{ "schema_version": "1.0", "created_utc": "2026-06-16T13:32:00Z", "source": { "detection_json": "/app/data/homing/20260616_133151/cam1_aruco_detection.json", "robot_json": "/app/scripts/robot_1781069752019.json" }, "camera": { "camera_id": "cam1", "camera_matrix": [ [ 1367.5723876953125, 0.0, 672.1165771484375 ], [ 0.0, 1372.3011474609375, 445.8396911621094 ], [ 0.0, 0.0, 1.0 ] ], "distortion_coefficients": [ 0.01016925647854805, 0.7656787633895874, -0.0031530377455055714, -0.00288817984983325, -2.490830183029175 ] }, "estimation": { "method": "single_camera_marker_center_lm", "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.", "marker_size_m": 0.025, "num_used_markers": 30, "used_marker_ids": [ 69, 64, 95, 97, 51, 54, 55, 75, 47, 77, 79, 81, 52, 96, 62, 101, 48, 71, 78, 65, 80, 72, 87, 99, 56, 68, 50, 76, 94, 93 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.017059307652513785, 0.0016226982371037653, 0.0008091568769327483, 0.0008091084072623325 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 1.591651220099626, "residual_median_px": 1.1314608533912125, "residual_max_px": 3.508082949831542, "sigma2_normalized": 7.273960149412246e-07 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ -0.8300905227661133, 0.048112522810697556, -0.555549144744873 ], [ -0.20714415609836578, 0.8983761668205261, 0.38731324672698975 ], [ 0.5177267789840698, 0.43658381700515747, -0.7357673048973083 ] ], "translation_m": [ 0.3114655017852783, 0.15968520939350128, 1.0113532543182373 ], "rvec_rad": [ 0.11406865614087526, -2.484791884456743, -0.59095682803472 ] }, "camera_in_world": { "position_m": [ -0.2319822609424591, -0.5999832153320312, 0.85530686378479 ], "position_mm": [ -231.9822540283203, -599.9832153320312, 855.306884765625 ], "orientation_deg": { "roll": 149.3162841796875, "pitch": -31.179889678955078, "yaw": -165.98834228515625 } }, "uncertainty": { "pose_covariance_6x6": [ [ 5.477901672381574e-07, -3.0328172246138234e-07, 2.5074702293716926e-07, 1.1635888932922758e-08, 9.844840844154894e-08, 2.3043095712615458e-07 ], [ -3.0328172246138065e-07, 1.631287253876377e-06, -8.315096854684708e-07, -3.1882543010501927e-07, 1.103498744923981e-07, -9.284867444682885e-07 ], [ 2.507470229371721e-07, -8.3150968546848e-07, 2.964857640789444e-06, -8.919540977376378e-08, -2.1352811236764262e-07, 4.725702525972594e-08 ], [ 1.1635888932921985e-08, -3.18825430105018e-07, -8.919540977376616e-08, 1.2501721885555406e-07, -1.613172618557695e-08, 2.3201998198006283e-07 ], [ 9.844840844154898e-08, 1.1034987449239781e-07, -2.1352811236764254e-07, -1.6131726185576905e-08, 8.383963230163757e-08, -2.923782662666793e-08 ], [ 2.304309571261534e-07, -9.284867444682864e-07, 4.725702525972108e-08, 2.3201998198006299e-07, -2.9237826626668076e-08, 1.0432485061837312e-06 ] ], "parameter_std": { "rvec_std_deg": [ 0.04240623821424648, 0.0731792330905332, 0.09865623898195403 ], "tvec_std_m": [ 0.0003535777408937871, 0.0002895507421880275, 0.0010213953721178353 ] }, "camera_center_std_m": [ 0.0010713908530960352, 0.0012849722563859016, 0.0015667620668070794 ], "camera_center_std_mm": [ 1.0713908530960352, 1.2849722563859016, 1.5667620668070794 ], "orientation_std_deg": { "roll": 0.09772437240661272, "pitch": 0.06095886695509779, "yaw": 0.049296243086430984 } } }, "observations": { "markers": [ { "marker_id": 69, "observed_center_px": [ 1132.0, 285.75 ], "projected_center_px": [ 1134.6839599609375, 286.1096496582031 ], "reprojection_error_px": 2.707949214546176, "confidence": 0.7904374687348378 }, { "marker_id": 64, "observed_center_px": [ 1160.0, 422.0 ], "projected_center_px": [ 1163.491455078125, 422.3411560058594 ], "reprojection_error_px": 3.508082949831542, "confidence": 0.6500113404865634 }, { "marker_id": 95, "observed_center_px": [ 887.75, 261.0 ], "projected_center_px": [ 888.0076904296875, 260.7122802734375 ], "reprojection_error_px": 0.3862473282829645, "confidence": 0.5416630076500674 }, { "marker_id": 97, "observed_center_px": [ 747.75, 130.0 ], "projected_center_px": [ 747.2943115234375, 129.22381591796875 ], "reprojection_error_px": 0.9000631738220081, "confidence": 0.46560622960207215 }, { "marker_id": 51, "observed_center_px": [ 906.25, 392.75 ], "projected_center_px": [ 906.7919311523438, 392.7587585449219 ], "reprojection_error_px": 0.5420019243413932, "confidence": 0.5169701203055806 }, { "marker_id": 54, "observed_center_px": [ 707.0, 163.0 ], "projected_center_px": [ 706.23681640625, 162.77174377441406 ], "reprojection_error_px": 0.7965865315757626, "confidence": 0.41781415708291797 }, { "marker_id": 55, "observed_center_px": [ 773.25, 258.25 ], "projected_center_px": [ 773.0390014648438, 257.7444763183594 ], "reprojection_error_px": 0.5477906302024298, "confidence": 0.46078075075842734 }, { "marker_id": 75, "observed_center_px": [ 1117.5, 857.75 ], "projected_center_px": [ 1118.2747802734375, 858.220458984375 ], "reprojection_error_px": 0.906430432017286, "confidence": 0.34860300393492594 }, { "marker_id": 47, "observed_center_px": [ 707.25, 218.5 ], "projected_center_px": [ 706.2413940429688, 218.0567626953125 ], "reprojection_error_px": 1.1017010868768187, "confidence": 0.393117382864099 }, { "marker_id": 77, "observed_center_px": [ 1063.75, 835.25 ], "projected_center_px": [ 1064.5556640625, 835.51416015625 ], "reprojection_error_px": 0.8478650657705082, "confidence": 0.3053994756620321 }, { "marker_id": 79, "observed_center_px": [ 745.5, 374.75 ], "projected_center_px": [ 744.8091430664062, 374.33917236328125 ], "reprojection_error_px": 0.8037802248043132, "confidence": 0.4170494444576311 }, { "marker_id": 81, "observed_center_px": [ 935.5, 766.25 ], "projected_center_px": [ 934.7628173828125, 766.2487182617188 ], "reprojection_error_px": 0.7371837314648457, "confidence": 0.2860351956805948 }, { "marker_id": 52, "observed_center_px": [ 974.75, 818.25 ], "projected_center_px": [ 974.4337158203125, 818.4750366210938 ], "reprojection_error_px": 0.38817156407172176, "confidence": 0.2796614731725484 }, { "marker_id": 96, "observed_center_px": [ 685.75, 331.75 ], "projected_center_px": [ 684.9360961914062, 331.5043029785156 ], "reprojection_error_px": 0.8501802373671744, "confidence": 0.35732025726956446 }, { "marker_id": 62, "observed_center_px": [ 652.25, 337.25 ], "projected_center_px": [ 651.2550048828125, 337.2922058105469 ], "reprojection_error_px": 0.9958898602108998, "confidence": 0.3300725298396194 }, { "marker_id": 101, "observed_center_px": [ 946.25, 889.25 ], "projected_center_px": [ 945.4725952148438, 889.2578125 ], "reprojection_error_px": 0.7774440398768809, "confidence": 0.24325060224251535 }, { "marker_id": 48, "observed_center_px": [ 384.25, 132.0 ], "projected_center_px": [ 383.9302062988281, 133.11631774902344 ], "reprojection_error_px": 1.1612206199056063, "confidence": 0.21290195673550963 }, { "marker_id": 71, "observed_center_px": [ 342.5, 165.25 ], "projected_center_px": [ 342.3343505859375, 166.21542358398438 ], "reprojection_error_px": 0.9795317375626402, "confidence": 0.20847213489647592 }, { "marker_id": 78, "observed_center_px": [ 275.75, 91.5 ], "projected_center_px": [ 275.9453125, 93.36688995361328 ], "reprojection_error_px": 1.8770788666325262, "confidence": 0.19179473932902583 }, { "marker_id": 65, "observed_center_px": [ 299.5, 144.25 ], "projected_center_px": [ 299.65802001953125, 145.85562133789062 ], "reprojection_error_px": 1.6133785071279267, "confidence": 0.18322050914606033 }, { "marker_id": 80, "observed_center_px": [ 247.5, 97.0 ], "projected_center_px": [ 248.37171936035156, 98.75518035888672 ], "reprojection_error_px": 1.9597328224616355, "confidence": 0.17848787606848682 }, { "marker_id": 72, "observed_center_px": [ 642.5, 684.5 ], "projected_center_px": [ 641.4025268554688, 682.82861328125 ], "reprojection_error_px": 1.9994951529276588, "confidence": 0.2422080426916935 }, { "marker_id": 87, "observed_center_px": [ 211.0, 180.75 ], "projected_center_px": [ 212.05128479003906, 182.29476928710938 ], "reprojection_error_px": 1.8685587655099003, "confidence": 0.16084571531469055 }, { "marker_id": 99, "observed_center_px": [ 185.0, 102.75 ], "projected_center_px": [ 185.86073303222656, 105.08058166503906 ], "reprojection_error_px": 2.4844460650580005, "confidence": 0.1317185948247831 }, { "marker_id": 56, "observed_center_px": [ 594.0, 645.75 ], "projected_center_px": [ 592.5604248046875, 644.4028930664062 ], "reprojection_error_px": 1.971566340120306, "confidence": 0.21270906967235645 }, { "marker_id": 68, "observed_center_px": [ 535.75, 626.5 ], "projected_center_px": [ 534.0946655273438, 625.37353515625 ], "reprojection_error_px": 2.0022625353756327, "confidence": 0.19837789393185037 }, { "marker_id": 50, "observed_center_px": [ 539.5, 660.25 ], "projected_center_px": [ 537.9456176757812, 658.9739990234375 ], "reprojection_error_px": 2.0110402537075522, "confidence": 0.18966679166032716 }, { "marker_id": 76, "observed_center_px": [ 453.25, 595.0 ], "projected_center_px": [ 452.169921875, 593.6005859375 ], "reprojection_error_px": 1.7677467223633225, "confidence": 0.16262023818955654 }, { "marker_id": 94, "observed_center_px": [ 326.75, 556.5 ], "projected_center_px": [ 326.852783203125, 554.8190307617188 ], "reprojection_error_px": 1.6841086564982917, "confidence": 0.1361744433766225 }, { "marker_id": 93, "observed_center_px": [ 285.5, 521.25 ], "projected_center_px": [ 286.1008605957031, 519.3630981445312 ], "reprojection_error_px": 1.9802606059910715, "confidence": 0.12409919873734558 } ] }, "qa": { "sanity_notes": [] } }