{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T08:49:02Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\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": [
      [
        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": 23,
    "used_marker_ids": [
      92,
      217,
      85,
      105,
      206,
      97,
      96,
      47,
      62,
      66,
      208,
      55,
      79,
      53,
      72,
      95,
      103,
      51,
      60,
      64,
      211,
      84,
      210
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.006031617123332284,
        0.0013237846143745807,
        0.00129140178457298,
        0.0012914012692823186
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 2.7810593264967487,
    "residual_median_px": 2.015407444243111,
    "residual_max_px": 5.213868008099263,
    "sigma2_normalized": 1.9178748240455187e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.6301266551017761,
          0.7764879465103149,
          -0.002620501210913062
        ],
        [
          0.2436652034521103,
          -0.20093847811222076,
          -0.9488155841827393
        ],
        [
          -0.7372704148292542,
          0.5972354412078857,
          -0.31581979990005493
        ]
      ],
      "translation_m": [
        -0.05536866560578346,
        -0.010752828791737556,
        1.5433874130249023
      ],
      "rvec_rad": [
        1.750750115626539,
        0.8319185025314939,
        -0.6033691540472736
      ]
    },
    "camera_in_world": {
      "position_m": [
        1.1754032373428345,
        -0.8809332251548767,
        0.477084755897522
      ],
      "position_mm": [
        1175.4031982421875,
        -880.9332275390625,
        477.0847473144531
      ],
      "orientation_deg": {
        "roll": 117.87000274658203,
        "pitch": 47.499412536621094,
        "yaw": 21.1411075592041
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          6.166884062199278e-06,
          8.745513369435925e-07,
          9.636379342402572e-07,
          -2.153356790858295e-07,
          -1.6298277279921932e-06,
          8.315498342083297e-07
        ],
        [
          8.745513369435992e-07,
          3.873693169404969e-06,
          -1.4683822139780017e-07,
          9.904831955949178e-07,
          -9.666479202221202e-07,
          6.250479797016996e-07
        ],
        [
          9.636379342403119e-07,
          -1.4683822139779456e-07,
          7.949879355500706e-06,
          -1.284959834738717e-06,
          -1.080478549757728e-06,
          -4.667276273527872e-07
        ],
        [
          -2.1533567908584334e-07,
          9.904831955949314e-07,
          -1.2849598347387103e-06,
          6.010598368267618e-07,
          2.264995152159825e-08,
          4.732813861335067e-07
        ],
        [
          -1.6298277279922004e-06,
          -9.6664792022212e-07,
          -1.080478549757715e-06,
          2.2649951521598626e-08,
          8.49944118099997e-07,
          2.2066542415551165e-07
        ],
        [
          8.315498342083244e-07,
          6.250479797016979e-07,
          -4.667276273527909e-07,
          4.732813861335064e-07,
          2.2066542415551398e-07,
          4.2687317069952255e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.14228382254906569,
          0.11276783466272529,
          0.16154848940818045
        ],
        "tvec_std_m": [
          0.0007752804891307157,
          0.0009219241390157853,
          0.0020660909241839347
        ]
      },
      "camera_center_std_m": [
        0.002185547506676763,
        0.0024071938411027115,
        0.0030882316074593756
      ],
      "camera_center_std_mm": [
        2.185547506676763,
        2.4071938411027114,
        3.0882316074593756
      ],
      "orientation_std_deg": {
        "roll": 0.2157273926968683,
        "pitch": 0.12728304445505412,
        "yaw": 0.17271417590358534
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 92,
        "observed_center_px": [
          1023.0,
          688.5
        ],
        "projected_center_px": [
          1022.1725463867188,
          685.271728515625
        ],
        "reprojection_error_px": 3.3326290311045668,
        "confidence": 0.15369374989294518
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          1141.25,
          600.5
        ],
        "projected_center_px": [
          1140.3126220703125,
          605.6104125976562
        ],
        "reprojection_error_px": 5.195670726802164,
        "confidence": 0.3233651345714012
      },
      {
        "marker_id": 85,
        "observed_center_px": [
          674.5,
          665.25
        ],
        "projected_center_px": [
          675.4505615234375,
          663.4728393554688
        ],
        "reprojection_error_px": 2.015407444243111,
        "confidence": 0.3248781943257027
      },
      {
        "marker_id": 105,
        "observed_center_px": [
          760.5,
          654.75
        ],
        "projected_center_px": [
          761.361572265625,
          653.0306396484375
        ],
        "reprojection_error_px": 1.9231502248704648,
        "confidence": 0.420622587927407
      },
      {
        "marker_id": 206,
        "observed_center_px": [
          1222.5,
          566.75
        ],
        "projected_center_px": [
          1222.09130859375,
          571.7310180664062
        ],
        "reprojection_error_px": 4.997756460994079,
        "confidence": 0.15136171428561934
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          411.0,
          578.0
        ],
        "projected_center_px": [
          411.8734436035156,
          577.800537109375
        ],
        "reprojection_error_px": 0.8959292233535198,
        "confidence": 0.22596816505744277
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          689.5,
          544.5
        ],
        "projected_center_px": [
          690.0719604492188,
          543.289794921875
        ],
        "reprojection_error_px": 1.3385570912703169,
        "confidence": 0.3329085635629674
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          544.0,
          569.25
        ],
        "projected_center_px": [
          543.9671630859375,
          568.418212890625
        ],
        "reprojection_error_px": 0.8324350174323316,
        "confidence": 0.24210516100479615
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          738.5,
          556.0
        ],
        "projected_center_px": [
          738.6345825195312,
          554.4356079101562
        ],
        "reprojection_error_px": 1.5701703937245393,
        "confidence": 0.2664122029520185
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          331.25,
          537.25
        ],
        "projected_center_px": [
          331.0033264160156,
          536.9420776367188
        ],
        "reprojection_error_px": 0.39454282257368034,
        "confidence": 0.16725963004706537
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          777.75,
          467.25
        ],
        "projected_center_px": [
          777.5612182617188,
          472.46044921875
        ],
        "reprojection_error_px": 5.213868008099263,
        "confidence": 0.20600789565322108
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          519.5,
          534.0
        ],
        "projected_center_px": [
          519.4720458984375,
          533.3270263671875
        ],
        "reprojection_error_px": 0.6735539638774463,
        "confidence": 0.22298824455832925
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          666.5,
          511.75
        ],
        "projected_center_px": [
          666.0050048828125,
          510.66571044921875
        ],
        "reprojection_error_px": 1.1919328823272188,
        "confidence": 0.19255561125846757
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          1199.25,
          466.0
        ],
        "projected_center_px": [
          1200.0257568359375,
          463.3708190917969
        ],
        "reprojection_error_px": 2.7412389382473705,
        "confidence": 0.13595850692924102
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1133.0,
          455.25
        ],
        "projected_center_px": [
          1134.3990478515625,
          453.3299255371094
        ],
        "reprojection_error_px": 2.3757148048548187,
        "confidence": 0.17029522040208545
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          425.25,
          498.75
        ],
        "projected_center_px": [
          425.6139831542969,
          498.5340881347656
        ],
        "reprojection_error_px": 0.4232040526281496,
        "confidence": 0.14922985097126407
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          465.5,
          447.25
        ],
        "projected_center_px": [
          464.51373291015625,
          446.59454345703125
        ],
        "reprojection_error_px": 1.1842069296492925,
        "confidence": 0.11373255626245794
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          528.75,
          463.0
        ],
        "projected_center_px": [
          528.43994140625,
          462.54180908203125
        ],
        "reprojection_error_px": 0.5532406789700783,
        "confidence": 0.14355708014592924
      },
      {
        "marker_id": 60,
        "observed_center_px": [
          1195.25,
          431.0
        ],
        "projected_center_px": [
          1196.6756591796875,
          428.4663391113281
        ],
        "reprojection_error_px": 2.9072223161314636,
        "confidence": 0.11887364564678074
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          379.75,
          409.5
        ],
        "projected_center_px": [
          377.5268249511719,
          409.2585144042969
        ],
        "reprojection_error_px": 2.236251906799417,
        "confidence": 0.09071710124676984
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          764.0,
          413.0
        ],
        "projected_center_px": [
          764.0333862304688,
          417.5256042480469
        ],
        "reprojection_error_px": 4.525727394610156,
        "confidence": 0.13281961321906594
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1148.0,
          429.0
        ],
        "projected_center_px": [
          1148.4964599609375,
          426.6978759765625
        ],
        "reprojection_error_px": 2.3550472420106834,
        "confidence": 0.13359880447387698
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          573.25,
          354.0
        ],
        "projected_center_px": [
          571.6640014648438,
          357.8780822753906
        ],
        "reprojection_error_px": 4.189858409089345,
        "confidence": 0.09088599426545704
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}