{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T16:29:14Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_d_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "d",
    "camera_matrix": [
      [
        1777.77783203125,
        0.0,
        640.0
      ],
      [
        0.0,
        1500.0,
        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": 9,
    "used_marker_ids": [
      208,
      103,
      58,
      214,
      64,
      211,
      72,
      84,
      86
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.006170555783051489,
        0.0012293953054527144,
        0.00121100792156609,
        0.0012110078502646229
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 2.571926995828887,
    "residual_median_px": 1.7530882678650423,
    "residual_max_px": 5.015482946936298,
    "sigma2_normalized": 2.1998100201036963e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.8208228945732117,
          0.5711369514465332,
          -0.007236112374812365
        ],
        [
          0.17046144604682922,
          -0.25703468918800354,
          -0.9512497186660767
        ],
        [
          -0.545153796672821,
          0.7795740962028503,
          -0.3083367645740509
        ]
      ],
      "translation_m": [
        -0.1157284826040268,
        0.1107938289642334,
        1.1233245134353638
      ],
      "rvec_rad": [
        1.820345783135202,
        0.565739972072733,
        -0.42139931920823825
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.6884911060333252,
        -0.7811400294303894,
        0.45091742277145386
      ],
      "position_mm": [
        688.4910888671875,
        -781.1400146484375,
        450.91741943359375
      ],
      "orientation_deg": {
        "roll": 111.57975769042969,
        "pitch": 33.03517150878906,
        "yaw": 11.731935501098633
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          3.802912364722085e-05,
          1.641716016150694e-05,
          1.691836245137162e-05,
          6.126801770729793e-08,
          -7.054768849224667e-06,
          -1.4055169549040093e-06
        ],
        [
          1.6417160161507313e-05,
          1.8076806685023157e-05,
          -1.2387621424337972e-07,
          1.428054155254671e-06,
          -3.564815364989778e-06,
          3.3814832059954696e-06
        ],
        [
          1.691836245137113e-05,
          -1.2387621424384347e-07,
          3.514815322876603e-05,
          -1.9686880580364376e-06,
          -5.9266379714250665e-06,
          -9.613830700805953e-06
        ],
        [
          6.126801770734447e-08,
          1.428054155254699e-06,
          -1.9686880580364237e-06,
          4.860268624097902e-07,
          1.2958398906388404e-07,
          1.137747180562379e-06
        ],
        [
          -7.0547688492246515e-06,
          -3.5648153649896957e-06,
          -5.926637971425152e-06,
          1.2958398906389237e-07,
          2.168988131799405e-06,
          1.8523330142213258e-06
        ],
        [
          -1.4055169549037846e-06,
          3.3814832059956026e-06,
          -9.61383070080584e-06,
          1.1377471805623797e-06,
          1.8523330142212812e-06,
          8.248418996032322e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.3533302259848121,
          0.243603480626876,
          0.3396830590573791
        ],
        "tvec_std_m": [
          0.0006971562682855188,
          0.0014727484957722432,
          0.0028720060926175493
        ]
      },
      "camera_center_std_m": [
        0.004836840199544631,
        0.003058465639926295,
        0.006511032751858579
      ],
      "camera_center_std_mm": [
        4.836840199544631,
        3.058465639926295,
        6.511032751858579
      ],
      "orientation_std_deg": {
        "roll": 0.4538839876757688,
        "pitch": 0.25057379305976407,
        "yaw": 0.3499434553975412
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 208,
        "observed_center_px": [
          887.5,
          696.5
        ],
        "projected_center_px": [
          887.7296752929688,
          696.2703247070312
        ],
        "reprojection_error_px": 0.3248099142584202,
        "confidence": 0.06739671544456982
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          379.5,
          691.25
        ],
        "projected_center_px": [
          379.45953369140625,
          688.251953125
        ],
        "reprojection_error_px": 2.998319960716079,
        "confidence": 0.17416420855033052
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          261.5,
          685.0
        ],
        "projected_center_px": [
          261.4115295410156,
          683.2491455078125
        ],
        "reprojection_error_px": 1.7530882678650423,
        "confidence": 0.24540823915500745
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          958.75,
          638.25
        ],
        "projected_center_px": [
          958.8698120117188,
          640.2307739257812
        ],
        "reprojection_error_px": 1.984394180400396,
        "confidence": 0.32624039952470835
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          211.5,
          631.75
        ],
        "projected_center_px": [
          210.99404907226562,
          633.2077026367188
        ],
        "reprojection_error_px": 1.5430111206248873,
        "confidence": 0.45882243623190877
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          792.0,
          593.5
        ],
        "projected_center_px": [
          792.0845336914062,
          598.5147705078125
        ],
        "reprojection_error_px": 5.015482946936298,
        "confidence": 0.3071912693949274
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1249.0,
          596.75
        ],
        "projected_center_px": [
          1249.3333740234375,
          593.0040283203125
        ],
        "reprojection_error_px": 3.7607767900426765,
        "confidence": 0.013395930107400523
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1226.5,
          549.5
        ],
        "projected_center_px": [
          1226.4927978515625,
          548.7413940429688
        ],
        "reprojection_error_px": 0.758640144591238,
        "confidence": 0.07285288505606423
      },
      {
        "marker_id": 86,
        "observed_center_px": [
          1174.5,
          518.5
        ],
        "projected_center_px": [
          1174.326416015625,
          519.5684814453125
        ],
        "reprojection_error_px": 1.0824897221722658,
        "confidence": 0.14539527499019034
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}