{ "schema_version": "1.0", "created_utc": "2026-06-02T11:34:53Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9a\\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": [ [ 1992.8416748046875, 0.0, 719.249267578125 ], [ 0.0, 1997.40380859375, 537.7935791015625 ], [ 0.0, 0.0, 1.0 ] ], "distortion_coefficients": [ 0.019999999552965164, -0.009999999776482582, 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": [ 95, 97, 103, 54, 55, 51, 47, 210, 85, 79, 96, 105, 62, 102, 92, 217, 83, 206, 86 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.009119839286294784, 0.001428960368163321, 0.0013200815452506216, 0.0013200801554323974 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 3.7358512138251694, "residual_median_px": 3.429175339194282, "residual_max_px": 7.616083234559383, "sigma2_normalized": 2.069351294886586e-06 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.8072646856307983, -0.5901848077774048, 0.0023755384609103203 ], [ -0.34367164969444275, -0.47334444522857666, -0.8110702037811279 ], [ 0.47980576753616333, 0.6539319157600403, -0.5849440097808838 ] ], "translation_m": [ -0.2276158183813095, 0.17232374846935272, 1.1342476606369019 ], "rvec_rad": [ 2.109195227512678, -0.6873666355343258, 0.35491035866815945 ] }, "camera_in_world": { "position_m": [ -0.30124953389167786, -0.7944876551628113, 0.8037787675857544 ], "position_mm": [ -301.2495422363281, -794.4876708984375, 803.7787475585938 ], "orientation_deg": { "roll": 131.81271362304688, "pitch": -28.67271614074707, "yaw": -23.060598373413086 } }, "uncertainty": { "pose_covariance_6x6": [ [ 1.4331073703889309e-05, -3.3920618854876993e-06, -1.355785789676856e-06, 7.4262092558218e-07, 9.973443709270786e-07, 4.657623030779242e-06 ], [ -3.3920618854877375e-06, 5.5103731486564465e-06, 2.526499913508113e-07, -4.838158501782829e-07, -1.5707410751036744e-06, -1.0373618430124162e-06 ], [ -1.3557857896769187e-06, 2.526499913508044e-07, 1.6994875970961837e-05, 8.499850259846227e-07, -2.673577733827215e-06, -5.823483553136747e-06 ], [ 7.426209255821796e-07, -4.838158501782881e-07, 8.499850259846317e-07, 3.446304333874929e-07, 8.618197927990834e-08, 5.70336408958433e-07 ], [ 9.97344370927096e-07, -1.5707410751036778e-06, -2.673577733827215e-06, 8.618197927990852e-08, 1.1043369484867366e-06, 1.8347584121523631e-06 ], [ 4.657623030779248e-06, -1.0373618430124484e-06, -5.823483553136711e-06, 5.703364089584398e-07, 1.8347584121523693e-06, 8.191502292851575e-06 ] ], "parameter_std": { "rvec_std_deg": [ 0.21690122119899222, 0.13449716712014267, 0.23620094571177214 ], "tvec_std_m": [ 0.0005870523259365327, 0.001050874373313355, 0.002862080064018401 ] }, "camera_center_std_m": [ 0.003509570090837634, 0.003736225665225164, 0.004630867303575309 ], "camera_center_std_mm": [ 3.509570090837634, 3.736225665225164, 4.630867303575309 ], "orientation_std_deg": { "roll": 0.28541579965369523, "pitch": 0.17291476886559953, "yaw": 0.15098760803943664 } } }, "observations": { "markers": [ { "marker_id": 95, "observed_center_px": [ 881.25, 1031.25 ], "projected_center_px": [ 877.817138671875, 1028.722900390625 ], "reprojection_error_px": 4.262718537956666, "confidence": 0.45573027871641286 }, { "marker_id": 97, "observed_center_px": [ 1153.25, 1024.25 ], "projected_center_px": [ 1152.6396484375, 1028.454345703125 ], "reprojection_error_px": 4.248417566721972, "confidence": 0.5211087340042874 }, { "marker_id": 103, "observed_center_px": [ 661.75, 999.75 ], "projected_center_px": [ 660.8534545898438, 995.827880859375 ], "reprojection_error_px": 4.0232837615223245, "confidence": 0.8535373989291568 }, { "marker_id": 54, "observed_center_px": [ 1155.0, 960.75 ], "projected_center_px": [ 1162.3070068359375, 962.8976440429688 ], "reprojection_error_px": 7.616083234559383, "confidence": 0.7311948387602913 }, { "marker_id": 55, "observed_center_px": [ 997.5, 932.25 ], "projected_center_px": [ 999.064453125, 934.7232055664062 ], "reprojection_error_px": 2.9264755857558638, "confidence": 0.8623788434718633 }, { "marker_id": 51, "observed_center_px": [ 736.75, 929.25 ], "projected_center_px": [ 735.9026489257812, 927.940185546875 ], "reprojection_error_px": 1.5600056873597647, "confidence": 0.7811997380618676 }, { "marker_id": 47, "observed_center_px": [ 1108.75, 915.0 ], "projected_center_px": [ 1107.2596435546875, 913.3580322265625 ], "reprojection_error_px": 2.217480665776325, "confidence": 0.6979185869602446 }, { "marker_id": 210, "observed_center_px": [ 369.0, 845.25 ], "projected_center_px": [ 366.9295349121094, 846.718994140625 ], "reprojection_error_px": 2.5386550504872685, "confidence": 0.6242173596603116 }, { "marker_id": 85, "observed_center_px": [ 1335.0, 822.0 ], "projected_center_px": [ 1331.6551513671875, 822.7557983398438 ], "reprojection_error_px": 3.429175339194282, "confidence": 0.6128519038478318 }, { "marker_id": 79, "observed_center_px": [ 915.5, 810.25 ], "projected_center_px": [ 916.5289306640625, 809.2465209960938 ], "reprojection_error_px": 1.4372433415148518, "confidence": 0.6619705710475772 }, { "marker_id": 96, "observed_center_px": [ 1017.25, 792.75 ], "projected_center_px": [ 1018.4593505859375, 795.8678588867188 ], "reprojection_error_px": 3.3441849346587365, "confidence": 0.6365286894071078 }, { "marker_id": 105, "observed_center_px": [ 1293.75, 769.0 ], "projected_center_px": [ 1293.4168701171875, 766.1366577148438 ], "reprojection_error_px": 2.882655817260619, "confidence": 0.5120561345306578 }, { "marker_id": 62, "observed_center_px": [ 1041.75, 762.5 ], "projected_center_px": [ 1047.3978271484375, 762.51708984375 ], "reprojection_error_px": 5.6478530045838715, "confidence": 0.5481212550686283 }, { "marker_id": 102, "observed_center_px": [ 1372.75, 654.5 ], "projected_center_px": [ 1369.2708740234375, 654.5015869140625 ], "reprojection_error_px": 3.4791263384775513, "confidence": 0.33337595746251947 }, { "marker_id": 92, "observed_center_px": [ 1324.0, 628.75 ], "projected_center_px": [ 1318.912841796875, 627.8513793945312 ], "reprojection_error_px": 5.165916915339909, "confidence": 0.39377329838133546 }, { "marker_id": 217, "observed_center_px": [ 1219.75, 527.0 ], "projected_center_px": [ 1223.03857421875, 525.24267578125 ], "reprojection_error_px": 3.72866045679041, "confidence": 0.4001538913904134 }, { "marker_id": 83, "observed_center_px": [ 158.0, 563.5 ], "projected_center_px": [ 157.3516387939453, 564.674560546875 ], "reprojection_error_px": 1.3416276427503975, "confidence": 0.23907155526747506 }, { "marker_id": 206, "observed_center_px": [ 1140.0, 473.25 ], "projected_center_px": [ 1139.1334228515625, 473.1092529296875 ], "reprojection_error_px": 0.8779326238360327, "confidence": 0.3292080839320196 }, { "marker_id": 86, "observed_center_px": [ 575.0, 447.0 ], "projected_center_px": [ 578.4127197265625, 447.5254821777344 ], "reprojection_error_px": 3.452938958508431, "confidence": 0.19768887420606246 } ] }, "qa": { "sanity_notes": [] } }