{ "schema_version": "1.0", "created_utc": "2026-05-28T15:12:17.494654Z", "source_robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json", "source_detections": [ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json" ], "robot_pose": { "state": { "x": 181.54725640332114, "y": 58.52839894680379, "z": -117.49574729476373, "a": -109.04068037196633, "b": 21.99999999999997, "c": 90.9999999999968, "e": 10.000000000002045 }, "uncertainty": { "x_mm": 1244.466529684963, "y_mm": 7074.339663399324, "z_mm": 820.6981657593474, "a_deg": 826.28528886627, "b_deg": 10766.558819701313, "c_deg": 10766.563026961136, "e_mm": 107665.71839050233 }, "confidence": { "x": 8.984736077953398e-55, "y": 5.825485258915721e-308, "z": 2.2778836127227612e-36, "a": 1.3028243192541689e-36, "b": 0.0, "c": 0.0, "e": 0.36787944117144233 } }, "camera_poses": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "camera_id": "cam1", "camera_position_world_m": [ -67.15264946093049, -145.95139032151744, -88.26653224765123 ], "rvec": [ -3.542038128451333, -30.5589850821012, 16.444347919278478 ], "tvec": [ 1.483017282919796, 7.509205723706149, -183.14933761979546 ], "intrinsics": { "camera_matrix": [ [ 1777.77783203125, 0.0, 640.0 ], [ 0.0, 1500.0, 360.0 ], [ 0.0, 0.0, 1.0 ] ], "distortion_coefficients": [ 0.0, 0.0, 0.0, 0.0, 0.0 ] }, "observation_count": 17 }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "camera_id": "cam1", "camera_position_world_m": [ 0.08505368964340965, 0.2946432117677963, -0.7157756836568655 ], "rvec": [ -0.5316255763965235, -3.174734119797076, -0.7980749872854376 ], "tvec": [ 0.17598061076211097, 0.03209794584304647, -0.7578813417585265 ], "intrinsics": { "camera_matrix": [ [ 1777.77783203125, 0.0, 640.0 ], [ 0.0, 1500.0, 360.0 ], [ 0.0, 0.0, 1.0 ] ], "distortion_coefficients": [ 0.0, 0.0, 0.0, 0.0, 0.0 ] }, "observation_count": 10 }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "camera_id": "cam1", "camera_position_world_m": [ 0.19551444508455482, -0.4496621583583861, 0.7007419670032374 ], "rvec": [ -3.5782847330305145, 0.5811345580146894, 0.31790917187918544 ], "tvec": [ -0.13076078659741264, 0.0026732045097548752, 0.8451956754988071 ], "intrinsics": { "camera_matrix": [ [ 1777.77783203125, 0.0, 640.0 ], [ 0.0, 1500.0, 360.0 ], [ 0.0, 0.0, 1.0 ] ], "distortion_coefficients": [ 0.0, 0.0, 0.0, 0.0, 0.0 ] }, "observation_count": 7 } ], "marker_positions": [ { "marker_id": 210, "link_name": "Board", "position_world_m": [ 0.02, -0.02, 0.0003 ], "size_m": 0.025, "observation_count": 3, "mean_confidence": 0.6997700579082148, "mean_reprojection_error_px": 220.77947555807535, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.5673043275049208, "mean_reprojection_error_px": 583.5059207989476, "corner_reprojection_errors_px": [ 609.2234772782313, 565.0260802933998, 557.8015857749582, 601.9725398492011 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.7813266383036261, "mean_reprojection_error_px": 39.55489478242865, "corner_reprojection_errors_px": [ 48.88397493699652, 61.30605038320363, 46.048597197902666, 1.980956611611768 ] }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.7506792079160973, "mean_reprojection_error_px": 39.27761109284978, "corner_reprojection_errors_px": [ 65.97074853665205, 24.74479058079261, 13.228233029506784, 53.166672224447694 ] } ] }, { "marker_id": 211, "link_name": "Board", "position_world_m": [ 0.25, -0.01, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.6412317666518965, "mean_reprojection_error_px": 214.33163264388395, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.6412317666518965, "mean_reprojection_error_px": 214.33163264388395, "corner_reprojection_errors_px": [ 237.47818589215711, 202.2967964175736, 191.68363751699303, 225.86791074881205 ] } ] }, { "marker_id": 215, "link_name": "Board", "position_world_m": [ 0.25, -0.09, 0.0003 ], "size_m": 0.025, "observation_count": 2, "mean_confidence": 0.8108527003549935, "mean_reprojection_error_px": 195.42303307205083, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.7952557920267838, "mean_reprojection_error_px": 205.66294162020296, "corner_reprojection_errors_px": [ 218.8179432625852, 185.3722132441409, 193.9241697940935, 224.5374401799923 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.826449608683203, "mean_reprojection_error_px": 185.1831245238987, "corner_reprojection_errors_px": [ 219.21341536613414, 168.97047202229555, 151.2474816881201, 201.30112901904496 ] } ] }, { "marker_id": 214, "link_name": "Board", "position_world_m": [ 0.35000000000000003, -0.01, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.6041252446922665, "mean_reprojection_error_px": 396.6842335066294, "observations": [ { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.6041252446922665, "mean_reprojection_error_px": 396.6842335066294, "corner_reprojection_errors_px": [ 396.3517608479836, 374.63031408080843, 399.6139298462295, 416.1409292514962 ] } ] }, { "marker_id": 208, "link_name": "Board", "position_world_m": [ 0.35000000000000003, -0.09, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.6280424706698967, "mean_reprojection_error_px": 104.53888708998042, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.6280424706698967, "mean_reprojection_error_px": 104.53888708998042, "corner_reprojection_errors_px": [ 100.19696760041806, 84.14272558467785, 111.5985938652804, 122.21726130954538 ] } ] }, { "marker_id": 206, "link_name": "Board", "position_world_m": [ 0.65, -0.01, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.33820423087105295, "mean_reprojection_error_px": 267.0425486050223, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.33820423087105295, "mean_reprojection_error_px": 267.0425486050223, "corner_reprojection_errors_px": [ 248.43466760822997, 272.69005756404255, 285.6169240254765, 261.42854522234035 ] } ] }, { "marker_id": 205, "link_name": "Board", "position_world_m": [ 0.75, -0.09, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.28724459014346065, "mean_reprojection_error_px": 415.8751776130689, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.28724459014346065, "mean_reprojection_error_px": 415.8751776130689, "corner_reprojection_errors_px": [ 395.1459522897165, 416.72497517179465, 436.46281469338743, 415.16696829737697 ] } ] }, { "marker_id": 207, "link_name": "Board", "position_world_m": [ 0.75, -0.01, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.27228561618555186, "mean_reprojection_error_px": 363.40455932725575, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.27228561618555186, "mean_reprojection_error_px": 363.40455932725575, "corner_reprojection_errors_px": [ 346.0438581309408, 367.42169729635515, 381.0737741735404, 359.07890770818653 ] } ] }, { "marker_id": 217, "link_name": "Board", "position_world_m": [ 0.65, -0.09, 0.0003 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.35596573288593486, "mean_reprojection_error_px": 321.69325248463235, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.35596573288593486, "mean_reprojection_error_px": 321.69325248463235, "corner_reprojection_errors_px": [ 299.50652112481214, 323.01445781467953, 343.8145434727812, 320.4374875262566 ] } ] }, { "marker_id": 198, "link_name": "Arm1", "position_world_m": [ 0.18154725640332114, -0.05368067525881935, 0.15473650216984092 ], "size_m": 0.025, "observation_count": 2, "mean_confidence": 0.16652042240877096, "mean_reprojection_error_px": 176.61396206576376, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.20150745250271476, "mean_reprojection_error_px": 249.4432410246182, "corner_reprojection_errors_px": [ 275.2716341467862, 247.12753771344126, 224.03573860709332, 251.33805363115204 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.13153339231482716, "mean_reprojection_error_px": 103.78468310690936, "corner_reprojection_errors_px": [ 92.57065651057769, 103.81498423159927, 124.48400230916597, 94.26908937629445 ] } ] }, { "marker_id": 229, "link_name": "Arm1", "position_world_m": [ 0.18154725640332114, -0.10066750491630294, 0.23149741565280188 ], "size_m": 0.025, "observation_count": 2, "mean_confidence": 0.2274747191640703, "mean_reprojection_error_px": 114.65083791461562, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.26810902547334975, "mean_reprojection_error_px": 157.56342751488188, "corner_reprojection_errors_px": [ 182.03382946831127, 158.99106757645583, 133.31281060220186, 155.91600241255856 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.18684041285479083, "mean_reprojection_error_px": 71.73824831434936, "corner_reprojection_errors_px": [ 62.57648563021246, 73.24833068956802, 93.62951004804361, 57.49866688957334 ] } ] }, { "marker_id": 242, "link_name": "Arm1", "position_world_m": [ 0.18154725640332114, -0.1603704376252726, 0.19495210369698132 ], "size_m": 0.025, "observation_count": 0, "mean_confidence": null, "mean_reprojection_error_px": null, "observations": [] }, { "marker_id": 243, "link_name": "Arm1", "position_world_m": [ 0.18154725640332114, -0.14879162724869807, 0.24307622602937645 ], "size_m": 0.025, "observation_count": 3, "mean_confidence": 0.9174550709990235, "mean_reprojection_error_px": 43.36361596374159, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.8899728634608616, "mean_reprojection_error_px": 80.72636248080838, "corner_reprojection_errors_px": [ 103.11767577441192, 73.99244264213212, 52.960515033680814, 92.83481647300867 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.9132502955127223, "mean_reprojection_error_px": 17.65321921352932, "corner_reprojection_errors_px": [ 23.787325274905296, 20.61800212862162, 10.499732762361031, 15.707816688229324 ] }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.9491420540234864, "mean_reprojection_error_px": 31.711266196887063, "corner_reprojection_errors_px": [ 37.923084099569614, 0.2134084559141012, 42.92388177593928, 45.78469045612526 ] } ] }, { "marker_id": 244, "link_name": "Ellbow", "position_world_m": [ 0.30654725640332114, 0.0, 0.0 ], "size_m": 0.025, "observation_count": 0, "mean_confidence": null, "mean_reprojection_error_px": null, "observations": [] }, { "marker_id": 245, "link_name": "Ellbow", "position_world_m": [ 0.2715472564033211, 0.029990577828141386, -0.018043426546368473 ], "size_m": 0.025, "observation_count": 0, "mean_confidence": null, "mean_reprojection_error_px": null, "observations": [] }, { "marker_id": 246, "link_name": "Ellbow", "position_world_m": [ 0.2715472564033211, -0.029990577828141386, 0.018043426546368473 ], "size_m": 0.025, "observation_count": 3, "mean_confidence": 0.6792447690577089, "mean_reprojection_error_px": 82.08966057312311, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.8015179238063419, "mean_reprojection_error_px": 130.56180963001174, "corner_reprojection_errors_px": [ 131.5768861165912, 148.78099370016497, 133.10414547000457, 108.78521323328613 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.7581700566520715, "mean_reprojection_error_px": 38.83288809109914, "corner_reprojection_errors_px": [ 49.917614687022564, 21.338048175631457, 40.862399000804004, 43.213490500938555 ] }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.4780463267147134, "mean_reprojection_error_px": 76.8742839982585, "corner_reprojection_errors_px": [ 35.05794226352506, 98.03823312377735, 122.08217872702849, 52.31878187870311 ] } ] }, { "marker_id": 247, "link_name": "Ellbow", "position_world_m": [ 0.23404725640332114, -0.029990577828141386, 0.018043426546368473 ], "size_m": 0.025, "observation_count": 3, "mean_confidence": 0.7117000257529918, "mean_reprojection_error_px": 80.52058124342345, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.8796777163094818, "mean_reprojection_error_px": 109.47051531989443, "corner_reprojection_errors_px": [ 125.73431013214108, 126.73685991781507, 97.3154475708235, 88.09544365879812 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.7448005120854795, "mean_reprojection_error_px": 40.6548721647999, "corner_reprojection_errors_px": [ 61.62678961364609, 49.84332916101471, 31.2644086226518, 19.884961261886986 ] }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.5106218488640142, "mean_reprojection_error_px": 91.436356245576, "corner_reprojection_errors_px": [ 79.2467696422458, 112.40480811674038, 113.18153184339867, 60.91231537991913 ] } ] }, { "marker_id": 124, "link_name": "Arm2", "position_world_m": [ 0.19296563528466518, -0.14125000632909357, -0.1705991100086782 ], "size_m": 0.025, "observation_count": 2, "mean_confidence": 0.4106676690676095, "mean_reprojection_error_px": 118.70435848549427, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.34091855704160245, "mean_reprojection_error_px": 136.41410315507122, "corner_reprojection_errors_px": [ 122.8029119076584, 105.17647879194196, 150.3388262656519, 167.33819565503265 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.4804167810936165, "mean_reprojection_error_px": 100.99461381591732, "corner_reprojection_errors_px": [ 94.61023538629438, 62.3507552530323, 115.30488690538117, 131.71257771896146 ] } ] }, { "marker_id": 122, "link_name": "Arm2", "position_world_m": [ 0.20990587185770623, -0.0854394397428592, -0.1609965560685589 ], "size_m": 0.025, "observation_count": 3, "mean_confidence": 0.5690911450460799, "mean_reprojection_error_px": 115.4296640273784, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.18665602922528673, "mean_reprojection_error_px": 192.69670051979531, "corner_reprojection_errors_px": [ 162.8594058395046, 189.31139967251238, 220.7675955032362, 197.8484010639281 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.9456847621099602, "mean_reprojection_error_px": 41.758821983395634, "corner_reprojection_errors_px": [ 42.20929173703953, 73.24612974199405, 34.08501995181812, 17.49484650273085 ] }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.5749326438029929, "mean_reprojection_error_px": 111.8334695789442, "corner_reprojection_errors_px": [ 122.40335309391429, 155.4380168814154, 101.35617142524032, 68.13633691520678 ] } ] }, { "marker_id": 218, "link_name": "Arm2", "position_world_m": [ 0.1701288775219771, -0.029389256152276798, -0.113026068880316 ], "size_m": 0.025, "observation_count": 0, "mean_confidence": null, "mean_reprojection_error_px": null, "observations": [] }, { "marker_id": 101, "link_name": "Arm2", "position_world_m": [ 0.15007697358736016, -0.08069728605993415, -0.16384960885532981 ], "size_m": 0.025, "observation_count": 1, "mean_confidence": 0.3325004465415643, "mean_reprojection_error_px": 268.2779246523214, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.3325004465415643, "mean_reprojection_error_px": 268.2779246523214, "corner_reprojection_errors_px": [ 252.5657721019858, 236.30225155702897, 285.07051528039955, 299.1731596698715 ] } ] }, { "marker_id": 102, "link_name": "Arm2", "position_world_m": [ 0.16622582371954672, -0.1207918742144217, -0.13972724080967133 ], "size_m": 0.025, "observation_count": 3, "mean_confidence": 0.8473641170835915, "mean_reprojection_error_px": 134.3212111638231, "observations": [ { "view_index": 0, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a.png", "confidence": 0.9494437061622057, "mean_reprojection_error_px": 275.82196003309537, "corner_reprojection_errors_px": [ 239.6365759195386, 266.3494158086631, 310.221043133295, 287.0808052708849 ] }, { "view_index": 1, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1b.png", "confidence": 0.8913851020933449, "mean_reprojection_error_px": 69.70421030419618, "corner_reprojection_errors_px": [ 43.54332574941685, 33.67288896070401, 97.392314014777, 104.20831249188686 ] }, { "view_index": 2, "source_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c_aruco_detection.json", "image_file": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1c.png", "confidence": 0.7012635429952238, "mean_reprojection_error_px": 57.43746315417774, "corner_reprojection_errors_px": [ 75.89223182434904, 45.05384333908305, 33.595730720813556, 75.20804673246533 ] } ] }, { "marker_id": 219, "link_name": "Arm2", "position_world_m": [ 0.1701288775219771, -0.08455058873688898, -0.20471154966920532 ], "size_m": 0.025, "observation_count": 0, "mean_confidence": null, "mean_reprojection_error_px": null, "observations": [] } ] }