{ "schema_version": "1.0", "created_utc": "2026-05-31T08:27:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "c", "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": 5, "used_marker_ids": [ 208, 215, 214, 210, 211 ], "history": { "iters": [ 0, 1, 2, 3, 4, 5 ], "rms": [ 0.00457172056376259, 0.0004007988655781761, 0.0001417445617279961, 0.00013819420881295557, 0.00013818671534127612, 0.00013818671121091364 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125, 6.25e-05, 3.125e-05 ] }, "residual_rms_px": 0.33207999825248774, "residual_median_px": 0.35037969191557206, "residual_max_px": 0.4579046210411868, "sigma2_normalized": 4.773891788784062e-08 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.9937751889228821, 0.11140383034944534, -0.00033484713640064 ], [ 0.03920517489314079, -0.3525390625, -0.9349755048751831 ], [ -0.10427789390087128, 0.9291422963142395, -0.35471218824386597 ] ], "translation_m": [ -0.1977289766073227, 0.12576112151145935, 1.0029146671295166 ], "rvec_rad": [ 1.93112480095096, 0.10767935618108943, -0.07479388689590213 ] }, "camera_in_world": { "position_m": [ 0.29614949226379395, -0.8654869794845581, 0.4732634127140045 ], "position_mm": [ 296.1495056152344, -865.4869995117188, 473.263427734375 ], "orientation_deg": { "roll": 110.8949966430664, "pitch": 5.985564231872559, "yaw": 2.2591898441314697 } }, "uncertainty": { "pose_covariance_6x6": [ [ 8.650701546181118e-06, -1.4300362394143149e-06, 3.241852486781931e-07, -3.8261359778263076e-08, -1.4218259209511637e-07, 3.1239545397407057e-07 ], [ -1.430036239413979e-06, 2.1923263392146404e-06, -2.9486939460509208e-06, 1.3613279381430744e-07, -9.181878829155968e-08, -3.46643684353169e-08 ], [ 3.24185248677353e-07, -2.9486939460508564e-06, 8.05258806227672e-06, -2.5866243915244943e-07, -1.6580449252772927e-07, 2.380629356259459e-08 ], [ -3.826135977823607e-08, 1.361327938143063e-07, -2.58662439152452e-07, 1.9692258029561944e-08, 3.342634535551964e-09, 2.732955811434269e-08 ], [ -1.4218259209510666e-07, -9.18187882915488e-08, -1.658044925277583e-07, 3.3426345355528607e-09, 6.138716493600708e-08, 8.038521416539434e-08 ], [ 3.123954539740635e-07, -3.466436843532243e-08, 2.3806293562608388e-08, 2.7329558114342263e-08, 8.038521416539451e-08, 5.597135914859203e-07 ] ], "parameter_std": { "rvec_std_deg": [ 0.16851877630655818, 0.08483503302098622, 0.1625887057112848 ], "tvec_std_m": [ 0.0001403291061382561, 0.0002477643334622784, 0.0007481400881425352 ] }, "camera_center_std_m": [ 0.002478390115746165, 0.0014539653798101254, 0.002511575922092966 ], "camera_center_std_mm": [ 2.4783901157461647, 1.4539653798101253, 2.511575922092966 ], "orientation_std_deg": { "roll": 0.17613108669612543, "pitch": 0.1448333486459573, "yaw": 0.054457863810304 } } }, "observations": { "markers": [ { "marker_id": 208, "observed_center_px": [ 922.5, 650.25 ], "projected_center_px": [ 922.0996704101562, 650.4722900390625 ], "reprojection_error_px": 0.4579046210411868, "confidence": 0.2964796698261984 }, { "marker_id": 215, "observed_center_px": [ 720.75, 640.75 ], "projected_center_px": [ 720.9915771484375, 640.4962158203125 ], "reprojection_error_px": 0.35037969191557206, "confidence": 0.2743742952602821 }, { "marker_id": 214, "observed_center_px": [ 916.75, 583.75 ], "projected_center_px": [ 916.7447509765625, 583.706787109375 ], "reprojection_error_px": 0.043530519905184195, "confidence": 0.21966133686197709 }, { "marker_id": 210, "observed_center_px": [ 314.25, 563.5 ], "projected_center_px": [ 314.03302001953125, 563.6098022460938 ], "reprojection_error_px": 0.24318068420713757, "confidence": 0.233781757000696 }, { "marker_id": 211, "observed_center_px": [ 730.75, 575.25 ], "projected_center_px": [ 731.14599609375, 575.2168579101562 ], "reprojection_error_px": 0.3973805536063258, "confidence": 0.19992181809841383 } ] }, "qa": { "sanity_notes": [] } }