{ "schema_version": "1.0", "created_utc": "2026-06-01T21:52:03Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "e", "camera_matrix": [ [ 6800.0, 0.0, 2448.0 ], [ 0.0, 6800.0, 1632.0 ], [ 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": 24, "used_marker_ids": [ 85, 206, 54, 97, 62, 96, 55, 66, 208, 79, 95, 214, 53, 215, 72, 51, 211, 86, 103, 60, 69, 84, 58, 64 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.0055160474714905094, 0.00044761641893734864, 0.00010437810273104507, 0.00010437403899071314 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 1.0037274368393847, "residual_median_px": 0.4508407943998621, "residual_max_px": 3.0620307562869957, "sigma2_normalized": 1.245021715897091e-08 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.6287752985954285, 0.7775870561599731, 0.00011776568862842396 ], [ 0.2062043398618698, -0.1665956825017929, -0.9642228484153748 ], [ -0.7497475743293762, 0.6063037514686584, -0.2650930881500244 ] ], "translation_m": [ -0.05445055663585663, -0.012240253388881683, 1.551256537437439 ], "rvec_rad": [ 1.7009758357349318, 0.8121497561704938, -0.6188422215549482 ] }, "camera_in_world": { "position_m": [ 1.1998119354248047, -0.9002318382263184, 0.3994314670562744 ], "position_mm": [ 1199.8118896484375, -900.2318115234375, 399.43145751953125 ], "orientation_deg": { "roll": 113.61629486083984, "pitch": 48.568511962890625, "yaw": 18.156696319580078 } }, "uncertainty": { "pose_covariance_6x6": [ [ 4.4285739196541796e-08, 1.4177808584638606e-08, 1.382434585814146e-08, -1.0406544828899499e-09, -1.298553167118213e-08, 2.490043216081615e-09 ], [ 1.4177808584638662e-08, 3.7896314022599036e-08, -4.216700102441205e-09, 8.004526189289428e-09, -8.705615426583383e-09, 9.510035477503098e-09 ], [ 1.3824345858141435e-08, -4.216700102441305e-09, 5.554628149972079e-08, -9.079719957055952e-09, -8.231232281045564e-09, -1.2146442118582285e-08 ], [ -1.0406544828899433e-09, 8.00452618928944e-09, -9.079719957055938e-09, 3.845087093825595e-09, -2.696516128447564e-11, 4.597378074256867e-09 ], [ -1.2985531671182135e-08, -8.705615426583362e-09, -8.231232281045589e-09, -2.6965161284471284e-11, 6.004421971387847e-09, 1.4985344748076323e-09 ], [ 2.49004321608161e-09, 9.51003547750313e-09, -1.2146442118582303e-08, 4.5973780742568766e-09, 1.4985344748076267e-09, 3.273452252550083e-08 ] ], "parameter_std": { "rvec_std_deg": [ 0.012057425340816812, 0.01115375543552158, 0.01350361750150023 ], "tvec_std_m": [ 6.200876626595304e-05, 7.748820536951314e-05, 0.00018092684302087634 ] }, "camera_center_std_m": [ 0.0002682135506346359, 0.0002178426849037066, 0.00028470593764304514 ], "camera_center_std_mm": [ 0.2682135506346359, 0.2178426849037066, 0.28470593764304514 ], "orientation_std_deg": { "roll": 0.020323724696014428, "pitch": 0.011994509385785394, "yaw": 0.017175171357571944 } } }, "observations": { "markers": [ { "marker_id": 85, "observed_center_px": [ 2582.0, 2800.5 ], "projected_center_px": [ 2582.709716796875, 2800.607177734375 ], "reprojection_error_px": 0.7177638877181466, "confidence": 0.830722864408739 }, { "marker_id": 206, "observed_center_px": [ 4674.5, 2423.75 ], "projected_center_px": [ 4675.35546875, 2423.80224609375 ], "reprojection_error_px": 0.8570626794690668, "confidence": 0.6816421753289754 }, { "marker_id": 54, "observed_center_px": [ 1853.5, 2494.5 ], "projected_center_px": [ 1853.4359130859375, 2494.6904296875 ], "reprojection_error_px": 0.2009243599850499, "confidence": 0.706911989905173 }, { "marker_id": 97, "observed_center_px": [ 1575.75, 2468.25 ], "projected_center_px": [ 1575.1898193359375, 2468.1279296875 ], "reprojection_error_px": 0.5733267284745681, "confidence": 0.604577655895953 }, { "marker_id": 62, "observed_center_px": [ 2825.5, 2382.0 ], "projected_center_px": [ 2825.943115234375, 2381.924072265625 ], "reprojection_error_px": 0.44957327743375913, "confidence": 0.8964175171911046 }, { "marker_id": 96, "observed_center_px": [ 2640.0, 2338.5 ], "projected_center_px": [ 2640.30322265625, 2338.6640625 ], "reprojection_error_px": 0.34476148736417134, "confidence": 0.8729601265234885 }, { "marker_id": 55, "observed_center_px": [ 1988.25, 2298.75 ], "projected_center_px": [ 1988.181396484375, 2298.675048828125 ], "reprojection_error_px": 0.10160767944178929, "confidence": 0.7256335338932984 }, { "marker_id": 66, "observed_center_px": [ 1267.75, 2310.75 ], "projected_center_px": [ 1267.586669921875, 2310.53955078125 ], "reprojection_error_px": 0.26639367127017854, "confidence": 0.5957417229180119 }, { "marker_id": 208, "observed_center_px": [ 2975.75, 2043.5 ], "projected_center_px": [ 2974.93212890625, 2043.21630859375 ], "reprojection_error_px": 0.865675424146905, "confidence": 0.912779868094979 }, { "marker_id": 79, "observed_center_px": [ 2548.5, 2213.25 ], "projected_center_px": [ 2548.7412109375, 2213.422607421875 ], "reprojection_error_px": 0.29660754955995833, "confidence": 0.8352286702826001 }, { "marker_id": 95, "observed_center_px": [ 1631.0, 2164.5 ], "projected_center_px": [ 1630.6495361328125, 2164.4765625 ], "reprojection_error_px": 0.3512466919563338, "confidence": 0.6612253661811753 }, { "marker_id": 214, "observed_center_px": [ 3284.75, 1956.75 ], "projected_center_px": [ 3284.784912109375, 1957.012451171875 ], "reprojection_error_px": 0.26476305066903266, "confidence": 0.9797640575954614 }, { "marker_id": 53, "observed_center_px": [ 4589.5, 2038.5 ], "projected_center_px": [ 4588.46240234375, 2038.123291015625 ], "reprojection_error_px": 1.1038652794450676, "confidence": 0.7042792778574221 }, { "marker_id": 215, "observed_center_px": [ 2618.75, 1912.5 ], "projected_center_px": [ 2618.161865234375, 1912.5614013671875 ], "reprojection_error_px": 0.5913312357970513, "confidence": 0.5869201254656521 }, { "marker_id": 72, "observed_center_px": [ 4338.5, 1999.5 ], "projected_center_px": [ 4337.5498046875, 1999.08642578125 ], "reprojection_error_px": 1.0362985893610226, "confidence": 0.7344088211475938 }, { "marker_id": 51, "observed_center_px": [ 2025.0, 2028.25 ], "projected_center_px": [ 2024.3802490234375, 2027.9737548828125 ], "reprojection_error_px": 0.6785297618528667, "confidence": 0.7465768555836464 }, { "marker_id": 211, "observed_center_px": [ 2924.0, 1835.5 ], "projected_center_px": [ 2923.649658203125, 1835.7857666015625 ], "reprojection_error_px": 0.452108311365965, "confidence": 0.9078841157530049 }, { "marker_id": 86, "observed_center_px": [ 4307.25, 1818.5 ], "projected_center_px": [ 4310.25439453125, 1819.09130859375 ], "reprojection_error_px": 3.0620307562869957, "confidence": 0.7257463181991523 }, { "marker_id": 103, "observed_center_px": [ 1781.25, 1966.25 ], "projected_center_px": [ 1780.9285888671875, 1966.427978515625 ], "reprojection_error_px": 0.36739824212956285, "confidence": 0.6792469257311192 }, { "marker_id": 60, "observed_center_px": [ 4576.0, 1905.0 ], "projected_center_px": [ 4574.52099609375, 1904.8328857421875 ], "reprojection_error_px": 1.4884151738903302, "confidence": 0.7138902809089579 }, { "marker_id": 69, "observed_center_px": [ 1128.25, 1939.25 ], "projected_center_px": [ 1127.964111328125, 1939.464111328125 ], "reprojection_error_px": 0.3571778178133447, "confidence": 0.5690850340166074 }, { "marker_id": 84, "observed_center_px": [ 4390.75, 1897.5 ], "projected_center_px": [ 4390.61572265625, 1897.5899658203125 ], "reprojection_error_px": 0.16162999062382175, "confidence": 0.7264463218220443 }, { "marker_id": 58, "observed_center_px": [ 1505.25, 1929.25 ], "projected_center_px": [ 1505.106689453125, 1929.463134765625 ], "reprojection_error_px": 0.256835241280544, "confidence": 0.6283642518334334 }, { "marker_id": 64, "observed_center_px": [ 1448.25, 1823.75 ], "projected_center_px": [ 1450.6046142578125, 1823.1754150390625 ], "reprojection_error_px": 2.4237071152326672, "confidence": 0.5689727031333272 } ] }, "qa": { "sanity_notes": [] } }