{ "schema_version": "1.0", "created_utc": "2026-06-01T19:02:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "b", "camera_matrix": [ [ 1777.77783203125, 0.0, 640.0 ], [ 0.0, 1777.77783203125, 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": 39, "used_marker_ids": [ 63, 102, 64, 58, 92, 96, 103, 51, 62, 79, 205, 217, 215, 210, 206, 207, 211, 94, 76, 100, 81, 75, 68, 77, 46, 56, 53, 50, 104, 52, 67, 88, 70, 73, 98, 83, 61, 90, 91 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.010788374414626498, 0.0006283868577842543, 0.00010015437449340027, 0.00010012312045103065 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 0.25172161827996986, "residual_median_px": 0.18693759385431497, "residual_max_px": 0.5431542525628097, "sigma2_normalized": 1.0860025851246174e-08 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.9999215602874756, -0.012518510222434998, 0.0004309560463298112 ], [ -0.009490192867815495, -0.7795912027359009, -0.6262168288230896 ], [ 0.00817527063190937, 0.6261636018753052, -0.7796488404273987 ] ], "translation_m": [ -0.3113338351249695, 0.05273256078362465, 1.4961143732070923 ], "rvec_rad": [ 2.464863487857364, -0.01524191774975167, 0.005960160508327033 ] }, "camera_in_world": { "position_m": [ 0.2995787262916565, -0.8995999097824097, 1.1995999813079834 ], "position_mm": [ 299.5787353515625, -899.5999145507812, 1199.5999755859375 ], "orientation_deg": { "roll": 141.23080444335938, "pitch": -0.46841371059417725, "yaw": -0.5437742471694946 } }, "uncertainty": { "pose_covariance_6x6": [ [ 5.1223996619942105e-08, 5.436565373815403e-10, 2.663456418502318e-09, 1.0329860552718278e-09, 3.078386141902941e-09, 1.4142279456401988e-08 ], [ 5.436565373815247e-10, 1.1163075057660146e-08, -7.554998341612341e-09, -9.552443607937791e-10, -2.5506221219613407e-09, 4.163590572092998e-09 ], [ 2.663456418502147e-09, -7.554998341612328e-09, 8.255636663368415e-08, 5.5119910232811535e-09, -6.826870643038208e-09, -3.0484897534294594e-08 ], [ 1.0329860552718176e-09, -9.552443607937785e-10, 5.5119910232811535e-09, 1.1546827745142382e-09, -2.2881424871401727e-10, -7.22587431737592e-10 ], [ 3.0783861419029624e-09, -2.5506221219613403e-09, -6.826870643038182e-09, -2.2881424871401595e-10, 2.4517455642815944e-09, 3.5314875955708873e-09 ], [ 1.4142279456402096e-08, 4.163590572092981e-09, -3.048489753429441e-08, -7.225874317375766e-10, 3.531487595570884e-09, 3.081348312908613e-08 ] ], "parameter_std": { "rvec_std_deg": [ 0.01296759273639198, 0.0060536116232332285, 0.016462580739937345 ], "tvec_std_m": [ 3.398062351567785e-05, 4.951510440543971e-05, 0.00017553769717381545 ] }, "camera_center_std_m": [ 0.0003407588982733064, 0.0002405235424008798, 0.00028986017261716846 ], "camera_center_std_mm": [ 0.3407588982733064, 0.2405235424008798, 0.28986017261716845 ], "orientation_std_deg": { "roll": 0.01726739420377664, "pitch": 0.012353544048253897, "yaw": 0.005236141764521027 } } }, "observations": { "markers": [ { "marker_id": 63, "observed_center_px": [ 1246.0, 678.75 ], "projected_center_px": [ 1245.9285888671875, 678.5679321289062 ], "reprojection_error_px": 0.19557162261988542, "confidence": 0.1539593300495616 }, { "marker_id": 102, "observed_center_px": [ 1078.25, 665.5 ], "projected_center_px": [ 1078.4239501953125, 665.29248046875 ], "reprojection_error_px": 0.27078224886331936, "confidence": 0.39637168760361213 }, { "marker_id": 64, "observed_center_px": [ 220.5, 635.25 ], "projected_center_px": [ 220.4341278076172, 635.3922729492188 ], "reprojection_error_px": 0.15678245376546215, "confidence": 0.4633649853376546 }, { "marker_id": 58, "observed_center_px": [ 307.25, 668.0 ], "projected_center_px": [ 307.2491760253906, 668.116455078125 ], "reprojection_error_px": 0.11645799309303226, "confidence": 0.3638956157928849 }, { "marker_id": 92, "observed_center_px": [ 1064.5, 622.75 ], "projected_center_px": [ 1064.5740966796875, 622.5802612304688 ], "reprojection_error_px": 0.18520682444957254, "confidence": 0.46896024883690896 }, { "marker_id": 96, "observed_center_px": [ 716.75, 628.0 ], "projected_center_px": [ 716.9169921875, 628.133056640625 ], "reprojection_error_px": 0.2135192270041402, "confidence": 0.44372569385651617 }, { "marker_id": 103, "observed_center_px": [ 382.0, 633.0 ], "projected_center_px": [ 381.98260498046875, 633.0802001953125 ], "reprojection_error_px": 0.08206496227170104, "confidence": 0.45199802144368495 }, { "marker_id": 51, "observed_center_px": [ 462.0, 615.0 ], "projected_center_px": [ 461.8410339355469, 614.9932861328125 ], "reprojection_error_px": 0.15910778001193557, "confidence": 0.45199802144368495 }, { "marker_id": 62, "observed_center_px": [ 760.25, 615.0 ], "projected_center_px": [ 760.3372802734375, 615.1187133789062 ], "reprojection_error_px": 0.14734555460774393, "confidence": 0.44348322079976393 }, { "marker_id": 79, "observed_center_px": [ 643.75, 598.75 ], "projected_center_px": [ 643.6570434570312, 598.95068359375 ], "reprojection_error_px": 0.22116695883679394, "confidence": 0.41815762699787656 }, { "marker_id": 205, "observed_center_px": [ 1181.0, 502.0 ], "projected_center_px": [ 1180.75732421875, 502.1455993652344 ], "reprojection_error_px": 0.2830030211180629, "confidence": 0.3958181457519531 }, { "marker_id": 217, "observed_center_px": [ 1058.0, 503.25 ], "projected_center_px": [ 1058.0296630859375, 503.39373779296875 ], "reprojection_error_px": 0.14676665764015595, "confidence": 0.4015868133874269 }, { "marker_id": 215, "observed_center_px": [ 565.5, 508.5 ], "projected_center_px": [ 565.72705078125, 508.4004211425781 ], "reprojection_error_px": 0.24792742105640808, "confidence": 0.38377189776715764 }, { "marker_id": 210, "observed_center_px": [ 291.0, 441.75 ], "projected_center_px": [ 291.1782531738281, 441.4239807128906 ], "reprojection_error_px": 0.3715679877856875, "confidence": 0.3320910299473707 }, { "marker_id": 206, "observed_center_px": [ 1043.0, 424.5 ], "projected_center_px": [ 1042.8310546875, 424.42144775390625 ], "reprojection_error_px": 0.1863141808400416, "confidence": 0.3579602826436361 }, { "marker_id": 207, "observed_center_px": [ 1162.0, 423.25 ], "projected_center_px": [ 1161.4569091796875, 423.25830078125 ], "reprojection_error_px": 0.5431542525628097, "confidence": 0.343462485354258 }, { "marker_id": 211, "observed_center_px": [ 567.0, 429.0 ], "projected_center_px": [ 567.0277099609375, 429.0868835449219 ], "reprojection_error_px": 0.09119535247669833, "confidence": 0.3524419738837484 }, { "marker_id": 94, "observed_center_px": [ 1252.0, 279.5 ], "projected_center_px": [ 1251.8382568359375, 279.6079406738281 ], "reprojection_error_px": 0.19445318250781718, "confidence": 0.06057156860351561 }, { "marker_id": 76, "observed_center_px": [ 1046.0, 287.5 ], "projected_center_px": [ 1046.06005859375, 287.12738037109375 ], "reprojection_error_px": 0.3774286986034038, "confidence": 0.2459421895345052 }, { "marker_id": 100, "observed_center_px": [ 1173.25, 281.5 ], "projected_center_px": [ 1173.4600830078125, 281.3835754394531 ], "reprojection_error_px": 0.24018648685985625, "confidence": 0.24407473894265982 }, { "marker_id": 81, "observed_center_px": [ 441.5, 291.0 ], "projected_center_px": [ 441.53662109375, 290.8290710449219 ], "reprojection_error_px": 0.1748079294298344, "confidence": 0.24033422651029265 }, { "marker_id": 75, "observed_center_px": [ 271.75, 271.5 ], "projected_center_px": [ 271.7822570800781, 271.46978759765625 ], "reprojection_error_px": 0.0441962495077037, "confidence": 0.23896265492072474 }, { "marker_id": 68, "observed_center_px": [ 924.0, 285.25 ], "projected_center_px": [ 923.9786376953125, 285.0816650390625 ], "reprojection_error_px": 0.16968502330904528, "confidence": 0.24909137483284013 }, { "marker_id": 77, "observed_center_px": [ 319.25, 273.5 ], "projected_center_px": [ 319.1261291503906, 273.482666015625 ], "reprojection_error_px": 0.12507779338180355, "confidence": 0.23734254719660833 }, { "marker_id": 46, "observed_center_px": [ 882.25, 273.5 ], "projected_center_px": [ 882.0449829101562, 273.3497619628906 ], "reprojection_error_px": 0.2541721364006649, "confidence": 0.23734254719660833 }, { "marker_id": 56, "observed_center_px": [ 842.25, 287.5 ], "projected_center_px": [ 842.3339233398438, 287.45281982421875 ], "reprojection_error_px": 0.09627614427925126, "confidence": 0.236365170112023 }, { "marker_id": 53, "observed_center_px": [ 825.25, 252.25 ], "projected_center_px": [ 825.06640625, 252.26885986328125 ], "reprojection_error_px": 0.1845599075694663, "confidence": 0.21925684197423947 }, { "marker_id": 50, "observed_center_px": [ 918.5, 251.25 ], "projected_center_px": [ 918.6514892578125, 251.72935485839844 ], "reprojection_error_px": 0.5027226626110745, "confidence": 0.21921579106955483 }, { "marker_id": 104, "observed_center_px": [ 1184.0, 228.0 ], "projected_center_px": [ 1184.094482421875, 227.8125 ], "reprojection_error_px": 0.20995994390208214, "confidence": 0.22417849731445313 }, { "marker_id": 52, "observed_center_px": [ 403.75, 259.0 ], "projected_center_px": [ 403.56524658203125, 258.92913818359375 ], "reprojection_error_px": 0.19787678609561232, "confidence": 0.21217281752366285 }, { "marker_id": 67, "observed_center_px": [ 859.25, 209.25 ], "projected_center_px": [ 859.30615234375, 209.13885498046875 ], "reprojection_error_px": 0.12452429913563098, "confidence": 0.19627771759033205 }, { "marker_id": 88, "observed_center_px": [ 1105.0, 169.75 ], "projected_center_px": [ 1105.221435546875, 170.17445373535156 ], "reprojection_error_px": 0.47874280660258967, "confidence": 0.20782158780899712 }, { "marker_id": 70, "observed_center_px": [ 938.0, 183.5 ], "projected_center_px": [ 938.0165405273438, 183.28164672851562 ], "reprojection_error_px": 0.21897885791267274, "confidence": 0.193995418548584 }, { "marker_id": 73, "observed_center_px": [ 543.75, 162.25 ], "projected_center_px": [ 543.4832763671875, 162.48081970214844 ], "reprojection_error_px": 0.352731103250891, "confidence": 0.1722355942663244 }, { "marker_id": 98, "observed_center_px": [ 908.75, 172.5 ], "projected_center_px": [ 908.763671875, 172.59487915039062 ], "reprojection_error_px": 0.09585913281927007, "confidence": 0.1899538473288218 }, { "marker_id": 83, "observed_center_px": [ 361.0, 159.75 ], "projected_center_px": [ 361.09503173828125, 159.58901977539062 ], "reprojection_error_px": 0.18693759385431497, "confidence": 0.17676838843571283 }, { "marker_id": 61, "observed_center_px": [ 292.25, 162.5 ], "projected_center_px": [ 292.1957092285156, 162.64959716796875 ], "reprojection_error_px": 0.15914396165937, "confidence": 0.1668050360320266 }, { "marker_id": 90, "observed_center_px": [ 978.25, 170.75 ], "projected_center_px": [ 978.668212890625, 170.97964477539062 ], "reprojection_error_px": 0.4771150225565412, "confidence": 0.17612778902053833 }, { "marker_id": 91, "observed_center_px": [ 1059.25, 161.75 ], "projected_center_px": [ 1059.4134521484375, 161.7484588623047 ], "reprojection_error_px": 0.163459413721665, "confidence": 0.17612778902053833 } ] }, "qa": { "sanity_notes": [] } }