{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T08:49:01Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene10\\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": [
      [
        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": 9,
    "used_marker_ids": [
      208,
      103,
      58,
      214,
      64,
      72,
      210,
      84,
      86
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.00746051376628618,
        0.001716950771683748,
        0.001691520343773483,
        0.0016915201892489986
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 3.602691271131476,
    "residual_median_px": 3.0307763924235025,
    "residual_max_px": 7.534605175483699,
    "sigma2_normalized": 4.291860825948088e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.8208736181259155,
          0.5711070895195007,
          -0.0017752671847119927
        ],
        [
          0.1826958954334259,
          -0.26553821563720703,
          -0.9466317296028137
        ],
        [
          -0.541099488735199,
          0.7767407298088074,
          -0.32231223583221436
        ]
      ],
      "translation_m": [
        -0.11543269455432892,
        0.10753875970840454,
        1.1219083070755005
      ],
      "rvec_rad": [
        1.8327927943270972,
        0.5735670155515749,
        -0.41307221246162434
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.6821727752685547,
        -0.776951789855957,
        0.4631994664669037
      ],
      "position_mm": [
        682.1727905273438,
        -776.9517822265625,
        463.199462890625
      ],
      "orientation_deg": {
        "roll": 112.5362319946289,
        "pitch": 32.758514404296875,
        "yaw": 12.547398567199707
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          5.910491715481962e-05,
          2.3219181892413958e-05,
          2.1669648049143528e-05,
          1.9869907906579092e-07,
          -8.924088741253273e-06,
          -3.085264100708721e-07
        ],
        [
          2.321918189241417e-05,
          2.896901536377723e-05,
          -5.5273868111619395e-06,
          2.261846793892337e-06,
          -4.280334176153922e-06,
          6.768397689856059e-06
        ],
        [
          2.1669648049143355e-05,
          -5.527386811162055e-06,
          5.963073927331371e-05,
          -2.853398585438926e-06,
          -7.917878000332747e-06,
          -1.5592967529011965e-05
        ],
        [
          1.9869907906580643e-07,
          2.261846793892345e-06,
          -2.8533985854389332e-06,
          7.801469712997551e-07,
          1.391820908494423e-07,
          1.5745375922857687e-06
        ],
        [
          -8.924088741253278e-06,
          -4.2803341761539014e-06,
          -7.91787800033277e-06,
          1.3918209084944394e-07,
          2.7822167729994435e-06,
          2.7280934632772443e-06
        ],
        [
          -3.085264100707972e-07,
          6.7683976898560876e-06,
          -1.5592967529011965e-05,
          1.5745375922857732e-06,
          2.7280934632772376e-06,
          1.4305337719227898e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.44048836233521527,
          0.308382339944744,
          0.442443408293455
        ],
        "tvec_std_m": [
          0.0008832592888273268,
          0.00166799783363152,
          0.0037822397754806473
        ]
      },
      "camera_center_std_m": [
        0.006413544439059372,
        0.0047311915971747125,
        0.007725219746126343
      ],
      "camera_center_std_mm": [
        6.413544439059373,
        4.731191597174712,
        7.725219746126343
      ],
      "orientation_std_deg": {
        "roll": 0.5652646185463761,
        "pitch": 0.3702236944611941,
        "yaw": 0.40714026326525987
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 208,
        "observed_center_px": [
          887.75,
          696.5
        ],
        "projected_center_px": [
          888.31201171875,
          699.2908325195312
        ],
        "reprojection_error_px": 2.8468585008892653,
        "confidence": 0.0702287153073083
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          379.5,
          691.25
        ],
        "projected_center_px": [
          379.7408447265625,
          687.4832763671875
        ],
        "reprojection_error_px": 3.7744155982484444,
        "confidence": 0.17416420855033052
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          261.5,
          685.0
        ],
        "projected_center_px": [
          261.62139892578125,
          681.8560791015625
        ],
        "reprojection_error_px": 3.14626386605016,
        "confidence": 0.24540823915500745
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          959.0,
          638.5
        ],
        "projected_center_px": [
          959.467041015625,
          642.02880859375
        ],
        "reprojection_error_px": 3.5595810710812423,
        "confidence": 0.33466528453625716
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          211.5,
          631.75
        ],
        "projected_center_px": [
          211.01092529296875,
          630.2954711914062
        ],
        "reprojection_error_px": 1.5345514406779777,
        "confidence": 0.45882243623190877
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1249.25,
          596.5
        ],
        "projected_center_px": [
          1249.4932861328125,
          593.47900390625
        ],
        "reprojection_error_px": 3.0307763924235025,
        "confidence": 0.018959818235601233
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          462.25,
          511.75
        ],
        "projected_center_px": [
          460.7739562988281,
          519.1386108398438
        ],
        "reprojection_error_px": 7.534605175483699,
        "confidence": 0.2483175954884472
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1226.5,
          549.75
        ],
        "projected_center_px": [
          1226.808837890625,
          547.9599609375
        ],
        "reprojection_error_px": 1.8164858072557513,
        "confidence": 0.0693300182738561
      },
      {
        "marker_id": 86,
        "observed_center_px": [
          1175.0,
          518.25
        ],
        "projected_center_px": [
          1174.74560546875,
          517.7820434570312
        ],
        "reprojection_error_px": 0.5326348689648198,
        "confidence": 0.1152962676763461
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}