{ "schema_version": "1.0", "created_utc": "2026-06-02T05:24:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene5\\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": [ [ 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": 26, "used_marker_ids": [ 68, 46, 53, 56, 97, 215, 54, 47, 55, 62, 72, 66, 95, 51, 103, 82, 73, 58, 69, 210, 64, 52, 83, 77, 75, 61 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.008416632156341888, 0.0014563332850688533, 0.0013700095280301426, 0.0013700078453338556 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 3.874965136212424, "residual_median_px": 3.5227997775150444, "residual_max_px": 5.852012771734456, "sigma2_normalized": 2.121737343320966e-06 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.3160955309867859, 0.9487238526344299, 0.0025797339621931314 ], [ 0.9179052114486694, -0.30513763427734375, -0.2536553144454956 ], [ -0.23986166715621948, 0.08254725486040115, -0.9672912359237671 ] ], "translation_m": [ 0.1259421855211258, -0.2002721130847931, 1.4973636865615845 ], "rvec_rad": [ 2.3718102217212973, 1.7103527942113022, -0.21741642475062148 ] }, "camera_in_world": { "position_m": [ 0.5031812191009521, -0.30419817566871643, 1.3972618579864502 ], "position_mm": [ 503.18121337890625, -304.19818115234375, 1397.2618408203125 ], "orientation_deg": { "roll": 175.1222686767578, "pitch": 13.878375053405762, "yaw": 70.99801635742188 } }, "uncertainty": { "pose_covariance_6x6": [ [ 3.1852406112065966e-05, 1.9154435746919504e-05, -6.700836600353422e-06, -4.4237574567895556e-07, 2.186715816472518e-07, 2.708892861310153e-06 ], [ 1.9154435746919436e-05, 1.7468854564826478e-05, -1.0730851362144012e-05, 3.894759950513676e-07, 3.4742005599867713e-08, 2.9816302231205955e-06 ], [ -6.700836600349839e-06, -1.0730851362140909e-05, 0.00018216669310099345, 1.5680581098036084e-06, -1.8029038769530656e-06, -3.208921592765715e-05 ], [ -4.4237574567890595e-07, 3.89475995051409e-07, 1.5680581098035165e-06, 3.423267966842042e-07, -2.7126410073583545e-08, 2.237739787962633e-07 ], [ 2.1867158164721044e-07, 3.4742005599833025e-08, -1.8029038769530764e-06, -2.712641007358468e-08, 2.0016294054453288e-07, 4.050286942907722e-07 ], [ 2.7088928613095747e-06, 2.9816302231200902e-06, -3.208921592765738e-05, 2.237739787962445e-07, 4.050286942907732e-07, 9.793703306119337e-06 ] ], "parameter_std": { "rvec_std_deg": [ 0.3233655532796328, 0.2394720582716155, 0.7733162204897694 ], "tvec_std_m": [ 0.0005850869992438767, 0.00044739573147777446, 0.0031294893043625083 ] }, "camera_center_std_m": [ 0.010989660525404944, 0.012445042819574278, 0.004844640964346519 ], "camera_center_std_mm": [ 10.989660525404943, 12.445042819574278, 4.844640964346519 ], "orientation_std_deg": { "roll": 0.532669618958499, "pitch": 0.42398468857728244, "yaw": 0.10265499147381701 } } }, "observations": { "markers": [ { "marker_id": 68, "observed_center_px": [ 1395.25, 942.0 ], "projected_center_px": [ 1390.0498046875, 941.6648559570312 ], "reprojection_error_px": 5.210983862734984, "confidence": 0.29729413038864677 }, { "marker_id": 46, "observed_center_px": [ 1383.75, 882.5 ], "projected_center_px": [ 1388.56787109375, 884.1957397460938 ], "reprojection_error_px": 5.107584082761038, "confidence": 0.46634796204782664 }, { "marker_id": 53, "observed_center_px": [ 1400.25, 805.75 ], "projected_center_px": [ 1395.152099609375, 804.2342529296875 ], "reprojection_error_px": 5.3184657161530575, "confidence": 0.24205987777153554 }, { "marker_id": 56, "observed_center_px": [ 1341.75, 844.0 ], "projected_center_px": [ 1345.5269775390625, 840.302001953125 ], "reprojection_error_px": 5.285900953032883, "confidence": 0.6720101269988878 }, { "marker_id": 97, "observed_center_px": [ 554.75, 818.0 ], "projected_center_px": [ 552.3075561523438, 815.5173950195312 ], "reprojection_error_px": 3.4826512082036163, "confidence": 0.7144285455619288 }, { "marker_id": 215, "observed_center_px": [ 889.0, 620.0 ], "projected_center_px": [ 887.28466796875, 619.165283203125 ], "reprojection_error_px": 1.90764674623409, "confidence": 0.7068260740006296 }, { "marker_id": 54, "observed_center_px": [ 610.5, 848.75 ], "projected_center_px": [ 607.4749145507812, 853.4927368164062 ], "reprojection_error_px": 5.6253617203492166, "confidence": 0.7005026944924987 }, { "marker_id": 47, "observed_center_px": [ 664.75, 836.5 ], "projected_center_px": [ 667.56298828125, 836.3667602539062 ], "reprojection_error_px": 2.81614202418645, "confidence": 0.6877833343649649 }, { "marker_id": 55, "observed_center_px": [ 676.0, 745.75 ], "projected_center_px": [ 673.193115234375, 745.2991943359375 ], "reprojection_error_px": 2.8428555774517537, "confidence": 0.6761108765479277 }, { "marker_id": 62, "observed_center_px": [ 845.75, 863.25 ], "projected_center_px": [ 844.1627197265625, 867.9298095703125 ], "reprojection_error_px": 4.941667358375338, "confidence": 0.6334920995585299 }, { "marker_id": 72, "observed_center_px": [ 1346.5, 753.25 ], "projected_center_px": [ 1347.07373046875, 752.1920166015625 ], "reprojection_error_px": 1.203534595323897, "confidence": 0.63555573802114 }, { "marker_id": 66, "observed_center_px": [ 508.0, 693.0 ], "projected_center_px": [ 508.7984619140625, 692.4354248046875 ], "reprojection_error_px": 0.9778990639991935, "confidence": 0.6946666666666667 }, { "marker_id": 95, "observed_center_px": [ 612.5, 626.0 ], "projected_center_px": [ 616.550048828125, 623.8281860351562 ], "reprojection_error_px": 4.595614366772631, "confidence": 0.6412938250103973 }, { "marker_id": 51, "observed_center_px": [ 739.25, 559.0 ], "projected_center_px": [ 741.310791015625, 557.947509765625 ], "reprojection_error_px": 2.3139998495106826, "confidence": 0.6355340780755219 }, { "marker_id": 103, "observed_center_px": [ 690.0, 487.75 ], "projected_center_px": [ 694.6463012695312, 487.349609375 ], "reprojection_error_px": 4.66352100240104, "confidence": 0.5954680843098741 }, { "marker_id": 82, "observed_center_px": [ 1356.75, 429.5 ], "projected_center_px": [ 1358.0069580078125, 429.1807861328125 ], "reprojection_error_px": 1.2968580980233604, "confidence": 0.6065602887376399 }, { "marker_id": 73, "observed_center_px": [ 1401.75, 418.5 ], "projected_center_px": [ 1403.525390625, 417.8912048339844 ], "reprojection_error_px": 1.8768706469818006, "confidence": 0.20623049817079758 }, { "marker_id": 58, "observed_center_px": [ 632.75, 428.25 ], "projected_center_px": [ 632.6746826171875, 431.7947692871094 ], "reprojection_error_px": 3.5455693487770947, "confidence": 0.5951948697115713 }, { "marker_id": 69, "observed_center_px": [ 538.5, 403.0 ], "projected_center_px": [ 535.1592407226562, 405.8141784667969 ], "reprojection_error_px": 4.3680971820853, "confidence": 0.5651459847123547 }, { "marker_id": 210, "observed_center_px": [ 872.25, 307.5 ], "projected_center_px": [ 872.0038452148438, 304.0086364746094 ], "reprojection_error_px": 3.5000302062529935, "confidence": 0.5825378815199377 }, { "marker_id": 64, "observed_center_px": [ 640.5, 337.75 ], "projected_center_px": [ 641.4583740234375, 334.579345703125 ], "reprojection_error_px": 3.312329910967759, "confidence": 0.5461129593472626 }, { "marker_id": 52, "observed_center_px": [ 1190.75, 312.5 ], "projected_center_px": [ 1186.0, 315.9181213378906 ], "reprojection_error_px": 5.852012771734456, "confidence": 0.5743827506632194 }, { "marker_id": 83, "observed_center_px": [ 1323.0, 208.5 ], "projected_center_px": [ 1319.094970703125, 207.36993408203125 ], "reprojection_error_px": 4.0652555624962385, "confidence": 0.562745572281817 }, { "marker_id": 77, "observed_center_px": [ 1125.5, 230.25 ], "projected_center_px": [ 1128.239013671875, 233.71730041503906 ], "reprojection_error_px": 4.418638711509261, "confidence": 0.5567076120516155 }, { "marker_id": 75, "observed_center_px": [ 1108.5, 182.0 ], "projected_center_px": [ 1111.14013671875, 182.54635620117188 ], "reprojection_error_px": 2.696076221521005, "confidence": 0.5155640078275618 }, { "marker_id": 61, "observed_center_px": [ 1280.25, 135.0 ], "projected_center_px": [ 1281.889892578125, 133.5420684814453 ], "reprojection_error_px": 2.194267982855475, "confidence": 0.5393477003090094 } ] }, "qa": { "sanity_notes": [] } }