{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T10:47:02Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_d_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "d",
    "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": 10,
    "used_marker_ids": [
      95,
      79,
      69,
      51,
      103,
      215,
      58,
      214,
      64,
      211
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.007353988537257497,
        0.001555344171098868,
        0.0014982619644151969,
        0.0014982600042112995
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 4.237141303510284,
    "residual_median_px": 3.7456091194777783,
    "residual_max_px": 6.34538697658371,
    "sigma2_normalized": 3.206832914326776e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.8126797080039978,
          0.5827022790908813,
          -0.003118145512416959
        ],
        [
          0.1601254642009735,
          -0.22846153378486633,
          -0.9602943062782288
        ],
        [
          -0.560278058052063,
          0.7799124121665955,
          -0.27897152304649353
        ]
      ],
      "translation_m": [
        -0.11299316585063934,
        0.08765889704227448,
        1.1242988109588623
      ],
      "rvec_rad": [
        1.7867097038966453,
        0.5720487083500576,
        -0.43386919087537007
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.7077107429504395,
        -0.7909865379333496,
        0.39747336506843567
      ],
      "position_mm": [
        707.7107543945312,
        -790.9865112304688,
        397.4733581542969
      ],
      "orientation_deg": {
        "roll": 109.68191528320312,
        "pitch": 34.07502746582031,
        "yaw": 11.146430969238281
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          0.00010925992944066302,
          2.1968961854672425e-05,
          2.2679378987038073e-05,
          -2.6805674530008506e-06,
          -2.189107474536008e-05,
          -7.335248320046471e-07
        ],
        [
          2.196896185467187e-05,
          3.592610918139703e-05,
          -2.6167554091540813e-05,
          7.397011006111543e-06,
          -6.355211747545283e-06,
          -1.4094274005765252e-06
        ],
        [
          2.267937898704016e-05,
          -2.6167554091540878e-05,
          9.780861536978037e-05,
          -1.443993394131052e-05,
          -4.692111923617948e-06,
          2.838250841273663e-06
        ],
        [
          -2.6805674530011424e-06,
          7.397011006111533e-06,
          -1.4439933941310446e-05,
          2.9901223399589974e-06,
          8.422694168563376e-08,
          -1.3123181293545143e-06
        ],
        [
          -2.189107474536009e-05,
          -6.355211747545381e-06,
          -4.692111923617589e-06,
          8.422694168558372e-08,
          5.245954061188159e-06,
          2.3030602073267076e-06
        ],
        [
          -7.335248320046582e-07,
          -1.4094274005765108e-06,
          2.838250841273579e-06,
          -1.312318129354503e-06,
          2.3030602073267105e-06,
          1.1285692527116763e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.5988983137141427,
          0.34342169318769805,
          0.5666451655328679
        ],
        "tvec_std_m": [
          0.0017291970217297385,
          0.002290404781078698,
          0.0033594184804987847
        ]
      },
      "camera_center_std_m": [
        0.006410713893485901,
        0.006669648120030391,
        0.009052694642516762
      ],
      "camera_center_std_mm": [
        6.410713893485901,
        6.669648120030391,
        9.052694642516762
      ],
      "orientation_std_deg": {
        "roll": 0.7227202170405644,
        "pitch": 0.4918756533934719,
        "yaw": 0.4424824670557246
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 95,
        "observed_center_px": [
          421.25,
          1048.25
        ],
        "projected_center_px": [
          421.4743347167969,
          1044.84521484375
        ],
        "reprojection_error_px": 3.412167643211668,
        "confidence": 0.20059440065661768
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          835.5,
          1016.75
        ],
        "projected_center_px": [
          834.6665649414062,
          1018.5770874023438
        ],
        "reprojection_error_px": 2.0081987881423493,
        "confidence": 0.6341644355241739
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          128.0,
          929.5
        ],
        "projected_center_px": [
          124.17703247070312,
          933.099853515625
        ],
        "reprojection_error_px": 5.251097605645502,
        "confidence": 0.6324710990675101
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          549.75,
          937.5
        ],
        "projected_center_px": [
          549.7070922851562,
          936.1340942382812
        ],
        "reprojection_error_px": 1.3665795336860533,
        "confidence": 0.7012296261265557
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          419.5,
          914.75
        ],
        "projected_center_px": [
          425.51702880859375,
          912.7352294921875
        ],
        "reprojection_error_px": 6.34538697658371,
        "confidence": 0.7016133004874728
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          805.5,
          860.25
        ],
        "projected_center_px": [
          801.5691528320312,
          861.3395385742188
        ],
        "reprojection_error_px": 4.0790505957438885,
        "confidence": 0.5086231489041705
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          291.5,
          903.25
        ],
        "projected_center_px": [
          293.2575378417969,
          905.6973266601562
        ],
        "reprojection_error_px": 3.013029546297142,
        "confidence": 0.6690309256329247
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          1072.75,
          853.25
        ],
        "projected_center_px": [
          1078.273193359375,
          854.3634643554688
        ],
        "reprojection_error_px": 5.634311648812438,
        "confidence": 0.43182165806571704
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          238.5,
          848.0
        ],
        "projected_center_px": [
          239.0399169921875,
          845.7345581054688
        ],
        "reprojection_error_px": 2.328891868668474,
        "confidence": 0.5482676539292646
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          897.0,
          804.25
        ],
        "projected_center_px": [
          891.5007934570312,
          803.2376098632812
        ],
        "reprojection_error_px": 5.59161929955498,
        "confidence": 0.2517212306348842
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}