{ "schema_version": "1.0", "created_utc": "2026-06-01T19:31:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "a", "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": 19, "used_marker_ids": [ 47, 210, 85, 79, 96, 62, 105, 75, 102, 92, 217, 61, 83, 206, 207, 72, 84, 86, 93 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.0131178369174392, 0.0009341199664057974, 8.951705924749629e-05, 8.94417650683531e-05 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 0.22486813889140916, "residual_median_px": 0.18397634606650567, "residual_max_px": 0.3724964147453616, "sigma2_normalized": 9.499797337176313e-09 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.8080857992172241, -0.5890647768974304, 0.00012329929450061172 ], [ -0.34312477707862854, -0.4708726704120636, -0.8127387762069702 ], [ 0.4788138270378113, 0.6567203998565674, -0.5826282501220703 ] ], "translation_m": [ -0.2288946509361267, 0.17077213525772095, 1.1346648931503296 ], "rvec_rad": [ 2.106185216693216, -0.6861101939267267, 0.35250732520318495 ] }, "camera_in_world": { "position_m": [ -0.2997305691242218, -0.7995794415473938, 0.7999091744422913 ], "position_mm": [ -299.7305603027344, -799.5794677734375, 799.9091796875 ], "orientation_deg": { "roll": 131.5787353515625, "pitch": -28.607959747314453, "yaw": -23.006771087646484 } }, "uncertainty": { "pose_covariance_6x6": [ [ 4.725506079709479e-08, -1.4448456889719837e-08, 5.265136212888318e-10, 2.722298041827284e-09, 7.53026534167571e-09, 1.2450714858253565e-08 ], [ -1.4448456889719758e-08, 2.2837558761749823e-08, -1.1460083508985997e-08, -5.508227074743783e-09, -5.8880035311381874e-09, -1.3528112509188459e-09 ], [ 5.265136212888815e-10, -1.1460083508985972e-08, 6.239306541506652e-08, 1.0355154189007053e-08, -5.815770856622252e-09, -1.3726290750827155e-08 ], [ 2.7222980418272523e-09, -5.508227074743793e-09, 1.0355154189007066e-08, 3.3402069932845572e-09, 3.4570957056390385e-10, -1.3438803779469233e-10 ], [ 7.53026534167568e-09, -5.888003531138191e-09, -5.815770856622249e-09, 3.457095705639007e-10, 4.015498098287062e-09, 4.351808075832758e-09 ], [ 1.2450714858253541e-08, -1.352811250918863e-09, -1.3726290750827138e-08, -1.3438803779471994e-10, 4.351808075832763e-09, 2.2800767090605303e-08 ] ], "parameter_std": { "rvec_std_deg": [ 0.012455087862190848, 0.00865859589782539, 0.014311685831560112 ], "tvec_std_m": [ 5.7794523903952674e-05, 6.33679579778855e-05, 0.00015099922877486924 ] }, "camera_center_std_m": [ 0.00024428411078409196, 0.0002285529411788333, 0.00026910378406871965 ], "camera_center_std_mm": [ 0.24428411078409196, 0.2285529411788333, 0.26910378406871965 ], "orientation_std_deg": { "roll": 0.016652729804608957, "pitch": 0.010828326359105016, "yaw": 0.008523918789196061 } } }, "observations": { "markers": [ { "marker_id": 47, "observed_center_px": [ 984.25, 690.75 ], "projected_center_px": [ 983.9112548828125, 690.8365478515625 ], "reprojection_error_px": 0.3496266366117685, "confidence": 0.12146268776527554 }, { "marker_id": 210, "observed_center_px": [ 324.0, 632.0 ], "projected_center_px": [ 324.11248779296875, 632.0796508789062 ], "reprojection_error_px": 0.13783238399417774, "confidence": 0.46829700346999537 }, { "marker_id": 85, "observed_center_px": [ 1183.75, 610.25 ], "projected_center_px": [ 1183.8814697265625, 610.300048828125 ], "reprojection_error_px": 0.14067399972668834, "confidence": 0.4560525484643318 }, { "marker_id": 79, "observed_center_px": [ 814.0, 599.0 ], "projected_center_px": [ 814.2566528320312, 598.9811401367188 ], "reprojection_error_px": 0.25734484769011495, "confidence": 0.5734281513866332 }, { "marker_id": 96, "observed_center_px": [ 905.25, 587.25 ], "projected_center_px": [ 905.1769409179688, 587.0193481445312 ], "reprojection_error_px": 0.2419460846933177, "confidence": 0.525542829627259 }, { "marker_id": 62, "observed_center_px": [ 931.0, 557.5 ], "projected_center_px": [ 931.0717163085938, 557.4616088867188 ], "reprojection_error_px": 0.08134559912673672, "confidence": 0.5038606541951498 }, { "marker_id": 105, "observed_center_px": [ 1150.25, 560.25 ], "projected_center_px": [ 1150.079833984375, 560.2962036132812 ], "reprojection_error_px": 0.1763271015865997, "confidence": 0.43622925667631085 }, { "marker_id": 75, "observed_center_px": [ 128.5, 514.75 ], "projected_center_px": [ 128.47219848632812, 514.6799926757812 ], "reprojection_error_px": 0.07532562383888124, "confidence": 0.29844141482805986 }, { "marker_id": 102, "observed_center_px": [ 1217.75, 461.5 ], "projected_center_px": [ 1217.8155517578125, 461.4322814941406 ], "reprojection_error_px": 0.09424876120212329, "confidence": 0.2521714913889437 }, { "marker_id": 92, "observed_center_px": [ 1173.25, 437.75 ], "projected_center_px": [ 1173.1402587890625, 437.9232482910156 ], "reprojection_error_px": 0.20508072488135876, "confidence": 0.31777455864589965 }, { "marker_id": 217, "observed_center_px": [ 1087.75, 347.0 ], "projected_center_px": [ 1087.9361572265625, 347.0196838378906 ], "reprojection_error_px": 0.18719499586139143, "confidence": 0.3029173397022545 }, { "marker_id": 61, "observed_center_px": [ 58.5, 415.5 ], "projected_center_px": [ 58.67189025878906, 415.5655822753906 ], "reprojection_error_px": 0.18397634606650567, "confidence": 0.1527342148240039 }, { "marker_id": 83, "observed_center_px": [ 139.0, 383.0 ], "projected_center_px": [ 138.93443298339844, 383.04705810546875 ], "reprojection_error_px": 0.08070625103632043, "confidence": 0.19743498130596515 }, { "marker_id": 206, "observed_center_px": [ 1013.0, 301.0 ], "projected_center_px": [ 1013.370361328125, 300.9601745605469 ], "reprojection_error_px": 0.3724964147453616, "confidence": 0.2849187633475991 }, { "marker_id": 207, "observed_center_px": [ 1098.0, 262.0 ], "projected_center_px": [ 1097.9564208984375, 261.8399658203125 ], "reprojection_error_px": 0.16586161931334725, "confidence": 0.24627951083020566 }, { "marker_id": 72, "observed_center_px": [ 655.75, 300.75 ], "projected_center_px": [ 655.5089721679688, 300.48992919921875 ], "reprojection_error_px": 0.35458600823028125, "confidence": 0.1970529186973567 }, { "marker_id": 84, "observed_center_px": [ 579.25, 279.75 ], "projected_center_px": [ 579.1873168945312, 279.58905029296875 ], "reprojection_error_px": 0.17272515712730338, "confidence": 0.1988568274481309 }, { "marker_id": 86, "observed_center_px": [ 514.0, 278.75 ], "projected_center_px": [ 513.7523193359375, 279.0245666503906 ], "reprojection_error_px": 0.3697736562509134, "confidence": 0.17646704338372862 }, { "marker_id": 93, "observed_center_px": [ 1104.25, 154.5 ], "projected_center_px": [ 1104.2423095703125, 154.7158966064453 ], "reprojection_error_px": 0.2160335330067546, "confidence": 0.15396639291733288 } ] }, "qa": { "sanity_notes": [] } }