{
  "schema_version": "1.0",
  "created_utc": "2026-06-02T14:49:28Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_f_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "f",
    "camera_matrix": [
      [
        2003.446044921875,
        0.0,
        722.6578979492188
      ],
      [
        0.0,
        1992.1611328125,
        539.48974609375
      ],
      [
        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": 28,
    "used_marker_ids": [
      68,
      46,
      56,
      208,
      47,
      53,
      97,
      54,
      62,
      79,
      96,
      72,
      55,
      66,
      214,
      95,
      82,
      73,
      58,
      103,
      210,
      69,
      64,
      81,
      52,
      101,
      83,
      61
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4
      ],
      "rms": [
        0.008057521201712933,
        0.0014568115100284044,
        0.0013959075460258836,
        0.0013959050296937004,
        0.001395905027545553
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05
      ]
    },
    "residual_rms_px": 3.957130631995094,
    "residual_median_px": 3.946018846145023,
    "residual_max_px": 5.951022541562498,
    "sigma2_normalized": 2.1823769474325018e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.3175654411315918,
          0.9482001066207886,
          0.008291704580187798
        ],
        [
          0.9205681085586548,
          -0.3061906099319458,
          -0.2424904853105545
        ],
        [
          -0.22739066183567047,
          0.08463967591524124,
          -0.9701183438301086
        ]
      ],
      "translation_m": [
        0.12365244328975677,
        -0.199936181306839,
        1.4973711967468262
      ],
      "rvec_rad": [
        2.3782967916294515,
        1.7134543742657264,
        -0.20088957599663057
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.48527535796165466,
        -0.305202841758728,
        1.403119444847107
      ],
      "position_mm": [
        485.2753601074219,
        -305.2028503417969,
        1403.119384765625
      ],
      "orientation_deg": {
        "roll": 175.0137481689453,
        "pitch": 13.1434965133667,
        "yaw": 70.9672622680664
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          3.3550335090533516e-05,
          1.963862716642023e-05,
          1.426184802167007e-06,
          -3.0682101326960186e-07,
          1.3121245711533125e-07,
          1.2994400774163705e-06
        ],
        [
          1.9638627166420218e-05,
          1.7308650023731223e-05,
          -1.793428830409827e-06,
          6.148998910623132e-07,
          -7.010595279732312e-08,
          1.4222571572700759e-06
        ],
        [
          1.4261848021706756e-06,
          -1.793428830406539e-06,
          0.00016460519005553014,
          1.301165545086775e-06,
          -2.3436177081455857e-06,
          -2.9979232956055893e-05
        ],
        [
          -3.0682101326956714e-07,
          6.148998910623418e-07,
          1.3011655450866417e-06,
          3.5953324325662637e-07,
          -2.632484761153635e-08,
          2.9251531309251693e-07
        ],
        [
          1.3121245711530004e-07,
          -7.010595279737956e-08,
          -2.343617708145566e-06,
          -2.6324847611540847e-08,
          2.1231135361591528e-07,
          5.861090219559474e-07
        ],
        [
          1.2994400774157202e-06,
          1.4222571572694901e-06,
          -2.9979232956056133e-05,
          2.925153130924898e-07,
          5.86109021955948e-07,
          9.698699959210618e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.33187234455468756,
          0.23837144587394646,
          0.7350965672339821
        ],
        "tvec_std_m": [
          0.0005996109098879258,
          0.0004607725617003635,
          0.003114273584515435
        ]
      },
      "camera_center_std_m": [
        0.011573228961879829,
        0.011289817510025828,
        0.004113173232211976
      ],
      "camera_center_std_mm": [
        11.57322896187983,
        11.289817510025827,
        4.113173232211976
      ],
      "orientation_std_deg": {
        "roll": 0.4877811899749782,
        "pitch": 0.4477586259460459,
        "yaw": 0.0751104906295225
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 68,
        "observed_center_px": [
          1395.5,
          941.75
        ],
        "projected_center_px": [
          1389.6846923828125,
          940.486328125
        ],
        "reprojection_error_px": 5.951022541562498,
        "confidence": 0.31452284382469436
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          1383.5,
          882.5
        ],
        "projected_center_px": [
          1388.2353515625,
          883.2706298828125
        ],
        "reprojection_error_px": 4.797647844178937,
        "confidence": 0.48925581764503895
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          1341.75,
          844.0
        ],
        "projected_center_px": [
          1345.189697265625,
          839.5377197265625
        ],
        "reprojection_error_px": 5.634133697194055,
        "confidence": 0.7106123513263443
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          937.0,
          754.0
        ],
        "projected_center_px": [
          935.1433715820312,
          751.1773071289062
        ],
        "reprojection_error_px": 3.3785594751214045,
        "confidence": 0.7365183005875066
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          665.0,
          836.0
        ],
        "projected_center_px": [
          667.7228393554688,
          835.79541015625
        ],
        "reprojection_error_px": 2.7305148159010466,
        "confidence": 0.7493333333333333
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          1400.0,
          805.75
        ],
        "projected_center_px": [
          1394.9044189453125,
          803.6490478515625
        ],
        "reprojection_error_px": 5.511709917522358,
        "confidence": 0.2519090987485656
      },
      {
        "marker_id": 97,
        "observed_center_px": [
          554.5,
          818.0
        ],
        "projected_center_px": [
          552.410888671875,
          815.1748657226562
        ],
        "reprojection_error_px": 3.5136547676632652,
        "confidence": 0.7363629300822377
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          610.0,
          848.75
        ],
        "projected_center_px": [
          607.6666259765625,
          852.933837890625
        ],
        "reprojection_error_px": 4.7905254229867476,
        "confidence": 0.714264135428559
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          845.25,
          862.5
        ],
        "projected_center_px": [
          844.2025756835938,
          867.0516357421875
        ],
        "reprojection_error_px": 4.670597994706658,
        "confidence": 0.7019920279258633
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          821.25,
          736.5
        ],
        "projected_center_px": [
          822.5275268554688,
          737.3118896484375
        ],
        "reprojection_error_px": 1.5136841373562187,
        "confidence": 0.7019048773943901
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          816.5,
          827.0
        ],
        "projected_center_px": [
          812.7728881835938,
          825.2705688476562
        ],
        "reprojection_error_px": 4.108806956123898,
        "confidence": 0.7073036915264065
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1346.25,
          753.5
        ],
        "projected_center_px": [
          1346.8291015625,
          751.7881469726562
        ],
        "reprojection_error_px": 1.8071522921203689,
        "confidence": 0.6613219758870197
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          675.5,
          745.75
        ],
        "projected_center_px": [
          673.2232666015625,
          745.066650390625
        ],
        "reprojection_error_px": 2.37707417978357,
        "confidence": 0.7020871814203925
      },
      {
        "marker_id": 66,
        "observed_center_px": [
          508.25,
          693.0
        ],
        "projected_center_px": [
          508.604248046875,
          692.5162353515625
        ],
        "reprojection_error_px": 0.5995997946902668,
        "confidence": 0.6761108765479277
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          1037.5,
          713.75
        ],
        "projected_center_px": [
          1041.5179443359375,
          715.739990234375
        ],
        "reprojection_error_px": 4.483741497856461,
        "confidence": 0.6352592753448205
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          612.75,
          626.25
        ],
        "projected_center_px": [
          616.3631591796875,
          624.0057983398438
        ],
        "reprojection_error_px": 4.253393980012681,
        "confidence": 0.6495692240250537
      },
      {
        "marker_id": 82,
        "observed_center_px": [
          1356.75,
          429.25
        ],
        "projected_center_px": [
          1358.4959716796875,
          429.5439758300781
        ],
        "reprojection_error_px": 1.770547625719487,
        "confidence": 0.6131504260989074
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          1402.0,
          418.75
        ],
        "projected_center_px": [
          1404.2037353515625,
          418.2355041503906
        ],
        "reprojection_error_px": 2.262997012590067,
        "confidence": 0.20573872160705156
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          633.0,
          428.25
        ],
        "projected_center_px": [
          632.1602783203125,
          432.241943359375
        ],
        "reprojection_error_px": 4.079306838642486,
        "confidence": 0.5954680843098741
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          690.0,
          487.75
        ],
        "projected_center_px": [
          694.3179321289062,
          487.76556396484375
        ],
        "reprojection_error_px": 4.3179601789320055,
        "confidence": 0.5954680843098741
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          872.25,
          307.0
        ],
        "projected_center_px": [
          871.9379272460938,
          304.919677734375
        ],
        "reprojection_error_px": 2.1035993279580985,
        "confidence": 0.5967915393855434
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          538.5,
          403.0
        ],
        "projected_center_px": [
          534.340087890625,
          406.2202453613281
        ],
        "reprojection_error_px": 5.26068901807359,
        "confidence": 0.5651459847123547
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          640.5,
          338.0
        ],
        "projected_center_px": [
          640.7813720703125,
          334.974365234375
        ],
        "reprojection_error_px": 3.0386898454614597,
        "confidence": 0.5759345404922155
      },
      {
        "marker_id": 81,
        "observed_center_px": [
          1152.0,
          375.5
        ],
        "projected_center_px": [
          1155.732666015625,
          376.2772521972656
        ],
        "reprojection_error_px": 3.8127308536475604,
        "confidence": 0.4888879355201727
      },
      {
        "marker_id": 52,
        "observed_center_px": [
          1190.5,
          312.5
        ],
        "projected_center_px": [
          1186.3446044921875,
          316.3350830078125
        ],
        "reprojection_error_px": 5.654659450679632,
        "confidence": 0.5798408315806451
      },
      {
        "marker_id": 101,
        "observed_center_px": [
          1307.5,
          303.5
        ],
        "projected_center_px": [
          1308.0489501953125,
          308.205810546875
        ],
        "reprojection_error_px": 4.7377208887833,
        "confidence": 0.5860442781818148
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          1323.0,
          208.5
        ],
        "projected_center_px": [
          1320.2445068359375,
          207.4576416015625
        ],
        "reprojection_error_px": 2.9460572988298033,
        "confidence": 0.562745572281817
      },
      {
        "marker_id": 61,
        "observed_center_px": [
          1280.0,
          135.0
        ],
        "projected_center_px": [
          1283.17236328125,
          133.35882568359375
        ],
        "reprojection_error_px": 3.5717421414562933,
        "confidence": 0.544484345073857
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}