px": 107.19572448730469,
        "sharpness": {
          "laplacian_var": 2913.088605224556
        },
        "contrast": {
          "p05": 29.0,
          "p95": 162.0,
          "dynamic_range": 133.0,
          "mean_gray": 85.28212290502793,
          "std_gray": 56.58790821710172
        },
        "geometry": {
          "distance_to_center_norm": 0.25999337434768677,
          "distance_to_border_px": 166.0
        },
        "edge_ratio": 1.1347944144516315,
        "edge_lengths_px": [
          28.160255432128906,
          25.079872131347656,
          28.460498809814453,
          25.495098114013672
        ]
      },
      "confidence": 0.28140192555287236
    },
    {
      "observation_id": "8727713b-0420-4cd2-b3e9-34ece1f71744",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          780.0,
          460.0
        ],
        [
          802.0,
          468.0
        ],
        [
          777.0,
          475.0
        ],
        [
          753.0,
          466.0
        ]
      ],
      "center_px": [
        778.0,
        467.25
      ],
      "quality": {
        "area_px": 370.5,
        "perimeter_px": 102.66155433654785,
        "sharpness": {
          "laplacian_var": 3376.8769559966395
        },
        "contrast": {
          "p05": 18.0,
          "p95": 154.0,
          "dynamic_range": 136.0,
          "mean_gray": 67.98550724637681,
          "std_gray": 53.98859051597959
        },
        "geometry": {
          "distance_to_center_norm": 0.2380160391330719,
          "distance_to_border_px": 245.0
        },
        "edge_ratio": 1.1815183357454866,
        "edge_lengths_px": [
          23.409399032592773,
          25.961509704589844,
          25.63201141357422,
          27.658634185791016
        ]
      },
      "confidence": 0.20905304008181452
    },
    {
      "observation_id": "8448acae-1f89-47db-bbb9-a21312403ed5",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          713.0,
          555.0
        ],
        [
          741.0,
          547.0
        ],
        [
          764.0,
          557.0
        ],
        [
          736.0,
          565.0
        ]
      ],
      "center_px": [
        738.5,
        556.0
      ],
      "quality": {
        "area_px": 464.0,
        "perimeter_px": 108.4006233215332,
        "sharpness": {
          "laplacian_var": 2087.7401082882134
        },
        "contrast": {
          "p05": 24.0,
          "p95": 155.79999999999995,
          "dynamic_range": 131.79999999999995,
          "mean_gray": 50.37900874635569,
          "std_gray": 43.124023760039876
        },
        "geometry": {
          "distance_to_center_norm": 0.2987307906150818,
          "distance_to_border_px": 155.0
        },
        "edge_ratio": 1.161107974431055,
        "edge_lengths_px": [
          29.120439529418945,
          25.079872131347656,
          29.120439529418945,
          25.079872131347656
        ]
      },
      "confidence": 0.2664122029520185
    },
    {
      "observation_id": "459d8838-04d4-4054-802a-55f86b35af72",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          306.0,
          536.0
        ],
        [
          339.0,
          529.0
        ],
        [
          356.0,
          538.0
        ],
        [
          324.0,
          546.0
        ]
      ],
      "center_px": [
        331.25,
        537.25
      ],
      "quality": {
        "area_px": 440.0,
        "perimeter_px": 106.54574584960938,
        "sharpness": {
          "laplacian_var": 3567.54020134902
        },
        "contrast": {
          "p05": 23.0,
          "p95": 178.0,
          "dynamic_range": 155.0,
          "mean_gray": 73.82477341389728,
          "std_gray": 62.46603516648034
        },
        "geometry": {
          "distance_to_center_norm": 0.48482945561408997,
          "distance_to_border_px": 174.0
        },
        "edge_ratio": 1.7537605054536587,
        "edge_lengths_px": [
          33.734256744384766,
          19.235383987426758,
          32.98484420776367,
          20.59126091003418
        ]
      },
      "confidence": 0.16725963004706537
    },
    {
      "observation_id": "78a400ce-dfcc-488f-b26b-057112210a6c",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          495.0,
          533.0
        ],
        [
          524.0,
          525.0
        ],
        [
          544.0,
          535.0
        ],
        [
          515.0,
          543.0
        ]
      ],
      "center_px": [
        519.5,
        534.0
      ],
      "quality": {
        "area_px": 450.0,
        "perimeter_px": 104.8877944946289,
        "sharpness": {
          "laplacian_var": 4200.263944549464
        },
        "contrast": {
          "p05": 23.0,
          "p95": 175.0,
          "dynamic_range": 152.0,
          "mean_gray": 84.87246376811594,
          "std_gray": 62.948250851268256
        },
        "geometry": {
          "distance_to_center_norm": 0.2882344722747803,
          "distance_to_border_px": 177.0
        },
        "edge_ratio": 1.3453624005794889,
        "edge_lengths_px": [
          30.08321762084961,
          22.360679626464844,
          30.08321762084961,
          22.360679626464844
        ]
      },
      "confidence": 0.22298824455832925
    },
    {
      "observation_id": "bdff49d0-4b99-4d5a-90ad-93efede7bcc7",
      "type": "aruco",
      "marker_id": 40,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          399.0,
          188.0
        ],
        [
          423.0,
          220.0
        ],
        [
          412.0,
          221.0
        ],
        [
          387.0,
          188.0
        ]
      ],
      "center_px": [
        405.25,
        204.25
      ],
      "quality": {
        "area_px": 386.0,
        "perimeter_px": 104.44584274291992,
        "sharpness": {
          "laplacian_var": 1222.5355782214508
        },
        "contrast": {
          "p05": 22.0,
          "p95": 98.0,
          "dynamic_range": 76.0,
          "mean_gray": 44.895833333333336,
          "std_gray": 26.16035453325424
        },
        "geometry": {
          "distance_to_center_norm": 0.3836553692817688,
          "distance_to_border_px": 188.0
        },
        "edge_ratio": 3.7482236938671547,
        "edge_lengths_px": [
          40.0,
          11.045360565185547,
          41.400482177734375,
          12.0
        ]
      },
      "confidence": 0.06522200557737874
    },
    {
      "observation_id": "e7bce243-b54a-4fa8-b143-d7f0732d6498",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          642.0,
          511.0
        ],
        [
          670.0,
          504.0
        ],
        [
          690.0,
          513.0
        ],
        [
          664.0,
          520.0
        ]
      ],
      "center_px": [
        666.5,
        512.0
      ],
      "quality": {
        "area_px": 390.0,
        "perimeter_px": 101.48900413513184,
        "sharpness": {
          "laplacian_var": 4353.991679601899
        },
        "contrast": {
          "p05": 35.0,
          "p95": 168.0,
          "dynamic_range": 133.0,
          "mean_gray": 103.73648648648648,
          "std_gray": 52.13746921133909
        },
        "geometry": {
          "distance_to_center_norm": 0.2101215273141861,
          "distance_to_border_px": 200.0
        },
        "edge_ratio": 1.3159820199688064,
        "edge_lengths_px": [
          28.861740112304688,
          21.931713104248047,
          26.925823211669922,
          23.76972770690918
        ]
      },
      "confidence": 0.19757108839994864
    },
    {
      "observation_id": "46b4ba1d-39c0-4522-82ca-0bd47c0af378",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1108.0,
          454.0
        ],
        [
          1131.0,
          449.0
        ],
        [
          1157.0,
          456.0
        ],
        [
          1136.0,
          462.0
        ]
      ],
      "center_px": [
        1133.0,
        455.25
      ],
      "quality": {
        "area_px": 313.5,
        "perimeter_px": 101.42379760742188,
        "sharpness": {
          "laplacian_var": 4813.73283722301
        },
        "contrast": {
          "p05": 14.0,
          "p95": 147.0,
          "dynamic_range": 133.0,
          "mean_gray": 56.18025751072961,
          "std_gray": 48.745834164896
        },
        "geometry": {
          "distance_to_center_norm": 0.683801531791687,
          "distance_to_border_px": 123.0
        },
        "edge_ratio": 1.3333333042228357,
        "edge_lengths_px": [
          23.53720474243164,
          26.925823211669922,
          21.840330123901367,
          29.120439529418945
        ]
      },
      "confidence": 0.15675000342230294
    },
    {
      "observation_id": "72543e7b-7d21-45d2-a8ed-02e126e3b557",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1176.0,
          465.0
        ],
        [
          1195.0,
          459.0
        ],
        [
          1222.0,
          467.0
        ],
        [
          1204.0,
          473.0
        ]
      ],
      "center_px": [
        1199.25,
        466.0
      ],
      "quality": {
        "area_px": 313.0,
        "perimeter_px": 96.17921829223633,
        "sharpness": {
          "laplacian_var": 4362.610214674106
        },
        "contrast": {
          "p05": 14.0,
          "p95": 149.0,
          "dynamic_range": 135.0,
          "mean_gray": 86.91176470588235,
          "std_gray": 52.10248252359102
        },
        "geometry": {
          "distance_to_center_norm": 0.7751669883728027,
          "distance_to_border_px": 58.0
        },
        "edge_ratio": 1.5347819815001813,
        "edge_lengths_px": [
          19.92485809326172,
          28.160255432128906,
          18.973665237426758,
          29.120439529418945
        ]
      },
      "confidence": 0.13595850692924102
    },
    {
      "observation_id": "7a0dce36-e539-45a0-90f0-89eb2102baf9",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          507.0,
          462.0
        ],
        [
          535.0,
          457.0
        ],
        [
          551.0,
          464.0
        ],
        [
          524.0,
          470.0
        ]
      ],
      "center_px": [
        529.25,
        463.25
      ],
      "quality": {
        "area_px": 297.0,
        "perimeter_px": 92.35410118103027,
        "sharpness": {
          "laplacian_var": 6272.078182801513
        },
        "contrast": {
          "p05": 29.0,
          "p95": 178.0,
          "dynamic_range": 149.0,
          "mean_gray": 91.97674418604652,
          "std_gray": 59.50512519340999
        },
        "geometry": {
          "distance_to_center_norm": 0.20620082318782806,
          "distance_to_border_px": 250.0
        },
        "edge_ratio": 1.6286371694405686,
        "edge_lengths_px": [
          28.44292449951172,
          17.464248657226562,
          27.658634185791016,
          18.788293838500977
        ]
      },
      "confidence": 0.12157403976480062
    },
    {
      "observation_id": "5aa8028b-c5b0-4d6f-8027-6abf708e1e26",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          402.0,
          498.0
        ],
        [
          431.0,
          491.0
        ],
        [
          449.0,
          500.0
        ],
        [
          419.0,
          506.0
        ]
      ],
      "center_px": [
        425.25,
        498.75
      ],
      "quality": {
        "area_px": 364.5,
        "perimeter_px": 99.33988952636719,
        "sharpness": {
          "laplacian_var": 5559.380393057959
        },
        "contrast": {
          "p05": 22.0,
          "p95": 178.0,
          "dynamic_range": 156.0,
          "mean_gray": 88.15441176470588,
          "std_gray": 65.33571434347088
        },
        "geometry": {
          "distance_to_center_norm": 0.34818607568740845,
          "distance_to_border_px": 214.0
        },
        "edge_ratio": 1.6283605352309334,
        "edge_lengths_px": [
          29.832868576049805,
          20.124610900878906,
          30.5941162109375,
          18.788293838500977
        ]
      },
      "confidence": 0.14922985097126407
    },
    {
      "observation_id": "ab8ecef5-e99d-4cb3-b517-fa9982f98e39",
      "type": "aruco",
      "marker_id": 247,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          699.0,
          30.0
        ],
        [
          721.0,
          32.0
        ],
        [
          698.0,
          45.0
        ],
        [
          675.0,
          43.0
        ]
      ],
      "center_px": [
        698.25,
        37.5
      ],
      "quality": {
        "area_px": 339.5,
        "perimeter_px": 98.89188957214355,
        "sharpness": {
          "laplacian_var": 9074.555192307691
        },
        "contrast": {
          "p05": 28.0,
          "p95": 183.0,
          "dynamic_range": 155.0,
          "mean_gray": 110.48076923076923,
          "std_gray": 61.72080137591545
        },
        "geometry": {
          "distance_to_center_norm": 0.4462989270687103,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.235572488106442,
        "edge_lengths_px": [
          22.090721130371094,
          26.419689178466797,
          23.0867919921875,
          27.294687271118164
        ]
      },
      "confidence": 0.1099085657112018
    },
    {
      "observation_id": "6bb8d934-6ede-4bb8-b5f1-d597f619d6bb",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          639.0,
          30.0
        ],
        [
          659.0,
          32.0
        ],
        [
          640.0,
          54.0
        ],
        [
          620.0,
          52.0
        ]
      ],
      "center_px": [
        639.5,
        42.0
      ],
      "quality": {
        "area_px": 478.0,
        "perimeter_px": 98.3372688293457,
        "sharpness": {
          "laplacian_var": 4964.401145134483
        },
        "contrast": {
          "p05": 55.0,
          "p95": 191.0,
          "dynamic_range": 136.0,
          "mean_gray": 108.22123893805309,
          "std_gray": 58.39294233123769
        },
        "geometry": {
          "distance_to_center_norm": 0.43306463956832886,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.4462310797682079,
        "edge_lengths_px": [
          20.099750518798828,
          29.068883895874023,
          20.099750518798828,
          29.068883895874023
        ]
      },
      "confidence": 0.13220570535010506
    },
    {
      "observation_id": "b4155a69-3fe7-4d0e-9068-b6a61cf73c42",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          444.0,
          446.0
        ],
        [
          471.0,
          441.0
        ],
        [
          486.0,
          448.0
        ],
        [
          461.0,
          454.0
        ]
      ],
      "center_px": [
        465.5,
        447.25
      ],
      "quality": {
        "area_px": 283.0,
        "perimeter_px": 88.51022148132324,
        "sharpness": {
          "laplacian_var": 5879.469978320295
        },
        "contrast": {
          "p05": 28.0,
          "p95": 178.0,
          "dynamic_range": 150.0,
          "mean_gray": 123.77184466019418,
          "std_gray": 57.17076603326422
        },
        "geometry": {
          "distance_to_center_norm": 0.2656901776790619,
          "distance_to_border_px": 266.0
        },
        "edge_ratio": 1.6588624477171257,
        "edge_lengths_px": [
          27.459060668945312,
          16.552946090698242,
          25.70992088317871,
          18.788293838500977
        ]
      },
      "confidence": 0.11373255626245794
    },
    {
      "observation_id": "7d31d9d4-673a-4851-8a35-99b6e01e1d72",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1126.0,
          428.0
        ],
        [
          1145.0,
          423.0
        ],
        [
          1169.0,
          430.0
        ],
        [
          1150.0,
          435.0
        ]
      ],
      "center_px": [
        1147.5,
        429.0
      ],
      "quality": {
        "area_px": 253.0,
        "perimeter_px": 89.29376602172852,
        "sharpness": {
          "laplacian_var": 5711.201063706788
        },
        "contrast": {
          "p05": 15.0,
          "p95": 146.75,
          "dynamic_range": 131.75,
          "mean_gray": 79.96236559139786,
          "std_gray": 49.58693552791036
        },
        "geometry": {
          "distance_to_center_norm": 0.6974908709526062,
          "distance_to_border_px": 111.0
        },
        "edge_ratio": 1.272466476548753,
        "edge_lengths_px": [
          19.646883010864258,
          25.0,
          19.646883010864258,
          25.0
        ]
      },
      "confidence": 0.13255097071329755
    },
    {
      "observation_id": "0303f540-e076-44ab-b89c-bfa24c7571eb",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          358.0,
          408.0
        ],
        [
          384.0,
          404.0
        ],
        [
          399.0,
          410.0
        ],
        [
          373.0,
          415.0
        ]
      ],
      "center_px": [
        378.5,
        409.25
      ],
      "quality": {
        "area_px": 236.5,
        "perimeter_px": 85.49073791503906,
        "sharpness": {
          "laplacian_var": 7998.121207614516
        },
        "contrast": {
          "p05": 23.0,
          "p95": 179.0,
          "dynamic_range": 156.0,
          "mean_gray": 91.21951219512195,
          "std_gray": 60.4997529505627
        },
        "geometry": {
          "distance_to_center_norm": 0.3623812198638916,
          "distance_to_border_px": 305.0
        },
        "edge_ratio": 1.6388482493543195,
        "edge_lengths_px": [
          26.305892944335938,
          16.155494689941406,
          26.476404190063477,
          16.552946090698242
        ]
      },
      "confidence": 0.09620577544552089
    },
    {
      "observation_id": "abb77b5a-7128-425b-b36e-5ab3385b69bf",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1106.0,
          408.0
        ],
        [
          1128.0,
          404.0
        ],
        [
          1147.0,
          409.0
        ],
        [
          1128.0,
          414.0
        ]
      ],
      "center_px": [
        1127.25,
        408.75
      ],
      "quality": {
        "area_px": 205.0,
        "perimeter_px": 84.45795440673828,
        "sharpness": {
          "laplacian_var": 6027.384394463668
        },
        "contrast": {
          "p05": 16.0,
          "p95": 149.0,
          "dynamic_range": 133.0,
          "mean_gray": 80.03529411764706,
          "std_gray": 50.65684950116898
        },
        "geometry": {
          "distance_to_center_norm": 0.6668679118156433,
          "distance_to_border_px": 133.0
        },
        "edge_ratio": 1.1606680177173716,
        "edge_lengths_px": [
          22.360679626464844,
          19.646883010864258,
          19.646883010864258,
          22.803508758544922
        ]
      },
      "confidence": 0.11774828338549573
    },
    {
      "observation_id": "2138af9a-cd55-4449-90ed-bb591eef3dcd",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          577.0,
          349.0
        ],
        [
          593.0,
          355.0
        ],
        [
          570.0,
          359.0
        ],
        [
          554.0,
          353.0
        ]
      ],
      "center_px": [
        573.5,
        354.0
      ],
      "quality": {
        "area_px": 202.0,
        "perimeter_px": 80.86648559570312,
        "sharpness": {
          "laplacian_var": 6260.565846222487
        },
        "contrast": {
          "p05": 27.0,
          "p95": 174.0,
          "dynamic_range": 147.0,
          "mean_gray": 86.85365853658537,
          "std_gray": 53.69530613796011
        },
        "geometry": {
          "distance_to_center_norm": 0.0909300148487091,
          "distance_to_border_px": 349.0
        },
        "edge_ratio": 1.3661766326001332,
        "edge_lengths_px": [
          17.0880069732666,
          23.34523582458496,
          17.0880069732666,
          23.34523582458496
        ]
      },
      "confidence": 0.09857192946593334
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          724.0,
          239.0
        ],
        [
          740.0,
          247.0
        ],
        [
          767.0,
          286.0
        ],
        [
          751.0,
          281.0
        ]
      ],
      "center_px": [
        745.5,
        263.25
      ],
      "area_px": 472.5
    },
    {
      "image_points_px": [
        [
          412.0,
          248.0
        ],
        [
          421.0,
          244.0
        ],
        [
          469.0,
          268.0
        ],
        [
          459.0,
          269.0
        ]
      ],
      "center_px": [
        440.25,
        257.25
      ],
      "area_px": 332.5
    },
    {
      "image_points_px": [
        [
          511.0,
          586.0
        ],
        [
          477.0,
          595.0
        ],
        [
          457.0,
          584.0
        ],
        [
          489.0,
          575.0
        ]
      ],
      "center_px": [
        483.5,
        585.0
      ],
      "area_px": 552.0
    },
    {
      "image_points_px": [
        [
          688.0,
          187.0
        ],
        [
          702.0,
          179.0
        ],
        [
          731.0,
          208.0
        ],
        [
          691.0,
          200.0
        ]
      ],
      "center_px": [
        703.0,
        193.5
      ],
      "area_px": 567.0
    },
    {
      "image_points_px": [
        [
          835.0,
          444.0
        ],
        [
          861.0,
          438.0
        ],
        [
          884.0,
          447.0
        ],
        [
          860.0,
          453.0
        ]
      ],
      "center_px": [
        860.0,
        445.5
      ],
      "area_px": 369.0
    },
    {
      "image_points_px": [
        [
          756.0,
          36.0
        ],
        [
          734.0,
          49.0
        ],
        [
          709.0,
          47.0
        ],
        [
          733.0,
          34.0
        ]
      ],
      "center_px": [
        733.0,
        41.5
      ],
      "area_px": 358.0
    },
    {
      "image_points_px": [
        [
          709.0,
          435.0
        ],
        [
          683.0,
          441.0
        ],
        [
          661.0,
          432.0
        ],
        [
          686.0,
          426.0
        ]
      ],
      "center_px": [
        684.75,
        433.5
      ],
      "area_px": 364.5
    },
    {
      "image_points_px": [
        [
          319.0,
          442.0
        ],
        [
          287.0,
          446.0
        ],
        [
          273.0,
          439.0
        ],
        [
          302.0,
          434.0
        ]
      ],
      "center_px": [
        295.25,
        440.25
      ],
      "area_px": 298.5
    },
    {
      "image_points_px": [
        [
          742.0,
          412.0
        ],
        [
          767.0,
          407.0
        ],
        [
          788.0,
          415.0
        ],
        [
          765.0,
          420.0
        ]
      ],
      "center_px": [
        765.5,
        413.5
      ],
      "area_px": 302.0
    },
    {
      "image_points_px": [
        [
          1171.0,
          429.0
        ],
        [
          1193.0,
          425.0
        ],
        [
          1217.0,
          432.0
        ],
        [
          1199.0,
          437.0
        ]
      ],
      "center_px": [
        1195.0,
        430.75
      ],
      "area_px": 267.0
    },
    {
      "image_points_px": [
        [
          416.0,
          440.0
        ],
        [
          388.0,
          444.0
        ],
        [
          373.0,
          436.0
        ],
        [
          399.0,
          431.0
        ]
      ],
      "center_px": [
        394.0,
        437.75
      ],
      "area_px": 301.5
    },
    {
      "image_points_px": [
        [
          976.0,
          370.0
        ],
        [
          997.0,
          366.0
        ],
        [
          1016.0,
          373.0
        ],
        [
          998.0,
          377.0
        ]
      ],
      "center_px": [
        996.75,
        371.5
      ],
      "area_px": 218.5
    },
    {
      "image_points_px": [
        [
          1005.0,
          363.0
        ],
        [
          1026.0,
          360.0
        ],
        [
          1044.0,
          366.0
        ],
        [
          1027.0,
          371.0
        ]
      ],
      "center_px": [
        1025.5,
        365.0
      ],
      "area_px": 213.0
    },
    {
      "image_points_px": [
        [
          806.0,
          357.0
        ],
        [
          824.0,
          353.0
        ],
        [
          845.0,
          360.0
        ],
        [
          823.0,
          363.0
        ]
      ],
      "center_px": [
        824.5,
        358.25
      ],
      "area_px": 196.5
    },
    {
      "image_points_px": [
        [
          893.0,
          346.0
        ],
        [
          914.0,
          343.0
        ],
        [
          930.0,
          349.0
        ],
        [
          913.0,
          353.0
        ]
      ],
      "center_px": [
        912.5,
        347.75
      ],
      "area_px": 186.5
    },
    {
      "image_points_px": [
        [
          866.0,
          324.0
        ],
        [
          885.0,
          321.0
        ],
        [
          902.0,
          327.0
        ],
        [
          885.0,
          331.0
        ]
      ],
      "center_px": [
        884.5,
        325.75
      ],
      "area_px": 180.0
    },
    {
      "image_points_px": [
        [
          817.0,
          312.0
        ],
        [
          834.0,
          309.0
        ],
        [
          851.0,
          315.0
        ],
        [
          833.0,
          318.0
        ]
      ],
      "center_px": [
        833.75,
        313.5
      ],
      "area_px": 154.5
    },
    {
      "image_points_px": [
        [
          767.0,
          195.0
        ],
        [
          785.0,
          196.0
        ],
        [
          797.0,
          202.0
        ],
        [
          776.0,
          199.0
        ]
      ],
      "center_px": [
        781.25,
        198.0
      ],
      "area_px": 76.5
    },
    {
      "image_points_px": [
        [
          439.0,
          497.0
        ],
        [
          428.0,
          504.0
        ],
        [
          416.0,
          502.0
        ],
        [
          431.0,
          494.0
        ]
      ],
      "center_px": [
        428.5,
        499.25
      ],
      "area_px": 107.5
    },
    {
      "image_points_px": [
        [
          607.0,
          117.0
        ],
        [
          615.0,
          114.0
        ],
        [
          628.0,
          121.0
        ],
        [
          622.0,
          125.0
        ]
      ],
      "center_px": [
        618.0,
        119.25
      ],
      "area_px": 101.5
    },
    {
      "image_points_px": [
        [
          799.0,
          352.0
        ],
        [
          798.0,
          356.0
        ],
        [
          780.0,
          356.0
        ],
        [
          798.0,
          350.0
        ]
      ],
      "center_px": [
        793.75,
        353.5
      ],
      "area_px": 57.0
    },
    {
      "image_points_px": [
        [
          790.0,
          155.0
        ],
        [
          802.0,
          156.0
        ],
        [
          809.0,
          159.0
        ],
        [
          793.0,
          157.0
        ]
      ],
      "center_px": [
        798.5,
        156.75
      ],
      "area_px": 27.5
    }
  ]
}