{ "schema_version": "1.0", "created_utc": "2026-06-02T10:50:13Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\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": [ [ 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 ] }, "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": 33, "used_marker_ids": [ 86, 64, 215, 58, 72, 69, 53, 103, 51, 56, 46, 68, 79, 55, 66, 47, 217, 97, 54, 85, 205, 92, 105, 102, 59, 57, 48, 63, 65, 71, 87, 80, 78 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.009816654394647758, 0.0013009671963888647, 0.001102395523244228, 0.0011023893300051253 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 3.119571173995393, "residual_median_px": 2.5277826254361964, "residual_max_px": 5.7255242502451225, "sigma2_normalized": 1.3367884583513123e-06 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ -0.7075769901275635, -0.7066276669502258, 0.0034813329111784697 ], [ -0.6400125622749329, 0.6387684941291809, -0.42703476548194885 ], [ 0.29953083395957947, -0.3043880760669708, -0.9042285084724426 ] ], "translation_m": [ 0.0010274461237713695, 0.33226436376571655, 1.383156418800354 ], "rvec_rad": [ 1.1156263648851987, -2.692943446888119, 0.6059484571742713 ] }, "camera_in_world": { "position_m": [ -0.20091763138771057, 0.20950235426425934, 1.3925743103027344 ], "position_mm": [ -200.91763305664062, 209.50234985351562, 1392.5743408203125 ], "orientation_deg": { "roll": -161.39535522460938, "pitch": -17.429424285888672, "yaw": -137.8702392578125 } }, "uncertainty": { "pose_covariance_6x6": [ [ 4.856104984220262e-06, -6.020660535905734e-06, 4.518625631176615e-06, 3.782900952344348e-07, 1.00161245892144e-06, 4.075691904953532e-06 ], [ -6.020660535905726e-06, 1.6481292004110328e-05, -1.1298577580872877e-05, -2.6053346536832008e-06, -1.4851113625919635e-06, -9.688644577751738e-06 ], [ 4.5186256311766595e-06, -1.1298577580872816e-05, 4.232291146192476e-05, 4.2373614131023275e-06, -2.316336457951568e-06, 1.0365160056345968e-07 ], [ 3.782900952344359e-07, -2.605334653683192e-06, 4.237361413102341e-06, 8.723247217803378e-07, -1.0664736411610727e-07, 5.703424810515027e-07 ], [ 1.001612458921433e-06, -1.485111362591966e-06, -2.3163364579515866e-06, -1.0664736411610682e-07, 6.522434210402945e-07, 1.5608631385254296e-06 ], [ 4.07569190495352e-06, -9.688644577751759e-06, 1.0365160056351354e-07, 5.703424810515149e-07, 1.5608631385254269e-06, 9.772006510908036e-06 ] ], "parameter_std": { "rvec_std_deg": [ 0.1262602561320147, 0.23260457873285978, 0.3727437759348792 ], "tvec_std_m": [ 0.0009339832556209655, 0.0008076158870653142, 0.003126020874995565 ] }, "camera_center_std_m": [ 0.005685103722754234, 0.007642526354367957, 0.0033610566721637464 ], "camera_center_std_mm": [ 5.685103722754233, 7.642526354367957, 3.3610566721637465 ], "orientation_std_deg": { "roll": 0.32910168158428227, "pitch": 0.23116431610692903, "yaw": 0.05246687479625524 } } }, "observations": { "markers": [ { "marker_id": 86, "observed_center_px": [ 70.5, 959.0 ], "projected_center_px": [ 72.32229614257812, 956.13916015625 ], "reprojection_error_px": 3.3919268628380888, "confidence": 0.5795855489013004 }, { "marker_id": 64, "observed_center_px": [ 921.75, 859.0 ], "projected_center_px": [ 922.9356689453125, 862.9501953125 ], "reprojection_error_px": 4.12430040792077, "confidence": 0.616540888528013 }, { "marker_id": 215, "observed_center_px": [ 566.5, 693.0 ], "projected_center_px": [ 568.567626953125, 692.0146484375 ], "reprojection_error_px": 2.29041457361111, "confidence": 0.6152661587526339 }, { "marker_id": 58, "observed_center_px": [ 880.5, 772.75 ], "projected_center_px": [ 879.3733520507812, 769.3032836914062 ], "reprojection_error_px": 3.6261810370422682, "confidence": 0.5876289194459208 }, { "marker_id": 72, "observed_center_px": [ 115.5, 788.0 ], "projected_center_px": [ 114.54566192626953, 788.9376220703125 ], "reprojection_error_px": 1.3378700630885947, "confidence": 0.5322501871361803 }, { "marker_id": 69, "observed_center_px": [ 977.0, 755.0 ], "projected_center_px": [ 978.2164916992188, 750.8089599609375 ], "reprojection_error_px": 4.364019782642274, "confidence": 0.5873934926369923 }, { "marker_id": 53, "observed_center_px": [ 54.0, 764.5 ], "projected_center_px": [ 57.7257194519043, 764.0789794921875 ], "reprojection_error_px": 3.749432450691271, "confidence": 0.32594286952973284 }, { "marker_id": 103, "observed_center_px": [ 801.0, 744.25 ], "projected_center_px": [ 797.53076171875, 746.5263671875 ], "reprojection_error_px": 4.149392946494356, "confidence": 0.5606734879266068 }, { "marker_id": 51, "observed_center_px": [ 725.0, 703.75 ], "projected_center_px": [ 724.2601318359375, 705.2399291992188 ], "reprojection_error_px": 1.6635185357782583, "confidence": 0.5872237273710109 }, { "marker_id": 56, "observed_center_px": [ 97.75, 709.75 ], "projected_center_px": [ 94.54490661621094, 713.8973999023438 ], "reprojection_error_px": 5.241521682562171, "confidence": 0.46950770604173 }, { "marker_id": 46, "observed_center_px": [ 51.5, 694.75 ], "projected_center_px": [ 45.7897834777832, 695.1683959960938 ], "reprojection_error_px": 5.7255242502451225, "confidence": 0.2902883953953809 }, { "marker_id": 68, "observed_center_px": [ 28.25, 652.0 ], "projected_center_px": [ 32.07066345214844, 650.1307983398438 ], "reprojection_error_px": 4.253396767398228, "confidence": 0.06745941479560678 }, { "marker_id": 79, "observed_center_px": [ 581.75, 593.0 ], "projected_center_px": [ 580.85986328125, 592.4602661132812 ], "reprojection_error_px": 1.0409880145993733, "confidence": 0.48014488393995497 }, { "marker_id": 55, "observed_center_px": [ 699.0, 531.5 ], "projected_center_px": [ 701.1612548828125, 530.948486328125 ], "reprojection_error_px": 2.2305133935365458, "confidence": 0.5033557129355607 }, { "marker_id": 66, "observed_center_px": [ 857.75, 508.5 ], "projected_center_px": [ 856.8717651367188, 509.5708312988281 ], "reprojection_error_px": 1.3849101579642504, "confidence": 0.4791716529202595 }, { "marker_id": 47, "observed_center_px": [ 671.0, 462.5 ], "projected_center_px": [ 669.1699829101562, 463.524658203125 ], "reprojection_error_px": 2.0973523743881337, "confidence": 0.47486054263026106 }, { "marker_id": 217, "observed_center_px": [ 229.5, 365.5 ], "projected_center_px": [ 227.77029418945312, 361.6361083984375 ], "reprojection_error_px": 4.233384048213066, "confidence": 0.4046375469124394 }, { "marker_id": 97, "observed_center_px": [ 765.75, 436.5 ], "projected_center_px": [ 768.4812622070312, 437.68475341796875 ], "reprojection_error_px": 2.977151978812276, "confidence": 0.4509112286273005 }, { "marker_id": 54, "observed_center_px": [ 709.25, 434.25 ], "projected_center_px": [ 709.79052734375, 430.7809753417969 ], "reprojection_error_px": 3.5108833487546605, "confidence": 0.44042326304466006 }, { "marker_id": 85, "observed_center_px": [ 555.0, 319.75 ], "projected_center_px": [ 556.4318237304688, 321.82769775390625 ], "reprojection_error_px": 2.52328102908109, "confidence": 0.33473633767097827 }, { "marker_id": 205, "observed_center_px": [ 148.25, 284.75 ], "projected_center_px": [ 150.1145477294922, 286.4375915527344 ], "reprojection_error_px": 2.514856553446914, "confidence": 0.3904275743165678 }, { "marker_id": 92, "observed_center_px": [ 328.75, 309.5 ], "projected_center_px": [ 328.17999267578125, 312.1814880371094 ], "reprojection_error_px": 2.741402276723303, "confidence": 0.38026711457279644 }, { "marker_id": 105, "observed_center_px": [ 502.25, 341.25 ], "projected_center_px": [ 498.4606018066406, 341.06829833984375 ], "reprojection_error_px": 3.7937519899354033, "confidence": 0.3931208602008742 }, { "marker_id": 102, "observed_center_px": [ 359.0, 279.5 ], "projected_center_px": [ 359.5533752441406, 281.2454528808594 ], "reprojection_error_px": 1.8310734338436534, "confidence": 0.3834923705135548 }, { "marker_id": 59, "observed_center_px": [ 425.5, 258.75 ], "projected_center_px": [ 428.2170104980469, 258.31365966796875 ], "reprojection_error_px": 2.751824654997856, "confidence": 0.3475062428717297 }, { "marker_id": 57, "observed_center_px": [ 521.0, 213.25 ], "projected_center_px": [ 521.6240844726562, 214.94573974609375 ], "reprojection_error_px": 1.8069351719120212, "confidence": 0.3370835485575886 }, { "marker_id": 48, "observed_center_px": [ 415.25, 187.5 ], "projected_center_px": [ 416.5391540527344, 185.3596954345703 ], "reprojection_error_px": 2.498563948447313, "confidence": 0.3157717646545193 }, { "marker_id": 63, "observed_center_px": [ 275.75, 183.25 ], "projected_center_px": [ 273.7283935546875, 182.13290405273438 ], "reprojection_error_px": 2.309717726287419, "confidence": 0.32781322776968225 }, { "marker_id": 65, "observed_center_px": [ 310.75, 124.25 ], "projected_center_px": [ 309.0137023925781, 123.38616180419922 ], "reprojection_error_px": 1.9393158097801597, "confidence": 0.323424516536529 }, { "marker_id": 71, "observed_center_px": [ 337.25, 166.0 ], "projected_center_px": [ 337.4228515625, 168.52186584472656 ], "reprojection_error_px": 2.5277826254361964, "confidence": 0.2963584890699928 }, { "marker_id": 87, "observed_center_px": [ 161.5, 66.0 ], "projected_center_px": [ 161.20098876953125, 64.79020690917969 ], "reprojection_error_px": 1.2461970303860466, "confidence": 0.27798930354872264 }, { "marker_id": 80, "observed_center_px": [ 299.25, 56.5 ], "projected_center_px": [ 298.4621276855469, 58.783409118652344 ], "reprojection_error_px": 2.4155123653226034, "confidence": 0.24658567276025462 }, { "marker_id": 78, "observed_center_px": [ 333.75, 82.5 ], "projected_center_px": [ 335.5574645996094, 79.6098403930664 ], "reprojection_error_px": 3.408804897965213, "confidence": 0.29355437233363646 } ] }, "qa": { "sanity_notes": [] } }