{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T14:49:29Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_g_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "g",
    "camera_matrix": [
      [
        2006.321044921875,
        0.0,
        720.385009765625
      ],
      [
        0.0,
        2007.03759765625,
        541.6199340820312
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      0.0,
      0.0,
      0.0
    ]
  },
  "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": 28,
    "used_marker_ids": [
      86,
      64,
      215,
      72,
      69,
      53,
      58,
      208,
      56,
      46,
      103,
      95,
      55,
      66,
      217,
      54,
      97,
      205,
      85,
      102,
      92,
      59,
      71,
      48,
      63,
      65,
      87,
      80
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.012705367864799632,
        0.001636722611500904,
        0.0011336799046022968,
        0.0011336548263973284
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 3.2256201203997805,
    "residual_median_px": 2.9964676737812956,
    "residual_max_px": 5.3896022559724805,
    "sigma2_normalized": 1.4393940570581421e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          -0.7064740657806396,
          -0.707737922668457,
          -0.0012004174059256911
        ],
        [
          -0.6409515738487244,
          0.6405243873596191,
          -0.4229770600795746
        ],
        [
          0.30012577772140503,
          -0.29805290699005127,
          -0.906139612197876
        ]
      ],
      "translation_m": [
        -0.0006644008681178093,
        0.32996082305908203,
        1.3934928178787231
      ],
      "rvec_rad": [
        1.1159397684816215,
        -2.6917287541436976,
        0.5965984259926778
      ]
    },
    "camera_in_world": {
      "position_m": [
        -0.20720359683036804,
        0.2035164088010788,
        1.40226411819458
      ],
      "position_mm": [
        -207.20359802246094,
        203.5164031982422,
        1402.26416015625
      ],
      "orientation_deg": {
        "roll": -161.79261779785156,
        "pitch": -17.46515655517578,
        "yaw": -137.7839813232422
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          5.725305221368417e-06,
          -6.986211286676296e-06,
          5.946604034053544e-06,
          4.6536146540876963e-07,
          1.0875911271231326e-06,
          4.635262078130261e-06
        ],
        [
          -6.986211286676314e-06,
          1.955691122785472e-05,
          -1.433577915460456e-05,
          -3.112667545429074e-06,
          -1.618241406228832e-06,
          -1.1336824799351201e-05
        ],
        [
          5.946604034053613e-06,
          -1.4335779154604384e-05,
          5.622977754708798e-05,
          5.291202741417603e-06,
          -3.0154040454812804e-06,
          1.1676765461391288e-07
        ],
        [
          4.6536146540877746e-07,
          -3.112667545429064e-06,
          5.291202741417653e-06,
          1.0324165805837017e-06,
          -1.4036753512560642e-07,
          6.744303133417397e-07
        ],
        [
          1.0875911271231333e-06,
          -1.6182414062288586e-06,
          -3.0154040454812677e-06,
          -1.4036753512559988e-07,
          7.577828671888528e-07,
          1.7760451144010944e-06
        ],
        [
          4.635262078130266e-06,
          -1.1336824799351244e-05,
          1.167676546140381e-07,
          6.744303133417583e-07,
          1.7760451144010838e-06,
          1.1542389969326815e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.13709510690197385,
          0.25338025251668184,
          0.4296410953241417
        ],
        "tvec_std_m": [
          0.0010160790228046742,
          0.0008705072470627989,
          0.0033974093025902568
        ]
      },
      "camera_center_std_m": [
        0.006167956483648163,
        0.009245591759430814,
        0.0042002678925638715
      ],
      "camera_center_std_mm": [
        6.167956483648163,
        9.245591759430814,
        4.200267892563872
      ],
      "orientation_std_deg": {
        "roll": 0.3432610343298837,
        "pitch": 0.24725418815476816,
        "yaw": 0.08240790195026802
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 86,
        "observed_center_px": [
          70.5,
          958.75
        ],
        "projected_center_px": [
          72.6640625,
          955.1964111328125
        ],
        "reprojection_error_px": 4.160668256531057,
        "confidence": 0.5575992832021898
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          921.75,
          859.0
        ],
        "projected_center_px": [
          922.2759399414062,
          862.56494140625
        ],
        "reprojection_error_px": 3.6035288332358517,
        "confidence": 0.616540888528013
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          567.0,
          692.5
        ],
        "projected_center_px": [
          567.9224243164062,
          691.9375
        ],
        "reprojection_error_px": 1.080404030674422,
        "confidence": 0.4424958960552566
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          115.75,
          787.5
        ],
        "projected_center_px": [
          114.7125473022461,
          788.6083984375
        ],
        "reprojection_error_px": 1.5181749557706778,
        "confidence": 0.4975235789090466
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          977.0,
          755.0
        ],
        "projected_center_px": [
          977.9473266601562,
          750.5419921875
        ],
        "reprojection_error_px": 4.557549940193067,
        "confidence": 0.5873934926369923
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          54.75,
          764.5
        ],
        "projected_center_px": [
          58.04951095581055,
          763.8201904296875
        ],
        "reprojection_error_px": 3.3688148657060832,
        "confidence": 0.3317064405086114
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          880.5,
          773.0
        ],
        "projected_center_px": [
          878.9205322265625,
          769.0278930664062
        ],
        "reprojection_error_px": 4.274617168733495,
        "confidence": 0.5891897879835948
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          475.0,
          603.5
        ],
        "projected_center_px": [
          477.94195556640625,
          604.615478515625
        ],
        "reprojection_error_px": 3.146330382132441,
        "confidence": 0.5365098825483792
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          97.5,
          709.5
        ],
        "projected_center_px": [
          94.7508316040039,
          713.7709350585938
        ],
        "reprojection_error_px": 5.079253207339533,
        "confidence": 0.509707248070139
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          51.5,
          694.75
        ],
        "projected_center_px": [
          46.12141799926758,
          695.094482421875
        ],
        "reprojection_error_px": 5.3896022559724805,
        "confidence": 0.290584867175275
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          801.5,
          744.5
        ],
        "projected_center_px": [
          797.05908203125,
          746.2767333984375
        ],
        "reprojection_error_px": 4.783151050749902,
        "confidence": 0.5886722764049094
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          802.5,
          599.0
        ],
        "projected_center_px": [
          800.223388671875,
          601.8912353515625
        ],
        "reprojection_error_px": 3.6799729615136862,
        "confidence": 0.5086613910190547
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          699.0,
          531.75
        ],
        "projected_center_px": [
          701.0597534179688,
          530.793701171875
        ],
        "reprojection_error_px": 2.270923070363062,
        "confidence": 0.5054980739107272
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          857.5,
          508.5
        ],
        "projected_center_px": [
          857.0489501953125,
          509.3045349121094
        ],
        "reprojection_error_px": 0.9223461124282314,
        "confidence": 0.5046753915740128
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          229.25,
          365.25
        ],
        "projected_center_px": [
          227.60406494140625,
          361.9054870605469
        ],
        "reprojection_error_px": 3.7275821948385515,
        "confidence": 0.4158618894065431
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          709.5,
          434.5
        ],
        "projected_center_px": [
          709.8967895507812,
          430.5449523925781
        ],
        "reprojection_error_px": 3.974901699989911,
        "confidence": 0.47669546512195393
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          766.0,
          436.5
        ],
        "projected_center_px": [
          768.6670532226562,
          437.4076843261719
        ],
        "reprojection_error_px": 2.8172794906539145,
        "confidence": 0.45270011191053483
      },
      {
        "marker_id": 205,
        "observed_center_px": [
          148.0,
          285.0
        ],
        "projected_center_px": [
          150.02587890625,
          286.7535705566406
        ],
        "reprojection_error_px": 2.6794019929651482,
        "confidence": 0.38107014005487916
      },
      {
        "marker_id": 85,
        "observed_center_px": [
          556.0,
          319.5
        ],
        "projected_center_px": [
          556.5265502929688,
          321.59716796875
        ],
        "reprojection_error_px": 2.162260090779201,
        "confidence": 0.40168081794344246
      },
      {
        "marker_id": 102,
        "observed_center_px": [
          359.0,
          279.75
        ],
        "projected_center_px": [
          359.55657958984375,
          281.1851806640625
        ],
        "reprojection_error_px": 1.5393259493458542,
        "confidence": 0.36215529762078374
      },
      {
        "marker_id": 92,
        "observed_center_px": [
          329.0,
          309.25
        ],
        "projected_center_px": [
          328.158203125,
          312.1943359375
        ],
        "reprojection_error_px": 3.062308947773521,
        "confidence": 0.36117119671607356
      },
      {
        "marker_id": 59,
        "observed_center_px": [
          425.0,
          258.5
        ],
        "projected_center_px": [
          428.2727355957031,
          258.1341247558594
        ],
        "reprojection_error_px": 3.293123589186602,
        "confidence": 0.3829018389079366
      },
      {
        "marker_id": 71,
        "observed_center_px": [
          337.0,
          166.0
        ],
        "projected_center_px": [
          337.4945983886719,
          168.29945373535156
        ],
        "reprojection_error_px": 2.3520448650268277,
        "confidence": 0.3408600931480542
      },
      {
        "marker_id": 48,
        "observed_center_px": [
          415.5,
          187.75
        ],
        "projected_center_px": [
          416.6551208496094,
          185.05662536621094
        ],
        "reprojection_error_px": 2.930626399789071,
        "confidence": 0.3384322903762507
      },
      {
        "marker_id": 63,
        "observed_center_px": [
          275.5,
          183.5
        ],
        "projected_center_px": [
          273.7690124511719,
          182.0309295654297
        ],
        "reprojection_error_px": 2.27034927619664,
        "confidence": 0.3375471143770103
      },
      {
        "marker_id": 65,
        "observed_center_px": [
          310.5,
          124.5
        ],
        "projected_center_px": [
          309.096435546875,
          123.10820770263672
        ],
        "reprojection_error_px": 1.9766332419232053,
        "confidence": 0.3375471143770103
      },
      {
        "marker_id": 87,
        "observed_center_px": [
          161.0,
          66.0
        ],
        "projected_center_px": [
          161.25509643554688,
          64.62251281738281
        ],
        "reprojection_error_px": 1.4009086800014332,
        "confidence": 0.3158166687011719
      },
      {
        "marker_id": 80,
        "observed_center_px": [
          299.0,
          56.75
        ],
        "projected_center_px": [
          298.5722351074219,
          58.358619689941406
        ],
        "reprojection_error_px": 1.6645239890700165,
        "confidence": 0.2485923429199218
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}