{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T10:45:22Z",
  "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\\Scene12\\render_a.npz",
    "camera_matrix": [
      [
        1992.8416748046875,
        0.0,
        719.249267578125
      ],
      [
        0.0,
        1997.40380859375,
        537.7935791015625
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      0.0,
      0.0,
      0.0
    ]
  },
  "image": {
    "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\simulation\\Scene12\\render_c.png",
    "image_sha256": "db483300ce8d23180ce79141f042af0cf5fe22939184e6c03cd97ffab28e1c18",
    "width_px": 1440,
    "height_px": 1080
  },
  "aruco": {
    "dictionary": "DICT_4X4_250",
    "num_detected_markers": 7,
    "num_rejected_candidates": 20
  },
  "detections": [
    {
      "observation_id": "8b32f1c3-03de-4d2e-bf09-911b45d90412",
      "type": "aruco",
      "marker_id": 232,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          768.0,
          718.0
        ],
        [
          829.0,
          723.0
        ],
        [
          823.0,
          780.0
        ],
        [
          765.0,
          775.0
        ]
      ],
      "center_px": [
        796.25,
        749.0
      ],
      "quality": {
        "area_px": 3414.0,
        "perimeter_px": 233.81350326538086,
        "sharpness": {
          "laplacian_var": 779.1815568375157
        },
        "contrast": {
          "p05": 48.0,
          "p95": 182.0,
          "dynamic_range": 134.0,
          "mean_gray": 123.37861915367483,
          "std_gray": 55.6729799901944
        },
        "geometry": {
          "distance_to_center_norm": 0.24719427525997162,
          "distance_to_border_px": 300.0
        },
        "edge_ratio": 1.0722803597620754,
        "edge_lengths_px": [
          61.20457458496094,
          57.314918518066406,
          58.215118408203125,
          57.07889175415039
        ]
      },
      "confidence": 0.9325919204767367
    },
    {
      "observation_id": "a3062119-821a-426d-ad04-dc3d28394a07",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          545.0,
          785.0
        ],
        [
          605.0,
          788.0
        ],
        [
          606.0,
          843.0
        ],
        [
          546.0,
          839.0
        ]
      ],
      "center_px": [
        575.5,
        813.75
      ],
      "quality": {
        "area_px": 3266.5,
        "perimeter_px": 229.22649002075195,
        "sharpness": {
          "laplacian_var": 562.2285194848919
        },
        "contrast": {
          "p05": 20.0,
          "p95": 171.0,
          "dynamic_range": 151.0,
          "mean_gray": 73.7591743119266,
          "std_gray": 66.05626100277598
        },
        "geometry": {
          "distance_to_center_norm": 0.3439410328865051,
          "distance_to_border_px": 237.0
        },
        "edge_ratio": 1.1133866352954538,
        "edge_lengths_px": [
          60.074954986572266,
          55.009090423583984,
          60.13318634033203,
          54.00925827026367
        ]
      },
      "confidence": 0.8981605924653794
    },
    {
      "observation_id": "4fefedee-587a-4534-981f-e8a45813c4e4",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          245.0,
          1048.0
        ],
        [
          263.0,
          1017.0
        ],
        [
          320.0,
          1020.0
        ],
        [
          304.0,
          1050.0
        ]
      ],
      "center_px": [
        283.0,
        1033.75
      ],
      "quality": {
        "area_px": 1811.5,
        "perimeter_px": 185.95967864990234,
        "sharpness": {
          "laplacian_var": 494.77299113141635
        },
        "contrast": {
          "p05": 16.0,
          "p95": 171.0,
          "dynamic_range": 155.0,
          "mean_gray": 85.80491803278689,
          "std_gray": 62.350566080566196
        },
        "geometry": {
          "distance_to_center_norm": 0.7326242923736572,
          "distance_to_border_px": 30.0
        },
        "edge_ratio": 1.736290875603171,
        "edge_lengths_px": [
          35.84689712524414,
          57.07889175415039,
          34.0,
          59.03388977050781
        ]
      },
      "confidence": 0.3455642187784726
    },
    {
      "observation_id": "06ee46ce-5443-4490-a6ad-eb6b29f12220",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          1068.0,
          1052.0
        ],
        [
          1065.0,
          1021.0
        ],
        [
          1126.0,
          1025.0
        ],
        [
          1130.0,
          1056.0
        ]
      ],
      "center_px": [
        1097.25,
        1038.5
      ],
      "quality": {
        "area_px": 1892.5,
        "perimeter_px": 185.66172981262207,
        "sharpness": {
          "laplacian_var": 600.8611441405734
        },
        "contrast": {
          "p05": 16.0,
          "p95": 165.0,
          "dynamic_range": 149.0,
          "mean_gray": 87.65900383141762,
          "std_gray": 62.866648728712235
        },
        "geometry": {
          "distance_to_center_norm": 0.6946175694465637,
          "distance_to_border_px": 24.0
        },
        "edge_ratio": 1.9948387079389573,
        "edge_lengths_px": [
          31.14482307434082,
          61.13100814819336,
          31.256999969482422,
          62.12889862060547
        ]
      },
      "confidence": 0.24062095751888135
    },
    {
      "observation_id": "60b88e21-cd16-431b-b83b-c17e703adfb0",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          404.0,
          1022.0
        ],
        [
          417.0,
          992.0
        ],
        [
          474.0,
          996.0
        ],
        [
          462.0,
          1025.0
        ]
      ],
      "center_px": [
        439.25,
        1008.75
      ],
      "quality": {
        "area_px": 1740.0,
        "perimeter_px": 179.29798698425293,
        "sharpness": {
          "laplacian_var": 783.6302155245719
        },
        "contrast": {
          "p05": 28.0,
          "p95": 172.0,
          "dynamic_range": 144.0,
          "mean_gray": 119.81494057724957,
          "std_gray": 57.30056323961497
        },
        "geometry": {
          "distance_to_center_norm": 0.6071051955223083,
          "distance_to_border_px": 55.0
        },
        "edge_ratio": 1.8505040557892927,
        "edge_lengths_px": [
          32.69556427001953,
          57.14017868041992,
          31.38471031188965,
          58.07753372192383
        ]
      },
      "confidence": 0.5403933035820727
    },
    {
      "observation_id": "864ba794-8c8a-48c1-9c55-15642556e914",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          915.0,
          1010.0
        ],
        [
          918.0,
          982.0
        ],
        [
          976.0,
          986.0
        ],
        [
          975.0,
          1015.0
        ]
      ],
      "center_px": [
        946.0,
        998.25
      ],
      "quality": {
        "area_px": 1690.5,
        "perimeter_px": 175.5232334136963,
        "sharpness": {
          "laplacian_var": 1023.4139258401973
        },
        "contrast": {
          "p05": 18.0,
          "p95": 164.0,
          "dynamic_range": 146.0,
          "mean_gray": 103.23097112860893,
          "std_gray": 54.13374952665448
        },
        "geometry": {
          "distance_to_center_norm": 0.5677213072776794,
          "distance_to_border_px": 65.0
        },
        "edge_ratio": 2.1380478463818005,
        "edge_lengths_px": [
          28.160255432128906,
          58.13776779174805,
          29.017236709594727,
          60.20797348022461
        ]
      },
      "confidence": 0.46771638047871156
    },
    {
      "observation_id": "70ad76cb-00ce-4bdb-9cd3-7618e6deb501",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
      "image_points_px": [
        [
          836.0,
          691.0
        ],
        [
          833.0,
          714.0
        ],
        [
          772.0,
          711.0
        ],
        [
          777.0,
          689.0
        ]
      ],
      "center_px": [
        804.5,
        701.25
      ],
      "quality": {
        "area_px": 1360.0,
        "perimeter_px": 165.86347007751465,
        "sharpness": {
          "laplacian_var": 925.0639510051038
        },
        "contrast": {
          "p05": 14.0,
          "p95": 166.0,
          "dynamic_range": 152.0,
          "mean_gray": 88.74813233724653,
          "std_gray": 59.10602740133292
        },
        "geometry": {
          "distance_to_center_norm": 0.2022765874862671,
          "distance_to_border_px": 366.0
        },
        "edge_ratio": 2.707045438482523,
        "edge_lengths_px": [
          23.194826126098633,
          61.073726654052734,
          22.56102752685547,
          59.03388977050781
        ]
      },
      "confidence": 0.33492849945470915
    }
  ],
  "rejected_candidates": [
    {
      "image_points_px": [
        [
          1137.0,
          1012.0
        ],
        [
          1197.0,
          1014.0
        ],
        [
          1206.0,
          1045.0
        ],
        [
          1146.0,
          1043.0
        ]
      ],
      "center_px": [
        1171.5,
        1028.5
      ],
      "area_px": 1842.0
    },
    {
      "image_points_px": [
        [
          111.0,
          1002.0
        ],
        [
          133.0,
          974.0
        ],
        [
          187.0,
          978.0
        ],
        [
          167.0,
          1005.0
        ]
      ],
      "center_px": [
        149.5,
        989.75
      ],
      "area_px": 1586.0
    },
    {
      "image_points_px": [
        [
          565.0,
          1008.0
        ],
        [
          576.0,
          980.0
        ],
        [
          632.0,
          984.0
        ],
        [
          622.0,
          1012.0
        ]
      ],
      "center_px": [
        598.75,
        996.0
      ],
      "area_px": 1624.0
    },
    {
      "image_points_px": [
        [
          1015.0,
          853.0
        ],
        [
          1070.0,
          856.0
        ],
        [
          1071.0,
          880.0
        ],
        [
          1014.0,
          876.0
        ]
      ],
      "center_px": [
        1042.5,
        866.25
      ],
      "area_px": 1316.0
    },
    {
      "image_points_px": [
        [
          674.0,
          576.0
        ],
        [
          675.0,
          587.0
        ],
        [
          649.0,
          644.0
        ],
        [
          648.0,
          634.0
        ]
      ],
      "center_px": [
        661.5,
        610.25
      ],
      "area_px": 330.5
    },
    {
      "image_points_px": [
        [
          1001.0,
          781.0
        ],
        [
          1051.0,
          784.0
        ],
        [
          1053.0,
          804.0
        ],
        [
          1001.0,
          801.0
        ]
      ],
      "center_px": [
        1026.5,
        792.5
      ],
      "area_px": 1017.0
    },
    {
      "image_points_px": [
        [
          328.0,
          778.0
        ],
        [
          340.0,
          760.0
        ],
        [
          387.0,
          761.0
        ],
        [
          375.0,
          780.0
        ]
      ],
      "center_px": [
        357.5,
        769.75
      ],
      "area_px": 887.5
    },
    {
      "image_points_px": [
        [
          603.0,
          525.0
        ],
        [
          602.0,
          536.0
        ],
        [
          586.0,
          562.0
        ],
        [
          587.0,
          552.0
        ]
      ],
      "center_px": [
        594.5,
        543.75
      ],
      "area_px": 141.5
    },
    {
      "image_points_px": [
        [
          1267.0,
          717.0
        ],
        [
          1292.0,
          715.0
        ],
        [
          1306.0,
          718.0
        ],
        [
          1279.0,
          720.0
        ]
      ],
      "center_px": [
        1286.0,
        717.5
      ],
      "area_px": 104.0
    },
    {
      "image_points_px": [
        [
          773.0,
          601.0
        ],
        [
          771.0,
          616.0
        ],
        [
          762.0,
          630.0
        ],
        [
          764.0,
          617.0
        ]
      ],
      "center_px": [
        767.5,
        616.0
      ],
      "area_px": 96.0
    },
    {
      "image_points_px": [
        [
          471.0,
          513.0
        ],
        [
          470.0,
          518.0
        ],
        [
          457.0,
          533.0
        ],
        [
          456.0,
          514.0
        ]
      ],
      "center_px": [
        463.5,
        519.5
      ],
      "area_px": 168.0
    },
    {
      "image_points_px": [
        [
          682.0,
          814.0
        ],
        [
          699.0,
          830.0
        ],
        [
          700.0,
          836.0
        ],
        [
          684.0,
          821.0
        ]
      ],
      "center_px": [
        691.25,
        825.25
      ],
      "area_px": 84.0
    },
    {
      "image_points_px": [
        [
          759.0,
          625.0
        ],
        [
          757.0,
          633.0
        ],
        [
          746.0,
          650.0
        ],
        [
          747.0,
          644.0
        ]
      ],
      "center_px": [
        752.25,
        638.0
      ],
      "area_px": 53.5
    },
    {
      "image_points_px": [
        [
          838.0,
          712.0
        ],
        [
          840.0,
          717.0
        ],
        [
          835.0,
          739.0
        ],
        [
          835.0,
          724.0
        ]
      ],
      "center_px": [
        837.0,
        723.0
      ],
      "area_px": 57.0
    },
    {
      "image_points_px": [
        [
          253.0,
          847.0
        ],
        [
          254.0,
          873.0
        ],
        [
          250.0,
          864.0
        ],
        [
          250.0,
          854.0
        ]
      ],
      "center_px": [
        251.75,
        859.5
      ],
      "area_px": 62.5
    },
    {
      "image_points_px": [
        [
          612.0,
          785.0
        ],
        [
          633.0,
          785.0
        ],
        [
          638.0,
          787.0
        ],
        [
          616.0,
          787.0
        ]
      ],
      "center_px": [
        624.75,
        786.0
      ],
      "area_px": 43.0
    },
    {
      "image_points_px": [
        [
          788.0,
          534.0
        ],
        [
          784.0,
          549.0
        ],
        [
          779.0,
          555.0
        ],
        [
          776.0,
          555.0
        ]
      ],
      "center_px": [
        781.75,
        548.25
      ],
      "area_px": 57.0
    },
    {
      "image_points_px": [
        [
          1366.0,
          648.0
        ],
        [
          1383.0,
          646.0
        ],
        [
          1389.0,
          651.0
        ],
        [
          1370.0,
          652.0
        ]
      ],
      "center_px": [
        1377.0,
        649.25
      ],
      "area_px": 88.5
    },
    {
      "image_points_px": [
        [
          619.0,
          633.0
        ],
        [
          639.0,
          633.0
        ],
        [
          643.0,
          635.0
        ],
        [
          636.0,
          637.0
        ]
      ],
      "center_px": [
        634.25,
        634.5
      ],
      "area_px": 51.0
    },
    {
      "image_points_px": [
        [
          631.0,
          565.0
        ],
        [
          651.0,
          564.0
        ],
        [
          653.0,
          566.0
        ],
        [
          634.0,
          567.0
        ]
      ],
      "center_px": [
        642.25,
        565.5
      ],
      "area_px": 41.5
    }
  ]
}