{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T15:26:00Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\render_c_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "c",
    "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": 11,
    "used_marker_ids": [
      58,
      96,
      62,
      64,
      103,
      79,
      51,
      208,
      214,
      210,
      72
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.00546356446276085,
        0.0010497598088245496,
        0.0010442609957532834,
        0.001044260975021075
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 3.3111091927223377,
    "residual_median_px": 1.5997879478259687,
    "residual_max_px": 6.34195056655035,
    "sigma2_normalized": 1.4994113529326172e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.9935752153396606,
          0.11317265778779984,
          -0.0005273689748719335
        ],
        [
          0.028523631393909454,
          -0.2549210786819458,
          -0.966541051864624
        ],
        [
          -0.10952045768499374,
          0.9603161811828613,
          -0.2565113604068756
        ]
      ],
      "translation_m": [
        -0.19744928181171417,
        0.09319739043712616,
        1.008402705192566
      ],
      "rvec_rad": [
        1.828026667136067,
        0.10340271503930287,
        -0.08030728442226412
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.3039631247520447,
        -0.9222816228866577,
        0.3486417233943939
      ],
      "position_mm": [
        303.963134765625,
        -922.2816162109375,
        348.6417236328125
      ],
      "orientation_deg": {
        "roll": 104.95519256591797,
        "pitch": 6.287672519683838,
        "yaw": 1.6443997621536255
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          1.5574626564664295e-05,
          1.6838151272717883e-06,
          3.3908544711404704e-06,
          -5.424959046406641e-08,
          -2.417267743194079e-06,
          2.487238797747623e-07
        ],
        [
          1.6838151272718105e-06,
          6.145831030404065e-06,
          -3.7729143750115464e-06,
          8.059582398323655e-07,
          -6.361489462847983e-07,
          1.5252955466430606e-06
        ],
        [
          3.3908544711403357e-06,
          -3.772914375011501e-06,
          1.8478768356078474e-05,
          -1.2916249039362978e-06,
          -2.0586488910252107e-06,
          -3.6769874507385137e-06
        ],
        [
          -5.424959046405785e-08,
          8.059582398323629e-07,
          -1.2916249039363035e-06,
          2.478919449655792e-07,
          4.85525667244162e-08,
          3.5897702700837357e-07
        ],
        [
          -2.417267743194066e-06,
          -6.36148946284801e-07,
          -2.0586488910252205e-06,
          4.8552566724416145e-08,
          8.093972818473019e-07,
          6.959758322101854e-07
        ],
        [
          2.487238797747949e-07,
          1.5252955466430526e-06,
          -3.6769874507385184e-06,
          3.589770270083728e-07,
          6.959758322101832e-07,
          3.6283640917676686e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.22611608298734864,
          0.14204074462177987,
          0.24629701195859136
        ],
        "tvec_std_m": [
          0.0004978874822342687,
          0.0008996650942696966,
          0.0019048265253738118
        ]
      },
      "camera_center_std_m": [
        0.0034990148817802204,
        0.001970703553963727,
        0.00339172232358696
      ],
      "camera_center_std_mm": [
        3.4990148817802202,
        1.9707035539637272,
        3.39172232358696
      ],
      "orientation_std_deg": {
        "roll": 0.24483854829594867,
        "pitch": 0.20937563732451328,
        "yaw": 0.13658005385657987
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 58,
        "observed_center_px": [
          289.5,
          1035.5
        ],
        "projected_center_px": [
          289.37335205078125,
          1036.43701171875
        ],
        "reprojection_error_px": 0.9455319476972442,
        "confidence": 0.3300237835361035
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          1094.0,
          1041.25
        ],
        "projected_center_px": [
          1094.08984375,
          1042.326171875
        ],
        "reprojection_error_px": 1.0799156466849984,
        "confidence": 0.2039898727848836
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          1180.5,
          1031.5
        ],
        "projected_center_px": [
          1180.4342041015625,
          1032.5321044921875
        ],
        "reprojection_error_px": 1.0341995856916668,
        "confidence": 0.3084011374684583
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          146.5,
          987.25
        ],
        "projected_center_px": [
          146.81484985351562,
          988.8336791992188
        ],
        "reprojection_error_px": 1.6146734147489243,
        "confidence": 0.640874213187769
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          444.0,
          1004.5
        ],
        "projected_center_px": [
          444.0111083984375,
          1005.6736450195312
        ],
        "reprojection_error_px": 1.1736975881317786,
        "confidence": 0.5442461717587225
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          949.25,
          997.75
        ],
        "projected_center_px": [
          948.9981079101562,
          999.1561889648438
        ],
        "reprojection_error_px": 1.4285716747066592,
        "confidence": 0.4827302826357835
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          599.5,
          993.5
        ],
        "projected_center_px": [
          599.3240966796875,
          995.090087890625
        ],
        "reprojection_error_px": 1.5997879478259687,
        "confidence": 0.5134730357373242
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          1037.75,
          866.75
        ],
        "projected_center_px": [
          1037.161376953125,
          860.4354248046875
        ],
        "reprojection_error_px": 6.34195056655035,
        "confidence": 0.38947547888708767
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          1031.0,
          791.5
        ],
        "projected_center_px": [
          1030.6448974609375,
          787.0243530273438
        ],
        "reprojection_error_px": 4.489711977075555,
        "confidence": 0.2873822610945893
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          354.0,
          768.5
        ],
        "projected_center_px": [
          355.5535583496094,
          764.7342529296875
        ],
        "reprojection_error_px": 4.073621796780867,
        "confidence": 0.28654954414305833
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1175.75,
          695.5
        ],
        "projected_center_px": [
          1175.4212646484375,
          701.139404296875
        ],
        "reprojection_error_px": 5.648977584924473,
        "confidence": 0.15100478105105508
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}