{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T21:50:57Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\render_f_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "f",
    "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": 25,
    "used_marker_ids": [
      68,
      62,
      46,
      208,
      53,
      47,
      96,
      56,
      97,
      79,
      72,
      84,
      51,
      73,
      210,
      103,
      82,
      58,
      69,
      64,
      52,
      101,
      83,
      61,
      75
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4
      ],
      "rms": [
        0.00627844104706071,
        0.0002649620870762019,
        7.979889870036665e-05,
        7.976165881751295e-05,
        7.976164502550778e-05
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05
      ]
    },
    "residual_rms_px": 0.22560361943573912,
    "residual_median_px": 0.1881813568829561,
    "residual_max_px": 0.5454773515718615,
    "sigma2_normalized": 7.2294545647017464e-09
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.31644201278686523,
          0.948611319065094,
          0.001019060262478888
        ],
        [
          0.9183542728424072,
          -0.3060792088508606,
          -0.2508803904056549
        ],
        [
          -0.23767605423927307,
          0.08032494783401489,
          -0.968017578125
        ]
      ],
      "translation_m": [
        0.126078262925148,
        -0.2001868486404419,
        1.497305989265442
      ],
      "rvec_rad": [
        2.3749284219264295,
        1.7115781771585432,
        -0.21696004666288404
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.4998197853565216,
        -0.3011433184146881,
        1.3990671634674072
      ],
      "position_mm": [
        499.8197937011719,
        -301.143310546875,
        1399.067138671875
      ],
      "orientation_deg": {
        "roll": 175.25653076171875,
        "pitch": 13.749419212341309,
        "yaw": 70.98731994628906
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          1.199917318153767e-07,
          6.523434977406124e-08,
          2.506616171252268e-09,
          -7.372896953717589e-10,
          1.7586124521426885e-09,
          8.13980404380572e-09
        ],
        [
          6.52343497740605e-08,
          5.6706462029292093e-08,
          -2.1847392571018023e-08,
          2.1008781430018367e-09,
          5.725283687895207e-11,
          9.496172120517045e-09
        ],
        [
          2.5066161712666446e-09,
          -2.1847392571007425e-08,
          5.689723804514445e-07,
          4.2389489694049485e-09,
          -6.072305032092841e-09,
          -1.0301355725014395e-07
        ],
        [
          -7.372896953716302e-10,
          2.100878143001925e-09,
          4.238948969404537e-09,
          1.3979720299332366e-09,
          -1.5148149444866442e-10,
          1.7233340432075393e-09
        ],
        [
          1.758612452142556e-09,
          5.725283687880915e-11,
          -6.0723050320931025e-09,
          -1.5148149444867776e-10,
          7.850653639863657e-10,
          1.5312997670747257e-09
        ],
        [
          8.139804043803175e-09,
          9.49617212051522e-09,
          -1.0301355725014527e-07,
          1.723334043207449e-09,
          1.531299767074683e-09,
          3.4523854541223585e-08
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.019847156450041523,
          0.013643911962353756,
          0.04321835424362316
        ],
        "tvec_std_m": [
          3.7389464156808086e-05,
          2.8019017898319807e-05,
          0.0001858059593802728
        ]
      },
      "camera_center_std_m": [
        0.0006965654646076337,
        0.0006748282675256277,
        0.000268350189903484
      ],
      "camera_center_std_mm": [
        0.6965654646076337,
        0.6748282675256276,
        0.26835018990348397
      ],
      "orientation_std_deg": {
        "roll": 0.02488829422472782,
        "pitch": 0.026271335821817277,
        "yaw": 0.004471637035944087
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 68,
        "observed_center_px": [
          1390.25,
          941.75
        ],
        "projected_center_px": [
          1390.1610107421875,
          941.576904296875
        ],
        "reprojection_error_px": 0.19463095962964816,
        "confidence": 0.38560830398820567
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          844.5,
          868.0
        ],
        "projected_center_px": [
          844.5333251953125,
          868.14697265625
        ],
        "reprojection_error_px": 0.15070345161208795,
        "confidence": 0.7633000221267091
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          1388.75,
          884.25
        ],
        "projected_center_px": [
          1388.712646484375,
          884.126953125
        ],
        "reprojection_error_px": 0.128591673823824,
        "confidence": 0.41353385692040123
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          935.25,
          751.5
        ],
        "projected_center_px": [
          935.353759765625,
          751.4447021484375
        ],
        "reprojection_error_px": 0.11757525823906667,
        "confidence": 0.7564906336540409
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          1395.25,
          804.0
        ],
        "projected_center_px": [
          1395.34375,
          804.1709594726562
        ],
        "reprojection_error_px": 0.19497744431318995,
        "confidence": 0.3126694345835915
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          668.0,
          836.75
        ],
        "projected_center_px": [
          668.078369140625,
          836.6961059570312
        ],
        "reprojection_error_px": 0.09511198699332538,
        "confidence": 0.7421751793130777
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          813.25,
          826.0
        ],
        "projected_center_px": [
          813.1187133789062,
          826.1952514648438
        ],
        "reprojection_error_px": 0.23528559539811192,
        "confidence": 0.7421751793130777
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          1346.0,
          840.5
        ],
        "projected_center_px": [
          1345.697021484375,
          840.2638549804688
        ],
        "reprojection_error_px": 0.38413598006401695,
        "confidence": 0.7206062047849244
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          553.0,
          816.0
        ],
        "projected_center_px": [
          552.93212890625,
          815.9227905273438
        ],
        "reprojection_error_px": 0.10279974725006626,
        "confidence": 0.7493333333333333
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          823.0,
          738.0
        ],
        "projected_center_px": [
          822.9308471679688,
          737.900634765625
        ],
        "reprojection_error_px": 0.12106016677809822,
        "confidence": 0.7072049211520863
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1347.25,
          752.25
        ],
        "projected_center_px": [
          1347.2894287109375,
          752.1531372070312
        ],
        "reprojection_error_px": 0.10458022713639446,
        "confidence": 0.6734789354579702
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1410.75,
          680.5
        ],
        "projected_center_px": [
          1410.9696044921875,
          680.6224975585938
        ],
        "reprojection_error_px": 0.2514593105262936,
        "confidence": 0.09375509355389204
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          741.5,
          557.75
        ],
        "projected_center_px": [
          741.6490478515625,
          558.2747192382812
        ],
        "reprojection_error_px": 0.5454773515718615,
        "confidence": 0.6338363820742217
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          1404.0,
          417.75
        ],
        "projected_center_px": [
          1403.950439453125,
          417.5940856933594
        ],
        "reprojection_error_px": 0.16360170788159858,
        "confidence": 0.18183995001251904
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          872.25,
          304.0
        ],
        "projected_center_px": [
          872.1950073242188,
          304.166259765625
        ],
        "reprojection_error_px": 0.17511854286528772,
        "confidence": 0.6202294530715595
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          695.0,
          487.75
        ],
        "projected_center_px": [
          694.9754638671875,
          487.6863708496094
        ],
        "reprojection_error_px": 0.068195971969211,
        "confidence": 0.6337670359070791
      },
      {
        "marker_id": 82,
        "observed_center_px": [
          1358.25,
          429.0
        ],
        "projected_center_px": [
          1358.3963623046875,
          428.9345397949219
        ],
        "reprojection_error_px": 0.1603339099576467,
        "confidence": 0.6165792028347551
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          633.0,
          432.5
        ],
        "projected_center_px": [
          633.00244140625,
          432.15277099609375
        ],
        "reprojection_error_px": 0.34723758670138827,
        "confidence": 0.6273000253365986
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          535.5,
          406.25
        ],
        "projected_center_px": [
          535.5177612304688,
          406.2386779785156
        ],
        "reprojection_error_px": 0.0210629883505808,
        "confidence": 0.5831437313149622
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          642.0,
          335.0
        ],
        "projected_center_px": [
          641.7300415039062,
          334.8587951660156
        ],
        "reprojection_error_px": 0.30465783225407833,
        "confidence": 0.5891999992118755
      },
      {
        "marker_id": 52,
        "observed_center_px": [
          1186.25,
          315.5
        ],
        "projected_center_px": [
          1186.338134765625,
          315.6842956542969
        ],
        "reprojection_error_px": 0.2042856458601214,
        "confidence": 0.5951794442486946
      },
      {
        "marker_id": 101,
        "observed_center_px": [
          1307.5,
          307.5
        ],
        "projected_center_px": [
          1307.7393798828125,
          307.5126037597656
        ],
        "reprojection_error_px": 0.23971145791462664,
        "confidence": 0.6113473409254715
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          1319.75,
          207.0
        ],
        "projected_center_px": [
          1319.567626953125,
          206.8432159423828
        ],
        "reprojection_error_px": 0.2405019104900843,
        "confidence": 0.5695343676313864
      },
      {
        "marker_id": 61,
        "observed_center_px": [
          1282.25,
          132.75
        ],
        "projected_center_px": [
          1282.36181640625,
          132.91726684570312
        ],
        "reprojection_error_px": 0.201199170918118,
        "confidence": 0.5362894565510938
      },
      {
        "marker_id": 75,
        "observed_center_px": [
          1111.5,
          182.0
        ],
        "projected_center_px": [
          1111.4647216796875,
          182.18484497070312
        ],
        "reprojection_error_px": 0.1881813568829561,
        "confidence": 0.5650361954096211
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}