{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T18:36:48Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\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,
        1777.77783203125,
        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": 24,
    "used_marker_ids": [
      92,
      217,
      85,
      105,
      206,
      97,
      47,
      96,
      62,
      66,
      79,
      55,
      214,
      51,
      72,
      95,
      103,
      60,
      69,
      215,
      211,
      84,
      86,
      64
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.00630902936296045,
        0.0003503162776966026,
        0.00021566918101323604,
        0.00021566812595044202
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 0.5422246805563434,
    "residual_median_px": 0.3729435356233405,
    "residual_max_px": 1.156746455284857,
    "sigma2_normalized": 5.315741777237922e-08
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.628989577293396,
          0.7774136662483215,
          0.0003507443470880389
        ],
        [
          0.20666556060314178,
          -0.1667739301919937,
          -0.9640932679176331
        ],
        [
          -0.7494407892227173,
          0.6064770817756653,
          -0.2655636966228485
        ]
      ],
      "translation_m": [
        -0.0547354631125927,
        -0.012683164328336716,
        1.5506757497787476
      ],
      "rvec_rad": [
        1.7014036416595382,
        0.8122514235119389,
        -0.618293153268835
      ]
    },
    "camera_in_world": {
      "position_m": [
        1.1991888284683228,
        -0.9000124335289001,
        0.39959463477134705
      ],
      "position_mm": [
        1199.1888427734375,
        -900.012451171875,
        399.5946350097656
      ],
      "orientation_deg": {
        "roll": 113.6476058959961,
        "pitch": 48.54195785522461,
        "yaw": 18.188844680786133
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          1.5485173782981606e-07,
          1.851377328432404e-08,
          2.8229623479655052e-08,
          -7.317051195299001e-09,
          -4.280031938579823e-08,
          1.8275230708455525e-08
        ],
        [
          1.8513773284323837e-08,
          1.0380973901699848e-07,
          -5.469400592592144e-09,
          2.6108967750081833e-08,
          -2.4877532375984845e-08,
          1.3731464588840119e-08
        ],
        [
          2.8229623479655505e-08,
          -5.469400592592516e-09,
          1.8802524747108885e-07,
          -3.206860716836395e-08,
          -2.6161782348223145e-08,
          -6.56867737643066e-09
        ],
        [
          -7.31705119529937e-09,
          2.6108967750082253e-08,
          -3.206860716836374e-08,
          1.5545230996657885e-08,
          5.669806552012708e-10,
          1.0393580529714659e-08
        ],
        [
          -4.280031938579823e-08,
          -2.4877532375984858e-08,
          -2.61617823482231e-08,
          5.669806552012895e-10,
          2.2136595117839976e-08,
          4.531501344506167e-09
        ],
        [
          1.82752307084554e-08,
          1.3731464588840142e-08,
          -6.568677376430668e-09,
          1.0393580529714648e-08,
          4.531501344506207e-09,
          1.1521125853314904e-07
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.022546579968103234,
          0.018460424438188426,
          0.024844526084444037
        ],
        "tvec_std_m": [
          0.0001246805157057745,
          0.00014878371926336557,
          0.0003394278399500386
        ]
      },
      "camera_center_std_m": [
        0.0003545857525229363,
        0.0004070677011541022,
        0.0004736036839720404
      ],
      "camera_center_std_mm": [
        0.3545857525229363,
        0.40706770115410223,
        0.47360368397204045
      ],
      "orientation_std_deg": {
        "roll": 0.03250044077834975,
        "pitch": 0.021578780424367262,
        "yaw": 0.027073158674549694
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 92,
        "observed_center_px": [
          1023.0,
          688.5
        ],
        "projected_center_px": [
          1022.9679565429688,
          688.4140625
        ],
        "reprojection_error_px": 0.09171715785371658,
        "confidence": 0.15369374989294518
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          1141.25,
          600.5
        ],
        "projected_center_px": [
          1140.6944580078125,
          600.3023071289062
        ],
        "reprojection_error_px": 0.5896688700999455,
        "confidence": 0.3233651345714012
      },
      {
        "marker_id": 85,
        "observed_center_px": [
          675.25,
          665.5
        ],
        "projected_center_px": [
          675.0033569335938,
          665.3787231445312
        ],
        "reprojection_error_px": 0.2748470081311891,
        "confidence": 0.37089318871684795
      },
      {
        "marker_id": 105,
        "observed_center_px": [
          760.5,
          654.75
        ],
        "projected_center_px": [
          761.2002563476562,
          655.0924682617188
        ],
        "reprojection_error_px": 0.7795148893494807,
        "confidence": 0.420622587927407
      },
      {
        "marker_id": 206,
        "observed_center_px": [
          1223.0,
          567.0
        ],
        "projected_center_px": [
          1222.284423828125,
          566.8446044921875
        ],
        "reprojection_error_px": 0.7322547518477325,
        "confidence": 0.14078817554935588
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          411.0,
          578.0
        ],
        "projected_center_px": [
          411.44232177734375,
          578.3140869140625
        ],
        "reprojection_error_px": 0.5424934509262193,
        "confidence": 0.22596816505744277
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          543.75,
          569.25
        ],
        "projected_center_px": [
          543.7235107421875,
          569.2677612304688
        ],
        "reprojection_error_px": 0.03189266510063318,
        "confidence": 0.24626971873720385
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          690.0,
          544.25
        ],
        "projected_center_px": [
          690.022705078125,
          544.456298828125
        ],
        "reprojection_error_px": 0.20754451825671197,
        "confidence": 0.28140192555287236
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          738.5,
          556.0
        ],
        "projected_center_px": [
          738.579833984375,
          555.78564453125
        ],
        "reprojection_error_px": 0.2287394413830286,
        "confidence": 0.2664122029520185
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          331.25,
          537.25
        ],
        "projected_center_px": [
          330.9709777832031,
          537.0518798828125
        ],
        "reprojection_error_px": 0.34220604655767123,
        "confidence": 0.16725963004706537
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          666.75,
          511.75
        ],
        "projected_center_px": [
          666.0632934570312,
          511.67083740234375
        ],
        "reprojection_error_px": 0.691254362028752,
        "confidence": 0.21195569262290176
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          519.5,
          534.0
        ],
        "projected_center_px": [
          519.4553833007812,
          533.9685668945312
        ],
        "reprojection_error_px": 0.05457737597746861,
        "confidence": 0.22298824455832925
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          858.0,
          444.5
        ],
        "projected_center_px": [
          858.559814453125,
          444.61431884765625
        ],
        "reprojection_error_px": 0.571367675719493,
        "confidence": 0.1697872859143744
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          529.25,
          463.25
        ],
        "projected_center_px": [
          528.9022827148438,
          463.1120910644531
        ],
        "reprojection_error_px": 0.37406708609566947,
        "confidence": 0.12157403976480062
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1132.75,
          455.25
        ],
        "projected_center_px": [
          1133.8419189453125,
          455.6318054199219
        ],
        "reprojection_error_px": 1.156746455284857,
        "confidence": 0.14675484287524884
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          425.25,
          498.75
        ],
        "projected_center_px": [
          425.9288635253906,
          498.8289794921875
        ],
        "reprojection_error_px": 0.6834423503793009,
        "confidence": 0.14922985097126407
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          465.0,
          447.0
        ],
        "projected_center_px": [
          465.22216796875,
          446.9941101074219
        ],
        "reprojection_error_px": 0.22224602847538769,
        "confidence": 0.10609680160172753
      },
      {
        "marker_id": 60,
        "observed_center_px": [
          1195.75,
          431.0
        ],
        "projected_center_px": [
          1195.7926025390625,
          430.972900390625
        ],
        "reprojection_error_px": 0.05049123847609035,
        "confidence": 0.1208904643109979
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          295.5,
          440.25
        ],
        "projected_center_px": [
          294.4291687011719,
          439.9130554199219
        ],
        "reprojection_error_px": 1.1225913417597488,
        "confidence": 0.08927835602899967
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          683.75,
          432.75
        ],
        "projected_center_px": [
          684.21142578125,
          432.9552917480469
        ],
        "reprojection_error_px": 0.5050331211102045,
        "confidence": 0.09972560457674447
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          763.75,
          413.0
        ],
        "projected_center_px": [
          764.0985107421875,
          412.87042236328125
        ],
        "reprojection_error_px": 0.37181998515101156,
        "confidence": 0.13332463075982282
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1147.5,
          429.0
        ],
        "projected_center_px": [
          1147.703125,
          429.0707092285156
        ],
        "reprojection_error_px": 0.21508035852275045,
        "confidence": 0.13255097071329755
      },
      {
        "marker_id": 86,
        "observed_center_px": [
          1127.25,
          408.75
        ],
        "projected_center_px": [
          1126.677978515625,
          408.52398681640625
        ],
        "reprojection_error_px": 0.6150532804113482,
        "confidence": 0.11774828338549573
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          379.0,
          409.25
        ],
        "projected_center_px": [
          378.81402587890625,
          409.4864501953125
        ],
        "reprojection_error_px": 0.3008239827206471,
        "confidence": 0.08897781183808398
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}