{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T14:41:38Z",
  "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\\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_f.png",
    "image_sha256": "9ed191b54ec20eaf4ac229a11330de8813b45f4cfce5682ddc62af9b9df5e61a",
    "width_px": 4896,
    "height_px": 3264
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 35,
    "num_rejected_candidates": 5
  },
  "detections": [
    {
      "observation_id": "286ef95e-515c-4424-96a8-cb0cc9a7a153",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3410.0,
          1550.0
        ],
        [
          3298.0,
          1648.0
        ],
        [
          3215.0,
          1535.0
        ],
        [
          3326.0,
          1438.0
        ]
      ],
      "center_px": [
        3312.25,
        1542.75
      ],
      "quality": {
        "area_px": 20685.0,
        "perimeter_px": 576.4400177001953,
        "sharpness": {
          "laplacian_var": 556.2304041712244
        },
        "contrast": {
          "p05": 73.0,
          "p95": 191.0,
          "dynamic_range": 118.0,
          "mean_gray": 117.93019444237503,
          "std_gray": 50.83081745060083
        },
        "geometry": {
          "distance_to_center_norm": 0.29531195759773254,
          "distance_to_border_px": 1438.0
        },
        "edge_ratio": 1.0630145481654576,
        "edge_lengths_px": [
          148.82203674316406,
          140.2069854736328,
          147.41099548339844,
          140.0
        ]
      },
      "confidence": 0.9407208976827197
    },
    {
      "observation_id": "cf98afa2-6911-4488-8a07-40ca1fb55c52",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4650.0,
          2960.0
        ],
        [
          4759.0,
          2922.0
        ],
        [
          4806.0,
          3037.0
        ],
        [
          4697.0,
          3075.0
        ]
      ],
      "center_px": [
        4728.0,
        2998.5
      ],
      "quality": {
        "area_px": 14321.0,
        "perimeter_px": 479.3352355957031,
        "sharpness": {
          "laplacian_var": 84.38170239553766
        },
        "contrast": {
          "p05": 9.0,
          "p95": 152.0,
          "dynamic_range": 143.0,
          "mean_gray": 58.785714285714285,
          "std_gray": 62.294105180459184
        },
        "geometry": {
          "distance_to_center_norm": 0.9034755825996399,
          "distance_to_border_px": 90.0
        },
        "edge_ratio": 1.0762313104269017,
        "edge_lengths_px": [
          115.43396759033203,
          124.23365020751953,
          115.43396759033203,
          124.23365020751953
        ]
      },
      "confidence": 0.653373346866503
    },
    {
      "observation_id": "f1f2b34f-bdb1-4aa5-a9fd-d240e6af9bc2",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3074.0,
          1552.0
        ],
        [
          2968.0,
          1437.0
        ],
        [
          3030.0,
          1381.0
        ],
        [
          3133.0,
          1492.0
        ]
      ],
      "center_px": [
        3051.25,
        1465.5
      ],
      "quality": {
        "area_px": 12897.5,
        "perimeter_px": 475.5217514038086,
        "sharpness": {
          "laplacian_var": 101.26268097747965
        },
        "contrast": {
          "p05": 17.0,
          "p95": 135.0,
          "dynamic_range": 118.0,
          "mean_gray": 52.35358459160623,
          "std_gray": 42.096627865981205
        },
        "geometry": {
          "distance_to_center_norm": 0.21270500123500824,
          "distance_to_border_px": 1381.0
        },
        "edge_ratio": 1.8720153328682747,
        "edge_lengths_px": [
          156.40013122558594,
          83.54639434814453,
          151.42654418945312,
          84.148681640625
        ]
      },
      "confidence": 0.4507739119419428
    },
    {
      "observation_id": "385a61e9-3726-4c6f-9083-9d1f58632233",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4645.0,
          2766.0
        ],
        [
          4753.0,
          2728.0
        ],
        [
          4801.0,
          2841.0
        ],
        [
          4692.0,
          2879.0
        ]
      ],
      "center_px": [
        4722.75,
        2803.5
      ],
      "quality": {
        "area_px": 14065.5,
        "perimeter_px": 475.08092498779297,
        "sharpness": {
          "laplacian_var": 85.2664979086757
        },
        "contrast": {
          "p05": 9.0,
          "p95": 153.0,
          "dynamic_range": 144.0,
          "mean_gray": 79.65906349380414,
          "std_gray": 65.70573544359259
        },
        "geometry": {
          "distance_to_center_norm": 0.8696730732917786,
          "distance_to_border_px": 95.0
        },
        "edge_ratio": 1.0723378657825673,
        "edge_lengths_px": [
          114.49017333984375,
          122.77214813232422,
          115.43396759033203,
          122.38463592529297
        ]
      },
      "confidence": 0.662621522481087
    },
    {
      "observation_id": "b15dfe42-d199-461f-8230-226e703bff05",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2708.0,
          1448.0
        ],
        [
          2737.0,
          1563.0
        ],
        [
          2631.0,
          1598.0
        ],
        [
          2592.0,
          1486.0
        ]
      ],
      "center_px": [
        2667.0,
        1523.75
      ],
      "quality": {
        "area_px": 13839.5,
        "perimeter_px": 470.8905334472656,
        "sharpness": {
          "laplacian_var": 227.71410319952457
        },
        "contrast": {
          "p05": 33.0,
          "p95": 181.0,
          "dynamic_range": 148.0,
          "mean_gray": 78.19610231425091,
          "std_gray": 64.61356017456575
        },
        "geometry": {
          "distance_to_center_norm": 0.08303269743919373,
          "distance_to_border_px": 1448.0
        },
        "edge_ratio": 1.093494703896417,
        "edge_lengths_px": [
          118.60016632080078,
          111.62885284423828,
          118.59595489501953,
          122.06555938720703
        ]
      },
      "confidence": 0.9144991708114635
    },
    {
      "observation_id": "7434516c-346d-436c-8899-3434ff04fe3b",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3217.0,
          2278.0
        ],
        [
          3257.0,
          2389.0
        ],
        [
          3147.0,
          2427.0
        ],
        [
          3106.0,
          2315.0
        ]
      ],
      "center_px": [
        3181.75,
        2352.25
      ],
      "quality": {
        "area_px": 13839.5,
        "perimeter_px": 470.6388626098633,
        "sharpness": {
          "laplacian_var": 68.95288597501377
        },
        "contrast": {
          "p05": 11.0,
          "p95": 145.0,
          "dynamic_range": 134.0,
          "mean_gray": 57.473532668881504,
          "std_gray": 56.93322541911042
        },
        "geometry": {
          "distance_to_center_norm": 0.34946709871292114,
          "distance_to_border_px": 837.0
        },
        "edge_ratio": 1.0248319980322522,
        "edge_lengths_px": [
          117.98728942871094,
          116.37869262695312,
          119.26860809326172,
          117.0042724609375
        ]
      },
      "confidence": 0.5606844675306786
    },
    {
      "observation_id": "110b6cf7-d501-4715-8293-73d7afa4dfb8",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2798.0,
          2711.0
        ],
        [
          2909.0,
          2675.0
        ],
        [
          2947.0,
          2787.0
        ],
        [
          2837.0,
          2824.0
        ]
      ],
      "center_px": [
        2872.75,
        2749.25
      ],
      "quality": {
        "area_px": 13836.5,
        "perimeter_px": 470.55958557128906,
        "sharpness": {
          "laplacian_var": 102.5850611606456
        },
        "contrast": {
          "p05": 24.0,
          "p95": 173.0,
          "dynamic_range": 149.0,
          "mean_gray": 48.28333333333333,
          "std_gray": 50.18890397160855
        },
        "geometry": {
          "distance_to_center_norm": 0.40625861287117004,
          "distance_to_border_px": 440.0
        },
        "edge_ratio": 1.030026568373873,
        "edge_lengths_px": [
          116.69190216064453,
          118.2708740234375,
          116.05602264404297,
          119.54078674316406
        ]
      },
      "confidence": 0.8299548146817791
    },
    {
      "observation_id": "c252d340-a2fc-405b-ad53-090de1c59483",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4500.0,
          2617.0
        ],
        [
          4607.0,
          2580.0
        ],
        [
          4654.0,
          2691.0
        ],
        [
          4546.0,
          2729.0
        ]
      ],
      "center_px": [
        4576.75,
        2654.25
      ],
      "quality": {
        "area_px": 13730.0,
        "perimeter_px": 469.3257141113281,
        "sharpness": {
          "laplacian_var": 66.16252310803903
        },
        "contrast": {
          "p05": 10.0,
          "p95": 155.0,
          "dynamic_range": 145.0,
          "mean_gray": 47.0996322300234,
          "std_gray": 57.63639058192294
        },
        "geometry": {
          "distance_to_center_norm": 0.8026418685913086,
          "distance_to_border_px": 242.0
        },
        "edge_ratio": 1.069441027331936,
        "edge_lengths_px": [
          113.21660614013672,
          120.54045104980469,
          114.49017333984375,
          121.07848358154297
        ]
      },
      "confidence": 0.5155537754233994
    },
    {
      "observation_id": "2d276c37-746e-40aa-96ee-c3fae371fc55",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1996.0,
          2663.0
        ],
        [
          2107.0,
          2626.0
        ],
        [
          2142.0,
          2738.0
        ],
        [
          2031.0,
          2775.0
        ]
      ],
      "center_px": [
        2069.0,
        2700.5
      ],
      "quality": {
        "area_px": 13727.0,
        "perimeter_px": 468.6913146972656,
        "sharpness": {
          "laplacian_var": 158.59133838355967
        },
        "contrast": {
          "p05": 35.0,
          "p95": 177.0,
          "dynamic_range": 142.0,
          "mean_gray": 64.86301218161684,
          "std_gray": 53.37473152377092
        },
        "geometry": {
          "distance_to_center_norm": 0.38534170389175415,
          "distance_to_border_px": 489.0
        },
        "edge_ratio": 1.0028811975808007,
        "edge_lengths_px": [
          117.0042724609375,
          117.34138488769531,
          117.0042724609375,
          117.34138488769531
        ]
      },
      "confidence": 0.9971270798697285
    },
    {
      "observation_id": "8837cbfc-9796-41af-8334-4ab382b31aab",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2199.0,
          2606.0
        ],
        [
          2310.0,
          2568.0
        ],
        [
          2346.0,
          2679.0
        ],
        [
          2235.0,
          2716.0
        ]
      ],
      "center_px": [
        2272.5,
        2642.25
      ],
      "quality": {
        "area_px": 13615.5,
        "perimeter_px": 466.7615966796875,
        "sharpness": {
          "laplacian_var": 167.73525346706103
        },
        "contrast": {
          "p05": 32.0,
          "p95": 177.0,
          "dynamic_range": 145.0,
          "mean_gray": 83.45335570469798,
          "std_gray": 63.632891778012976
        },
        "geometry": {
          "distance_to_center_norm": 0.34851640462875366,
          "distance_to_border_px": 548.0
        },
        "edge_ratio": 1.0136791898125932,
        "edge_lengths_px": [
          117.32433319091797,
          116.69190216064453,
          117.0042724609375,
          115.7410888671875
        ]
      },
      "confidence": 0.9865054053096205
    },
    {
      "observation_id": "019e211d-7807-46b2-b122-df36af122fa8",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1809.0,
          2534.0
        ],
        [
          1920.0,
          2498.0
        ],
        [
          1955.0,
          2608.0
        ],
        [
          1843.0,
          2645.0
        ]
      ],
      "center_px": [
        1881.75,
        2571.25
      ],
      "quality": {
        "area_px": 13580.0,
        "perimeter_px": 466.16973876953125,
        "sharpness": {
          "laplacian_var": 195.05335771710324
        },
        "contrast": {
          "p05": 39.0,
          "p95": 179.0,
          "dynamic_range": 140.0,
          "mean_gray": 107.40004489841733,
          "std_gray": 64.94630283282963
        },
        "geometry": {
          "distance_to_center_norm": 0.3727693557739258,
          "distance_to_border_px": 619.0
        },
        "edge_ratio": 1.0218256104478993,
        "edge_lengths_px": [
          116.69190216064453,
          115.43396759033203,
          117.95338439941406,
          116.09048461914062
        ]
      },
      "confidence": 0.9786405721047328
    },
    {
      "observation_id": "77f991e2-8425-4880-9185-051c1aa89707",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2692.0,
          2569.0
        ],
        [
          2801.0,
          2532.0
        ],
        [
          2840.0,
          2643.0
        ],
        [
          2730.0,
          2680.0
        ]
      ],
      "center_px": [
        2765.75,
        2606.0
      ],
      "quality": {
        "area_px": 13579.0,
        "perimeter_px": 466.14102935791016,
        "sharpness": {
          "laplacian_var": 133.15890440965984
        },
        "contrast": {
          "p05": 26.0,
          "p95": 174.0,
          "dynamic_range": 148.0,
          "mean_gray": 91.25159914712154,
          "std_gray": 68.59267937027191
        },
        "geometry": {
          "distance_to_center_norm": 0.34822389483451843,
          "distance_to_border_px": 584.0
        },
        "edge_ratio": 1.022095546517917,
        "edge_lengths_px": [
          115.108642578125,
          117.65203094482422,
          116.05602264404297,
          117.32433319091797
        ]
      },
      "confidence": 0.9783821125205053
    },
    {
      "observation_id": "6407ae43-994f-4801-b76f-ed64f27d2d3d",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4669.0,
          2495.0
        ],
        [
          4776.0,
          2458.0
        ],
        [
          4822.0,
          2569.0
        ],
        [
          4715.0,
          2605.0
        ]
      ],
      "center_px": [
        4745.5,
        2531.75
      ],
      "quality": {
        "area_px": 13502.5,
        "perimeter_px": 465.4952926635742,
        "sharpness": {
          "laplacian_var": 82.39944755570286
        },
        "contrast": {
          "p05": 10.0,
          "p95": 157.0,
          "dynamic_range": 147.0,
          "mean_gray": 89.1146888155649,
          "std_gray": 66.14843859292816
        },
        "geometry": {
          "distance_to_center_norm": 0.8386436700820923,
          "distance_to_border_px": 74.0
        },
        "edge_ratio": 1.064311042419483,
        "edge_lengths_px": [
          113.21660614013672,
          120.15406799316406,
          112.89375305175781,
          119.23086547851562
        ]
      },
      "confidence": 0.6451704770470214
    },
    {
      "observation_id": "7cc8e1a8-cf2f-4d99-a5f9-734f9c11d24e",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4506.0,
          2319.0
        ],
        [
          4612.0,
          2282.0
        ],
        [
          4658.0,
          2391.0
        ],
        [
          4551.0,
          2427.0
        ]
      ],
      "center_px": [
        4581.75,
        2354.75
      ],
      "quality": {
        "area_px": 13216.0,
        "perimeter_px": 460.4746551513672,
        "sharpness": {
          "laplacian_var": 62.60473409413631
        },
        "contrast": {
          "p05": 10.0,
          "p95": 156.0,
          "dynamic_range": 146.0,
          "mean_gray": 55.351841028638226,
          "std_gray": 61.29145761970676
        },
        "geometry": {
          "distance_to_center_norm": 0.7657150030136108,
          "distance_to_border_px": 238.0
        },
        "edge_ratio": 1.0537705475928656,
        "edge_lengths_px": [
          112.27198791503906,
          118.30891418457031,
          112.89375305175781,
          117.0
        ]
      },
      "confidence": 0.4950851194720448
    },
    {
      "observation_id": "74c13124-1c8e-404e-a85e-2db4c69ff724",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2219.0,
          2297.0
        ],
        [
          2329.0,
          2261.0
        ],
        [
          2364.0,
          2369.0
        ],
        [
          2256.0,
          2405.0
        ]
      ],
      "center_px": [
        2292.0,
        2333.0
      ],
      "quality": {
        "area_px": 13068.0,
        "perimeter_px": 457.2749786376953,
        "sharpness": {
          "laplacian_var": 170.42688627485177
        },
        "contrast": {
          "p05": 34.0,
          "p95": 179.0,
          "dynamic_range": 145.0,
          "mean_gray": 93.79051429916441,
          "std_gray": 65.20254707392893
        },
        "geometry": {
          "distance_to_center_norm": 0.24409130215644836,
          "distance_to_border_px": 859.0
        },
        "edge_ratio": 1.0194782202212833,
        "edge_lengths_px": [
          115.7410888671875,
          113.52973175048828,
          113.84199523925781,
          114.16216278076172
        ]
      },
      "confidence": 0.9808939319791888
    },
    {
      "observation_id": "7fcedc24-e7e7-43e2-be16-bc7f20ad9f82",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2727.0,
          2270.0
        ],
        [
          2834.0,
          2234.0
        ],
        [
          2872.0,
          2343.0
        ],
        [
          2763.0,
          2378.0
        ]
      ],
      "center_px": [
        2799.0,
        2306.25
      ],
      "quality": {
        "area_px": 13031.5,
        "perimeter_px": 456.6511535644531,
        "sharpness": {
          "laplacian_var": 148.33194641217304
        },
        "contrast": {
          "p05": 25.0,
          "p95": 174.0,
          "dynamic_range": 149.0,
          "mean_gray": 101.66882429092621,
          "std_gray": 65.8764772820912
        },
        "geometry": {
          "distance_to_center_norm": 0.25836411118507385,
          "distance_to_border_px": 886.0
        },
        "edge_ratio": 1.022500930918734,
        "edge_lengths_px": [
          112.89375305175781,
          115.43396759033203,
          114.48143768310547,
          113.84199523925781
        ]
      },
      "confidence": 0.9779942196252901
    },
    {
      "observation_id": "9815e0ac-3d4f-4455-8ee6-929a7fed07f6",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4724.0,
          2075.0
        ],
        [
          4828.0,
          2041.0
        ],
        [
          4874.0,
          2147.0
        ],
        [
          4768.0,
          2182.0
        ]
      ],
      "center_px": [
        4798.5,
        2111.25
      ],
      "quality": {
        "area_px": 12735.0,
        "perimeter_px": 452.28990173339844,
        "sharpness": {
          "laplacian_var": 74.8928139031374
        },
        "contrast": {
          "p05": 9.0,
          "p95": 156.0,
          "dynamic_range": 147.0,
          "mean_gray": 78.42684108527132,
          "std_gray": 64.3313738041178
        },
        "geometry": {
          "distance_to_center_norm": 0.815348207950592,
          "distance_to_border_px": 22.0
        },
        "edge_ratio": 1.0573671838223968,
        "edge_lengths_px": [
          109.41663360595703,
          115.55085754394531,
          111.62885284423828,
          115.69355773925781
        ]
      },
      "confidence": 0.259708253209444
    },
    {
      "observation_id": "f5013c88-b5ad-4845-8e68-a965a008ff83",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1663.0,
          2117.0
        ],
        [
          1771.0,
          2082.0
        ],
        [
          1805.0,
          2188.0
        ],
        [
          1695.0,
          2224.0
        ]
      ],
      "center_px": [
        1733.5,
        2152.75
      ],
      "quality": {
        "area_px": 12780.0,
        "perimeter_px": 452.27276611328125,
        "sharpness": {
          "laplacian_var": 208.89289680558505
        },
        "contrast": {
          "p05": 43.0,
          "p95": 182.0,
          "dynamic_range": 139.0,
          "mean_gray": 87.13310745401742,
          "std_gray": 59.17473303483115
        },
        "geometry": {
          "distance_to_center_norm": 0.3005077540874481,
          "distance_to_border_px": 1040.0
        },
        "edge_ratio": 1.0397211238741317,
        "edge_lengths_px": [
          113.52973175048828,
          111.3193588256836,
          115.7410888671875,
          111.68258666992188
        ]
      },
      "confidence": 0.9617963673507701
    },
    {
      "observation_id": "a8a4d4da-e67f-4075-ab45-ca21327cf953",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3196.0,
          1277.0
        ],
        [
          3096.0,
          1274.0
        ],
        [
          3189.0,
          1189.0
        ],
        [
          3288.0,
          1192.0
        ]
      ],
      "center_px": [
        3192.25,
        1233.0
      ],
      "quality": {
        "area_px": 8735.0,
        "perimeter_px": 450.3382339477539,
        "sharpness": {
          "laplacian_var": 211.21604563522945
        },
        "contrast": {
          "p05": 34.0,
          "p95": 189.0,
          "dynamic_range": 155.0,
          "mean_gray": 88.00882352941177,
          "std_gray": 65.74743873864625
        },
        "geometry": {
          "distance_to_center_norm": 0.2870226204395294,
          "distance_to_border_px": 1189.0
        },
        "edge_ratio": 1.2720632527104276,
        "edge_lengths_px": [
          100.04499053955078,
          125.9920654296875,
          99.04544067382812,
          125.2557373046875
        ]
      },
      "confidence": 0.7861244304237754
    },
    {
      "observation_id": "5a1dfccf-d69b-4833-8ba5-44372376aba7",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2029.0,
          1885.0
        ],
        [
          2135.0,
          1850.0
        ],
        [
          2170.0,
          1955.0
        ],
        [
          2063.0,
          1990.0
        ]
      ],
      "center_px": [
        2099.25,
        1920.0
      ],
      "quality": {
        "area_px": 12390.0,
        "perimeter_px": 445.2550048828125,
        "sharpness": {
          "laplacian_var": 179.3018752142826
        },
        "contrast": {
          "p05": 38.0,
          "p95": 181.0,
          "dynamic_range": 143.0,
          "mean_gray": 97.75494464485632,
          "std_gray": 64.65672052472473
        },
        "geometry": {
          "distance_to_center_norm": 0.1537303924560547,
          "distance_to_border_px": 1274.0
        },
        "edge_ratio": 1.0200357414971197,
        "edge_lengths_px": [
          111.62885284423828,
          110.67971801757812,
          112.57886505126953,
          110.36756896972656
        ]
      },
      "confidence": 0.9803578044552508
    },
    {
      "observation_id": "14c9120d-4fe8-40da-a3d9-9d0a2440deed",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2295.0,
          1422.0
        ],
        [
          2400.0,
          1389.0
        ],
        [
          2434.0,
          1489.0
        ],
        [
          2329.0,
          1522.0
        ]
      ],
      "center_px": [
        2364.5,
        1455.5
      ],
      "quality": {
        "area_px": 11622.0,
        "perimeter_px": 431.3711853027344,
        "sharpness": {
          "laplacian_var": 157.1215968013341
        },
        "contrast": {
          "p05": 34.0,
          "p95": 181.0,
          "dynamic_range": 147.0,
          "mean_gray": 124.9694105290797,
          "std_gray": 63.77975497674346
        },
        "geometry": {
          "distance_to_center_norm": 0.06636517494916916,
          "distance_to_border_px": 1389.0
        },
        "edge_ratio": 1.0420523338382182,
        "edge_lengths_px": [
          110.0636215209961,
          105.6219711303711,
          110.0636215209961,
          105.6219711303711
        ]
      },
      "confidence": 0.9596447006808903
    },
    {
      "observation_id": "cccf11ab-0f60-4a9d-bf64-41fdcac85a2f",
      "type": "aruco",
      "marker_id": 82,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4548.0,
          1223.0
        ],
        [
          4650.0,
          1190.0
        ],
        [
          4692.0,
          1288.0
        ],
        [
          4592.0,
          1322.0
        ]
      ],
      "center_px": [
        4620.5,
        1255.75
      ],
      "quality": {
        "area_px": 11389.0,
        "perimeter_px": 427.78564453125,
        "sharpness": {
          "laplacian_var": 45.20745088723315
        },
        "contrast": {
          "p05": 10.0,
          "p95": 156.0,
          "dynamic_range": 146.0,
          "mean_gray": 78.59768256534626,
          "std_gray": 64.10378218860316
        },
        "geometry": {
          "distance_to_center_norm": 0.7494027018547058,
          "distance_to_border_px": 204.0
        },
        "edge_ratio": 1.0257092506596501,
        "edge_lengths_px": [
          107.20541381835938,
          106.6208267211914,
          105.6219711303711,
          108.33743286132812
        ]
      },
      "confidence": 0.3672861068098287
    },
    {
      "observation_id": "79674cfb-3d6c-4a9e-823a-6303f0f794fe",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4703.0,
          1184.0
        ],
        [
          4804.0,
          1152.0
        ],
        [
          4847.0,
          1250.0
        ],
        [
          4746.0,
          1283.0
        ]
      ],
      "center_px": [
        4775.0,
        1217.25
      ],
      "quality": {
        "area_px": 11346.0,
        "perimeter_px": 427.15636444091797,
        "sharpness": {
          "laplacian_var": 59.75573909817896
        },
        "contrast": {
          "p05": 10.0,
          "p95": 159.0,
          "dynamic_range": 149.0,
          "mean_gray": 90.9374492282697,
          "std_gray": 61.90537784221248
        },
        "geometry": {
          "distance_to_center_norm": 0.8033881783485413,
          "distance_to_border_px": 49.0
        },
        "edge_ratio": 1.0187551096078162,
        "edge_lengths_px": [
          105.9480972290039,
          107.01869201660156,
          106.25440979003906,
          107.93516540527344
        ]
      },
      "confidence": 0.4790211092271159
    },
    {
      "observation_id": "1d9960c0-fa89-4ba9-9bc8-9225d49e7862",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2085.0,
          1234.0
        ],
        [
          2189.0,
          1202.0
        ],
        [
          2223.0,
          1299.0
        ],
        [
          2119.0,
          1333.0
        ]
      ],
      "center_px": [
        2154.0,
        1267.0
      ],
      "quality": {
        "area_px": 11314.0,
        "perimeter_px": 425.6902770996094,
        "sharpness": {
          "laplacian_var": 168.76554391792294
        },
        "contrast": {
          "p05": 37.0,
          "p95": 182.0,
          "dynamic_range": 145.0,
          "mean_gray": 94.05778078484438,
          "std_gray": 62.814216183522674
        },
        "geometry": {
          "distance_to_center_norm": 0.1592995822429657,
          "distance_to_border_px": 1202.0
        },
        "edge_ratio": 1.0645071836172213,
        "edge_lengths_px": [
          108.811767578125,
          102.78618621826172,
          109.41663360595703,
          104.67568969726562
        ]
      },
      "confidence": 0.9394018334399358
    },
    {
      "observation_id": "a3c433e8-f40a-40c8-8f90-c83ada96a46a",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3000.0,
          767.0
        ],
        [
          3037.0,
          864.0
        ],
        [
          2934.0,
          897.0
        ],
        [
          2897.0,
          799.0
        ]
      ],
      "center_px": [
        2967.0,
        831.75
      ],
      "quality": {
        "area_px": 11245.0,
        "perimeter_px": 424.5829162597656,
        "sharpness": {
          "laplacian_var": 121.10636909421203
        },
        "contrast": {
          "p05": 25.0,
          "p95": 181.0,
          "dynamic_range": 156.0,
          "mean_gray": 86.37479630635524,
          "std_gray": 66.87228859828978
        },
        "geometry": {
          "distance_to_center_norm": 0.3241916596889496,
          "distance_to_border_px": 767.0
        },
        "edge_ratio": 1.0418057043601108,
        "edge_lengths_px": [
          103.81714630126953,
          108.15729522705078,
          104.75209045410156,
          107.85638427734375
        ]
      },
      "confidence": 0.9598718799626959
    },
    {
      "observation_id": "bed27b4f-b697-4499-a33e-ec2a7e1b50bd",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1755.0,
          1146.0
        ],
        [
          1858.0,
          1114.0
        ],
        [
          1890.0,
          1212.0
        ],
        [
          1786.0,
          1244.0
        ]
      ],
      "center_px": [
        1822.25,
        1179.0
      ],
      "quality": {
        "area_px": 11151.0,
        "perimeter_px": 422.5465316772461,
        "sharpness": {
          "laplacian_var": 200.5502387990845
        },
        "contrast": {
          "p05": 43.0,
          "p95": 184.0,
          "dynamic_range": 141.0,
          "mean_gray": 99.169731064764,
          "std_gray": 60.63070114498696
        },
        "geometry": {
          "distance_to_center_norm": 0.2625683844089508,
          "distance_to_border_px": 1114.0
        },
        "edge_ratio": 1.0586224820820596,
        "edge_lengths_px": [
          107.85638427734375,
          103.09219360351562,
          108.811767578125,
          102.78618621826172
        ]
      },
      "confidence": 0.9446238077555627
    },
    {
      "observation_id": "691afa8c-9f63-4e4c-bc52-0af53e791463",
      "type": "aruco",
      "marker_id": 211,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3396.0,
          1721.0
        ],
        [
          3436.0,
          1826.0
        ],
        [
          3342.0,
          1858.0
        ],
        [
          3305.0,
          1757.0
        ]
      ],
      "center_px": [
        3369.75,
        1790.5
      ],
      "quality": {
        "area_px": 10836.5,
        "perimeter_px": 417.08463287353516,
        "sharpness": {
          "laplacian_var": 148.8112854524776
        },
        "contrast": {
          "p05": 12.0,
          "p95": 137.0,
          "dynamic_range": 125.0,
          "mean_gray": 67.5599437807449,
          "std_gray": 56.18337007461659
        },
        "geometry": {
          "distance_to_center_norm": 0.31789153814315796,
          "distance_to_border_px": 1406.0
        },
        "edge_ratio": 1.1481561492188306,
        "edge_lengths_px": [
          112.36102294921875,
          99.29753112792969,
          107.56393432617188,
          97.86214447021484
        ]
      },
      "confidence": 0.8709616724871165
    },
    {
      "observation_id": "d6c0cf23-ed79-41bb-9393-d72bdd24a16d",
      "type": "aruco",
      "marker_id": 52,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3964.0,
          840.0
        ],
        [
          4065.0,
          807.0
        ],
        [
          4105.0,
          902.0
        ],
        [
          4005.0,
          934.0
        ]
      ],
      "center_px": [
        4034.75,
        870.75
      ],
      "quality": {
        "area_px": 10813.5,
        "perimeter_px": 416.87972259521484,
        "sharpness": {
          "laplacian_var": 32.05385264856713
        },
        "contrast": {
          "p05": 9.0,
          "p95": 144.0,
          "dynamic_range": 135.0,
          "mean_gray": 60.015188076650105,
          "std_gray": 55.329253040303946
        },
        "geometry": {
          "distance_to_center_norm": 0.5981748700141907,
          "distance_to_border_px": 791.0
        },
        "edge_ratio": 1.0360984193131966,
        "edge_lengths_px": [
          106.25440979003906,
          103.07764434814453,
          104.9952392578125,
          102.55242919921875
        ]
      },
      "confidence": 0.2578089433966355
    },
    {
      "observation_id": "077b442b-2ddd-4f13-ac3d-0bfc075a9130",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2116.0,
          905.0
        ],
        [
          2219.0,
          873.0
        ],
        [
          2251.0,
          968.0
        ],
        [
          2149.0,
          1000.0
        ]
      ],
      "center_px": [
        2183.75,
        936.5
      ],
      "quality": {
        "area_px": 10777.5,
        "perimeter_px": 415.5712890625,
        "sharpness": {
          "laplacian_var": 156.16622423443889
        },
        "contrast": {
          "p05": 36.0,
          "p95": 182.0,
          "dynamic_range": 146.0,
          "mean_gray": 94.16612423942267,
          "std_gray": 63.55053784474998
        },
        "geometry": {
          "distance_to_center_norm": 0.25288084149360657,
          "distance_to_border_px": 873.0
        },
        "edge_ratio": 1.075931065592442,
        "edge_lengths_px": [
          107.85638427734375,
          100.24469757080078,
          106.90182495117188,
          100.5683822631836
        ]
      },
      "confidence": 0.9294275739211677
    },
    {
      "observation_id": "3043e801-17dd-49c4-bd67-ffd9944cb43f",
      "type": "aruco",
      "marker_id": 101,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4378.0,
          811.0
        ],
        [
          4476.0,
          779.0
        ],
        [
          4518.0,
          875.0
        ],
        [
          4419.0,
          906.0
        ]
      ],
      "center_px": [
        4447.75,
        842.75
      ],
      "quality": {
        "area_px": 10714.0,
        "perimeter_px": 415.0875473022461,
        "sharpness": {
          "laplacian_var": 48.24239875390413
        },
        "contrast": {
          "p05": 11.0,
          "p95": 158.0,
          "dynamic_range": 147.0,
          "mean_gray": 84.21925589321215,
          "std_gray": 62.3121311258458
        },
        "geometry": {
          "distance_to_center_norm": 0.7307168841362,
          "distance_to_border_px": 378.0
        },
        "edge_ratio": 1.016425087881591,
        "edge_lengths_px": [
          103.09219360351562,
          104.78549194335938,
          103.74005889892578,
          103.46980285644531
        ]
      },
      "confidence": 0.39552348167020185
    },
    {
      "observation_id": "9e18562f-866e-405b-b896-369ce100d6a9",
      "type": "aruco",
      "marker_id": 81,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3864.0,
          1047.0
        ],
        [
          3962.0,
          1010.0
        ],
        [
          4002.0,
          1106.0
        ],
        [
          3901.0,
          1139.0
        ]
      ],
      "center_px": [
        3932.25,
        1075.5
      ],
      "quality": {
        "area_px": 10700.5,
        "perimeter_px": 414.16798400878906,
        "sharpness": {
          "laplacian_var": 12.616928564317067
        },
        "contrast": {
          "p05": 3.0,
          "p95": 77.0,
          "dynamic_range": 74.0,
          "mean_gray": 30.55367312072893,
          "std_gray": 30.844269922915345
        },
        "geometry": {
          "distance_to_center_norm": 0.5387752652168274,
          "distance_to_border_px": 894.0
        },
        "edge_ratio": 1.0715290428915434,
        "edge_lengths_px": [
          104.75209045410156,
          104.0,
          106.25440979003906,
          99.16148376464844
        ]
      },
      "confidence": 0.09076328043723833
    },
    {
      "observation_id": "98be2538-adfe-4ead-ad64-b4bf8418a47f",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4419.0,
          470.0
        ],
        [
          4517.0,
          439.0
        ],
        [
          4557.0,
          532.0
        ],
        [
          4460.0,
          562.0
        ]
      ],
      "center_px": [
        4488.25,
        500.75
      ],
      "quality": {
        "area_px": 10254.0,
        "perimeter_px": 406.27916717529297,
        "sharpness": {
          "laplacian_var": 53.16593504200834
        },
        "contrast": {
          "p05": 12.0,
          "p95": 167.0,
          "dynamic_range": 155.0,
          "mean_gray": 99.85206131864861,
          "std_gray": 62.78652785363494
        },
        "geometry": {
          "distance_to_center_norm": 0.7929234504699707,
          "distance_to_border_px": 339.0
        },
        "edge_ratio": 1.0204899527605338,
        "edge_lengths_px": [
          102.78618621826172,
          101.23734283447266,
          101.53324890136719,
          100.7223892211914
        ]
      },
      "confidence": 0.4341536704843659
    },
    {
      "observation_id": "6ce87c7f-1ea3-4874-bfa4-3c4b740c549d",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          3713.0,
          386.0
        ],
        [
          3810.0,
          356.0
        ],
        [
          3848.0,
          447.0
        ],
        [
          3751.0,
          478.0
        ]
      ],
      "center_px": [
        3780.5,
        416.75
      ],
      "quality": {
        "area_px": 10034.5,
        "perimeter_px": 401.5208053588867,
        "sharpness": {
          "laplacian_var": 55.63838165698949
        },
        "contrast": {
          "p05": 16.0,
          "p95": 173.0,
          "dynamic_range": 157.0,
          "mean_gray": 114.89411764705882,
          "std_gray": 60.688083568113015
        },
        "geometry": {
          "distance_to_center_norm": 0.612970232963562,
          "distance_to_border_px": 356.0
        },
        "edge_ratio": 1.0326295943282076,
        "edge_lengths_px": [
          101.53324890136719,
          98.61541748046875,
          101.83319854736328,
          99.5389404296875
        ]
      },
      "confidence": 0.4490024138583291
    },
    {
      "observation_id": "fa9736dd-22e0-4849-987a-8d27e68f97c3",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          4294.0,
          219.0
        ],
        [
          4391.0,
          190.0
        ],
        [
          4430.0,
          279.0
        ],
        [
          4333.0,
          309.0
        ]
      ],
      "center_px": [
        4362.0,
        249.25
      ],
      "quality": {
        "area_px": 9832.0,
        "perimeter_px": 398.0321807861328,
        "sharpness": {
          "laplacian_var": 44.17731315066044
        },
        "contrast": {
          "p05": 12.0,
          "p95": 168.0,
          "dynamic_range": 156.0,
          "mean_gray": 100.92536855036855,
          "std_gray": 63.17879513699553
        },
        "geometry": {
          "distance_to_center_norm": 0.8025570511817932,
          "distance_to_border_px": 190.0
        },
        "edge_ratio": 1.0449037629571005,
        "edge_lengths_px": [
          101.2422866821289,
          97.16995239257812,
          101.53324890136719,
          98.0866928100586
        ]
      },
      "confidence": 0.35232361994146455
    },
    {
      "observation_id": "679ab726-267f-4c4c-bcc4-94b00797a210",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          2824.0,
          1923.0
        ],
        [
          2736.0,
          1816.0
        ],
        [
          2748.0,
          1781.0
        ],
        [
          2837.0,
          1889.0
        ]
      ],
      "center_px": [
        2786.25,
        1852.25
      ],
      "quality": {
        "area_px": 4397.0,
        "perimeter_px": 351.8857650756836,
        "sharpness": {
          "laplacian_var": 672.1270705907795
        },
        "contrast": {
          "p05": 42.0,
          "p95": 164.0,
          "dynamic_range": 122.0,
          "mean_gray": 73.37801047120419,
          "std_gray": 47.98932260045822
        },
        "geometry": {
          "distance_to_center_norm": 0.1371922343969345,
          "distance_to_border_px": 1341.0
        },
        "edge_ratio": 3.844623443726626,
        "edge_lengths_px": [
          138.53880310058594,
          37.0,
          139.9464111328125,
          36.400550842285156
        ]
      },
      "confidence": 0.2601034963857713
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          3563.0,
          2162.0
        ],
        [
          3605.0,
          2273.0
        ],
        [
          3509.0,
          2305.0
        ],
        [
          3467.0,
          2194.0
        ]
      ],
      "center_px": [
        3536.0,
        2233.5
      ],
      "area_px": 12000.0
    },
    {
      "image_points_px": [
        [
          3160.0,
          1772.0
        ],
        [
          3057.0,
          1854.0
        ],
        [
          3093.0,
          1806.0
        ],
        [
          3139.0,
          1773.0
        ]
      ],
      "center_px": [
        3112.25,
        1801.25
      ],
      "area_px": 1319.5
    },
    {
      "image_points_px": [
        [
          3228.0,
          2341.0
        ],
        [
          3243.0,
          2383.0
        ],
        [
          3185.0,
          2402.0
        ],
        [
          3198.0,
          2358.0
        ]
      ],
      "center_px": [
        3213.5,
        2371.0
      ],
      "area_px": 1910.0
    },
    {
      "image_points_px": [
        [
          4619.0,
          2330.0
        ],
        [
          4644.0,
          2383.0
        ],
        [
          4607.0,
          2397.0
        ],
        [
          4590.0,
          2349.0
        ]
      ],
      "center_px": [
        4615.0,
        2364.75
      ],
      "area_px": 2013.0
    },
    {
      "image_points_px": [
        [
          3284.0,
          1241.0
        ],
        [
          3238.0,
          1276.0
        ],
        [
          3226.0,
          1268.0
        ],
        [
          3255.0,
          1240.0
        ]
      ],
      "center_px": [
        3250.75,
        1256.25
      ],
      "area_px": 814.5
    }
  ]
}