{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T18:36:45Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "f",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene8\\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\\Scene8\\render_f.png",
    "image_sha256": "22f539260c8b9f5d0b7606b6a5ebf48769cf3a73b110b258c3234fe43600be8c",
    "width_px": 1280,
    "height_px": 720
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 29,
    "num_rejected_candidates": 11
  },
  "detections": [
    {
      "observation_id": "b712b167-9399-429e-9fbb-028e93448213",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          756.0,
          327.0
        ],
        [
          784.0,
          353.0
        ],
        [
          761.0,
          382.0
        ],
        [
          734.0,
          356.0
        ]
      ],
      "center_px": [
        758.75,
        354.5
      ],
      "quality": {
        "area_px": 1382.5,
        "perimeter_px": 149.10733795166016,
        "sharpness": {
          "laplacian_var": 2706.351212856978
        },
        "contrast": {
          "p05": 40.0,
          "p95": 187.0,
          "dynamic_range": 147.0,
          "mean_gray": 79.24301075268818,
          "std_gray": 58.06111981305666
        },
        "geometry": {
          "distance_to_center_norm": 0.16189147531986237,
          "distance_to_border_px": 327.0
        },
        "edge_ratio": 1.0497078971212677,
        "edge_lengths_px": [
          38.20994567871094,
          37.013511657714844,
          37.48332977294922,
          36.400550842285156
        ]
      },
      "confidence": 0.8780220375537395
    },
    {
      "observation_id": "c7b61b37-3b92-448d-b73b-686546b51c21",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          678.0,
          336.0
        ],
        [
          704.0,
          322.0
        ],
        [
          723.0,
          357.0
        ],
        [
          698.0,
          371.0
        ]
      ],
      "center_px": [
        700.75,
        346.5
      ],
      "quality": {
        "area_px": 1165.5,
        "perimeter_px": 138.31864547729492,
        "sharpness": {
          "laplacian_var": 1286.8501585124218
        },
        "contrast": {
          "p05": 8.0,
          "p95": 132.0,
          "dynamic_range": 124.0,
          "mean_gray": 49.648148148148145,
          "std_gray": 49.89362415317758
        },
        "geometry": {
          "distance_to_center_norm": 0.0847497284412384,
          "distance_to_border_px": 322.0
        },
        "edge_ratio": 1.4068736343378838,
        "edge_lengths_px": [
          29.529645919799805,
          39.824615478515625,
          28.65309715270996,
          40.31128692626953
        ]
      },
      "confidence": 0.5522884081665793
    },
    {
      "observation_id": "f3345dae-f366-47d3-a1a6-328a0f50bce7",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          814.0,
          264.0
        ],
        [
          824.0,
          292.0
        ],
        [
          794.0,
          301.0
        ],
        [
          784.0,
          273.0
        ]
      ],
      "center_px": [
        804.0,
        282.5
      ],
      "quality": {
        "area_px": 930.0,
        "perimeter_px": 122.10611343383789,
        "sharpness": {
          "laplacian_var": 3845.15728872323
        },
        "contrast": {
          "p05": 26.0,
          "p95": 180.0,
          "dynamic_range": 154.0,
          "mean_gray": 87.71341463414635,
          "std_gray": 66.61273364351763
        },
        "geometry": {
          "distance_to_center_norm": 0.24702326953411102,
          "distance_to_border_px": 264.0
        },
        "edge_ratio": 1.0534364993835403,
        "edge_lengths_px": [
          29.73213768005371,
          31.320919036865234,
          29.73213768005371,
          31.320919036865234
        ]
      },
      "confidence": 0.5885499509109636
    },
    {
      "observation_id": "d2970c67-7d5f-4f38-87e0-1f34619bac1a",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1214.0,
          656.0
        ],
        [
          1242.0,
          647.0
        ],
        [
          1254.0,
          676.0
        ],
        [
          1226.0,
          685.0
        ]
      ],
      "center_px": [
        1234.0,
        666.0
      ],
      "quality": {
        "area_px": 920.0,
        "perimeter_px": 121.5911865234375,
        "sharpness": {
          "laplacian_var": 2716.906776310776
        },
        "contrast": {
          "p05": 10.0,
          "p95": 156.0,
          "dynamic_range": 146.0,
          "mean_gray": 79.70524691358025,
          "std_gray": 64.75557917429427
        },
        "geometry": {
          "distance_to_center_norm": 0.9099597334861755,
          "distance_to_border_px": 26.0
        },
        "edge_ratio": 1.0671121423123415,
        "edge_lengths_px": [
          29.4108829498291,
          31.38471031188965,
          29.4108829498291,
          31.38471031188965
        ]
      },
      "confidence": 0.2988751797371847
    },
    {
      "observation_id": "a7a45b3d-b66b-42ba-8672-829f268e71ee",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1176.0,
          617.0
        ],
        [
          1204.0,
          608.0
        ],
        [
          1216.0,
          636.0
        ],
        [
          1188.0,
          646.0
        ]
      ],
      "center_px": [
        1196.0,
        626.75
      ],
      "quality": {
        "area_px": 912.0,
        "perimeter_px": 120.99082374572754,
        "sharpness": {
          "laplacian_var": 2157.4083981100443
        },
        "contrast": {
          "p05": 10.0,
          "p95": 157.0,
          "dynamic_range": 147.0,
          "mean_gray": 46.45524691358025,
          "std_gray": 56.10872797690166
        },
        "geometry": {
          "distance_to_center_norm": 0.8398146033287048,
          "distance_to_border_px": 64.0
        },
        "edge_ratio": 1.0671121423123415,
        "edge_lengths_px": [
          29.4108829498291,
          30.463092803955078,
          29.73213768005371,
          31.38471031188965
        ]
      },
      "confidence": 0.5697620483284124
    },
    {
      "observation_id": "aa95dda5-6cee-4376-b0c8-f060bf54e470",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          840.0,
          529.0
        ],
        [
          851.0,
          557.0
        ],
        [
          822.0,
          567.0
        ],
        [
          812.0,
          538.0
        ]
      ],
      "center_px": [
        831.25,
        547.75
      ],
      "quality": {
        "area_px": 912.0,
        "perimeter_px": 120.84554862976074,
        "sharpness": {
          "laplacian_var": 1980.4954615147337
        },
        "contrast": {
          "p05": 13.0,
          "p95": 151.0,
          "dynamic_range": 138.0,
          "mean_gray": 58.381024096385545,
          "std_gray": 56.92338701546731
        },
        "geometry": {
          "distance_to_center_norm": 0.3649789094924927,
          "distance_to_border_px": 153.0
        },
        "edge_ratio": 1.043005886014016,
        "edge_lengths_px": [
          30.08321762084961,
          30.675724029541016,
          30.675724029541016,
          29.4108829498291
        ]
      },
      "confidence": 0.5829305549976826
    },
    {
      "observation_id": "16ec1580-1268-4ed8-bbe5-0d3490a2f676",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          575.0,
          614.0
        ],
        [
          603.0,
          605.0
        ],
        [
          613.0,
          633.0
        ],
        [
          584.0,
          643.0
        ]
      ],
      "center_px": [
        593.75,
        623.75
      ],
      "quality": {
        "area_px": 902.5,
        "perimeter_px": 120.18319702148438,
        "sharpness": {
          "laplacian_var": 2746.4251695243124
        },
        "contrast": {
          "p05": 32.0,
          "p95": 177.0,
          "dynamic_range": 145.0,
          "mean_gray": 80.67427701674276,
          "std_gray": 61.606650979200566
        },
        "geometry": {
          "distance_to_center_norm": 0.3646650016307831,
          "distance_to_border_px": 77.0
        },
        "edge_ratio": 1.043005886014016,
        "edge_lengths_px": [
          29.4108829498291,
          29.73213768005371,
          30.675724029541016,
          30.364452362060547
        ]
      },
      "confidence": 0.5768583617164568
    },
    {
      "observation_id": "5799d2e4-a82a-4f48-9b85-f92408560b8d",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          732.0,
          642.0
        ],
        [
          760.0,
          633.0
        ],
        [
          770.0,
          661.0
        ],
        [
          742.0,
          671.0
        ]
      ],
      "center_px": [
        751.0,
        651.75
      ],
      "quality": {
        "area_px": 893.0,
        "perimeter_px": 119.55088233947754,
        "sharpness": {
          "laplacian_var": 1932.8056317634505
        },
        "contrast": {
          "p05": 24.0,
          "p95": 173.0,
          "dynamic_range": 149.0,
          "mean_gray": 47.99691358024691,
          "std_gray": 48.87300868708959
        },
        "geometry": {
          "distance_to_center_norm": 0.42510050535202026,
          "distance_to_border_px": 49.0
        },
        "edge_ratio": 1.043005886014016,
        "edge_lengths_px": [
          29.4108829498291,
          29.73213768005371,
          29.73213768005371,
          30.675724029541016
        ]
      },
      "confidence": 0.5593704450665263
    },
    {
      "observation_id": "49131669-2c66-4a7a-b4f0-f87dea111c35",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          522.0,
          629.0
        ],
        [
          550.0,
          620.0
        ],
        [
          559.0,
          649.0
        ],
        [
          531.0,
          658.0
        ]
      ],
      "center_px": [
        540.5,
        639.0
      ],
      "quality": {
        "area_px": 893.0,
        "perimeter_px": 119.5506706237793,
        "sharpness": {
          "laplacian_var": 2061.987266386131
        },
        "contrast": {
          "p05": 35.0,
          "p95": 178.0,
          "dynamic_range": 143.0,
          "mean_gray": 64.78627145085804,
          "std_gray": 51.990814609184824
        },
        "geometry": {
          "distance_to_center_norm": 0.4033917188644409,
          "distance_to_border_px": 62.0
        },
        "edge_ratio": 1.032422332027845,
        "edge_lengths_px": [
          29.4108829498291,
          30.364452362060547,
          29.4108829498291,
          30.364452362060547
        ]
      },
      "confidence": 0.5766374039623903
    },
    {
      "observation_id": "e4526f85-4a9a-4ab7-8192-18929fe53fe2",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1221.0,
          585.0
        ],
        [
          1248.0,
          576.0
        ],
        [
          1260.0,
          604.0
        ],
        [
          1233.0,
          614.0
        ]
      ],
      "center_px": [
        1240.5,
        594.75
      ],
      "quality": {
        "area_px": 883.5,
        "perimeter_px": 119.10066223144531,
        "sharpness": {
          "laplacian_var": 2908.917577102329
        },
        "contrast": {
          "p05": 10.0,
          "p95": 159.0,
          "dynamic_range": 149.0,
          "mean_gray": 86.50704225352112,
          "std_gray": 66.04801826875524
        },
        "geometry": {
          "distance_to_center_norm": 0.8780498504638672,
          "distance_to_border_px": 20.0
        },
        "edge_ratio": 1.102746319437901,
        "edge_lengths_px": [
          28.460498809814453,
          30.463092803955078,
          28.792360305786133,
          31.38471031188965
        ]
      },
      "confidence": 0.21364841201201337
    },
    {
      "observation_id": "9e41c488-6730-40c5-9dd6-c794f406be97",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          473.0,
          596.0
        ],
        [
          501.0,
          586.0
        ],
        [
          510.0,
          615.0
        ],
        [
          482.0,
          624.0
        ]
      ],
      "center_px": [
        491.5,
        605.25
      ],
      "quality": {
        "area_px": 883.5,
        "perimeter_px": 118.91835594177246,
        "sharpness": {
          "laplacian_var": 2665.2899598667254
        },
        "contrast": {
          "p05": 39.0,
          "p95": 180.0,
          "dynamic_range": 141.0,
          "mean_gray": 104.56474258970358,
          "std_gray": 63.949443311234035
        },
        "geometry": {
          "distance_to_center_norm": 0.3904455602169037,
          "distance_to_border_px": 96.0
        },
        "edge_ratio": 1.032422332027845,
        "edge_lengths_px": [
          29.73213768005371,
          30.364452362060547,
          29.4108829498291,
          29.4108829498291
        ]
      },
      "confidence": 0.5705029634947052
    },
    {
      "observation_id": "7d6778b5-2fd1-492a-b0e0-81ba5437addf",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1178.0,
          539.0
        ],
        [
          1206.0,
          530.0
        ],
        [
          1217.0,
          558.0
        ],
        [
          1190.0,
          567.0
        ]
      ],
      "center_px": [
        1197.75,
        548.5
      ],
      "quality": {
        "area_px": 873.5,
        "perimeter_px": 118.41769218444824,
        "sharpness": {
          "laplacian_var": 2215.910202154405
        },
        "contrast": {
          "p05": 10.0,
          "p95": 159.0,
          "dynamic_range": 149.0,
          "mean_gray": 53.79556259904913,
          "std_gray": 60.25169905180765
        },
        "geometry": {
          "distance_to_center_norm": 0.8017706871032715,
          "distance_to_border_px": 63.0
        },
        "edge_ratio": 1.0703639808818122,
        "edge_lengths_px": [
          29.4108829498291,
          30.08321762084961,
          28.460498809814453,
          30.463092803955078
        ]
      },
      "confidence": 0.5440516905787338
    },
    {
      "observation_id": "1693abd9-4459-4484-a09c-3783190c2fc1",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          580.0,
          534.0
        ],
        [
          608.0,
          524.0
        ],
        [
          618.0,
          552.0
        ],
        [
          589.0,
          561.0
        ]
      ],
      "center_px": [
        598.75,
        542.75
      ],
      "quality": {
        "area_px": 874.0,
        "perimeter_px": 118.28922653198242,
        "sharpness": {
          "laplacian_var": 2668.284110619458
        },
        "contrast": {
          "p05": 34.0,
          "p95": 179.0,
          "dynamic_range": 145.0,
          "mean_gray": 89.34913112164297,
          "std_gray": 63.433011798407705
        },
        "geometry": {
          "distance_to_center_norm": 0.2551368772983551,
          "distance_to_border_px": 159.0
        },
        "edge_ratio": 1.0668981090236382,
        "edge_lengths_px": [
          29.73213768005371,
          29.73213768005371,
          30.364452362060547,
          28.460498809814453
        ]
      },
      "confidence": 0.5461315019106076
    },
    {
      "observation_id": "1d2978b1-9f23-4555-af1b-2e55ed9ce860",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          704.0,
          605.0
        ],
        [
          732.0,
          596.0
        ],
        [
          742.0,
          624.0
        ],
        [
          714.0,
          633.0
        ]
      ],
      "center_px": [
        723.0,
        614.5
      ],
      "quality": {
        "area_px": 874.0,
        "perimeter_px": 118.28604125976562,
        "sharpness": {
          "laplacian_var": 2524.409967853709
        },
        "contrast": {
          "p05": 25.55,
          "p95": 175.0,
          "dynamic_range": 149.45,
          "mean_gray": 89.68354430379746,
          "std_gray": 67.23234214629062
        },
        "geometry": {
          "distance_to_center_norm": 0.36455342173576355,
          "distance_to_border_px": 87.0
        },
        "edge_ratio": 1.0109229882956123,
        "edge_lengths_px": [
          29.4108829498291,
          29.73213768005371,
          29.4108829498291,
          29.73213768005371
        ]
      },
      "confidence": 0.5763709732716893
    },
    {
      "observation_id": "ab06ef9f-8f12-4dfc-b532-27556619f42b",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1235.0,
          476.0
        ],
        [
          1262.0,
          467.0
        ],
        [
          1274.0,
          494.0
        ],
        [
          1246.0,
          503.0
        ]
      ],
      "center_px": [
        1254.25,
        485.0
      ],
      "quality": {
        "area_px": 846.0,
        "perimeter_px": 116.57271575927734,
        "sharpness": {
          "laplacian_var": 3166.1783476139167
        },
        "contrast": {
          "p05": 10.0,
          "p95": 159.0,
          "dynamic_range": 149.0,
          "mean_gray": 75.12850082372323,
          "std_gray": 64.14483684443043
        },
        "geometry": {
          "distance_to_center_norm": 0.8536534309387207,
          "distance_to_border_px": 6.0
        },
        "edge_ratio": 1.0381607798359118,
        "edge_lengths_px": [
          28.460498809814453,
          29.546573638916016,
          29.4108829498291,
          29.154760360717773
        ]
      },
      "confidence": 0.06519221426443914
    },
    {
      "observation_id": "eb3e077c-a6cd-4423-950d-189c7c5691e5",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          713.0,
          526.0
        ],
        [
          741.0,
          518.0
        ],
        [
          750.0,
          545.0
        ],
        [
          722.0,
          554.0
        ]
      ],
      "center_px": [
        731.5,
        535.75
      ],
      "quality": {
        "area_px": 846.5,
        "perimeter_px": 116.4027042388916,
        "sharpness": {
          "laplacian_var": 3318.5827853138876
        },
        "contrast": {
          "p05": 26.0,
          "p95": 175.0,
          "dynamic_range": 149.0,
          "mean_gray": 99.47126436781609,
          "std_gray": 64.7332755042928
        },
        "geometry": {
          "distance_to_center_norm": 0.26983729004859924,
          "distance_to_border_px": 166.0
        },
        "edge_ratio": 1.0333930949828227,
        "edge_lengths_px": [
          29.120439529418945,
          28.460498809814453,
          29.4108829498291,
          29.4108829498291
        ]
      },
      "confidence": 0.5460974493377216
    },
    {
      "observation_id": "f2462082-97a0-4747-aedb-59459a55e2c7",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          435.0,
          486.0
        ],
        [
          463.0,
          478.0
        ],
        [
          471.0,
          505.0
        ],
        [
          443.0,
          514.0
        ]
      ],
      "center_px": [
        453.0,
        495.75
      ],
      "quality": {
        "area_px": 838.0,
        "perimeter_px": 115.8120174407959,
        "sharpness": {
          "laplacian_var": 2230.7738888496574
        },
        "contrast": {
          "p05": 43.0,
          "p95": 182.0,
          "dynamic_range": 139.0,
          "mean_gray": 85.56638655462184,
          "std_gray": 57.88351280814114
        },
        "geometry": {
          "distance_to_center_norm": 0.31469058990478516,
          "distance_to_border_px": 206.0
        },
        "edge_ratio": 1.0444110857131401,
        "edge_lengths_px": [
          29.120439529418945,
          28.160255432128906,
          29.4108829498291,
          29.120439529418945
        ]
      },
      "confidence": 0.5349107016469481
    },
    {
      "observation_id": "6b9dee28-0794-4876-beb2-5f12d5ed67b3",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          531.0,
          426.0
        ],
        [
          558.0,
          417.0
        ],
        [
          567.0,
          444.0
        ],
        [
          539.0,
          453.0
        ]
      ],
      "center_px": [
        548.75,
        435.0
      ],
      "quality": {
        "area_px": 819.0,
        "perimeter_px": 114.49213600158691,
        "sharpness": {
          "laplacian_var": 2516.310690335306
        },
        "contrast": {
          "p05": 37.2,
          "p95": 182.0,
          "dynamic_range": 144.8,
          "mean_gray": 94.0051282051282,
          "std_gray": 63.55094846361138
        },
        "geometry": {
          "distance_to_center_norm": 0.1608557105064392,
          "distance_to_border_px": 267.0
        },
        "edge_ratio": 1.0444110857131401,
        "edge_lengths_px": [
          28.460498809814453,
          28.460498809814453,
          29.4108829498291,
          28.160255432128906
        ]
      },
      "confidence": 0.5227826547122322
    },
    {
      "observation_id": "0d3030e8-a637-4169-9a28-0b6c59abb74a",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          600.0,
          305.0
        ],
        [
          627.0,
          296.0
        ],
        [
          636.0,
          322.0
        ],
        [
          609.0,
          331.0
        ]
      ],
      "center_px": [
        618.0,
        313.5
      ],
      "quality": {
        "area_px": 783.0,
        "perimeter_px": 111.9482650756836,
        "sharpness": {
          "laplacian_var": 2580.6990471552635
        },
        "contrast": {
          "p05": 34.0,
          "p95": 182.0,
          "dynamic_range": 148.0,
          "mean_gray": 118.64324324324325,
          "std_gray": 65.42236114073782
        },
        "geometry": {
          "distance_to_center_norm": 0.07005522400140762,
          "distance_to_border_px": 296.0
        },
        "edge_ratio": 1.0344143958281513,
        "edge_lengths_px": [
          28.460498809814453,
          27.513633728027344,
          28.460498809814453,
          27.513633728027344
        ]
      },
      "confidence": 0.5046333482067283
    },
    {
      "observation_id": "8575b9f3-cdd4-463d-b466-10cca2f2256a",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1229.0,
          243.0
        ],
        [
          1255.0,
          234.0
        ],
        [
          1266.0,
          260.0
        ],
        [
          1240.0,
          268.0
        ]
      ],
      "center_px": [
        1247.5,
        251.25
      ],
      "quality": {
        "area_px": 756.5,
        "perimeter_px": 110.26076316833496,
        "sharpness": {
          "laplacian_var": 3069.6192549041775
        },
        "contrast": {
          "p05": 11.0,
          "p95": 160.0,
          "dynamic_range": 149.0,
          "mean_gray": 86.88533834586467,
          "std_gray": 63.13569950474289
        },
        "geometry": {
          "distance_to_center_norm": 0.8404671549797058,
          "distance_to_border_px": 14.0
        },
        "edge_ratio": 1.0377990707729312,
        "edge_lengths_px": [
          27.513633728027344,
          28.23118782043457,
          27.20294189453125,
          27.312999725341797
        ]
      },
      "confidence": 0.13607001327160623
    },
    {
      "observation_id": "9d03c9bf-ef92-47c7-9a29-948e078f28c5",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          784.0,
          134.0
        ],
        [
          793.0,
          159.0
        ],
        [
          766.0,
          167.0
        ],
        [
          757.0,
          142.0
        ]
      ],
      "center_px": [
        775.0,
        150.5
      ],
      "quality": {
        "area_px": 747.0,
        "perimeter_px": 109.46183013916016,
        "sharpness": {
          "laplacian_var": 3147.8058523326927
        },
        "contrast": {
          "p05": 26.0,
          "p95": 182.0,
          "dynamic_range": 156.0,
          "mean_gray": 83.41634980988593,
          "std_gray": 65.8753549840961
        },
        "geometry": {
          "distance_to_center_norm": 0.33940964937210083,
          "distance_to_border_px": 134.0
        },
        "edge_ratio": 1.0598252288940997,
        "edge_lengths_px": [
          26.570659637451172,
          28.160255432128906,
          26.570659637451172,
          28.160255432128906
        ]
      },
      "confidence": 0.46988879526830113
    },
    {
      "observation_id": "21af8fa3-4cd0-47d3-9f09-87bebed90ca3",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          545.0,
          256.0
        ],
        [
          572.0,
          247.0
        ],
        [
          580.0,
          273.0
        ],
        [
          554.0,
          281.0
        ]
      ],
      "center_px": [
        562.75,
        264.25
      ],
      "quality": {
        "area_px": 748.0,
        "perimeter_px": 109.43704223632812,
        "sharpness": {
          "laplacian_var": 2755.6779662854747
        },
        "contrast": {
          "p05": 37.0,
          "p95": 183.0,
          "dynamic_range": 146.0,
          "mean_gray": 91.09695817490494,
          "std_gray": 62.24797178018976
        },
        "geometry": {
          "distance_to_center_norm": 0.16754259169101715,
          "distance_to_border_px": 247.0
        },
        "edge_ratio": 1.071125037848122,
        "edge_lengths_px": [
          28.460498809814453,
          27.20294189453125,
          27.20294189453125,
          26.570659637451172
        ]
      },
      "confidence": 0.4655541127751829
    },
    {
      "observation_id": "ab627563-4d63-4f3d-b17b-1ef8b5bb443d",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          459.0,
          232.0
        ],
        [
          485.0,
          224.0
        ],
        [
          494.0,
          249.0
        ],
        [
          467.0,
          258.0
        ]
      ],
      "center_px": [
        476.25,
        240.75
      ],
      "quality": {
        "area_px": 748.0,
        "perimeter_px": 109.43704223632812,
        "sharpness": {
          "laplacian_var": 2617.584191784077
        },
        "contrast": {
          "p05": 43.0,
          "p95": 184.0,
          "dynamic_range": 141.0,
          "mean_gray": 95.48007590132828,
          "std_gray": 60.23013330442663
        },
        "geometry": {
          "distance_to_center_norm": 0.2758673429489136,
          "distance_to_border_px": 224.0
        },
        "edge_ratio": 1.071125037848122,
        "edge_lengths_px": [
          27.20294189453125,
          26.570659637451172,
          28.460498809814453,
          27.20294189453125
        ]
      },
      "confidence": 0.4655541127751829
    },
    {
      "observation_id": "59e37f70-e250-40eb-bb0f-3d8dc2b39bb5",
      "type": "aruco",
      "marker_id": 82,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1189.0,
          253.0
        ],
        [
          1215.0,
          245.0
        ],
        [
          1226.0,
          270.0
        ],
        [
          1200.0,
          278.0
        ]
      ],
      "center_px": [
        1207.5,
        261.5
      ],
      "quality": {
        "area_px": 738.0,
        "perimeter_px": 109.0318832397461,
        "sharpness": {
          "laplacian_var": 2169.0593526530856
        },
        "contrast": {
          "p05": 10.0,
          "p95": 157.0,
          "dynamic_range": 147.0,
          "mean_gray": 77.1453488372093,
          "std_gray": 64.2163871421578
        },
        "geometry": {
          "distance_to_center_norm": 0.784397304058075,
          "distance_to_border_px": 54.0
        },
        "edge_ratio": 1.0040458061939497,
        "edge_lengths_px": [
          27.20294189453125,
          27.312999725341797,
          27.20294189453125,
          27.312999725341797
        ]
      },
      "confidence": 0.49001748422717006
    },
    {
      "observation_id": "46ea1a58-1b2a-44c8-a10b-1a866fb5ea18",
      "type": "aruco",
      "marker_id": 81,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1009.0,
          206.0
        ],
        [
          1035.0,
          197.0
        ],
        [
          1045.0,
          222.0
        ],
        [
          1020.0,
          231.0
        ]
      ],
      "center_px": [
        1027.25,
        214.0
      ],
      "quality": {
        "area_px": 732.0,
        "perimeter_px": 108.32311630249023,
        "sharpness": {
          "laplacian_var": 513.4135093688965
        },
        "contrast": {
          "p05": 3.0,
          "p95": 78.0,
          "dynamic_range": 75.0,
          "mean_gray": 28.263671875,
          "std_gray": 30.623003898496535
        },
        "geometry": {
          "distance_to_center_norm": 0.5636072754859924,
          "distance_to_border_px": 197.0
        },
        "edge_ratio": 1.035489299228652,
        "edge_lengths_px": [
          27.513633728027344,
          26.925823211669922,
          26.570659637451172,
          27.312999725341797
        ]
      },
      "confidence": 0.44182011377693337
    },
    {
      "observation_id": "ff5bdaad-50e7-426c-85ec-d6c24ed6ca42",
      "type": "aruco",
      "marker_id": 101,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1144.0,
          145.0
        ],
        [
          1170.0,
          137.0
        ],
        [
          1180.0,
          162.0
        ],
        [
          1155.0,
          170.0
        ]
      ],
      "center_px": [
        1162.25,
        153.5
      ],
      "quality": {
        "area_px": 721.5,
        "perimeter_px": 107.6905746459961,
        "sharpness": {
          "laplacian_var": 2650.0398675673973
        },
        "contrast": {
          "p05": 11.0,
          "p95": 158.0,
          "dynamic_range": 147.0,
          "mean_gray": 78.875,
          "std_gray": 62.54999785885574
        },
        "geometry": {
          "distance_to_center_norm": 0.7647988200187683,
          "distance_to_border_px": 100.0
        },
        "edge_ratio": 1.0405424062428426,
        "edge_lengths_px": [
          27.20294189453125,
          26.925823211669922,
          26.248809814453125,
          27.312999725341797
        ]
      },
      "confidence": 0.46225891142368675
    },
    {
      "observation_id": "149b3800-cb44-46bd-8779-f5c430af922f",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          553.0,
          169.0
        ],
        [
          580.0,
          162.0
        ],
        [
          588.0,
          186.0
        ],
        [
          561.0,
          194.0
        ]
      ],
      "center_px": [
        570.5,
        177.75
      ],
      "quality": {
        "area_px": 721.5,
        "perimeter_px": 107.59993743896484,
        "sharpness": {
          "laplacian_var": 2672.3096794431917
        },
        "contrast": {
          "p05": 35.0,
          "p95": 183.0,
          "dynamic_range": 148.0,
          "mean_gray": 90.38811881188118,
          "std_gray": 63.32190162316671
        },
        "geometry": {
          "distance_to_center_norm": 0.2656291127204895,
          "distance_to_border_px": 162.0
        },
        "edge_ratio": 1.1131318197219238,
        "edge_lengths_px": [
          27.892650604248047,
          25.298221588134766,
          28.160255432128906,
          26.248809814453125
        ]
      },
      "confidence": 0.43211414091114625
    },
    {
      "observation_id": "de6997e0-9371-4e9a-aa1e-e5f5ef7c5e47",
      "type": "aruco",
      "marker_id": 52,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1037.0,
          152.0
        ],
        [
          1062.0,
          144.0
        ],
        [
          1072.0,
          169.0
        ],
        [
          1047.0,
          177.0
        ]
      ],
      "center_px": [
        1054.5,
        160.5
      ],
      "quality": {
        "area_px": 705.0,
        "perimeter_px": 106.3492660522461,
        "sharpness": {
          "laplacian_var": 1718.0292069705297
        },
        "contrast": {
          "p05": 8.0,
          "p95": 138.0,
          "dynamic_range": 130.0,
          "mean_gray": 54.625766871165645,
          "std_gray": 52.89748768272474
        },
        "geometry": {
          "distance_to_center_norm": 0.6264604926109314,
          "distance_to_border_px": 144.0
        },
        "edge_ratio": 1.0257921559873553,
        "edge_lengths_px": [
          26.248809814453125,
          26.925823211669922,
          26.248809814453125,
          26.925823211669922
        ]
      },
      "confidence": 0.45818248585417487
    },
    {
      "observation_id": "0622566f-c6b1-4427-acda-d89734a50883",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1155.0,
          56.0
        ],
        [
          1180.0,
          48.0
        ],
        [
          1191.0,
          72.0
        ],
        [
          1166.0,
          80.0
        ]
      ],
      "center_px": [
        1173.0,
        64.0
      ],
      "quality": {
        "area_px": 688.0,
        "perimeter_px": 105.29913330078125,
        "sharpness": {
          "laplacian_var": 3424.6607203261588
        },
        "contrast": {
          "p05": 12.0,
          "p95": 168.0,
          "dynamic_range": 156.0,
          "mean_gray": 94.50210970464136,
          "std_gray": 65.18795444583183
        },
        "geometry": {
          "distance_to_center_norm": 0.8302794098854065,
          "distance_to_border_px": 48.0
        },
        "edge_ratio": 1.0057887204242193,
        "edge_lengths_px": [
          26.248809814453125,
          26.4007568359375,
          26.248809814453125,
          26.4007568359375
        ]
      },
      "confidence": 0.4377857805109236
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          832.0,
          363.0
        ],
        [
          790.0,
          397.0
        ],
        [
          777.0,
          394.0
        ],
        [
          810.0,
          361.0
        ]
      ],
      "center_px": [
        802.25,
        378.75
      ],
      "area_px": 680.0
    },
    {
      "image_points_px": [
        [
          877.0,
          185.0
        ],
        [
          879.0,
          192.0
        ],
        [
          830.0,
          205.0
        ],
        [
          831.0,
          198.0
        ]
      ],
      "center_px": [
        854.25,
        195.0
      ],
      "area_px": 339.0
    },
    {
      "image_points_px": [
        [
          931.0,
          499.0
        ],
        [
          942.0,
          527.0
        ],
        [
          917.0,
          535.0
        ],
        [
          907.0,
          507.0
        ]
      ],
      "center_px": [
        924.25,
        517.0
      ],
      "area_px": 770.0
    },
    {
      "image_points_px": [
        [
          887.0,
          383.0
        ],
        [
          897.0,
          410.0
        ],
        [
          873.0,
          418.0
        ],
        [
          863.0,
          391.0
        ]
      ],
      "center_px": [
        880.0,
        400.5
      ],
      "area_px": 728.0
    },
    {
      "image_points_px": [
        [
          721.0,
          447.0
        ],
        [
          761.0,
          449.0
        ],
        [
          756.0,
          456.0
        ],
        [
          723.0,
          452.0
        ]
      ],
      "center_px": [
        740.25,
        451.0
      ],
      "area_px": 223.5
    },
    {
      "image_points_px": [
        [
          1141.0,
          545.0
        ],
        [
          1148.0,
          552.0
        ],
        [
          1160.0,
          579.0
        ],
        [
          1151.0,
          569.0
        ]
      ],
      "center_px": [
        1150.0,
        561.25
      ],
      "area_px": 110.5
    },
    {
      "image_points_px": [
        [
          808.0,
          189.0
        ],
        [
          819.0,
          220.0
        ],
        [
          810.0,
          214.0
        ],
        [
          804.0,
          193.0
        ]
      ],
      "center_px": [
        810.25,
        204.0
      ],
      "area_px": 160.5
    },
    {
      "image_points_px": [
        [
          1133.0,
          365.0
        ],
        [
          1139.0,
          371.0
        ],
        [
          1147.0,
          393.0
        ],
        [
          1141.0,
          386.0
        ]
      ],
      "center_px": [
        1140.0,
        378.75
      ],
      "area_px": 77.0
    },
    {
      "image_points_px": [
        [
          1104.0,
          244.0
        ],
        [
          1108.0,
          248.0
        ],
        [
          1116.0,
          272.0
        ],
        [
          1113.0,
          270.0
        ]
      ],
      "center_px": [
        1110.25,
        258.5
      ],
      "area_px": 62.0
    },
    {
      "image_points_px": [
        [
          768.0,
          344.0
        ],
        [
          772.0,
          350.0
        ],
        [
          759.0,
          365.0
        ],
        [
          754.0,
          358.0
        ]
      ],
      "center_px": [
        763.25,
        354.25
      ],
      "area_px": 153.0
    },
    {
      "image_points_px": [
        [
          663.0,
          109.0
        ],
        [
          667.0,
          112.0
        ],
        [
          673.0,
          130.0
        ],
        [
          670.0,
          128.0
        ]
      ],
      "center_px": [
        668.25,
        119.75
      ],
      "area_px": 48.5
    }
  ]
}