{ "schema_version": "1.0", "created_utc": "2026-06-01T12:39:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\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": 23, "used_marker_ids": [ 46, 208, 56, 62, 47, 96, 53, 97, 72, 84, 79, 51, 103, 73, 210, 58, 69, 82, 101, 52, 64, 83, 75 ], "history": { "iters": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ], "rms": [ 0.01620569039138238, 0.015761304658646082, 0.011178227950218002, 0.008575948818977547, 0.007949983475241626, 0.007920351934334269, 0.007919105573200393, 0.007919056134977861, 0.007919054211894365, 0.007919054137370454, 0.00791905413447669 ], "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": 18.36672169505546, "residual_median_px": 18.45203304122356, "residual_max_px": 37.081542135517196, "sigma2_normalized": 7.211813114049388e-05 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.3240183889865875, 0.9001911878585815, 0.290977418422699 ], [ 0.9460428953170776, -0.3070528507232666, -0.10354415327310562 ], [ -0.0038640922866761684, 0.30882734060287476, -0.9511102437973022 ] ], "translation_m": [ 0.12070151418447495, -0.1992567777633667, 1.2855764627456665 ], "rvec_rad": [ 2.336698543638986, 1.6707162196782994, 0.25981801778131897 ] }, "camera_in_world": { "position_m": [ 0.15436352789402008, -0.5668579936027527, 1.1669716835021973 ], "position_mm": [ 154.363525390625, -566.8579711914062, 1166.9716796875 ], "orientation_deg": { "roll": 162.0112762451172, "pitch": 0.22139672935009003, "yaw": 71.09373474121094 } }, "uncertainty": { "pose_covariance_6x6": [ [ 0.0007070283099048364, 0.0003922597681456711, -7.41589131493788e-05, 3.3953838788613734e-07, 3.208364611136549e-05, 0.000138171391618346 ], [ 0.0003922597681456733, 0.00041091740757780165, -2.479873761837661e-05, 2.691870545432266e-05, 1.4808582978701845e-05, 9.18767553981082e-05 ], [ -7.415891314936971e-05, -2.4798737618366298e-05, 0.0020464242879364536, 6.0246410202387945e-05, 1.5723407245249837e-05, -0.0006191280451670264 ], [ 3.395383878868549e-07, 2.6918705454323185e-05, 6.024641020238681e-05, 1.2790957408724965e-05, 5.350853210601944e-07, 8.935749814126173e-07 ], [ 3.208364611136553e-05, 1.4808582978701784e-05, 1.5723407245249034e-05, 5.35085321060153e-07, 7.114846441912381e-06, 3.216257136721314e-06 ], [ 0.00013817139161834426, 9.187675539810535e-05, -0.0006191280451670294, 8.935749814121383e-07, 3.216257136721122e-06, 0.00033099683596469147 ] ], "parameter_std": { "rvec_std_deg": [ 1.5234950034029218, 1.1614483522424797, 2.5919133178515157 ], "tvec_std_m": [ 0.0035764448001786584, 0.0026673669492427135, 0.018193318442897972 ] }, "camera_center_std_m": [ 0.040295480993643586, 0.03323936953565478, 0.02881842013892959 ], "camera_center_std_mm": [ 40.29548099364359, 33.23936953565478, 28.81842013892959 ], "orientation_std_deg": { "roll": 1.529849867307687, "pitch": 1.7776295549673884, "yaw": 0.581872605857214 } } }, "observations": { "markers": [ { "marker_id": 46, "observed_center_px": [ 1234.0, 666.0 ], "projected_center_px": [ 1230.0096435546875, 639.18408203125 ], "reprojection_error_px": 27.111185903006458, "confidence": 0.2988751797371847 }, { "marker_id": 208, "observed_center_px": [ 831.5, 547.75 ], "projected_center_px": [ 856.7876586914062, 550.4183349609375 ], "reprojection_error_px": 25.428049346279305, "confidence": 0.5954364184044425 }, { "marker_id": 56, "observed_center_px": [ 1196.0, 626.75 ], "projected_center_px": [ 1196.3935546875, 606.256103515625 ], "reprojection_error_px": 20.497674951182418, "confidence": 0.5697620483284124 }, { "marker_id": 62, "observed_center_px": [ 750.75, 651.75 ], "projected_center_px": [ 762.11083984375, 646.8836059570312 ], "reprojection_error_px": 12.359226227267598, "confidence": 0.5711737708098855 }, { "marker_id": 47, "observed_center_px": [ 593.75, 623.75 ], "projected_center_px": [ 591.0401000976562, 626.6845703125 ], "reprojection_error_px": 3.99440363505355, "confidence": 0.5768583617164568 }, { "marker_id": 96, "observed_center_px": [ 723.0, 614.25 ], "projected_center_px": [ 731.8233642578125, 612.2721557617188 ], "reprojection_error_px": 9.042324073873125, "confidence": 0.570786168435231 }, { "marker_id": 53, "observed_center_px": [ 1240.5, 594.75 ], "projected_center_px": [ 1236.42626953125, 576.4193115234375 ], "reprojection_error_px": 18.777897112211562, "confidence": 0.21364841201201337 }, { "marker_id": 97, "observed_center_px": [ 491.5, 605.25 ], "projected_center_px": [ 473.3843994140625, 612.5693359375 ], "reprojection_error_px": 19.538363881226037, "confidence": 0.5705029634947052 }, { "marker_id": 72, "observed_center_px": [ 1197.75, 548.5 ], "projected_center_px": [ 1198.7923583984375, 536.4050903320312 ], "reprojection_error_px": 12.13974262112328, "confidence": 0.5440516905787338 }, { "marker_id": 84, "observed_center_px": [ 1254.25, 485.0 ], "projected_center_px": [ 1250.7076416015625, 478.4268493652344 ], "reprojection_error_px": 7.4669011169494155, "confidence": 0.06519221426443914 }, { "marker_id": 79, "observed_center_px": [ 731.5, 535.75 ], "projected_center_px": [ 739.6856689453125, 535.8737182617188 ], "reprojection_error_px": 8.186603831292691, "confidence": 0.5460974493377216 }, { "marker_id": 51, "observed_center_px": [ 659.0, 376.0 ], "projected_center_px": [ 657.2769775390625, 378.07232666015625 ], "reprojection_error_px": 2.695059217770451, "confidence": 0.4817209906880129 }, { "marker_id": 103, "observed_center_px": [ 618.0, 313.5 ], "projected_center_px": [ 608.839599609375, 313.57318115234375 ], "reprojection_error_px": 9.160692702935789, "confidence": 0.5046333482067283 }, { "marker_id": 73, "observed_center_px": [ 1247.5, 251.25 ], "projected_center_px": [ 1249.2930908203125, 265.6144714355469 ], "reprojection_error_px": 14.475952967336246, "confidence": 0.13607001327160623 }, { "marker_id": 210, "observed_center_px": [ 775.0, 150.5 ], "projected_center_px": [ 791.8716430664062, 155.67532348632812 ], "reprojection_error_px": 17.64755827156702, "confidence": 0.46988879526830113 }, { "marker_id": 58, "observed_center_px": [ 562.75, 264.25 ], "projected_center_px": [ 543.74658203125, 261.0384826660156 ], "reprojection_error_px": 19.27287570866093, "confidence": 0.4655541127751829 }, { "marker_id": 69, "observed_center_px": [ 476.25, 240.75 ], "projected_center_px": [ 439.790771484375, 233.9849853515625 ], "reprojection_error_px": 37.081542135517196, "confidence": 0.4655541127751829 }, { "marker_id": 82, "observed_center_px": [ 1207.5, 261.5 ], "projected_center_px": [ 1212.1156005859375, 274.04901123046875 ], "reprojection_error_px": 13.370918129707377, "confidence": 0.49001748422717006 }, { "marker_id": 101, "observed_center_px": [ 1162.25, 153.5 ], "projected_center_px": [ 1171.7491455078125, 171.0355987548828 ], "reprojection_error_px": 19.943194053883197, "confidence": 0.46225891142368675 }, { "marker_id": 52, "observed_center_px": [ 1054.25, 160.5 ], "projected_center_px": [ 1068.11669921875, 173.6162109375 ], "reprojection_error_px": 19.087177281627486, "confidence": 0.46225891142368675 }, { "marker_id": 64, "observed_center_px": [ 570.5, 177.75 ], "projected_center_px": [ 549.831298828125, 170.02398681640625 ], "reprojection_error_px": 22.065504477471876, "confidence": 0.43211414091114625 }, { "marker_id": 83, "observed_center_px": [ 1173.0, 64.0 ], "projected_center_px": [ 1182.861572265625, 85.86101531982422 ], "reprojection_error_px": 23.98238099863592, "confidence": 0.4377857805109236 }, { "marker_id": 75, "observed_center_px": [ 987.75, 42.0 ], "projected_center_px": [ 1002.350830078125, 53.282432556152344 ], "reprojection_error_px": 18.45203304122356, "confidence": 0.22473325223116958 } ] }, "qa": { "sanity_notes": [] } }