{ "schema_version": "1.0", "created_utc": "2026-05-31T15:26:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\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": [ [ 2000.0, 0.0, 720.0 ], [ 0.0, 2250.0, 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": 31, "used_marker_ids": [ 63, 48, 57, 59, 102, 92, 217, 85, 105, 206, 47, 54, 97, 66, 96, 62, 208, 55, 214, 79, 95, 53, 72, 51, 86, 103, 211, 69, 84, 58, 82 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.006135624506202246, 0.0008149432137469803, 0.0007335278847997517, 0.0007335272290757754 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 2.3164250051904007, "residual_median_px": 1.210112866214452, "residual_max_px": 5.519090673015548, "sigma2_normalized": 5.957117167731442e-07 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.6278152465820312, 0.7783603072166443, 0.0018029875354841352 ], [ 0.1832990199327469, -0.1455945521593094, -0.9722158908843994 ], [ -0.7564717531204224, 0.610702395439148, -0.23407916724681854 ] ], "translation_m": [ -0.0540684349834919, -0.013346238061785698, 1.5557801723480225 ], "rvec_rad": [ 1.6708052596377418, 0.8003757582161786, -0.6281003604160035 ] }, "camera_in_world": { "position_m": [ 1.2132951021194458, -0.9099770784378052, 0.3512977957725525 ], "position_mm": [ 1213.2950439453125, -909.97705078125, 351.29779052734375 ], "orientation_deg": { "roll": 110.97157287597656, "pitch": 49.15413284301758, "yaw": 16.275867462158203 } }, "uncertainty": { "pose_covariance_6x6": [ [ 9.674211702797383e-07, -5.385610789069296e-08, 2.1794713244740263e-08, -5.9466991722260355e-08, -2.542791959146881e-07, 2.491967749574832e-07 ], [ -5.385610789069306e-08, 6.480062127109734e-07, 1.5320368215836804e-07, 1.7458569737148084e-07, -1.6690079203649188e-07, 5.0875922708577584e-08 ], [ 2.1794713244748683e-08, 1.532036821583683e-07, 1.2903912205296468e-06, -2.0354088606410824e-07, -1.9232991166387385e-07, 1.356961365794015e-07 ], [ -5.946699172226258e-08, 1.7458569737147984e-07, -2.0354088606410787e-07, 1.2762666295178617e-07, 4.628268535409571e-09, 5.8363555876941104e-08 ], [ -2.5427919591468903e-07, -1.6690079203649183e-07, -1.9232991166387112e-07, 4.628268535408582e-09, 1.70681346572495e-07, 7.947990490299408e-09 ], [ 2.491967749574844e-07, 5.087592270857816e-08, 1.3569613657940128e-07, 5.836355587694031e-08, 7.947990490298748e-09, 9.707411957916386e-07 ] ], "parameter_std": { "rvec_std_deg": [ 0.05635473681005101, 0.04612243391165133, 0.06508536312224222 ], "tvec_std_m": [ 0.00035724874100797916, 0.0004131359904105366, 0.0009852619934776934 ] }, "camera_center_std_m": [ 0.0008337339288298646, 0.0010717055164650875, 0.001129957048975217 ], "camera_center_std_mm": [ 0.8337339288298646, 1.0717055164650875, 1.1299570489752169 ], "orientation_std_deg": { "roll": 0.07433572486830164, "pitch": 0.05620895135619378, "yaw": 0.07176856381545137 } } }, "observations": { "markers": [ { "marker_id": 63, "observed_center_px": [ 1321.75, 1053.5 ], "projected_center_px": [ 1322.8306884765625, 1055.340576171875 ], "reprojection_error_px": 2.1343870848206064, "confidence": 0.10255192012368959 }, { "marker_id": 48, "observed_center_px": [ 1024.75, 1034.0 ], "projected_center_px": [ 1024.298828125, 1035.4088134765625 ], "reprojection_error_px": 1.4792942481248055, "confidence": 0.44681708735370546 }, { "marker_id": 57, "observed_center_px": [ 813.0, 989.25 ], "projected_center_px": [ 812.7926635742188, 989.85498046875 ], "reprojection_error_px": 0.6395230730980028, "confidence": 0.7877495145220144 }, { "marker_id": 59, "observed_center_px": [ 986.0, 952.0 ], "projected_center_px": [ 985.8571166992188, 953.04345703125 ], "reprojection_error_px": 1.0531942905785279, "confidence": 0.7322350971120686 }, { "marker_id": 102, "observed_center_px": [ 1105.5, 935.25 ], "projected_center_px": [ 1105.6416015625, 936.665283203125 ], "reprojection_error_px": 1.4223493057439165, "confidence": 0.6662611255220068 }, { "marker_id": 92, "observed_center_px": [ 1150.5, 909.25 ], "projected_center_px": [ 1150.6844482421875, 910.6355590820312 ], "reprojection_error_px": 1.3977822161715103, "confidence": 0.5732951023176659 }, { "marker_id": 217, "observed_center_px": [ 1282.75, 810.0 ], "projected_center_px": [ 1282.8311767578125, 804.4815063476562 ], "reprojection_error_px": 5.519090673015548, "confidence": 0.4285406831584614 }, { "marker_id": 85, "observed_center_px": [ 759.25, 883.25 ], "projected_center_px": [ 758.8756103515625, 883.862548828125 ], "reprojection_error_px": 0.717902274473668, "confidence": 0.5100474968770633 }, { "marker_id": 105, "observed_center_px": [ 856.0, 871.75 ], "projected_center_px": [ 855.9470825195312, 872.51953125 ], "reprojection_error_px": 0.7713485622374122, "confidence": 0.5297556344596553 }, { "marker_id": 206, "observed_center_px": [ 1375.0, 772.75 ], "projected_center_px": [ 1374.560302734375, 767.494384765625 ], "reprojection_error_px": 5.273976220764812, "confidence": 0.21565926026494167 }, { "marker_id": 47, "observed_center_px": [ 611.75, 775.5 ], "projected_center_px": [ 611.66259765625, 775.6491088867188 ], "reprojection_error_px": 0.17283700353656384, "confidence": 0.28296118775935797 }, { "marker_id": 54, "observed_center_px": [ 544.75, 793.5 ], "projected_center_px": [ 544.6651611328125, 793.4559936523438 ], "reprojection_error_px": 0.09557296699224632, "confidence": 0.32604528713786163 }, { "marker_id": 97, "observed_center_px": [ 463.25, 785.75 ], "projected_center_px": [ 462.88116455078125, 785.4705200195312 ], "reprojection_error_px": 0.462761977784703, "confidence": 0.27616132626441153 }, { "marker_id": 66, "observed_center_px": [ 372.5, 739.0 ], "projected_center_px": [ 372.768798828125, 739.0264892578125 ], "reprojection_error_px": 0.2701008900037732, "confidence": 0.20880323274886187 }, { "marker_id": 96, "observed_center_px": [ 776.75, 747.75 ], "projected_center_px": [ 776.2626953125, 748.190185546875 ], "reprojection_error_px": 0.6566804200957385, "confidence": 0.29755353766049797 }, { "marker_id": 62, "observed_center_px": [ 830.75, 760.5 ], "projected_center_px": [ 830.81494140625, 761.0070190429688 ], "reprojection_error_px": 0.5111611254572033, "confidence": 0.3575017044994602 }, { "marker_id": 208, "observed_center_px": [ 875.25, 660.75 ], "projected_center_px": [ 874.7191772460938, 655.8153076171875 ], "reprojection_error_px": 4.96316045570283, "confidence": 0.25451422792961226 }, { "marker_id": 55, "observed_center_px": [ 584.75, 736.0 ], "projected_center_px": [ 584.594482421875, 736.0264892578125 ], "reprojection_error_px": 0.1577574019985198, "confidence": 0.2684612168157516 }, { "marker_id": 214, "observed_center_px": [ 965.75, 635.25 ], "projected_center_px": [ 965.7646484375, 631.0142822265625 ], "reprojection_error_px": 4.235743102802096, "confidence": 0.25649381160383095 }, { "marker_id": 79, "observed_center_px": [ 749.5, 711.0 ], "projected_center_px": [ 749.4674072265625, 711.4022216796875 ], "reprojection_error_px": 0.40354004570919855, "confidence": 0.25694325940045776 }, { "marker_id": 95, "observed_center_px": [ 479.5, 696.25 ], "projected_center_px": [ 479.74993896484375, 696.450439453125 ], "reprojection_error_px": 0.32038330249283337, "confidence": 0.1867925968462939 }, { "marker_id": 53, "observed_center_px": [ 1349.5, 659.0 ], "projected_center_px": [ 1348.9605712890625, 661.381103515625 ], "reprojection_error_px": 2.441441640978835, "confidence": 0.21339006924105708 }, { "marker_id": 72, "observed_center_px": [ 1275.75, 647.25 ], "projected_center_px": [ 1275.197265625, 649.7846069335938 ], "reprojection_error_px": 2.594175706679899, "confidence": 0.19315867427385117 }, { "marker_id": 51, "observed_center_px": [ 595.0, 656.0 ], "projected_center_px": [ 595.6368408203125, 656.72802734375 ], "reprojection_error_px": 0.9672590364860794, "confidence": 0.19459516753849398 }, { "marker_id": 86, "observed_center_px": [ 1268.0, 594.75 ], "projected_center_px": [ 1267.0711669921875, 597.0910034179688 ], "reprojection_error_px": 2.5185368290623398, "confidence": 0.15168122070263937 }, { "marker_id": 103, "observed_center_px": [ 523.25, 638.0 ], "projected_center_px": [ 524.240478515625, 638.552978515625 ], "reprojection_error_px": 1.1343865869524075, "confidence": 0.14764046114843485 }, { "marker_id": 211, "observed_center_px": [ 860.25, 599.75 ], "projected_center_px": [ 859.8064575195312, 595.6392211914062 ], "reprojection_error_px": 4.134638115381299, "confidence": 0.1777947575100624 }, { "marker_id": 69, "observed_center_px": [ 331.0, 630.0 ], "projected_center_px": [ 332.58477783203125, 630.2366943359375 ], "reprojection_error_px": 1.6023560732754012, "confidence": 0.12893578900789202 }, { "marker_id": 84, "observed_center_px": [ 1290.75, 617.75 ], "projected_center_px": [ 1290.723388671875, 620.1088256835938 ], "reprojection_error_px": 2.358975787999126, "confidence": 0.17268436709798 }, { "marker_id": 58, "observed_center_px": [ 442.25, 627.0 ], "projected_center_px": [ 443.32464599609375, 627.5563354492188 ], "reprojection_error_px": 1.210112866214452, "confidence": 0.1295478737351265 }, { "marker_id": 82, "observed_center_px": [ 1119.5, 552.75 ], "projected_center_px": [ 1119.0528564453125, 554.3885498046875 ], "reprojection_error_px": 1.6984648424209485, "confidence": 0.1339849287785323 } ] }, "qa": { "sanity_notes": [] } }