{
  "schema_version": "1.0",
  "created_utc": "2026-05-29T17:30:29Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3c_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
  },
  "camera": {
    "camera_id": "cam1",
    "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
    ]
  },
  "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": 3,
    "used_marker_ids": [
      214,
      215,
      211
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10
      ],
      "rms": [
        0.00344680955780955,
        0.0020271807913530755,
        0.0012054573927883481,
        0.0005249513489291123,
        0.00011440662413309213,
        1.160155941872139e-05,
        7.215779361669864e-07,
        2.5148062241790062e-08,
        4.500141944380795e-10,
        4.065031937942975e-12,
        1.8438192734588975e-14
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05,
        3.125e-05,
        1.5625e-05,
        7.8125e-06,
        3.90625e-06,
        1.953125e-06,
        9.765625e-07
      ]
    },
    "residual_rms_px": 0.0,
    "residual_median_px": 0.0,
    "residual_max_px": 0.0,
    "sigma2_normalized": 6.085938624263665e-32
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.6542378067970276,
          0.7542697191238403,
          0.055227722972631454
        ],
        [
          0.5993703603744507,
          -0.47257471084594727,
          -0.6460869312286377
        ],
        [
          -0.46122458577156067,
          0.45579633116722107,
          -0.7612631320953369
        ]
      ],
      "translation_m": [
        -0.002736467868089676,
        -0.051753539592027664,
        0.9323956966400146
      ],
      "rvec_rad": [
        2.2287567480572723,
        1.044617524144693,
        -0.31331182858045287
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.46285367012023926,
        -0.44737592339515686,
        0.6765123009681702
      ],
      "position_mm": [
        462.8536682128906,
        -447.37591552734375,
        676.5123291015625
      ],
      "orientation_deg": {
        "roll": 149.0894775390625,
        "pitch": 27.466156005859375,
        "yaw": 42.493896484375
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          4.98077532946859e-29,
          1.5669505417959045e-29,
          -2.6063442216070545e-30,
          1.3704317463740436e-30,
          -4.725392909182312e-30,
          -2.2822782861284537e-30
        ],
        [
          1.566950541795822e-29,
          1.356557941666176e-29,
          -1.6794738460725616e-29,
          2.9388553078303738e-30,
          -1.4354899092906991e-30,
          2.7388681044307003e-30
        ],
        [
          -2.6063442215968667e-30,
          -1.6794738460732272e-29,
          1.3269273125293006e-28,
          -1.0933225984983171e-29,
          -8.214578226915152e-30,
          -2.6695766121462166e-29
        ],
        [
          1.370431746373238e-30,
          2.9388553078308247e-30,
          -1.0933225984982319e-29,
          1.2365300431408576e-30,
          4.625717492808519e-31,
          2.5878308104903124e-30
        ],
        [
          -4.7253929091830566e-30,
          -1.4354899092901388e-30,
          -8.214578226916122e-30,
          4.625717492809888e-31,
          1.2042707994264927e-30,
          2.2588627193514912e-30
        ],
        [
          -2.282278286130713e-30,
          2.7388681044323174e-30,
          -2.6695766121464453e-29,
          2.5878308104906743e-30,
          2.2588627193514506e-30,
          7.612587003080338e-30
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          4.043627193444188e-13,
          2.1102883748579442e-13,
          6.60003439958854e-13
        ],
        "tvec_std_m": [
          1.1119937244161306e-15,
          1.0973927279814154e-15,
          2.7590916989256335e-15
        ]
      },
      "camera_center_std_m": [
        6.609895593967079e-15,
        5.572407428023946e-15,
        4.532315948778389e-15
      ],
      "camera_center_std_mm": [
        6.609895593967079e-12,
        5.5724074280239455e-12,
        4.5323159487783894e-12
      ],
      "orientation_std_deg": {
        "roll": 4.593062572697299e-13,
        "pitch": 4.725448419113441e-13,
        "yaw": 1.6845365562674818e-13
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 214,
        "observed_center_px": [
          1147.5,
          678.25
        ],
        "projected_center_px": [
          1147.5,
          678.25
        ],
        "reprojection_error_px": 0.0,
        "confidence": 0.1700115058329765
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          853.0,
          631.5
        ],
        "projected_center_px": [
          853.0,
          631.5
        ],
        "reprojection_error_px": 0.0,
        "confidence": 0.9372326698512834
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          975.5,
          549.5
        ],
        "projected_center_px": [
          975.5,
          549.5
        ],
        "reprojection_error_px": 0.0,
        "confidence": 0.8902520865668376
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}