{ "schema_version": "1.0", "created_utc": "2026-05-31T20:34:18Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "a", "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": 19, "used_marker_ids": [ 47, 210, 85, 79, 96, 62, 105, 75, 102, 92, 217, 61, 83, 206, 207, 72, 84, 86, 93 ], "history": { "iters": [ 0, 1, 2, 3, 4 ], "rms": [ 0.01688824416861389, 0.0026488948713162797, 0.0022847901177283567, 0.002284778536088292, 0.0022847785345118145 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125, 6.25e-05 ] }, "residual_rms_px": 5.260777163796182, "residual_median_px": 3.9336177789442863, "residual_max_px": 9.206418967088428, "sigma2_normalized": 6.199002880217139e-06 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.8034524321556091, -0.5953208208084106, 0.0075734867714345455 ], [ -0.40606069564819336, -0.5572388172149658, -0.7242924571037292 ], [ 0.4354065954685211, 0.578859269618988, -0.689451277256012 ] ], "translation_m": [ -0.22647301852703094, 0.20879590511322021, 1.1456412076950073 ], "rvec_rad": [ 2.2371428918604392, -0.7344684570702414, 0.32490605356533975 ] }, "camera_in_world": { "position_m": [ -0.23207563161849976, -0.6816399693489075, 0.9428082704544067 ], "position_mm": [ -232.0756378173828, -681.6399536132812, 942.8082885742188 ], "orientation_deg": { "roll": 139.98336791992188, "pitch": -25.811166763305664, "yaw": -26.81179428100586 } }, "uncertainty": { "pose_covariance_6x6": [ [ 4.097591089411523e-05, -1.3516690365163344e-05, 3.233947921489375e-06, 2.8375694519427413e-06, 6.358422974851678e-06, 1.0788754679638468e-05 ], [ -1.3516690365163376e-05, 1.6114384837211145e-05, -8.778002475074104e-06, -3.914652718179436e-06, -4.423000384742518e-06, -1.9181520799013528e-06 ], [ 3.233947921489427e-06, -8.77800247507413e-06, 5.513946330528815e-05, 8.433095193903186e-06, -4.2346249444135545e-06, -1.2253759154226465e-05 ], [ 2.8375694519427536e-06, -3.914652718179437e-06, 8.433095193903184e-06, 2.3821183334401835e-06, 3.118681673870334e-07, -3.036440640129871e-07 ], [ 6.358422974851689e-06, -4.42300038474252e-06, -4.234624944413562e-06, 3.1186816738703346e-07, 2.862874214018809e-06, 3.601866363327852e-06 ], [ 1.0788754679638462e-05, -1.9181520799013405e-06, -1.2253759154226542e-05, -3.0364406401299863e-07, 3.6018663633278545e-06, 1.615160848576946e-05 ] ], "parameter_std": { "rvec_std_deg": [ 0.3667642028343509, 0.23000088015077183, 0.42545526236590314 ], "tvec_std_m": [ 0.0015434112651656342, 0.001692003018324379, 0.00401890637932379 ] }, "camera_center_std_m": [ 0.006748912533574303, 0.007725868343634181, 0.007397731347808048 ], "camera_center_std_mm": [ 6.748912533574303, 7.725868343634182, 7.397731347808048 ], "orientation_std_deg": { "roll": 0.4950206613769511, "pitch": 0.3279056973051422, "yaw": 0.2131206805888579 } } }, "observations": { "markers": [ { "marker_id": 47, "observed_center_px": [ 984.25, 690.75 ], "projected_center_px": [ 981.2843627929688, 684.5106811523438 ], "reprojection_error_px": 6.908263437829121, "confidence": 0.12146268776527554 }, { "marker_id": 210, "observed_center_px": [ 324.0, 632.0 ], "projected_center_px": [ 331.15069580078125, 637.7987670898438 ], "reprojection_error_px": 9.206418967088428, "confidence": 0.46829700346999537 }, { "marker_id": 85, "observed_center_px": [ 1183.75, 610.25 ], "projected_center_px": [ 1179.2086181640625, 606.8020629882812 ], "reprojection_error_px": 5.701966206192657, "confidence": 0.4560525484643318 }, { "marker_id": 79, "observed_center_px": [ 814.0, 599.0 ], "projected_center_px": [ 815.020751953125, 596.3807373046875 ], "reprojection_error_px": 2.811133511035042, "confidence": 0.5734281513866332 }, { "marker_id": 96, "observed_center_px": [ 905.25, 587.25 ], "projected_center_px": [ 904.92529296875, 584.64599609375 ], "reprojection_error_px": 2.624170535599477, "confidence": 0.525542829627259 }, { "marker_id": 62, "observed_center_px": [ 931.0, 557.5 ], "projected_center_px": [ 930.7962036132812, 555.8448486328125 ], "reprojection_error_px": 1.6676507474715048, "confidence": 0.5038606541951498 }, { "marker_id": 105, "observed_center_px": [ 1150.25, 560.25 ], "projected_center_px": [ 1147.2882080078125, 558.3479614257812 ], "reprojection_error_px": 3.5199378606449994, "confidence": 0.43622925667631085 }, { "marker_id": 75, "observed_center_px": [ 128.5, 514.75 ], "projected_center_px": [ 129.98768615722656, 514.7237548828125 ], "reprojection_error_px": 1.4879176417328084, "confidence": 0.29844141482805986 }, { "marker_id": 102, "observed_center_px": [ 1217.75, 461.5 ], "projected_center_px": [ 1217.2900390625, 461.2925720214844 ], "reprojection_error_px": 0.5045695495141949, "confidence": 0.2521714913889437 }, { "marker_id": 92, "observed_center_px": [ 1173.25, 437.75 ], "projected_center_px": [ 1173.5399169921875, 438.0331115722656 ], "reprojection_error_px": 0.4052209578856468, "confidence": 0.31777455864589965 }, { "marker_id": 217, "observed_center_px": [ 1087.75, 347.0 ], "projected_center_px": [ 1091.2442626953125, 354.3226623535156 ], "reprojection_error_px": 8.113646265856527, "confidence": 0.3029173397022545 }, { "marker_id": 61, "observed_center_px": [ 58.5, 415.5 ], "projected_center_px": [ 54.10175704956055, 416.18798828125 ], "reprojection_error_px": 4.4517265107177995, "confidence": 0.1527342148240039 }, { "marker_id": 83, "observed_center_px": [ 139.0, 383.0 ], "projected_center_px": [ 133.5531005859375, 383.4892272949219 ], "reprojection_error_px": 5.468825886148779, "confidence": 0.19743498130596515 }, { "marker_id": 206, "observed_center_px": [ 1013.0, 301.0 ], "projected_center_px": [ 1017.0421142578125, 307.5049133300781 ], "reprojection_error_px": 7.6584975749189335, "confidence": 0.2849187633475991 }, { "marker_id": 207, "observed_center_px": [ 1098.0, 262.0 ], "projected_center_px": [ 1103.2645263671875, 267.52166748046875 ], "reprojection_error_px": 7.629157858877907, "confidence": 0.24627951083020566 }, { "marker_id": 72, "observed_center_px": [ 655.75, 300.75 ], "projected_center_px": [ 654.464599609375, 299.97552490234375 ], "reprojection_error_px": 1.500688455712431, "confidence": 0.1970529186973567 }, { "marker_id": 84, "observed_center_px": [ 579.25, 279.75 ], "projected_center_px": [ 576.6786499023438, 278.639404296875 ], "reprojection_error_px": 2.80093986735105, "confidence": 0.1988568274481309 }, { "marker_id": 86, "observed_center_px": [ 514.0, 278.75 ], "projected_center_px": [ 510.1328430175781, 278.02996826171875 ], "reprojection_error_px": 3.9336177789442863, "confidence": 0.17646704338372862 }, { "marker_id": 93, "observed_center_px": [ 1104.25, 154.5 ], "projected_center_px": [ 1111.6312255859375, 150.52688598632812 ], "reprojection_error_px": 8.38260855081127, "confidence": 0.15396639291733288 } ] }, "qa": { "sanity_notes": [] } }