{ "schema_version": "1.0", "created_utc": "2026-06-01T19:27:37Z", "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": [ [ 2000.0, 0.0, 720.0 ], [ 0.0, 2000.0, 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": 25, "used_marker_ids": [ 97, 95, 103, 54, 55, 47, 51, 210, 85, 79, 96, 105, 62, 75, 102, 92, 61, 217, 83, 205, 206, 86, 72, 84, 76 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.010583394928152915, 0.0005525235691396853, 9.505530002383045e-05, 9.503877002001854e-05 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 0.2688084247930609, "residual_median_px": 0.23060128878351585, "residual_max_px": 0.5908599911126295, "sigma2_normalized": 1.0264054325758367e-08 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.8079765439033508, -0.5892143845558167, 0.0005618822760879993 ], [ -0.3429778218269348, -0.4710928201675415, -0.8126732110977173 ], [ 0.4791034758090973, 0.6564281582832336, -0.5827193856239319 ] ], "translation_m": [ -0.22885149717330933, 0.1706371307373047, 1.1345192193984985 ], "rvec_rad": [ 2.106375489560313, -0.686125712742011, 0.35305027996646676 ] }, "camera_in_world": { "position_m": [ -0.3001207113265991, -0.7991870045661926, 0.7999071478843689 ], "position_mm": [ -300.1206970214844, -799.18701171875, 799.9071655273438 ], "orientation_deg": { "roll": 131.59585571289062, "pitch": -28.62686538696289, "yaw": -23.0007266998291 } }, "uncertainty": { "pose_covariance_6x6": [ [ 3.7290525026728856e-08, -1.1186584863597427e-08, -1.4342609428219227e-09, 2.072772548112029e-09, 4.480706674724859e-09, 1.3167239795511558e-08 ], [ -1.1186584863597376e-08, 1.7518420303072538e-08, -1.0181491434847018e-09, -2.2423580539533653e-09, -5.032409355995556e-09, -4.241119350125248e-09 ], [ -1.4342609428217912e-09, -1.0181491434848306e-09, 4.756433302540096e-08, 4.3988582124221556e-09, -6.117661666785481e-09, -1.0470977280798752e-08 ], [ 2.072772548112036e-09, -2.242358053953372e-09, 4.398858212422123e-09, 1.4547915475757582e-09, 2.4760650984453564e-10, 1.1949315143217466e-09 ], [ 4.4807066747248244e-09, -5.032409355995531e-09, -6.117661666785528e-09, 2.476065098445271e-10, 3.168354650696987e-09, 4.6429579034697385e-09 ], [ 1.3167239795511582e-08, -4.241119350125206e-09, -1.0470977280798866e-08, 1.1949315143217294e-09, 4.642957903469745e-09, 2.1290087711485076e-08 ] ], "parameter_std": { "rvec_std_deg": [ 0.01106424748245525, 0.007583507197405511, 0.012495779066943349 ], "tvec_std_m": [ 3.814172974021706e-05, 5.628813952065734e-05, 0.00014591123230061858 ] }, "camera_center_std_m": [ 0.00019222801078158322, 0.00018537827810069307, 0.00025675710791414196 ], "camera_center_std_mm": [ 0.19222801078158322, 0.18537827810069307, 0.25675710791414197 ], "orientation_std_deg": { "roll": 0.011650350638942372, "pitch": 0.008781763210457127, "yaw": 0.008185734033228566 } } }, "observations": { "markers": [ { "marker_id": 97, "observed_center_px": [ 1152.0, 1026.25 ], "projected_center_px": [ 1151.9476318359375, 1026.491455078125 ], "reprojection_error_px": 0.24706877455402326, "confidence": 0.4897720015297098 }, { "marker_id": 95, "observed_center_px": [ 876.5, 1027.25 ], "projected_center_px": [ 876.5326538085938, 1027.1934814453125 ], "reprojection_error_px": 0.06527341142947249, "confidence": 0.5416450286820796 }, { "marker_id": 103, "observed_center_px": [ 659.0, 994.75 ], "projected_center_px": [ 659.037841796875, 994.5985717773438 ], "reprojection_error_px": 0.1560849390798471, "confidence": 0.8649082431225718 }, { "marker_id": 54, "observed_center_px": [ 1162.25, 961.0 ], "projected_center_px": [ 1161.8941650390625, 961.3054809570312 ], "reprojection_error_px": 0.4689745563824551, "confidence": 0.7960923757637975 }, { "marker_id": 55, "observed_center_px": [ 998.75, 933.75 ], "projected_center_px": [ 998.4364013671875, 933.5623168945312 ], "reprojection_error_px": 0.3654709982751889, "confidence": 0.8637747711006405 }, { "marker_id": 47, "observed_center_px": [ 1106.75, 912.25 ], "projected_center_px": [ 1106.950927734375, 912.1368408203125 ], "reprojection_error_px": 0.23060128878351585, "confidence": 0.743066266439157 }, { "marker_id": 51, "observed_center_px": [ 734.25, 927.0 ], "projected_center_px": [ 734.4984741210938, 927.0548095703125 ], "reprojection_error_px": 0.2544473970217664, "confidence": 0.8019389766111062 }, { "marker_id": 210, "observed_center_px": [ 364.75, 845.75 ], "projected_center_px": [ 364.6623840332031, 845.900146484375 ], "reprojection_error_px": 0.1738405142880198, "confidence": 0.6228300628754091 }, { "marker_id": 85, "observed_center_px": [ 1331.5, 821.5 ], "projected_center_px": [ 1331.8565673828125, 821.57568359375 ], "reprojection_error_px": 0.36451104900766856, "confidence": 0.601549080134278 }, { "marker_id": 79, "observed_center_px": [ 916.0, 809.0 ], "projected_center_px": [ 916.0746459960938, 808.76171875 ], "reprojection_error_px": 0.24969977740156404, "confidence": 0.6813525019168335 }, { "marker_id": 96, "observed_center_px": [ 1018.5, 795.25 ], "projected_center_px": [ 1018.3504638671875, 795.3241577148438 ], "reprojection_error_px": 0.1669144142588188, "confidence": 0.6827978007642943 }, { "marker_id": 105, "observed_center_px": [ 1293.75, 765.25 ], "projected_center_px": [ 1293.821533203125, 765.3156127929688 ], "reprojection_error_px": 0.09706718163459038, "confidence": 0.5581601454743093 }, { "marker_id": 62, "observed_center_px": [ 1047.25, 762.0 ], "projected_center_px": [ 1047.4703369140625, 762.0767211914062 ], "reprojection_error_px": 0.23331201621301026, "confidence": 0.616624476061661 }, { "marker_id": 75, "observed_center_px": [ 144.5, 713.75 ], "projected_center_px": [ 144.44461059570312, 713.7537231445312 ], "reprojection_error_px": 0.0555143937511998, "confidence": 0.38049126145778556 }, { "marker_id": 102, "observed_center_px": [ 1370.0, 654.25 ], "projected_center_px": [ 1369.9781494140625, 654.1135864257812 ], "reprojection_error_px": 0.13815249305367777, "confidence": 0.36938172995419555 }, { "marker_id": 92, "observed_center_px": [ 1319.75, 627.75 ], "projected_center_px": [ 1319.7215576171875, 627.6553344726562 ], "reprojection_error_px": 0.09884599742692202, "confidence": 0.39949701144177324 }, { "marker_id": 61, "observed_center_px": [ 66.0, 602.5 ], "projected_center_px": [ 65.8623046875, 602.2079467773438 ], "reprojection_error_px": 0.3228855585937126, "confidence": 0.2389002996853347 }, { "marker_id": 217, "observed_center_px": [ 1224.0, 525.5 ], "projected_center_px": [ 1223.882568359375, 525.3695678710938 ], "reprojection_error_px": 0.17550706672637365, "confidence": 0.3668959235531314 }, { "marker_id": 83, "observed_center_px": [ 156.25, 565.5 ], "projected_center_px": [ 156.17344665527344, 565.63818359375 ], "reprojection_error_px": 0.1579718967743597, "confidence": 0.2637568632301829 }, { "marker_id": 205, "observed_center_px": [ 1320.25, 478.25 ], "projected_center_px": [ 1319.6966552734375, 478.0428161621094 ], "reprojection_error_px": 0.5908599911126295, "confidence": 0.32449684623408637 }, { "marker_id": 206, "observed_center_px": [ 1139.75, 473.5 ], "projected_center_px": [ 1139.9918212890625, 473.5305480957031 ], "reprojection_error_px": 0.2437431475856018, "confidence": 0.35164169987391336 }, { "marker_id": 86, "observed_center_px": [ 577.5, 448.5 ], "projected_center_px": [ 577.8909912109375, 448.7003173828125 ], "reprojection_error_px": 0.4393189967292813, "confidence": 0.24026049545287548 }, { "marker_id": 72, "observed_center_px": [ 737.5, 473.0 ], "projected_center_px": [ 737.3865356445312, 472.893798828125 ], "reprojection_error_px": 0.15541186849646377, "confidence": 0.2647897353782805 }, { "marker_id": 84, "observed_center_px": [ 651.25, 449.25 ], "projected_center_px": [ 651.5125122070312, 449.3551025390625 ], "reprojection_error_px": 0.2827705829074202, "confidence": 0.2690571067318116 }, { "marker_id": 76, "observed_center_px": [ 1005.25, 387.75 ], "projected_center_px": [ 1005.2095947265625, 387.92022705078125 ], "reprojection_error_px": 0.1749566658897037, "confidence": 0.2429182303832221 } ] }, "qa": { "sanity_notes": [] } }