{ "schema_version": "1.0", "created_utc": "2026-06-01T23:04:58Z", "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": [ [ 2000.0, 0.0, 720.0 ], [ 0.0, 2000.0, 540.0 ], [ 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": 15, "used_marker_ids": [ 95, 79, 208, 69, 51, 103, 58, 215, 214, 64, 211, 72, 84, 86, 82 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.0051024889426725395, 0.00017622050729884997, 7.544027972068694e-05, 7.543975684765693e-05 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 0.21338087007534004, "residual_median_px": 0.2171491304301779, "residual_max_px": 0.3442031788345192, "sigma2_normalized": 7.113946141351181e-09 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.8190759420394897, 0.5736851096153259, -6.507481884909794e-05 ], [ 0.1614817976951599, -0.23066362738609314, -0.9595404863357544 ], [ -0.5504891276359558, 0.7859259843826294, -0.2815707325935364 ] ], "translation_m": [ -0.11481491476297379, 0.08644489198923111, 1.126613736152649 ], "rvec_rad": [ 1.7907552323234444, 0.5647056274750164, -0.4228985793605752 ] }, "camera_in_world": { "position_m": [ 0.700271487236023, -0.7996276617050171, 0.40016135573387146 ], "position_mm": [ 700.271484375, -799.627685546875, 400.1613464355469 ], "orientation_deg": { "roll": 109.71087646484375, "pitch": 33.40057373046875, "yaw": 11.152898788452148 } }, "uncertainty": { "pose_covariance_6x6": [ [ 4.757601595213363e-08, 2.3683224190724516e-08, 2.2364272874453496e-08, 2.080443633012295e-10, -1.0208079735511171e-08, 6.32293243287619e-10 ], [ 2.3683224190724453e-08, 3.236273211273143e-08, 3.0444678294527716e-09, 3.0715509193163226e-09, -6.274192299036367e-09, 6.9102688514764024e-09 ], [ 2.2364272874453414e-08, 3.044467829452832e-09, 5.629542675881826e-08, -3.685042636921035e-09, -9.700453598283949e-09, -1.4994947677550227e-08 ], [ 2.0804436330122354e-10, 3.071550919316312e-09, -3.685042636921047e-09, 1.0225655382254483e-09, 1.3582825921520688e-10, 1.8654403378570815e-09 ], [ -1.0208079735511167e-08, -6.274192299036385e-09, -9.700453598283956e-09, 1.3582825921520365e-10, 3.680306325901021e-09, 2.88981804630673e-09 ], [ 6.322932432875684e-10, 6.910268851476359e-09, -1.4994947677550266e-08, 1.865440337857079e-09, 2.889818046306745e-09, 1.6351988142497007e-08 ] ], "parameter_std": { "rvec_std_deg": [ 0.012497313602367685, 0.010307307237266371, 0.01359437326398204 ], "tvec_std_m": [ 3.1977578679841413e-05, 6.0665528316343055e-05, 0.00012787489254148762 ] }, "camera_center_std_m": [ 0.0002085084042056944, 0.00010437231816408737, 0.00023617817584822894 ], "camera_center_std_mm": [ 0.20850840420569441, 0.10437231816408737, 0.23617817584822895 ], "orientation_std_deg": { "roll": 0.018807120085426995, "pitch": 0.010491760274297882, "yaw": 0.014617780841034591 } } }, "observations": { "markers": [ { "marker_id": 95, "observed_center_px": [ 426.75, 1044.25 ], "projected_center_px": [ 426.8860168457031, 1044.355712890625 ], "reprojection_error_px": 0.17226664668275438, "confidence": 0.2725094280309524 }, { "marker_id": 79, "observed_center_px": [ 838.75, 1017.25 ], "projected_center_px": [ 838.7225341796875, 1017.1619262695312 ], "reprojection_error_px": 0.09225699585462643, "confidence": 0.6090066030375576 }, { "marker_id": 208, "observed_center_px": [ 998.5, 918.5 ], "projected_center_px": [ 998.5924072265625, 918.706298828125 ], "reprojection_error_px": 0.22604933533793348, "confidence": 0.5977367963770058 }, { "marker_id": 69, "observed_center_px": [ 126.0, 933.25 ], "projected_center_px": [ 126.21356201171875, 933.210693359375 ], "reprojection_error_px": 0.2171491304301779, "confidence": 0.7042337796652973 }, { "marker_id": 51, "observed_center_px": [ 552.0, 936.0 ], "projected_center_px": [ 552.15380859375, 935.7919921875 ], "reprojection_error_px": 0.2586973783639635, "confidence": 0.7520399118507476 }, { "marker_id": 103, "observed_center_px": [ 427.5, 912.5 ], "projected_center_px": [ 427.2632751464844, 912.6292724609375 ], "reprojection_error_px": 0.2697221263241701, "confidence": 0.7542345207653582 }, { "marker_id": 58, "observed_center_px": [ 294.75, 906.0 ], "projected_center_px": [ 294.65985107421875, 905.73828125 ], "reprojection_error_px": 0.27680956074723256, "confidence": 0.7093145285353147 }, { "marker_id": 215, "observed_center_px": [ 803.5, 860.75 ], "projected_center_px": [ 803.4752197265625, 860.8264770507812 ], "reprojection_error_px": 0.08039154960463916, "confidence": 0.5699924622322405 }, { "marker_id": 214, "observed_center_px": [ 1078.75, 853.25 ], "projected_center_px": [ 1078.8013916015625, 853.1370849609375 ], "reprojection_error_px": 0.12406007721118287, "confidence": 0.4505055259062701 }, { "marker_id": 64, "observed_center_px": [ 238.75, 845.75 ], "projected_center_px": [ 238.63392639160156, 845.8357543945312 ], "reprojection_error_px": 0.14431527551875822, "confidence": 0.5844856220502335 }, { "marker_id": 211, "observed_center_px": [ 892.0, 802.5 ], "projected_center_px": [ 891.6882934570312, 802.64599609375 ], "reprojection_error_px": 0.3442031788345192, "confidence": 0.3920697881177011 }, { "marker_id": 72, "observed_center_px": [ 1405.5, 806.25 ], "projected_center_px": [ 1405.40234375, 806.2735595703125 ], "reprojection_error_px": 0.1004579340688038, "confidence": 0.018124094894962296 }, { "marker_id": 84, "observed_center_px": [ 1379.75, 753.75 ], "projected_center_px": [ 1379.7972412109375, 753.5234985351562 ], "reprojection_error_px": 0.23137555097115572, "confidence": 0.1168227660503348 }, { "marker_id": 86, "observed_center_px": [ 1321.0, 718.5 ], "projected_center_px": [ 1321.260498046875, 718.4906005859375 ], "reprojection_error_px": 0.2606675687737315, "confidence": 0.16119480452443494 }, { "marker_id": 82, "observed_center_px": [ 1097.25, 667.25 ], "projected_center_px": [ 1097.1739501953125, 667.4281005859375 ], "reprojection_error_px": 0.19365792393880432, "confidence": 0.14200071347644871 } ] }, "qa": { "sanity_notes": [] } }