{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T17:39:28Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\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": [
      [
        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": 27,
    "used_marker_ids": [
      46,
      56,
      208,
      47,
      62,
      54,
      53,
      97,
      72,
      55,
      96,
      84,
      79,
      66,
      95,
      103,
      52,
      73,
      210,
      58,
      69,
      82,
      101,
      64,
      81,
      83,
      75
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4,
        5,
        6,
        7,
        8,
        9,
        10
      ],
      "rms": [
        0.015701356394471733,
        0.015297855069293168,
        0.011524674965863707,
        0.008661433675275389,
        0.00789850187690886,
        0.007842132486163736,
        0.007839540532042596,
        0.007839421032317734,
        0.007839415701149656,
        0.007839415464271995,
        0.007839415453743833
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05,
        3.125e-05,
        1.5625e-05,
        7.8125e-06,
        3.90625e-06,
        1.953125e-06,
        9.765625e-07
      ]
    },
    "residual_rms_px": 18.137879039135672,
    "residual_median_px": 15.891270492416046,
    "residual_max_px": 32.8404433163514,
    "sigma2_normalized": 6.913848898029083e-05
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.3255375623703003,
          0.8988600373268127,
          0.29338693618774414
        ],
        [
          0.9455116391181946,
          -0.3075793981552124,
          -0.1067829430103302
        ],
        [
          -0.005743145477026701,
          0.3121626079082489,
          -0.9500113129615784
        ]
      ],
      "translation_m": [
        0.12255793809890747,
        -0.1998891979455948,
        1.2935380935668945
      ],
      "rvec_rad": [
        2.334443448932517,
        1.6668089931536274,
        0.2599515229751258
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.15652933716773987,
        -0.5754384398460388,
        1.1715742349624634
      ],
      "position_mm": [
        156.5293426513672,
        -575.4384155273438,
        1171.57421875
      ],
      "orientation_deg": {
        "roll": 161.81007385253906,
        "pitch": 0.32905977964401245,
        "yaw": 71.00152587890625
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          0.0006521111112735179,
          0.00036528966280300094,
          -0.00010637666565730888,
          1.1187114044635454e-06,
          2.7785039095203165e-05,
          0.00014853189086861253
        ],
        [
          0.00036528966280300365,
          0.0003633076638036935,
          2.562778432160452e-05,
          2.6092071905066404e-05,
          1.6263683163092177e-05,
          7.600815489637061e-05
        ],
        [
          -0.00010637666565727772,
          2.562778432162969e-05,
          0.0017152116736520494,
          5.891878151451568e-05,
          3.901380666156852e-07,
          -0.0004990497236999936
        ],
        [
          1.118711404465086e-06,
          2.609207190506745e-05,
          5.8918781514514094e-05,
          1.0796844344238786e-05,
          6.555994303168036e-07,
          -3.3813792197815607e-06
        ],
        [
          2.77850390952032e-05,
          1.626368316309203e-05,
          3.901380666137898e-07,
          6.555994303167142e-07,
          5.6739233703903745e-06,
          8.500206420348859e-06
        ],
        [
          0.00014853189086860418,
          7.600815489636319e-05,
          -0.0004990497237000007,
          -3.3813792197823214e-06,
          8.500206420348362e-06,
          0.0002672399327877841
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          1.4631317428727735,
          1.0920937257134558,
          2.3729112444167018
        ],
        "tvec_std_m": [
          0.0032858551922199473,
          0.0023819998678401254,
          0.016347474813798737
        ]
      },
      "camera_center_std_m": [
        0.03722572649769533,
        0.030657108809873723,
        0.024724327431695548
      ],
      "camera_center_std_mm": [
        37.22572649769533,
        30.657108809873723,
        24.72432743169555
      ],
      "orientation_std_deg": {
        "roll": 1.232318313836353,
        "pitch": 1.6371795162133258,
        "yaw": 0.48210298661799955
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 46,
        "observed_center_px": [
          1234.0,
          666.0
        ],
        "projected_center_px": [
          1229.82373046875,
          636.6405029296875
        ],
        "reprojection_error_px": 29.655038280523858,
        "confidence": 0.2988751797371847
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          1196.0,
          626.75
        ],
        "projected_center_px": [
          1196.3397216796875,
          603.91357421875
        ],
        "reprojection_error_px": 22.838952543454994,
        "confidence": 0.5697620483284124
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          831.25,
          547.75
        ],
        "projected_center_px": [
          859.1162719726562,
          548.44580078125
        ],
        "reprojection_error_px": 27.874957441783394,
        "confidence": 0.5829305549976826
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          593.75,
          623.75
        ],
        "projected_center_px": [
          595.1937866210938,
          624.6065673828125
        ],
        "reprojection_error_px": 1.6787577218132352,
        "confidence": 0.5768583617164568
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          751.0,
          651.75
        ],
        "projected_center_px": [
          765.1891479492188,
          644.5945434570312
        ],
        "reprojection_error_px": 15.891270492416046,
        "confidence": 0.5593704450665263
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          540.5,
          639.0
        ],
        "projected_center_px": [
          535.7850341796875,
          642.0477905273438
        ],
        "reprojection_error_px": 5.614261285804342,
        "confidence": 0.5766374039623903
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          1240.5,
          594.75
        ],
        "projected_center_px": [
          1235.982666015625,
          574.2188720703125
        ],
        "reprojection_error_px": 21.022214925920235,
        "confidence": 0.21364841201201337
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          491.5,
          605.25
        ],
        "projected_center_px": [
          478.2646179199219,
          610.6361694335938
        ],
        "reprojection_error_px": 14.289372273582657,
        "confidence": 0.5705029634947052
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1197.75,
          548.5
        ],
        "projected_center_px": [
          1198.48974609375,
          534.4537353515625
        ],
        "reprojection_error_px": 14.065730512744919,
        "confidence": 0.5440516905787338
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          598.75,
          542.75
        ],
        "projected_center_px": [
          598.1221313476562,
          544.5460815429688
        ],
        "reprojection_error_px": 1.902663384203565,
        "confidence": 0.5461315019106076
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          723.0,
          614.5
        ],
        "projected_center_px": [
          735.0128173828125,
          610.1817626953125
        ],
        "reprojection_error_px": 12.765381110346723,
        "confidence": 0.5763709732716893
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1254.25,
          485.0
        ],
        "projected_center_px": [
          1249.8275146484375,
          476.7846374511719
        ],
        "reprojection_error_px": 9.330088879183982,
        "confidence": 0.06519221426443914
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          731.5,
          535.75
        ],
        "projected_center_px": [
          742.62255859375,
          534.1879272460938
        ],
        "reprojection_error_px": 11.231713180094042,
        "confidence": 0.5460974493377216
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          453.0,
          495.75
        ],
        "projected_center_px": [
          428.0283203125,
          500.76373291015625
        ],
        "reprojection_error_px": 25.470027563971815,
        "confidence": 0.5349107016469481
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          548.75,
          435.0
        ],
        "projected_center_px": [
          537.2727661132812,
          436.9281311035156
        ],
        "reprojection_error_px": 11.63806630170105,
        "confidence": 0.5227826547122322
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          618.0,
          313.5
        ],
        "projected_center_px": [
          612.1203002929688,
          313.2383117675781
        ],
        "reprojection_error_px": 5.88552031479388,
        "confidence": 0.5046333482067283
      },
      {
        "marker_id": 52,
        "observed_center_px": [
          1054.75,
          161.0
        ],
        "projected_center_px": [
          1067.6309814453125,
          173.99093627929688
        ],
        "reprojection_error_px": 18.29437368174261,
        "confidence": 0.4723088830007061
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          1247.5,
          251.25
        ],
        "projected_center_px": [
          1247.70263671875,
          265.3039855957031
        ],
        "reprojection_error_px": 14.055446373702141,
        "confidence": 0.13607001327160623
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          775.0,
          150.5
        ],
        "projected_center_px": [
          793.588623046875,
          156.1845245361328
        ],
        "reprojection_error_px": 19.438382802607535,
        "confidence": 0.46988879526830113
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          562.75,
          264.25
        ],
        "projected_center_px": [
          547.3587036132812,
          261.0544128417969
        ],
        "reprojection_error_px": 15.71953503604653,
        "confidence": 0.4655541127751829
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          476.25,
          240.75
        ],
        "projected_center_px": [
          444.06695556640625,
          234.21192932128906
        ],
        "reprojection_error_px": 32.8404433163514,
        "confidence": 0.4655541127751829
      },
      {
        "marker_id": 82,
        "observed_center_px": [
          1207.5,
          261.5
        ],
        "projected_center_px": [
          1210.841552734375,
          273.69903564453125
        ],
        "reprojection_error_px": 12.6484167125041,
        "confidence": 0.49001748422717006
      },
      {
        "marker_id": 101,
        "observed_center_px": [
          1162.25,
          153.5
        ],
        "projected_center_px": [
          1170.449462890625,
          171.389404296875
        ],
        "reprojection_error_px": 19.678972986205,
        "confidence": 0.46225891142368675
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          570.5,
          177.75
        ],
        "projected_center_px": [
          553.1890258789062,
          170.61465454101562
        ],
        "reprojection_error_px": 18.723861242815982,
        "confidence": 0.43211414091114625
      },
      {
        "marker_id": 81,
        "observed_center_px": [
          1027.5,
          214.0
        ],
        "projected_center_px": [
          1041.18798828125,
          224.353515625
        ],
        "reprojection_error_px": 17.1626428321735,
        "confidence": 0.4468602604238168
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          1173.0,
          64.0
        ],
        "projected_center_px": [
          1181.1949462890625,
          86.80318450927734
        ],
        "reprojection_error_px": 24.23102078833588,
        "confidence": 0.4377857805109236
      },
      {
        "marker_id": 75,
        "observed_center_px": [
          987.75,
          42.0
        ],
        "projected_center_px": [
          1002.008056640625,
          54.512149810791016
        ],
        "reprojection_error_px": 18.969609169799686,
        "confidence": 0.22473325223116958
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}