{ "schema_version": "1.0", "created_utc": "2026-06-02T11:34:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "d", "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": 8, "used_marker_ids": [ 95, 208, 69, 51, 58, 214, 64, 211 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.01025077670656169, 0.001635011732824927, 0.0015849950017542771, 0.0015849918186903243 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 4.482099813482871, "residual_median_px": 3.9734724427394985, "residual_max_px": 7.365972189363775, "sigma2_normalized": 4.019518503223584e-06 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.8137235641479492, 0.5812505483627319, -0.0013406152138486505 ], [ 0.1618010401725769, -0.22872793674468994, -0.9599499702453613 ], [ -0.5582780838012695, 0.7809169888496399, -0.2801682651042938 ] ], "translation_m": [ -0.11264180392026901, 0.08715580403804779, 1.1227692365646362 ], "rvec_rad": [ 1.787743235762642, 0.5719340965182171, -0.43074400244521505 ] }, "camera_in_world": { "position_m": [ 0.7043748497962952, -0.7913814783096313, 0.3980785310268402 ], "position_mm": [ 704.3748779296875, -791.3814697265625, 398.0785217285156 ], "orientation_deg": { "roll": 109.73637390136719, "pitch": 33.936798095703125, "yaw": 11.246026992797852 } }, "uncertainty": { "pose_covariance_6x6": [ [ 0.0001514749475697957, 3.356580504324191e-05, 2.7527139604622153e-05, -2.57881609089409e-06, -3.096536135170435e-05, -3.9375221983572915e-06 ], [ 3.3565805043241476e-05, 5.315614337257972e-05, -4.3732252526111656e-05, 1.0941855311800544e-05, -9.31720480474573e-06, -1.829471986907818e-06 ], [ 2.7527139604622597e-05, -4.3732252526111195e-05, 0.00013819934430687761, -2.0297950573614935e-05, -5.95617560073179e-06, 1.1794093449207588e-06 ], [ -2.578816090894202e-06, 1.0941855311800497e-05, -2.0297950573615002e-05, 4.095432536918085e-06, 8.402718377852458e-09, -1.1995372028492678e-06 ], [ -3.0965361351704336e-05, -9.317204804745822e-06, -5.956175600731665e-06, 8.402718377832525e-09, 7.465352886161573e-06, 3.3548347919741495e-06 ], [ -3.9375221983573245e-06, -1.8294719869078671e-06, 1.1794093449208306e-06, -1.1995372028492477e-06, 3.354834791974158e-06, 1.3613683851754314e-05 ] ], "parameter_std": { "rvec_std_deg": [ 0.7051687172229221, 0.4177335574330118, 0.6735589692507088 ], "tvec_std_m": [ 0.002023717504227822, 0.0027322797964633074, 0.0036896725941137805 ] }, "camera_center_std_m": [ 0.008207422517337727, 0.00805357150047758, 0.010349418393442302 ], "camera_center_std_mm": [ 8.207422517337728, 8.053571500477581, 10.349418393442303 ], "orientation_std_deg": { "roll": 0.8267996784452986, "pitch": 0.6195812452718638, "yaw": 0.5104139409350278 } } }, "observations": { "markers": [ { "marker_id": 95, "observed_center_px": [ 421.5, 1048.25 ], "projected_center_px": [ 423.16033935546875, 1045.4034423828125 ], "reprojection_error_px": 3.295393306312095, "confidence": 0.20059440065661768 }, { "marker_id": 208, "observed_center_px": [ 1003.75, 919.75 ], "projected_center_px": [ 998.244140625, 920.6378173828125 ], "reprojection_error_px": 5.576980111359501, "confidence": 0.5971711979967728 }, { "marker_id": 69, "observed_center_px": [ 128.0, 929.75 ], "projected_center_px": [ 124.60504150390625, 932.9298095703125 ], "reprojection_error_px": 4.651551579166902, "confidence": 0.6485521925210277 }, { "marker_id": 51, "observed_center_px": [ 549.25, 937.25 ], "projected_center_px": [ 551.0654907226562, 936.3114624023438 ], "reprojection_error_px": 2.043736623507363, "confidence": 0.775025713517728 }, { "marker_id": 58, "observed_center_px": [ 291.75, 903.5 ], "projected_center_px": [ 293.9588623046875, 905.538818359375 ], "reprojection_error_px": 3.005969557995214, "confidence": 0.6668670535817509 }, { "marker_id": 214, "observed_center_px": [ 1073.0, 853.25 ], "projected_center_px": [ 1080.1917724609375, 854.8424682617188 ], "reprojection_error_px": 7.365972189363775, "confidence": 0.41285121294657384 }, { "marker_id": 64, "observed_center_px": [ 238.75, 848.0 ], "projected_center_px": [ 239.31793212890625, 845.2676391601562 ], "reprojection_error_px": 2.7907602301444006, "confidence": 0.5529673325477359 }, { "marker_id": 211, "observed_center_px": [ 897.5, 804.5 ], "projected_center_px": [ 892.9674682617188, 803.3545532226562 ], "reprojection_error_px": 4.675028585822126, "confidence": 0.3764293280418822 } ] }, "qa": { "sanity_notes": [] } }