{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T10:47:03Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\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": [
      [
        1992.8416748046875,
        0.0,
        719.249267578125
      ],
      [
        0.0,
        1997.40380859375,
        537.7935791015625
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ],
    "distortion_coefficients": [
      0.019999999552965164,
      -0.009999999776482582,
      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": 25,
    "used_marker_ids": [
      208,
      46,
      54,
      53,
      56,
      62,
      97,
      96,
      72,
      79,
      214,
      55,
      66,
      73,
      103,
      82,
      210,
      69,
      58,
      101,
      64,
      81,
      52,
      83,
      61
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.009692554585138667,
        0.0015274396608373655,
        0.0013399625629432717,
        0.0013399548249961961
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 3.789956553795116,
    "residual_median_px": 3.544937750095099,
    "residual_max_px": 5.897180953930579,
    "sigma2_normalized": 2.040316969294477e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.3154412508010864,
          0.9489429593086243,
          0.002015070989727974
        ],
        [
          0.9194084405899048,
          -0.30509650707244873,
          -0.24820205569267273
        ],
        [
          -0.23491479456424713,
          0.08014583587646484,
          -0.9687061905860901
        ]
      ],
      "translation_m": [
        0.12719404697418213,
        -0.19874036312103271,
        1.49770987033844
      ],
      "rvec_rad": [
        2.375524848666976,
        1.7141355806971181,
        -0.2136759241312138
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.49443551898002625,
        -0.3013700842857361,
        1.401256799697876
      ],
      "position_mm": [
        494.4355163574219,
        -301.3700866699219,
        1401.2568359375
      ],
      "orientation_deg": {
        "roll": 175.27040100097656,
        "pitch": 13.586599349975586,
        "yaw": 71.0633316040039
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          3.5193464636648885e-05,
          2.070358787166573e-05,
          7.760702894184055e-06,
          -1.7002300257175483e-07,
          1.024618166576078e-07,
          1.2931658792077882e-06
        ],
        [
          2.0703587871665754e-05,
          1.840465526017166e-05,
          2.3069130852204804e-06,
          6.994031589617919e-07,
          -1.2835593159787945e-07,
          1.4290455538073755e-06
        ],
        [
          7.76070289418164e-06,
          2.306913085218433e-06,
          0.00016642242456931728,
          1.3285227227864196e-06,
          -2.292525772724137e-06,
          -2.8102554445256454e-05
        ],
        [
          -1.7002300257177545e-07,
          6.994031589617685e-07,
          1.3285227227865007e-06,
          3.7280237587438374e-07,
          -3.2915634081019334e-08,
          3.843047347415698e-07
        ],
        [
          1.0246181665764786e-07,
          -1.2835593159787014e-07,
          -2.2925257727241043e-06,
          -3.291563408102064e-08,
          2.1872160745222467e-07,
          5.131696251457621e-07
        ],
        [
          1.2931658792082013e-06,
          1.4290455538077276e-06,
          -2.810255444525624e-05,
          3.8430473474158586e-07,
          5.131696251457603e-07,
          9.414312437274566e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.33990194054771844,
          0.2458026020160661,
          0.7391431472729117
        ],
        "tvec_std_m": [
          0.0006105754465046754,
          0.00046767681945145053,
          0.003068275156708499
        ]
      },
      "camera_center_std_m": [
        0.011763616313170994,
        0.011246276515779795,
        0.004213654083739408
      ],
      "camera_center_std_mm": [
        11.763616313170994,
        11.246276515779796,
        4.213654083739407
      ],
      "orientation_std_deg": {
        "roll": 0.4740476151115879,
        "pitch": 0.44733444295607094,
        "yaw": 0.13355915714474415
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 208,
        "observed_center_px": [
          937.0,
          754.0
        ],
        "projected_center_px": [
          934.760986328125,
          751.304443359375
        ],
        "reprojection_error_px": 3.504170062320136,
        "confidence": 0.7015533061967676
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          1383.75,
          882.75
        ],
        "projected_center_px": [
          1387.3065185546875,
          884.9299926757812
        ],
        "reprojection_error_px": 4.171473636054333,
        "confidence": 0.47143525482057913
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          610.5,
          848.75
        ],
        "projected_center_px": [
          608.6583862304688,
          853.0736083984375
        ],
        "reprojection_error_px": 4.699481977746737,
        "confidence": 0.7005026944924987
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          1399.75,
          806.0
        ],
        "projected_center_px": [
          1393.9581298828125,
          804.8905029296875
        ],
        "reprojection_error_px": 5.897180953930579,
        "confidence": 0.2405163644043805
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          1342.25,
          844.25
        ],
        "projected_center_px": [
          1344.2518310546875,
          840.8841552734375
        ],
        "reprojection_error_px": 3.9161509540414627,
        "confidence": 0.6345894206040225
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          845.25,
          863.0
        ],
        "projected_center_px": [
          844.1565551757812,
          867.6507568359375
        ],
        "reprojection_error_px": 4.777568495650288,
        "confidence": 0.6747903473348275
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          555.0,
          818.0
        ],
        "projected_center_px": [
          553.7796020507812,
          815.1251220703125
        ],
        "reprojection_error_px": 3.123186556237334,
        "confidence": 0.6946666666666667
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          816.75,
          827.25
        ],
        "projected_center_px": [
          812.90087890625,
          825.6697387695312
        ],
        "reprojection_error_px": 4.160884371245349,
        "confidence": 0.6668638701841824
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1346.5,
          753.0
        ],
        "projected_center_px": [
          1345.88232421875,
          752.7025756835938
        ],
        "reprojection_error_px": 0.6855542245019886,
        "confidence": 0.6560227834014383
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          821.25,
          737.0
        ],
        "projected_center_px": [
          822.7464599609375,
          737.4547119140625
        ],
        "reprojection_error_px": 1.564018970306769,
        "confidence": 0.6609128878733954
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          1037.5,
          714.0
        ],
        "projected_center_px": [
          1040.8631591796875,
          715.8899536132812
        ],
        "reprojection_error_px": 3.857818597118215,
        "confidence": 0.653198206311934
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          675.5,
          746.0
        ],
        "projected_center_px": [
          674.0990600585938,
          745.0283203125
        ],
        "reprojection_error_px": 1.7049322961711544,
        "confidence": 0.6539740633879756
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          508.0,
          693.0
        ],
        "projected_center_px": [
          510.5155334472656,
          692.1668090820312
        ],
        "reprojection_error_px": 2.649927476384531,
        "confidence": 0.6535051684779027
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          1401.75,
          418.75
        ],
        "projected_center_px": [
          1403.1568603515625,
          417.9326477050781
        ],
        "reprojection_error_px": 1.6270589487823166,
        "confidence": 0.2090385473648542
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          689.75,
          488.25
        ],
        "projected_center_px": [
          695.5625,
          487.3232727050781
        ],
        "reprojection_error_px": 5.8859136698692085,
        "confidence": 0.5835587226236766
      },
      {
        "marker_id": 82,
        "observed_center_px": [
          1356.5,
          429.5
        ],
        "projected_center_px": [
          1357.50390625,
          429.2601318359375
        ],
        "reprojection_error_px": 1.0321649552856254,
        "confidence": 0.6113473409254715
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          872.25,
          307.25
        ],
        "projected_center_px": [
          872.3678588867188,
          304.18914794921875
        ],
        "reprojection_error_px": 3.063120303538594,
        "confidence": 0.5583029073465398
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          538.5,
          402.75
        ],
        "projected_center_px": [
          536.7540283203125,
          405.68804931640625
        ],
        "reprojection_error_px": 3.4176820934525236,
        "confidence": 0.5623923047875398
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          633.25,
          428.25
        ],
        "projected_center_px": [
          633.8778686523438,
          431.7388916015625
        ],
        "reprojection_error_px": 3.544937750095099,
        "confidence": 0.5472071309155037
      },
      {
        "marker_id": 101,
        "observed_center_px": [
          1308.0,
          303.75
        ],
        "projected_center_px": [
          1307.1339111328125,
          307.630615234375
        ],
        "reprojection_error_px": 3.976089098992811,
        "confidence": 0.5465481419156353
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          640.0,
          338.25
        ],
        "projected_center_px": [
          642.6405639648438,
          334.46282958984375
        ],
        "reprojection_error_px": 4.616842835531052,
        "confidence": 0.5461315019106076
      },
      {
        "marker_id": 81,
        "observed_center_px": [
          1152.25,
          375.75
        ],
        "projected_center_px": [
          1155.166259765625,
          375.8266296386719
        ],
        "reprojection_error_px": 2.9172663783285477,
        "confidence": 0.2162628044281095
      },
      {
        "marker_id": 52,
        "observed_center_px": [
          1190.5,
          312.75
        ],
        "projected_center_px": [
          1185.718505859375,
          315.7847595214844
        ],
        "reprojection_error_px": 5.6632545033815385,
        "confidence": 0.5334633920786324
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          1323.25,
          209.0
        ],
        "projected_center_px": [
          1319.30517578125,
          206.7149658203125
        ],
        "reprojection_error_px": 4.558839690006293,
        "confidence": 0.5329407344239817
      },
      {
        "marker_id": 61,
        "observed_center_px": [
          1280.25,
          134.75
        ],
        "projected_center_px": [
          1282.3272705078125,
          132.5583038330078
        ],
        "reprojection_error_px": 3.019699463694334,
        "confidence": 0.5096742872628433
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}