{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T10:17:25Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_g_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "g",
    "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": 35,
    "used_marker_ids": [
      86,
      64,
      58,
      72,
      53,
      215,
      103,
      69,
      208,
      51,
      56,
      46,
      68,
      95,
      79,
      55,
      66,
      217,
      54,
      47,
      97,
      105,
      205,
      85,
      92,
      102,
      59,
      57,
      71,
      48,
      63,
      65,
      80,
      78,
      87
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.01027885023582636,
        0.0013485658974435552,
        0.0011185928439617478,
        0.0011185845622694011
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 3.1647714544840815,
    "residual_median_px": 2.6709359022107186,
    "residual_max_px": 5.916066235325502,
    "sigma2_normalized": 1.3685343687836917e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          -0.7075504064559937,
          -0.7066592574119568,
          0.0022719097323715687
        ],
        [
          -0.6394652724266052,
          0.6388967633247375,
          -0.42766228318214417
        ],
        [
          0.3007599711418152,
          -0.3040454089641571,
          -0.9039357304573059
        ]
      ],
      "translation_m": [
        0.0010256684618070722,
        0.3319382965564728,
        1.3819644451141357
      ],
      "rvec_rad": [
        1.1147844742986022,
        -2.6917839520281595,
        0.60595907993423
      ]
    },
    "camera_in_world": {
      "position_m": [
        -0.20265084505081177,
        0.20883041620254517,
        1.3911621570587158
      ],
      "position_mm": [
        -202.65084838867188,
        208.83041381835938,
        1391.162109375
      ],
      "orientation_deg": {
        "roll": -161.40924072265625,
        "pitch": -17.503253936767578,
        "yaw": -137.8935546875
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          4.640810292539114e-06,
          -5.608793570738099e-06,
          4.2166447345293484e-06,
          3.145225150270515e-07,
          9.245954947004873e-07,
          3.851959860283075e-06
        ],
        [
          -5.608793570738063e-06,
          1.5601917818756728e-05,
          -1.02597396572281e-05,
          -2.397031217840036e-06,
          -1.3965469872968895e-06,
          -9.318277859853025e-06
        ],
        [
          4.216644734529219e-06,
          -1.0259739657227852e-05,
          4.068647244844244e-05,
          3.878551504010314e-06,
          -2.289964160101736e-06,
          -1.6614025789068596e-07
        ],
        [
          3.145225150270365e-07,
          -2.3970312178400116e-06,
          3.878551504010324e-06,
          7.964121355152393e-07,
          -1.0227956752966147e-07,
          5.292634719035232e-07
        ],
        [
          9.245954947004953e-07,
          -1.3965469872969147e-06,
          -2.2899641601017025e-06,
          -1.0227956752965695e-07,
          6.129596793327114e-07,
          1.4896443882510953e-06
        ],
        [
          3.8519598602830735e-06,
          -9.318277859853076e-06,
          -1.661402578904991e-07,
          5.292634719035452e-07,
          1.4896443882510843e-06,
          9.551365959018342e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.12342966214628988,
          0.2263141066919514,
          0.36546656497321983
        ],
        "tvec_std_m": [
          0.0008924192599418949,
          0.0007829174153975063,
          0.0030905284271493675
        ]
      },
      "camera_center_std_m": [
        0.005513363613069034,
        0.007829805471025525,
        0.0036583636625520666
      ],
      "camera_center_std_mm": [
        5.513363613069034,
        7.829805471025525,
        3.6583636625520666
      ],
      "orientation_std_deg": {
        "roll": 0.2260087653015589,
        "pitch": 0.22205289665951006,
        "yaw": 0.06574261471792509
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 86,
        "observed_center_px": [
          70.5,
          959.5
        ],
        "projected_center_px": [
          72.06910705566406,
          956.229248046875
        ],
        "reprojection_error_px": 3.627659754029551,
        "confidence": 0.6078576315643269
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          921.75,
          859.0
        ],
        "projected_center_px": [
          923.1660766601562,
          862.7653198242188
        ],
        "reprojection_error_px": 4.022798340222139,
        "confidence": 0.616540888528013
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          880.75,
          772.5
        ],
        "projected_center_px": [
          879.5567016601562,
          769.0763549804688
        ],
        "reprojection_error_px": 3.6256456180430794,
        "confidence": 0.615770312625039
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          115.75,
          787.75
        ],
        "projected_center_px": [
          114.35308074951172,
          788.9805297851562
        ],
        "reprojection_error_px": 1.8616086980193847,
        "confidence": 0.5483470750310988
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          54.25,
          764.5
        ],
        "projected_center_px": [
          57.53982925415039,
          764.1387939453125
        ],
        "reprojection_error_px": 3.3095991200456023,
        "confidence": 0.34455833875017283
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          566.75,
          693.0
        ],
        "projected_center_px": [
          568.4845581054688,
          691.8392333984375
        ],
        "reprojection_error_px": 2.0871202467874954,
        "confidence": 0.5875423228567325
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          801.25,
          744.0
        ],
        "projected_center_px": [
          797.6433715820312,
          746.3170166015625
        ],
        "reprojection_error_px": 4.286762703627996,
        "confidence": 0.5881521572283912
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          977.0,
          755.0
        ],
        "projected_center_px": [
          978.4932861328125,
          750.53662109375
        ],
        "reprojection_error_px": 4.706554444092574,
        "confidence": 0.5873934926369923
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          475.0,
          603.75
        ],
        "projected_center_px": [
          478.32476806640625,
          604.4194946289062
        ],
        "reprojection_error_px": 3.3915049393343173,
        "confidence": 0.5606734879266068
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          725.0,
          703.75
        ],
        "projected_center_px": [
          724.3179321289062,
          705.0401000976562
        ],
        "reprojection_error_px": 1.4593062881900516,
        "confidence": 0.5872237273710109
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          97.5,
          709.5
        ],
        "projected_center_px": [
          94.3766098022461,
          713.9403686523438
        ],
        "reprojection_error_px": 5.42885255796676,
        "confidence": 0.509707248070139
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          51.5,
          694.5
        ],
        "projected_center_px": [
          45.62908935546875,
          695.2295532226562
        ],
        "reprojection_error_px": 5.916066235325502,
        "confidence": 0.30582434884208337
      },
      {
        "marker_id": 68,
        "observed_center_px": [
          28.25,
          652.0
        ],
        "projected_center_px": [
          31.92746925354004,
          650.1982421875
        ],
        "reprojection_error_px": 4.095132638344833,
        "confidence": 0.06745941479560678
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          802.25,
          599.25
        ],
        "projected_center_px": [
          800.4730834960938,
          601.8112182617188
        ],
        "reprojection_error_px": 3.1172537987812325,
        "confidence": 0.516475515683492
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          581.75,
          593.0
        ],
        "projected_center_px": [
          580.8394165039062,
          592.2866821289062
        ],
        "reprojection_error_px": 1.156712880787638,
        "confidence": 0.48014488393995497
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          699.25,
          531.75
        ],
        "projected_center_px": [
          701.2100830078125,
          530.706298828125
        ],
        "reprojection_error_px": 2.220638992202142,
        "confidence": 0.4903670758306923
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          857.75,
          509.0
        ],
        "projected_center_px": [
          857.0255737304688,
          509.2474365234375
        ],
        "reprojection_error_px": 0.7655182905181298,
        "confidence": 0.5048654104890617
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          229.25,
          365.25
        ],
        "projected_center_px": [
          227.66258239746094,
          361.61181640625
        ],
        "reprojection_error_px": 3.969417401418315,
        "confidence": 0.4158618894065431
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          709.5,
          434.75
        ],
        "projected_center_px": [
          709.8480834960938,
          430.5180969238281
        ],
        "reprojection_error_px": 4.246194268561652,
        "confidence": 0.47895838908201616
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          671.5,
          462.75
        ],
        "projected_center_px": [
          669.2042236328125,
          463.2872314453125
        ],
        "reprojection_error_px": 2.3577970128849497,
        "confidence": 0.47895838908201616
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          765.75,
          436.25
        ],
        "projected_center_px": [
          768.5731811523438,
          437.391357421875
        ],
        "reprojection_error_px": 3.045168071456505,
        "confidence": 0.45571745758934096
      },
      {
        "marker_id": 105,
        "observed_center_px": [
          502.25,
          341.5
        ],
        "projected_center_px": [
          498.4387512207031,
          340.9231262207031
        ],
        "reprojection_error_px": 3.854659597802662,
        "confidence": 0.4298554298561924
      },
      {
        "marker_id": 205,
        "observed_center_px": [
          148.0,
          284.75
        ],
        "projected_center_px": [
          150.03480529785156,
          286.48016357421875
        ],
        "reprojection_error_px": 2.6709359022107186,
        "confidence": 0.38275133184923893
      },
      {
        "marker_id": 85,
        "observed_center_px": [
          555.75,
          319.5
        ],
        "projected_center_px": [
          556.4298706054688,
          321.6497802734375
        ],
        "reprojection_error_px": 2.2547237667265265,
        "confidence": 0.378986473237694
      },
      {
        "marker_id": 92,
        "observed_center_px": [
          329.0,
          309.75
        ],
        "projected_center_px": [
          328.1341247558594,
          312.1419677734375
        ],
        "reprojection_error_px": 2.5438651237003778,
        "confidence": 0.3811333266788848
      },
      {
        "marker_id": 102,
        "observed_center_px": [
          358.5,
          279.75
        ],
        "projected_center_px": [
          359.5167236328125,
          281.1935119628906
        ],
        "reprojection_error_px": 1.7656312561029817,
        "confidence": 0.3820909512919581
      },
      {
        "marker_id": 59,
        "observed_center_px": [
          425.25,
          258.5
        ],
        "projected_center_px": [
          428.193115234375,
          258.2237243652344
        ],
        "reprojection_error_px": 2.956054043683126,
        "confidence": 0.3817986848829665
      },
      {
        "marker_id": 57,
        "observed_center_px": [
          520.75,
          213.0
        ],
        "projected_center_px": [
          521.6250610351562,
          214.80438232421875
        ],
        "reprojection_error_px": 2.0053746251515667,
        "confidence": 0.35829797882009473
      },
      {
        "marker_id": 71,
        "observed_center_px": [
          337.25,
          166.0
        ],
        "projected_center_px": [
          337.4091491699219,
          168.5166778564453
        ],
        "reprojection_error_px": 2.5217049572479717,
        "confidence": 0.33944417346066164
      },
      {
        "marker_id": 48,
        "observed_center_px": [
          415.75,
          187.5
        ],
        "projected_center_px": [
          416.5266418457031,
          185.29550170898438
        ],
        "reprojection_error_px": 2.337302990968002,
        "confidence": 0.3363425332572343
      },
      {
        "marker_id": 63,
        "observed_center_px": [
          275.75,
          183.25
        ],
        "projected_center_px": [
          273.71295166015625,
          182.16604614257812
        ],
        "reprojection_error_px": 2.307492557708462,
        "confidence": 0.32781322776968225
      },
      {
        "marker_id": 65,
        "observed_center_px": [
          310.5,
          124.5
        ],
        "projected_center_px": [
          309.0107116699219,
          123.41778564453125
        ],
        "reprojection_error_px": 1.8409692124773658,
        "confidence": 0.3375471143770103
      },
      {
        "marker_id": 80,
        "observed_center_px": [
          299.25,
          56.5
        ],
        "projected_center_px": [
          298.4750671386719,
          58.851314544677734
        ],
        "reprojection_error_px": 2.475722324409435,
        "confidence": 0.24658567276025462
      },
      {
        "marker_id": 78,
        "observed_center_px": [
          333.75,
          82.5
        ],
        "projected_center_px": [
          335.5633239746094,
          79.6408462524414
        ],
        "reprojection_error_px": 3.3856910652142336,
        "confidence": 0.29355437233363646
      },
      {
        "marker_id": 87,
        "observed_center_px": [
          161.0,
          66.0
        ],
        "projected_center_px": [
          161.2346649169922,
          64.95686340332031
        ],
        "reprojection_error_px": 1.0692060524517393,
        "confidence": 0.3158166687011719
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}