{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T18:52:05Z",
  "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\\Scene7\\render_a.npz",
    "camera_matrix": [
      [
        1777.77783203125,
        0.0,
        640.0
      ],
      [
        0.0,
        1777.77783203125,
        360.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene7\\render_g.png",
    "image_sha256": "3f0ca6e96946c081e5a30ad4981f608b820c335cb0d5d06c9d3a1faf658b1d8c",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 33,
    "num_rejected_candidates": 8
  },
  "detections": [
    {
      "observation_id": "490a383a-f497-422a-bda4-38168b57a39f",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          520.0,
          324.0
        ],
        [
          485.0,
          314.0
        ],
        [
          496.0,
          283.0
        ],
        [
          531.0,
          293.0
        ]
      ],
      "center_px": [
        508.0,
        303.5
      ],
      "quality": {
        "area_px": 1195.0,
        "perimeter_px": 138.58863830566406,
        "sharpness": {
          "laplacian_var": 1798.1389750000003
        },
        "contrast": {
          "p05": 19.0,
          "p95": 168.0,
          "dynamic_range": 149.0,
          "mean_gray": 57.925,
          "std_gray": 57.81366079915715
        },
        "geometry": {
          "distance_to_center_norm": 0.19553743302822113,
          "distance_to_border_px": 283.0
        },
        "edge_ratio": 1.1066093279015978,
        "edge_lengths_px": [
          36.400550842285156,
          32.893768310546875,
          36.400550842285156,
          32.893768310546875
        ]
      },
      "confidence": 0.7199168185011974
    },
    {
      "observation_id": "8cabd1f9-6c64-4158-8739-f3eed072e356",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          560.0,
          602.0
        ],
        [
          537.0,
          581.0
        ],
        [
          559.0,
          561.0
        ],
        [
          581.0,
          581.0
        ]
      ],
      "center_px": [
        559.25,
        581.25
      ],
      "quality": {
        "area_px": 902.0,
        "perimeter_px": 120.30758285522461,
        "sharpness": {
          "laplacian_var": 4813.292788050087
        },
        "contrast": {
          "p05": 28.0,
          "p95": 180.0,
          "dynamic_range": 152.0,
          "mean_gray": 94.34395973154362,
          "std_gray": 66.78924189300754
        },
        "geometry": {
          "distance_to_center_norm": 0.32074689865112305,
          "distance_to_border_px": 118.0
        },
        "edge_ratio": 1.0487007563440722,
        "edge_lengths_px": [
          31.14482307434082,
          29.73213768005371,
          29.73213768005371,
          29.698484420776367
        ]
      },
      "confidence": 0.5734079332884925
    },
    {
      "observation_id": "c9d13f6c-7f95-443b-bc92-b476c459c719",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          642.0,
          525.0
        ],
        [
          621.0,
          504.0
        ],
        [
          643.0,
          485.0
        ],
        [
          664.0,
          505.0
        ]
      ],
      "center_px": [
        642.5,
        504.75
      ],
      "quality": {
        "area_px": 860.5,
        "perimeter_px": 117.4995059967041,
        "sharpness": {
          "laplacian_var": 3656.1960738692464
        },
        "contrast": {
          "p05": 33.0,
          "p95": 183.0,
          "dynamic_range": 150.0,
          "mean_gray": 80.05699481865285,
          "std_gray": 63.4375805866881
        },
        "geometry": {
          "distance_to_center_norm": 0.19715528190135956,
          "distance_to_border_px": 195.0
        },
        "edge_ratio": 1.0252461268984039,
        "edge_lengths_px": [
          29.698484420776367,
          29.068883895874023,
          29.0,
          29.73213768005371
        ]
      },
      "confidence": 0.5595404377699383
    },
    {
      "observation_id": "9f15a298-9bb3-47ce-90b5-00ebe1a15fd9",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          86.0,
          662.0
        ],
        [
          62.0,
          682.0
        ],
        [
          45.0,
          662.0
        ],
        [
          68.0,
          642.0
        ]
      ],
      "center_px": [
        65.25,
        662.0
      ],
      "quality": {
        "area_px": 820.0,
        "perimeter_px": 114.87655830383301,
        "sharpness": {
          "laplacian_var": 4615.5973006061695
        },
        "contrast": {
          "p05": 10.0,
          "p95": 160.0,
          "dynamic_range": 150.0,
          "mean_gray": 80.41894353369763,
          "std_gray": 64.84109261429634
        },
        "geometry": {
          "distance_to_center_norm": 0.8841893672943115,
          "distance_to_border_px": 38.0
        },
        "edge_ratio": 1.1901872672565836,
        "edge_lengths_px": [
          31.240999221801758,
          26.248809814453125,
          30.479501724243164,
          26.90724754333496
        ]
      },
      "confidence": 0.3490767193505014
    },
    {
      "observation_id": "8bb329d9-fccc-4d25-a218-03b4b5e6994b",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          840.0,
          647.0
        ],
        [
          820.0,
          667.0
        ],
        [
          799.0,
          647.0
        ],
        [
          819.0,
          627.0
        ]
      ],
      "center_px": [
        819.5,
        647.0
      ],
      "quality": {
        "area_px": 820.0,
        "perimeter_px": 114.56854248046875,
        "sharpness": {
          "laplacian_var": 3896.9010015991917
        },
        "contrast": {
          "p05": 42.0,
          "p95": 184.0,
          "dynamic_range": 142.0,
          "mean_gray": 94.58532110091743,
          "std_gray": 61.935247076293166
        },
        "geometry": {
          "distance_to_center_norm": 0.4609958529472351,
          "distance_to_border_px": 53.0
        },
        "edge_ratio": 1.0253048329824916,
        "edge_lengths_px": [
          28.284271240234375,
          29.0,
          28.284271240234375,
          29.0
        ]
      },
      "confidence": 0.5331747682067169
    },
    {
      "observation_id": "969cab49-23fc-4fa7-9f79-86d15d88df8e",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          122.0,
          582.0
        ],
        [
          99.0,
          600.0
        ],
        [
          82.0,
          581.0
        ],
        [
          105.0,
          562.0
        ]
      ],
      "center_px": [
        102.0,
        581.25
      ],
      "quality": {
        "area_px": 763.0,
        "perimeter_px": 110.78293991088867,
        "sharpness": {
          "laplacian_var": 3158.4937355135958
        },
        "contrast": {
          "p05": 10.0,
          "p95": 160.0,
          "dynamic_range": 150.0,
          "mean_gray": 56.338345864661655,
          "std_gray": 61.75505059471303
        },
        "geometry": {
          "distance_to_center_norm": 0.7922046780586243,
          "distance_to_border_px": 82.0
        },
        "edge_ratio": 1.170141351982161,
        "edge_lengths_px": [
          29.20616340637207,
          25.495098114013672,
          29.832868576049805,
          26.248809814453125
        ]
      },
      "confidence": 0.4347053164175514
    },
    {
      "observation_id": "d2731f2b-b80f-40aa-b1e0-1888f1fb8c40",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          72.0,
          559.0
        ],
        [
          49.0,
          578.0
        ],
        [
          32.0,
          559.0
        ],
        [
          55.0,
          540.0
        ]
      ],
      "center_px": [
        52.0,
        559.0
      ],
      "quality": {
        "area_px": 760.0,
        "perimeter_px": 110.65593338012695,
        "sharpness": {
          "laplacian_var": 4155.988594606818
        },
        "contrast": {
          "p05": 9.0,
          "p95": 160.0,
          "dynamic_range": 151.0,
          "mean_gray": 90.3327067669173,
          "std_gray": 65.52558059431664
        },
        "geometry": {
          "distance_to_center_norm": 0.8453760743141174,
          "distance_to_border_px": 32.0
        },
        "edge_ratio": 1.170141351982161,
        "edge_lengths_px": [
          29.832868576049805,
          25.495098114013672,
          29.832868576049805,
          25.495098114013672
        ]
      },
      "confidence": 0.27711751756945874
    },
    {
      "observation_id": "e5532763-cf8c-476e-8d13-38bbacd49200",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          801.0,
          564.0
        ],
        [
          782.0,
          583.0
        ],
        [
          761.0,
          564.0
        ],
        [
          780.0,
          545.0
        ]
      ],
      "center_px": [
        781.0,
        564.0
      ],
      "quality": {
        "area_px": 760.0,
        "perimeter_px": 110.37932586669922,
        "sharpness": {
          "laplacian_var": 4261.342488430046
        },
        "contrast": {
          "p05": 38.0,
          "p95": 184.0,
          "dynamic_range": 146.0,
          "mean_gray": 91.33018867924528,
          "std_gray": 62.60889708582977
        },
        "geometry": {
          "distance_to_center_norm": 0.33771631121635437,
          "distance_to_border_px": 137.0
        },
        "edge_ratio": 1.053946545658541,
        "edge_lengths_px": [
          26.870058059692383,
          28.319604873657227,
          26.870058059692383,
          28.319604873657227
        ]
      },
      "confidence": 0.48073279309443956
    },
    {
      "observation_id": "3e7ffb9b-f154-4545-8bdd-d7e1c5f85061",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          889.0,
          547.0
        ],
        [
          871.0,
          566.0
        ],
        [
          849.0,
          548.0
        ],
        [
          867.0,
          529.0
        ]
      ],
      "center_px": [
        869.0,
        547.5
      ],
      "quality": {
        "area_px": 742.0,
        "perimeter_px": 109.1956901550293,
        "sharpness": {
          "laplacian_var": 4141.364441511923
        },
        "contrast": {
          "p05": 44.0,
          "p95": 185.0,
          "dynamic_range": 141.0,
          "mean_gray": 96.89514563106796,
          "std_gray": 60.67629114021546
        },
        "geometry": {
          "distance_to_center_norm": 0.40306055545806885,
          "distance_to_border_px": 154.0
        },
        "edge_ratio": 1.0860764484296306,
        "edge_lengths_px": [
          26.172504425048828,
          28.42534065246582,
          26.172504425048828,
          28.42534065246582
        ]
      },
      "confidence": 0.45546210617301425
    },
    {
      "observation_id": "6d442b23-d9c0-4a30-8896-a8383b40c802",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          728.0,
          543.0
        ],
        [
          709.0,
          562.0
        ],
        [
          688.0,
          544.0
        ],
        [
          708.0,
          525.0
        ]
      ],
      "center_px": [
        708.25,
        543.5
      ],
      "quality": {
        "area_px": 740.5,
        "perimeter_px": 109.02216911315918,
        "sharpness": {
          "laplacian_var": 3842.592600192272
        },
        "contrast": {
          "p05": 34.0,
          "p95": 182.0,
          "dynamic_range": 148.0,
          "mean_gray": 122.46783625730994,
          "std_gray": 65.18711587886648
        },
        "geometry": {
          "distance_to_center_norm": 0.2666221559047699,
          "distance_to_border_px": 158.0
        },
        "edge_ratio": 1.0293477641301256,
        "edge_lengths_px": [
          26.870058059692383,
          27.658634185791016,
          27.58622932434082,
          26.90724754333496
        ]
      },
      "confidence": 0.4795917219326271
    },
    {
      "observation_id": "245e4267-23a4-4a13-8416-06c27a6a59a2",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          104.0,
          515.0
        ],
        [
          81.0,
          533.0
        ],
        [
          65.0,
          515.0
        ],
        [
          87.0,
          496.0
        ]
      ],
      "center_px": [
        84.25,
        514.75
      ],
      "quality": {
        "area_px": 721.5,
        "perimeter_px": 107.85333442687988,
        "sharpness": {
          "laplacian_var": 3021.4587356413563
        },
        "contrast": {
          "p05": 9.0,
          "p95": 155.0,
          "dynamic_range": 146.0,
          "mean_gray": 47.45029239766082,
          "std_gray": 56.741797158257256
        },
        "geometry": {
          "distance_to_center_norm": 0.7856342196464539,
          "distance_to_border_px": 65.0
        },
        "edge_ratio": 1.2127199347849176,
        "edge_lengths_px": [
          29.20616340637207,
          24.083189010620117,
          29.068883895874023,
          25.495098114013672
        ]
      },
      "confidence": 0.39662908657084783
    },
    {
      "observation_id": "ff87a220-e12a-452c-ad71-336415e4f0c7",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          503.0,
          514.0
        ],
        [
          485.0,
          495.0
        ],
        [
          506.0,
          477.0
        ],
        [
          524.0,
          496.0
        ]
      ],
      "center_px": [
        504.5,
        495.5
      ],
      "quality": {
        "area_px": 723.0,
        "perimeter_px": 107.66227722167969,
        "sharpness": {
          "laplacian_var": 634.1773537156731
        },
        "contrast": {
          "p05": 3.0,
          "p95": 77.0,
          "dynamic_range": 74.0,
          "mean_gray": 30.101364522417153,
          "std_gray": 30.60242218766537
        },
        "geometry": {
          "distance_to_center_norm": 0.2609632611274719,
          "distance_to_border_px": 206.0
        },
        "edge_ratio": 1.056782099894111,
        "edge_lengths_px": [
          26.172504425048828,
          27.658634185791016,
          26.172504425048828,
          27.658634185791016
        ]
      },
      "confidence": 0.42189397421159375
    },
    {
      "observation_id": "e8fb0802-583c-4221-b8e3-a3055b32f147",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          61.0,
          498.0
        ],
        [
          38.0,
          516.0
        ],
        [
          22.0,
          498.0
        ],
        [
          45.0,
          480.0
        ]
      ],
      "center_px": [
        41.5,
        498.0
      ],
      "quality": {
        "area_px": 702.0,
        "perimeter_px": 106.57870483398438,
        "sharpness": {
          "laplacian_var": 3988.2002160633892
        },
        "contrast": {
          "p05": 9.0,
          "p95": 156.0,
          "dynamic_range": 147.0,
          "mean_gray": 82.93987975951904,
          "std_gray": 63.70784702319041
        },
        "geometry": {
          "distance_to_center_norm": 0.8364452719688416,
          "distance_to_border_px": 22.0
        },
        "edge_ratio": 1.2127199347849176,
        "edge_lengths_px": [
          29.20616340637207,
          24.083189010620117,
          29.20616340637207,
          24.083189010620117
        ]
      },
      "confidence": 0.1698001278724927
    },
    {
      "observation_id": "2e120c61-fc10-4bbb-997b-4bd378e52a99",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          49.0,
          458.0
        ],
        [
          26.0,
          476.0
        ],
        [
          10.0,
          458.0
        ],
        [
          32.0,
          440.0
        ]
      ],
      "center_px": [
        29.25,
        458.0
      ],
      "quality": {
        "area_px": 702.0,
        "perimeter_px": 106.47352981567383,
        "sharpness": {
          "laplacian_var": 3721.0383994105478
        },
        "contrast": {
          "p05": 8.0,
          "p95": 155.0,
          "dynamic_range": 147.0,
          "mean_gray": 60.48490945674044,
          "std_gray": 61.16300970504088
        },
        "geometry": {
          "distance_to_center_norm": 0.8423811793327332,
          "distance_to_border_px": 10.0
        },
        "edge_ratio": 1.2127199347849176,
        "edge_lengths_px": [
          29.20616340637207,
          24.083189010620117,
          28.42534065246582,
          24.75883674621582
        ]
      },
      "confidence": 0.07718187630567852
    },
    {
      "observation_id": "b9540fef-ab99-4320-b21f-7ae9a55febd5",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          423.0,
          436.0
        ],
        [
          405.0,
          417.0
        ],
        [
          426.0,
          400.0
        ],
        [
          444.0,
          418.0
        ]
      ],
      "center_px": [
        424.5,
        417.75
      ],
      "quality": {
        "area_px": 703.5,
        "perimeter_px": 106.30549621582031,
        "sharpness": {
          "laplacian_var": 3265.912003206361
        },
        "contrast": {
          "p05": 15.0,
          "p95": 160.0,
          "dynamic_range": 145.0,
          "mean_gray": 66.21730382293762,
          "std_gray": 60.991844478846815
        },
        "geometry": {
          "distance_to_center_norm": 0.3038310110569,
          "distance_to_border_px": 284.0
        },
        "edge_ratio": 1.0865337338869794,
        "edge_lengths_px": [
          26.172504425048828,
          27.018512725830078,
          25.45584487915039,
          27.658634185791016
        ]
      },
      "confidence": 0.4316478958478293
    },
    {
      "observation_id": "0eb9ffb9-7144-4a4b-ad5e-01dbcb1db22e",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          730.0,
          415.0
        ],
        [
          711.0,
          433.0
        ],
        [
          692.0,
          415.0
        ],
        [
          710.0,
          398.0
        ]
      ],
      "center_px": [
        710.75,
        415.25
      ],
      "quality": {
        "area_px": 665.0,
        "perimeter_px": 103.3526554107666,
        "sharpness": {
          "laplacian_var": 3924.6265614727154
        },
        "contrast": {
          "p05": 30.0,
          "p95": 182.0,
          "dynamic_range": 152.0,
          "mean_gray": 93.31837606837607,
          "std_gray": 66.83513268832053
        },
        "geometry": {
          "distance_to_center_norm": 0.1222480833530426,
          "distance_to_border_px": 287.0
        },
        "edge_ratio": 1.0601794455656337,
        "edge_lengths_px": [
          26.172504425048828,
          26.172504425048828,
          24.75883674621582,
          26.248809814453125
        ]
      },
      "confidence": 0.4181682027393045
    },
    {
      "observation_id": "860a8131-9d6b-448b-a972-e083c013eb2a",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          641.0,
          352.0
        ],
        [
          623.0,
          369.0
        ],
        [
          604.0,
          351.0
        ],
        [
          623.0,
          335.0
        ]
      ],
      "center_px": [
        622.75,
        351.75
      ],
      "quality": {
        "area_px": 629.0,
        "perimeter_px": 100.5296630859375,
        "sharpness": {
          "laplacian_var": 4269.743582190051
        },
        "contrast": {
          "p05": 24.0,
          "p95": 178.0,
          "dynamic_range": 154.0,
          "mean_gray": 89.93807339449542,
          "std_gray": 67.35074098986975
        },
        "geometry": {
          "distance_to_center_norm": 0.026040121912956238,
          "distance_to_border_px": 335.0
        },
        "edge_ratio": 1.057097499907748,
        "edge_lengths_px": [
          24.75883674621582,
          26.172504425048828,
          24.83948516845703,
          24.75883674621582
        ]
      },
      "confidence": 0.39668368657567366
    },
    {
      "observation_id": "93ab7acb-7291-4296-8f2a-52dbd0366112",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          780.0,
          332.0
        ],
        [
          763.0,
          349.0
        ],
        [
          743.0,
          333.0
        ],
        [
          760.0,
          316.0
        ]
      ],
      "center_px": [
        761.5,
        332.5
      ],
      "quality": {
        "area_px": 612.0,
        "perimeter_px": 99.30825424194336,
        "sharpness": {
          "laplacian_var": 4008.339052476572
        },
        "contrast": {
          "p05": 30.0,
          "p95": 182.0,
          "dynamic_range": 152.0,
          "mean_gray": 80.78859857482185,
          "std_gray": 63.768214952110156
        },
        "geometry": {
          "distance_to_center_norm": 0.16964846849441528,
          "distance_to_border_px": 316.0
        },
        "edge_ratio": 1.0653394779010876,
        "edge_lengths_px": [
          24.041629791259766,
          25.612497329711914,
          24.041629791259766,
          25.612497329711914
        ]
      },
      "confidence": 0.3829765144945479
    },
    {
      "observation_id": "76532e43-bd96-4b90-889d-147d142942e6",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          199.0,
          218.0
        ],
        [
          183.0,
          202.0
        ],
        [
          204.0,
          186.0
        ],
        [
          220.0,
          202.0
        ]
      ],
      "center_px": [
        201.5,
        202.0
      ],
      "quality": {
        "area_px": 592.0,
        "perimeter_px": 98.05634689331055,
        "sharpness": {
          "laplacian_var": 3687.255047441093
        },
        "contrast": {
          "p05": 10.0,
          "p95": 166.0,
          "dynamic_range": 156.0,
          "mean_gray": 70.36945812807882,
          "std_gray": 63.724518355244186
        },
        "geometry": {
          "distance_to_center_norm": 0.6347478032112122,
          "distance_to_border_px": 183.0
        },
        "edge_ratio": 1.1667596566650227,
        "edge_lengths_px": [
          22.627416610717773,
          26.4007568359375,
          22.627416610717773,
          26.4007568359375
        ]
      },
      "confidence": 0.3382587531306593
    },
    {
      "observation_id": "3d2b8639-182f-4bb9-a354-c62c0ee7d2db",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          475.0,
          329.0
        ],
        [
          456.0,
          344.0
        ],
        [
          439.0,
          328.0
        ],
        [
          458.0,
          311.0
        ]
      ],
      "center_px": [
        457.0,
        328.0
      ],
      "quality": {
        "area_px": 595.0,
        "perimeter_px": 97.80660820007324,
        "sharpness": {
          "laplacian_var": 2664.1936987244117
        },
        "contrast": {
          "p05": 17.0,
          "p95": 173.0,
          "dynamic_range": 156.0,
          "mean_gray": 47.105651105651106,
          "std_gray": 53.59463047022017
        },
        "geometry": {
          "distance_to_center_norm": 0.25299760699272156,
          "distance_to_border_px": 311.0
        },
        "edge_ratio": 1.0920899795394092,
        "edge_lengths_px": [
          24.20743751525879,
          23.34523582458496,
          25.495098114013672,
          24.75883674621582
        ]
      },
      "confidence": 0.3632179345093538
    },
    {
      "observation_id": "84d24b52-8e55-453f-ae59-291a02f91329",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          701.0,
          268.0
        ],
        [
          683.0,
          285.0
        ],
        [
          665.0,
          269.0
        ],
        [
          682.0,
          253.0
        ]
      ],
      "center_px": [
        682.75,
        268.75
      ],
      "quality": {
        "area_px": 576.5,
        "perimeter_px": 96.39469909667969,
        "sharpness": {
          "laplacian_var": 3776.6961096938776
        },
        "contrast": {
          "p05": 24.0,
          "p95": 179.0,
          "dynamic_range": 155.0,
          "mean_gray": 108.51020408163265,
          "std_gray": 67.30553922347278
        },
        "geometry": {
          "distance_to_center_norm": 0.13722912967205048,
          "distance_to_border_px": 253.0
        },
        "edge_ratio": 1.0605520086518976,
        "edge_lengths_px": [
          24.75883674621582,
          24.083189010620117,
          23.34523582458496,
          24.20743751525879
        ]
      },
      "confidence": 0.3623898971459892
    },
    {
      "observation_id": "a2195cc1-1c29-43ad-bf7b-85f93f0b413e",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          648.0,
          262.0
        ],
        [
          631.0,
          278.0
        ],
        [
          612.0,
          263.0
        ],
        [
          630.0,
          247.0
        ]
      ],
      "center_px": [
        630.25,
        262.5
      ],
      "quality": {
        "area_px": 558.5,
        "perimeter_px": 95.06661224365234,
        "sharpness": {
          "laplacian_var": 3591.9395663615237
        },
        "contrast": {
          "p05": 22.0,
          "p95": 178.0,
          "dynamic_range": 156.0,
          "mean_gray": 60.023809523809526,
          "std_gray": 59.037894424514505
        },
        "geometry": {
          "distance_to_center_norm": 0.13344134390354156,
          "distance_to_border_px": 247.0
        },
        "edge_ratio": 1.0369326614283263,
        "edge_lengths_px": [
          23.34523582458496,
          24.20743751525879,
          24.083189010620117,
          23.430749893188477
        ]
      },
      "confidence": 0.3590718541167963
    },
    {
      "observation_id": "84ffb95f-06f4-4c11-afa8-6b073758a728",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          130.0,
          150.0
        ],
        [
          115.0,
          135.0
        ],
        [
          136.0,
          120.0
        ],
        [
          151.0,
          135.0
        ]
      ],
      "center_px": [
        133.0,
        135.0
      ],
      "quality": {
        "area_px": 540.0,
        "perimeter_px": 94.04035949707031,
        "sharpness": {
          "laplacian_var": 3632.093509420229
        },
        "contrast": {
          "p05": 9.0,
          "p95": 163.0,
          "dynamic_range": 154.0,
          "mean_gray": 78.22222222222223,
          "std_gray": 62.931333480914475
        },
        "geometry": {
          "distance_to_center_norm": 0.7553886771202087,
          "distance_to_border_px": 115.0
        },
        "edge_ratio": 1.216552530753038,
        "edge_lengths_px": [
          21.21320343017578,
          25.806976318359375,
          21.21320343017578,
          25.806976318359375
        ]
      },
      "confidence": 0.29591817114314195
    },
    {
      "observation_id": "4c9fae0f-608d-4a3c-8450-04ce64166411",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          309.0,
          157.0
        ],
        [
          289.0,
          172.0
        ],
        [
          273.0,
          157.0
        ],
        [
          293.0,
          142.0
        ]
      ],
      "center_px": [
        291.0,
        157.0
      ],
      "quality": {
        "area_px": 540.0,
        "perimeter_px": 93.8634262084961,
        "sharpness": {
          "laplacian_var": 3395.1406455586352
        },
        "contrast": {
          "p05": 11.0,
          "p95": 167.0,
          "dynamic_range": 156.0,
          "mean_gray": 63.476190476190474,
          "std_gray": 63.54863749354875
        },
        "geometry": {
          "distance_to_center_norm": 0.5498347282409668,
          "distance_to_border_px": 142.0
        },
        "edge_ratio": 1.1399018344425471,
        "edge_lengths_px": [
          25.0,
          21.931713104248047,
          25.0,
          21.931713104248047
        ]
      },
      "confidence": 0.3158166687011719
    },
    {
      "observation_id": "9db54152-4964-42c3-8534-959baca5cec9",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          542.0,
          410.0
        ],
        [
          512.0,
          397.0
        ],
        [
          508.0,
          384.0
        ],
        [
          538.0,
          397.0
        ]
      ],
      "center_px": [
        525.0,
        397.0
      ],
      "quality": {
        "area_px": 338.0,
        "perimeter_px": 92.59407043457031,
        "sharpness": {
          "laplacian_var": 1154.4804077148438
        },
        "contrast": {
          "p05": 19.0,
          "p95": 87.25,
          "dynamic_range": 68.25,
          "mean_gray": 34.61328125,
          "std_gray": 23.089560246102533
        },
        "geometry": {
          "distance_to_center_norm": 0.16451755166053772,
          "distance_to_border_px": 310.0
        },
        "edge_ratio": 2.4038256153899655,
        "edge_lengths_px": [
          32.69556427001953,
          13.601470947265625,
          32.69556427001953,
          13.601470947265625
        ]
      },
      "confidence": 0.07997148327617512
    },
    {
      "observation_id": "04aea3a3-5ef3-4ca2-99ff-79f7c3b37244",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          460.0,
          183.0
        ],
        [
          441.0,
          198.0
        ],
        [
          425.0,
          182.0
        ],
        [
          444.0,
          168.0
        ]
      ],
      "center_px": [
        442.5,
        182.75
      ],
      "quality": {
        "area_px": 526.5,
        "perimeter_px": 92.3674144744873,
        "sharpness": {
          "laplacian_var": 2481.4484969037344
        },
        "contrast": {
          "p05": 14.0,
          "p95": 168.0,
          "dynamic_range": 154.0,
          "mean_gray": 43.772602739726025,
          "std_gray": 52.56338967686194
        },
        "geometry": {
          "distance_to_center_norm": 0.36139723658561707,
          "distance_to_border_px": 168.0
        },
        "edge_ratio": 1.1037640972318732,
        "edge_lengths_px": [
          24.20743751525879,
          22.627416610717773,
          23.600847244262695,
          21.931713104248047
        ]
      },
      "confidence": 0.31800273344664126
    },
    {
      "observation_id": "0c2a9e54-aa2a-4c5d-8d7e-5d8a0ff5653c",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          511.0,
          166.0
        ],
        [
          493.0,
          181.0
        ],
        [
          476.0,
          166.0
        ],
        [
          496.0,
          151.0
        ]
      ],
      "center_px": [
        494.0,
        166.0
      ],
      "quality": {
        "area_px": 525.0,
        "perimeter_px": 92.31552124023438,
        "sharpness": {
          "laplacian_var": 3986.9990817263547
        },
        "contrast": {
          "p05": 16.1,
          "p95": 173.0,
          "dynamic_range": 156.9,
          "mean_gray": 125.21487603305785,
          "std_gray": 58.958528630409944
        },
        "geometry": {
          "distance_to_center_norm": 0.33065441250801086,
          "distance_to_border_px": 151.0
        },
        "edge_ratio": 1.1785113022787261,
        "edge_lengths_px": [
          23.430749893188477,
          22.671567916870117,
          25.0,
          21.21320343017578
        ]
      },
      "confidence": 0.2969848480224609
    },
    {
      "observation_id": "dc595c66-cb9e-4e8a-a04e-721a3f6da8bf",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          336.0,
          130.0
        ],
        [
          317.0,
          145.0
        ],
        [
          301.0,
          130.0
        ],
        [
          320.0,
          115.0
        ]
      ],
      "center_px": [
        318.5,
        130.0
      ],
      "quality": {
        "area_px": 525.0,
        "perimeter_px": 92.27830123901367,
        "sharpness": {
          "laplacian_var": 4100.48324263464
        },
        "contrast": {
          "p05": 12.0,
          "p95": 168.0,
          "dynamic_range": 156.0,
          "mean_gray": 102.68767123287671,
          "std_gray": 63.606805755457174
        },
        "geometry": {
          "distance_to_center_norm": 0.5383343696594238,
          "distance_to_border_px": 115.0
        },
        "edge_ratio": 1.1037640972318732,
        "edge_lengths_px": [
          24.20743751525879,
          21.931713104248047,
          24.20743751525879,
          21.931713104248047
        ]
      },
      "confidence": 0.3170967427530611
    },
    {
      "observation_id": "91e796f4-817a-47f3-8368-b66aa180e7a3",
      "type": "aruco",
      "marker_id": 59,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          397.0,
          109.0
        ],
        [
          379.0,
          124.0
        ],
        [
          362.0,
          109.0
        ],
        [
          381.0,
          94.0
        ]
      ],
      "center_px": [
        379.75,
        109.0
      ],
      "quality": {
        "area_px": 525.0,
        "perimeter_px": 92.24146842956543,
        "sharpness": {
          "laplacian_var": 3327.4987727528614
        },
        "contrast": {
          "p05": 12.0,
          "p95": 169.0,
          "dynamic_range": 157.0,
          "mean_gray": 99.71780821917808,
          "std_gray": 66.85764747082477
        },
        "geometry": {
          "distance_to_center_norm": 0.49239593744277954,
          "distance_to_border_px": 94.0
        },
        "edge_ratio": 1.1037640972318732,
        "edge_lengths_px": [
          23.430749893188477,
          22.671567916870117,
          24.20743751525879,
          21.931713104248047
        ]
      },
      "confidence": 0.3170967427530611
    },
    {
      "observation_id": "83fd0aa9-ba5e-43e7-ba5e-1b55829f5136",
      "type": "aruco",
      "marker_id": 48,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          387.0,
          44.0
        ],
        [
          368.0,
          59.0
        ],
        [
          352.0,
          44.0
        ],
        [
          371.0,
          30.0
        ]
      ],
      "center_px": [
        369.5,
        44.25
      ],
      "quality": {
        "area_px": 507.5,
        "perimeter_px": 91.00028991699219,
        "sharpness": {
          "laplacian_var": 3331.7804165884777
        },
        "contrast": {
          "p05": 11.0,
          "p95": 166.0,
          "dynamic_range": 155.0,
          "mean_gray": 62.11232876712329,
          "std_gray": 61.993512575318384
        },
        "geometry": {
          "distance_to_center_norm": 0.5662168264389038,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.1386220591259189,
        "edge_lengths_px": [
          24.20743751525879,
          21.931713104248047,
          23.600847244262695,
          21.260292053222656
        ]
      },
      "confidence": 0.17828567290874034
    },
    {
      "observation_id": "9c909a4e-cfb8-4a70-8564-e8e2714c7c45",
      "type": "aruco",
      "marker_id": 57,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          480.0,
          71.0
        ],
        [
          462.0,
          85.0
        ],
        [
          446.0,
          70.0
        ],
        [
          464.0,
          56.0
        ]
      ],
      "center_px": [
        463.0,
        70.5
      ],
      "quality": {
        "area_px": 494.0,
        "perimeter_px": 89.47044372558594,
        "sharpness": {
          "laplacian_var": 4699.651786867252
        },
        "contrast": {
          "p05": 13.0,
          "p95": 170.45,
          "dynamic_range": 157.45,
          "mean_gray": 84.39488636363636,
          "std_gray": 65.05496170187591
        },
        "geometry": {
          "distance_to_center_norm": 0.4621008336544037,
          "distance_to_border_px": 56.0
        },
        "edge_ratio": 1.0397504586236819,
        "edge_lengths_px": [
          22.803508758544922,
          21.931713104248047,
          22.803508758544922,
          21.931713104248047
        ]
      },
      "confidence": 0.3167426670523156
    },
    {
      "observation_id": "206a623f-b1ea-4541-ab10-abb476432399",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          260.0,
          42.0
        ],
        [
          241.0,
          56.0
        ],
        [
          226.0,
          42.0
        ],
        [
          245.0,
          28.0
        ]
      ],
      "center_px": [
        243.0,
        42.0
      ],
      "quality": {
        "area_px": 476.0,
        "perimeter_px": 88.23826217651367,
        "sharpness": {
          "laplacian_var": 3141.2947463324113
        },
        "contrast": {
          "p05": 9.0,
          "p95": 163.0,
          "dynamic_range": 154.0,
          "mean_gray": 54.17751479289941,
          "std_gray": 59.87010962876083
        },
        "geometry": {
          "distance_to_center_norm": 0.6927092671394348,
          "distance_to_border_px": 28.0
        },
        "edge_ratio": 1.1502349525772275,
        "edge_lengths_px": [
          23.600847244262695,
          20.51828384399414,
          23.600847244262695,
          20.51828384399414
        ]
      },
      "confidence": 0.15449597168691093
    },
    {
      "observation_id": "0a1f622e-447c-4ce6-b52e-24803869a1df",
      "type": "aruco",
      "marker_id": 71,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          316.0,
          30.0
        ],
        [
          297.0,
          43.0
        ],
        [
          282.0,
          29.0
        ],
        [
          302.0,
          16.0
        ]
      ],
      "center_px": [
        299.25,
        29.5
      ],
      "quality": {
        "area_px": 461.5,
        "perimeter_px": 87.19272422790527,
        "sharpness": {
          "laplacian_var": 4560.135907254991
        },
        "contrast": {
          "p05": 10.0,
          "p95": 165.0,
          "dynamic_range": 155.0,
          "mean_gray": 102.70370370370371,
          "std_gray": 63.55248524915691
        },
        "geometry": {
          "distance_to_center_norm": 0.646465003490448,
          "distance_to_border_px": 16.0
        },
        "edge_ratio": 1.2047948566010105,
        "edge_lengths_px": [
          23.021728515625,
          20.51828384399414,
          23.853721618652344,
          19.79899024963379
        ]
      },
      "confidence": 0.08171792300897739
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          499.0,
          366.0
        ],
        [
          518.0,
          363.0
        ],
        [
          543.0,
          373.0
        ],
        [
          511.0,
          373.0
        ]
      ],
      "center_px": [
        517.75,
        368.75
      ],
      "area_px": 244.5
    },
    {
      "image_points_px": [
        [
          605.0,
          523.0
        ],
        [
          616.0,
          538.0
        ],
        [
          597.0,
          553.0
        ],
        [
          584.0,
          538.0
        ]
      ],
      "center_px": [
        600.5,
        538.0
      ],
      "area_px": 480.0
    },
    {
      "image_points_px": [
        [
          255.0,
          258.0
        ],
        [
          263.0,
          256.0
        ],
        [
          269.0,
          258.0
        ],
        [
          282.0,
          272.0
        ]
      ],
      "center_px": [
        267.25,
        261.0
      ],
      "area_px": 112.0
    },
    {
      "image_points_px": [
        [
          570.0,
          460.0
        ],
        [
          549.0,
          455.0
        ],
        [
          548.0,
          452.0
        ],
        [
          568.0,
          450.0
        ]
      ],
      "center_px": [
        558.75,
        454.25
      ],
      "area_px": 131.0
    },
    {
      "image_points_px": [
        [
          498.0,
          461.0
        ],
        [
          501.0,
          461.0
        ],
        [
          517.0,
          477.0
        ],
        [
          498.0,
          470.0
        ]
      ],
      "center_px": [
        503.5,
        467.25
      ],
      "area_px": 109.5
    },
    {
      "image_points_px": [
        [
          589.0,
          305.0
        ],
        [
          608.0,
          308.0
        ],
        [
          607.0,
          316.0
        ],
        [
          588.0,
          311.0
        ]
      ],
      "center_px": [
        598.0,
        310.0
      ],
      "area_px": 137.0
    },
    {
      "image_points_px": [
        [
          589.0,
          331.0
        ],
        [
          589.0,
          337.0
        ],
        [
          579.0,
          353.0
        ],
        [
          582.0,
          340.0
        ]
      ],
      "center_px": [
        584.75,
        340.25
      ],
      "area_px": 62.0
    },
    {
      "image_points_px": [
        [
          532.0,
          269.0
        ],
        [
          547.0,
          272.0
        ],
        [
          552.0,
          275.0
        ],
        [
          537.0,
          273.0
        ]
      ],
      "center_px": [
        542.0,
        272.25
      ],
      "area_px": 40.0
    }
  ]
}