{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T14:41:45Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\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": [
      [
        2000.0,
        0.0,
        720.0
      ],
      [
        0.0,
        2250.0,
        540.0
      ],
      [
        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": 30,
    "used_marker_ids": [
      68,
      46,
      208,
      62,
      56,
      54,
      47,
      97,
      96,
      53,
      72,
      55,
      79,
      84,
      66,
      95,
      103,
      82,
      73,
      58,
      210,
      69,
      211,
      52,
      64,
      101,
      81,
      83,
      75,
      61
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4,
        5
      ],
      "rms": [
        0.09977649187186353,
        0.03441444627218159,
        0.0257326434322241,
        0.02571489269823018,
        0.02571488791422037,
        0.02571488791042679
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05,
        3.125e-05
      ]
    },
    "residual_rms_px": 78.63795438772483,
    "residual_median_px": 64.9780643231663,
    "residual_max_px": 149.67240761027298,
    "sigma2_normalized": 0.0007347282891617996
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.3610435128211975,
          0.9257042407989502,
          -0.11277977377176285
        ],
        [
          0.9317035675048828,
          -0.3632170557975769,
          0.0013652361230924726
        ],
        [
          -0.0396997332572937,
          -0.1055702194571495,
          -0.9936190843582153
        ]
      ],
      "translation_m": [
        0.5550765991210938,
        0.05044182389974594,
        0.4798397123813629
      ],
      "rvec_rad": [
        2.6444819980981755,
        1.8072475670496018,
        -0.14836172087686003
      ]
    },
    "camera_in_world": {
      "position_m": [
        -0.22835412621498108,
        -0.4448586106300354,
        0.5393104553222656
      ],
      "position_mm": [
        -228.3541259765625,
        -444.8586120605469,
        539.3104248046875
      ],
      "orientation_deg": {
        "roll": -173.93516540527344,
        "pitch": 2.2752249240875244,
        "yaw": 68.81819915771484
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          0.00041783247355007923,
          -0.00017322947127762714,
          -8.506898938020509e-05,
          -8.694059470140323e-06,
          7.240361176535996e-05,
          3.590274098670164e-05
        ],
        [
          -0.00017322947127762704,
          0.0001358148282977021,
          2.607769330448874e-05,
          1.8224450668647024e-05,
          -2.6338837843777624e-05,
          -1.0293801691379705e-05
        ],
        [
          -8.50689893802057e-05,
          2.6077693304488812e-05,
          0.0002996113507748175,
          -6.098489654192003e-05,
          -3.989919009272394e-05,
          -0.00010125017741835667
        ],
        [
          -8.694059470140128e-06,
          1.8224450668646932e-05,
          -6.098489654191995e-05,
          4.898461187269735e-05,
          1.5133608158676236e-05,
          3.949526344536263e-05
        ],
        [
          7.240361176535985e-05,
          -2.6338837843777573e-05,
          -3.9899190092723875e-05,
          1.5133608158676236e-05,
          2.501534653230182e-05,
          2.2220612023276528e-05
        ],
        [
          3.5902740986701884e-05,
          -1.0293801691379785e-05,
          -0.00010125017741835668,
          3.949526344536266e-05,
          2.222061202327656e-05,
          4.812340411977601e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          1.1711802155993392,
          0.6677228322900537,
          0.9917489827870594
        ],
        "tvec_std_m": [
          0.0069989007617409,
          0.005001534417786387,
          0.006937103438739833
        ]
      },
      "camera_center_std_m": [
        0.011805861820575407,
        0.011100982568584163,
        0.012927212408684233
      ],
      "camera_center_std_mm": [
        11.805861820575407,
        11.100982568584163,
        12.927212408684232
      ],
      "orientation_std_deg": {
        "roll": 0.8201387457397827,
        "pitch": 0.550954471516769,
        "yaw": 0.6866860356398392
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 68,
        "observed_center_px": [
          4728.0,
          2998.5
        ],
        "projected_center_px": [
          4681.00634765625,
          3064.134033203125
        ],
        "reprojection_error_px": 80.72316690463869,
        "confidence": 0.653373346866503
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          4722.75,
          2803.5
        ],
        "projected_center_px": [
          4683.22998046875,
          2872.177734375
        ],
        "reprojection_error_px": 79.23675373608789,
        "confidence": 0.662621522481087
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          3181.75,
          2352.25
        ],
        "projected_center_px": [
          3237.5087890625,
          2477.8447265625
        ],
        "reprojection_error_px": 137.41571197656225,
        "confidence": 0.5606844675306786
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          2872.75,
          2749.25
        ],
        "projected_center_px": [
          2848.761962890625,
          2709.078857421875
        ],
        "reprojection_error_px": 46.78831713572096,
        "confidence": 0.8299548146817791
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          4576.75,
          2654.25
        ],
        "projected_center_px": [
          4530.8759765625,
          2715.22314453125
        ],
        "reprojection_error_px": 76.30301684974849,
        "confidence": 0.5155537754233994
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          2069.0,
          2700.5
        ],
        "projected_center_px": [
          2142.3623046875,
          2624.306396484375
        ],
        "reprojection_error_px": 105.7709457542942,
        "confidence": 0.9971270798697285
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          2272.5,
          2642.25
        ],
        "projected_center_px": [
          2313.68310546875,
          2582.2177734375
        ],
        "reprojection_error_px": 72.80052473781708,
        "confidence": 0.9865054053096205
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          1881.75,
          2571.25
        ],
        "projected_center_px": [
          1977.7232666015625,
          2501.825927734375
        ],
        "reprojection_error_px": 118.45070583207732,
        "confidence": 0.9786405721047328
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          2765.75,
          2606.0
        ],
        "projected_center_px": [
          2747.542236328125,
          2573.265625
        ],
        "reprojection_error_px": 37.45746874218113,
        "confidence": 0.9783821125205053
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          4745.5,
          2531.75
        ],
        "projected_center_px": [
          4718.59765625,
          2601.882080078125
        ],
        "reprojection_error_px": 75.11487705726277,
        "confidence": 0.6451704770470214
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          4581.75,
          2354.75
        ],
        "projected_center_px": [
          4546.70458984375,
          2414.566162109375
        ],
        "reprojection_error_px": 69.32643090852737,
        "confidence": 0.4950851194720448
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          2292.0,
          2333.0
        ],
        "projected_center_px": [
          2315.343505859375,
          2302.958984375
        ],
        "reprojection_error_px": 38.04447247088819,
        "confidence": 0.9808939319791888
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          2799.0,
          2306.25
        ],
        "projected_center_px": [
          2767.9345703125,
          2296.331787109375
        ],
        "reprojection_error_px": 32.61030310519616,
        "confidence": 0.9779942196252901
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          4798.5,
          2111.25
        ],
        "projected_center_px": [
          4795.4423828125,
          2172.024169921875
        ],
        "reprojection_error_px": 60.85103739919502,
        "confidence": 0.259708253209444
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          1733.5,
          2152.75
        ],
        "projected_center_px": [
          1828.5633544921875,
          2122.84130859375
        ],
        "reprojection_error_px": 99.65726862071627,
        "confidence": 0.9617963673507701
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          2099.25,
          1920.0
        ],
        "projected_center_px": [
          2126.27001953125,
          1916.29931640625
        ],
        "reprojection_error_px": 27.272266398856218,
        "confidence": 0.9803578044552508
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          2364.5,
          1455.5
        ],
        "projected_center_px": [
          2337.180419921875,
          1474.617431640625
        ],
        "reprojection_error_px": 33.344199618210276,
        "confidence": 0.9596447006808903
      },
      {
        "marker_id": 82,
        "observed_center_px": [
          4620.5,
          1255.75
        ],
        "projected_center_px": [
          4628.61865234375,
          1246.65478515625
        ],
        "reprojection_error_px": 12.191613877278419,
        "confidence": 0.3672861068098287
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          4775.0,
          1217.25
        ],
        "projected_center_px": [
          4808.8916015625,
          1200.9119873046875
        ],
        "reprojection_error_px": 37.62407892963554,
        "confidence": 0.4790211092271159
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          2154.0,
          1267.0
        ],
        "projected_center_px": [
          2137.92724609375,
          1291.25244140625
        ],
        "reprojection_error_px": 29.094919355352477,
        "confidence": 0.9394018334399358
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          2967.0,
          831.75
        ],
        "projected_center_px": [
          2981.57568359375,
          897.20751953125
        ],
        "reprojection_error_px": 67.06069948493743,
        "confidence": 0.9598718799626959
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          1822.25,
          1179.0
        ],
        "projected_center_px": [
          1840.85498046875,
          1209.6717529296875
        ],
        "reprojection_error_px": 35.87341252267984,
        "confidence": 0.9446238077555627
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          3369.75,
          1790.5
        ],
        "projected_center_px": [
          3422.71484375,
          1911.974853515625
        ],
        "reprojection_error_px": 132.51948803894643,
        "confidence": 0.8709616724871165
      },
      {
        "marker_id": 52,
        "observed_center_px": [
          4034.75,
          870.75
        ],
        "projected_center_px": [
          3984.886474609375,
          833.7913818359375
        ],
        "reprojection_error_px": 62.06698495157047,
        "confidence": 0.2578089433966355
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          2183.75,
          936.5
        ],
        "projected_center_px": [
          2145.97705078125,
          961.9402465820312
        ],
        "reprojection_error_px": 45.54121033565993,
        "confidence": 0.9294275739211677
      },
      {
        "marker_id": 101,
        "observed_center_px": [
          4447.75,
          842.75
        ],
        "projected_center_px": [
          4446.37890625,
          786.561767578125
        ],
        "reprojection_error_px": 56.204958506931874,
        "confidence": 0.39552348167020185
      },
      {
        "marker_id": 81,
        "observed_center_px": [
          3932.25,
          1075.5
        ],
        "projected_center_px": [
          3870.96044921875,
          1061.378173828125
        ],
        "reprojection_error_px": 62.89542916139516,
        "confidence": 0.09076328043723833
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          4488.25,
          500.75
        ],
        "projected_center_px": [
          4504.04296875,
          388.2335510253906
        ],
        "reprojection_error_px": 113.61940482063066,
        "confidence": 0.4341536704843659
      },
      {
        "marker_id": 75,
        "observed_center_px": [
          3780.5,
          416.75
        ],
        "projected_center_px": [
          3711.114013671875,
          335.9072570800781
        ],
        "reprojection_error_px": 106.5362106588334,
        "confidence": 0.4490024138583291
      },
      {
        "marker_id": 61,
        "observed_center_px": [
          4362.0,
          249.25
        ],
        "projected_center_px": [
          4364.947265625,
          99.60661315917969
        ],
        "reprojection_error_px": 149.67240761027298,
        "confidence": 0.35232361994146455
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}