{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T14:41:27Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "camera": {
    "camera_id": "c",
    "intrinsics_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_a.npz",
    "camera_matrix": [
      [
        2000.0,
        0.0,
        720.0
      ],
      [
        0.0,
        2250.0,
        540.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.0,
      0.0,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene9b\\render_c.png",
    "image_sha256": "2b880c2a69833f3ae3608a229dc7213e6dbb920dd6e3a693c3580e89f64bf4fd",
    "width_px": 4896,
    "height_px": 3264
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 11,
    "num_rejected_candidates": 7
  },
  "detections": [
    {
      "observation_id": "b61227c7-cf09-4259-8bdb-a470efd8d3bd",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3032.0,
          1179.0
        ],
        [
          2821.0,
          1189.0
        ],
        [
          2824.0,
          968.0
        ],
        [
          3037.0,
          961.0
        ]
      ],
      "center_px": [
        2928.5,
        1074.25
      ],
      "quality": {
        "area_px": 46500.0,
        "perimeter_px": 863.4295043945312,
        "sharpness": {
          "laplacian_var": 18.55147930350963
        },
        "contrast": {
          "p05": 11.0,
          "p95": 166.0,
          "dynamic_range": 155.0,
          "mean_gray": 49.96297031012365,
          "std_gray": 62.90528596658183
        },
        "geometry": {
          "distance_to_center_norm": 0.2502210736274719,
          "distance_to_border_px": 961.0
        },
        "edge_ratio": 1.046315424646608,
        "edge_lengths_px": [
          211.23683166503906,
          221.02035522460938,
          213.114990234375,
          218.0573272705078
        ]
      },
      "confidence": 0.14775244369048157
    },
    {
      "observation_id": "7216820f-3cd8-48a9-8af4-57334459192e",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2909.0,
          2533.0
        ],
        [
          2904.0,
          2731.0
        ],
        [
          2692.0,
          2720.0
        ],
        [
          2696.0,
          2522.0
        ]
      ],
      "center_px": [
        2800.25,
        2626.5
      ],
      "quality": {
        "area_px": 42124.5,
        "perimeter_px": 821.6725616455078,
        "sharpness": {
          "laplacian_var": 78.63821782305665
        },
        "contrast": {
          "p05": 20.0,
          "p95": 178.0,
          "dynamic_range": 158.0,
          "mean_gray": 78.11968985475592,
          "std_gray": 72.72641167290095
        },
        "geometry": {
          "distance_to_center_norm": 0.3585974872112274,
          "distance_to_border_px": 533.0
        },
        "edge_ratio": 1.0769713569291897,
        "edge_lengths_px": [
          198.06312561035156,
          212.28518676757812,
          198.0404052734375,
          213.28384399414062
        ]
      },
      "confidence": 0.6084827397149544
    },
    {
      "observation_id": "8ff8d92d-8c15-406d-a270-77374182f39f",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1932.0,
          2514.0
        ],
        [
          2140.0,
          2524.0
        ],
        [
          2144.0,
          2712.0
        ],
        [
          1938.0,
          2702.0
        ]
      ],
      "center_px": [
        2038.5,
        2613.0
      ],
      "quality": {
        "area_px": 38866.0,
        "perimeter_px": 790.6210784912109,
        "sharpness": {
          "laplacian_var": 98.14600452884856
        },
        "contrast": {
          "p05": 22.0,
          "p95": 177.0,
          "dynamic_range": 155.0,
          "mean_gray": 71.44654761904762,
          "std_gray": 70.08627506414348
        },
        "geometry": {
          "distance_to_center_norm": 0.3613160252571106,
          "distance_to_border_px": 552.0
        },
        "edge_ratio": 1.107410312413073,
        "edge_lengths_px": [
          208.24024963378906,
          188.04254150390625,
          206.24256896972656,
          188.09571838378906
        ]
      },
      "confidence": 0.7385549528535191
    },
    {
      "observation_id": "1be08da1-ca8e-4694-ad4a-fffed24e450c",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          361.0,
          3199.0
        ],
        [
          441.0,
          3098.0
        ],
        [
          634.0,
          3110.0
        ],
        [
          559.0,
          3211.0
        ]
      ],
      "center_px": [
        498.75,
        3154.5
      ],
      "quality": {
        "area_px": 20675.5,
        "perimeter_px": 646.3822860717773,
        "sharpness": {
          "laplacian_var": 719.2238764663232
        },
        "contrast": {
          "p05": 15.0,
          "p95": 180.0,
          "dynamic_range": 165.0,
          "mean_gray": 67.71389219773675,
          "std_gray": 74.74534267309858
        },
        "geometry": {
          "distance_to_center_norm": 0.8406748175621033,
          "distance_to_border_px": 53.0
        },
        "edge_ratio": 1.5767968369302163,
        "edge_lengths_px": [
          128.84486389160156,
          193.37269592285156,
          125.80142974853516,
          198.36329650878906
        ]
      },
      "confidence": 0.6341971118783114
    },
    {
      "observation_id": "e6d84d24-9399-45f4-a84c-4689d7e5d2c7",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1920.0,
          3221.0
        ],
        [
          1957.0,
          3118.0
        ],
        [
          2155.0,
          3130.0
        ],
        [
          2124.0,
          3233.0
        ]
      ],
      "center_px": [
        2039.0,
        3175.5
      ],
      "quality": {
        "area_px": 21111.0,
        "perimeter_px": 619.7239074707031,
        "sharpness": {
          "laplacian_var": 570.6463778425685
        },
        "contrast": {
          "p05": 23.0,
          "p95": 178.0,
          "dynamic_range": 155.0,
          "mean_gray": 72.69478672985782,
          "std_gray": 69.14577497861639
        },
        "geometry": {
          "distance_to_center_norm": 0.5427257418632507,
          "distance_to_border_px": 31.0
        },
        "edge_ratio": 1.8998248055483444,
        "edge_lengths_px": [
          109.44404602050781,
          198.36329650878906,
          107.56393432617188,
          204.35263061523438
        ]
      },
      "confidence": 0.3263458810461473
    },
    {
      "observation_id": "b0c47230-cdc7-464a-8de4-f8c363c5b7e8",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3124.0,
          3235.0
        ],
        [
          3127.0,
          3132.0
        ],
        [
          3329.0,
          3143.0
        ],
        [
          3332.0,
          3247.0
        ]
      ],
      "center_px": [
        3228.0,
        3189.25
      ],
      "quality": {
        "area_px": 21217.5,
        "perimeter_px": 617.7320938110352,
        "sharpness": {
          "laplacian_var": 604.9438595236018
        },
        "contrast": {
          "p05": 18.0,
          "p95": 173.0,
          "dynamic_range": 155.0,
          "mean_gray": 87.71643199303237,
          "std_gray": 73.19398536341984
        },
        "geometry": {
          "distance_to_center_norm": 0.5919771790504456,
          "distance_to_border_px": 17.0
        },
        "edge_ratio": 2.0219180297318085,
        "edge_lengths_px": [
          103.0436782836914,
          202.29928588867188,
          104.04325866699219,
          208.3458709716797
        ]
      },
      "confidence": 0.16815716314923923
    },
    {
      "observation_id": "379af811-84ea-4864-a6ef-9e5c44057f90",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1997.0,
          2171.0
        ],
        [
          2196.0,
          2179.0
        ],
        [
          2167.0,
          2262.0
        ],
        [
          1961.0,
          2253.0
        ]
      ],
      "center_px": [
        2080.25,
        2216.25
      ],
      "quality": {
        "area_px": 16982.5,
        "perimeter_px": 582.8321075439453,
        "sharpness": {
          "laplacian_var": 501.89618236612176
        },
        "contrast": {
          "p05": 17.0,
          "p95": 179.0,
          "dynamic_range": 162.0,
          "mean_gray": 61.79698428558452,
          "std_gray": 69.57672480086748
        },
        "geometry": {
          "distance_to_center_norm": 0.23464417457580566,
          "distance_to_border_px": 1002.0
        },
        "edge_ratio": 2.3452629989573848,
        "edge_lengths_px": [
          199.16073608398438,
          87.92041778564453,
          206.19650268554688,
          89.55445098876953
        ]
      },
      "confidence": 0.4263914113020852
    },
    {
      "observation_id": "36c1a175-4b18-4617-b6b9-0a26c370dd7d",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3431.0,
          2697.0
        ],
        [
          3619.0,
          2706.0
        ],
        [
          3631.0,
          2792.0
        ],
        [
          3435.0,
          2782.0
        ]
      ],
      "center_px": [
        3529.0,
        2744.25
      ],
      "quality": {
        "area_px": 16340.0,
        "perimeter_px": 556.3974838256836,
        "sharpness": {
          "laplacian_var": 128.64061740594212
        },
        "contrast": {
          "p05": 10.0,
          "p95": 143.0,
          "dynamic_range": 133.0,
          "mean_gray": 52.67617449664429,
          "std_gray": 57.45837503036332
        },
        "geometry": {
          "distance_to_center_norm": 0.5271756649017334,
          "distance_to_border_px": 472.0
        },
        "edge_ratio": 2.306329459165501,
        "edge_lengths_px": [
          188.21530151367188,
          86.83317565917969,
          196.25494384765625,
          85.09406280517578
        ]
      },
      "confidence": 0.4335893972242066
    },
    {
      "observation_id": "e759bd70-37e3-43c1-9a5a-81cf286986c0",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2114.0,
          1905.0
        ],
        [
          2293.0,
          1912.0
        ],
        [
          2269.0,
          1979.0
        ],
        [
          2084.0,
          1972.0
        ]
      ],
      "center_px": [
        2190.0,
        1942.0
      ],
      "quality": {
        "area_px": 12383.0,
        "perimeter_px": 508.8478317260742,
        "sharpness": {
          "laplacian_var": 171.63866644798688
        },
        "contrast": {
          "p05": 16.0,
          "p95": 175.0,
          "dynamic_range": 159.0,
          "mean_gray": 83.76647741298444,
          "std_gray": 69.85241713511452
        },
        "geometry": {
          "distance_to_center_norm": 0.13708308339118958,
          "distance_to_border_px": 1285.0
        },
        "edge_ratio": 2.601313281102682,
        "edge_lengths_px": [
          179.13682556152344,
          71.16881561279297,
          185.13238525390625,
          73.40980529785156
        ]
      },
      "confidence": 0.3844212103419184
    },
    {
      "observation_id": "f500dc08-69ec-418f-9af0-50e094637fca",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3418.0,
          2449.0
        ],
        [
          3589.0,
          2457.0
        ],
        [
          3600.0,
          2527.0
        ],
        [
          3423.0,
          2521.0
        ]
      ],
      "center_px": [
        3507.5,
        2488.5
      ],
      "quality": {
        "area_px": 12298.0,
        "perimeter_px": 491.3211135864258,
        "sharpness": {
          "laplacian_var": 26.211525251588437
        },
        "contrast": {
          "p05": 11.0,
          "p95": 139.0,
          "dynamic_range": 128.0,
          "mean_gray": 76.11467324290999,
          "std_gray": 53.452664510439604
        },
        "geometry": {
          "distance_to_center_norm": 0.4630657434463501,
          "distance_to_border_px": 737.0
        },
        "edge_ratio": 2.499352633765783,
        "edge_lengths_px": [
          171.18702697753906,
          70.85901641845703,
          177.10166931152344,
          72.17340087890625
        ]
      },
      "confidence": 0.08739438130723556
    },
    {
      "observation_id": "f6b3f378-16b4-489a-a3ec-a147beb6ae23",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1148.0,
          2375.0
        ],
        [
          1307.0,
          2382.0
        ],
        [
          1264.0,
          2447.0
        ],
        [
          1098.0,
          2440.0
        ]
      ],
      "center_px": [
        1204.25,
        2411.0
      ],
      "quality": {
        "area_px": 10888.0,
        "perimeter_px": 485.24349212646484,
        "sharpness": {
          "laplacian_var": 153.48486159938045
        },
        "contrast": {
          "p05": 25.0,
          "p95": 178.0,
          "dynamic_range": 153.0,
          "mean_gray": 93.38757188946556,
          "std_gray": 61.77197573978108
        },
        "geometry": {
          "distance_to_center_norm": 0.4988113343715668,
          "distance_to_border_px": 817.0
        },
        "edge_ratio": 2.1318492718211375,
        "edge_lengths_px": [
          159.1540069580078,
          77.93586730957031,
          166.14752197265625,
          82.00609588623047
        ]
      },
      "confidence": 0.46907631473671096
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          4509.0,
          2174.0
        ],
        [
          4645.0,
          2182.0
        ],
        [
          4675.0,
          2238.0
        ],
        [
          4533.0,
          2229.0
        ]
      ],
      "center_px": [
        4590.5,
        2205.75
      ],
      "area_px": 7485.0
    },
    {
      "image_points_px": [
        [
          3926.0,
          2134.0
        ],
        [
          4057.0,
          2142.0
        ],
        [
          4078.0,
          2186.0
        ],
        [
          3938.0,
          2183.0
        ]
      ],
      "center_px": [
        3999.75,
        2161.25
      ],
      "area_px": 6210.0
    },
    {
      "image_points_px": [
        [
          403.0,
          3183.0
        ],
        [
          420.0,
          3161.0
        ],
        [
          523.0,
          3171.0
        ],
        [
          508.0,
          3195.0
        ]
      ],
      "center_px": [
        463.5,
        3177.5
      ],
      "area_px": 2568.0
    },
    {
      "image_points_px": [
        [
          2958.0,
          1063.0
        ],
        [
          3008.0,
          1065.0
        ],
        [
          3006.0,
          1117.0
        ],
        [
          2953.0,
          1116.0
        ]
      ],
      "center_px": [
        2981.25,
        1090.25
      ],
      "area_px": 2709.0
    },
    {
      "image_points_px": [
        [
          3138.0,
          3142.0
        ],
        [
          3152.0,
          3144.0
        ],
        [
          3148.0,
          3227.0
        ],
        [
          3134.0,
          3225.0
        ]
      ],
      "center_px": [
        3143.0,
        3184.5
      ],
      "area_px": 1170.0
    },
    {
      "image_points_px": [
        [
          3042.0,
          25.0
        ],
        [
          3062.0,
          73.0
        ],
        [
          3019.0,
          82.0
        ],
        [
          3000.0,
          36.0
        ]
      ],
      "center_px": [
        3030.75,
        54.0
      ],
      "area_px": 2192.5
    },
    {
      "image_points_px": [
        [
          1977.0,
          3153.0
        ],
        [
          1984.0,
          3135.0
        ],
        [
          2051.0,
          3140.0
        ],
        [
          2044.0,
          3158.0
        ]
      ],
      "center_px": [
        2014.0,
        3146.5
      ],
      "area_px": 1241.0
    }
  ]
}