{ "schema_version": "1.0", "created_utc": "2026-06-02T16:36:41Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene11\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" }, "camera": { "camera_id": "e", "camera_matrix": [ [ 1768.8695068359375, 0.0, 639.249267578125 ], [ 0.0, 1774.5469970703125, 357.7935485839844 ], [ 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": 15, "used_marker_ids": [ 92, 85, 54, 62, 96, 55, 66, 53, 79, 51, 95, 103, 214, 215, 86 ], "history": { "iters": [ 0, 1, 2, 3 ], "rms": [ 0.006898130766217114, 0.0011278861057906879, 0.0010488486360701926, 0.0010488466823541322 ], "lambda": [ 0.001, 0.0005, 0.00025, 0.000125 ] }, "residual_rms_px": 2.628177360275973, "residual_median_px": 2.236045603001554, "residual_max_px": 4.29180939147324, "sigma2_normalized": 1.3750992038279566e-06 }, "camera_pose": { "world_to_camera": { "rotation_matrix": [ [ 0.627955973148346, 0.7782486081123352, -0.000646350032184273 ], [ 0.20383548736572266, -0.16527290642261505, -0.9649538397789001 ], [ -0.7510808110237122, 0.6058167815208435, -0.2624187767505646 ] ], "translation_m": [ -0.054376114159822464, -0.010824402794241905, 1.5417803525924683 ], "rvec_rad": [ 1.6984646049144572, 0.8114401541997717, -0.6211093510396954 ] }, "camera_in_world": { "position_m": [ 1.1943538188934326, -0.8935073018074036, 0.3941119313240051 ], "position_mm": [ 1194.353759765625, -893.50732421875, 394.1119384765625 ], "orientation_deg": { "roll": 113.42057800292969, "pitch": 48.684085845947266, "yaw": 17.983509063720703 } }, "uncertainty": { "pose_covariance_6x6": [ [ 7.592044616214504e-06, 1.5210294769373535e-06, 1.842132075971093e-06, -3.459189488917054e-07, -2.3167729740615268e-06, 1.180554546291766e-06 ], [ 1.5210294769373539e-06, 6.115608609778632e-06, 5.426430358251659e-07, 1.4118191818212518e-06, -1.5095100218091248e-06, 1.300617939589447e-06 ], [ 1.842132075971089e-06, 5.426430358251478e-07, 1.0656735233850686e-05, -1.7432488367267447e-06, -1.6454714308973553e-06, -9.38385551563177e-07 ], [ -3.459189488917063e-07, 1.4118191818212567e-06, -1.7432488367267371e-06, 8.122855774492533e-07, 3.339339527141163e-08, 6.114916640528378e-07 ], [ -2.316772974061529e-06, -1.5095100218091241e-06, -1.6454714308973614e-06, 3.3393395271413044e-08, 1.1954455189134447e-06, 1.991425321896204e-07 ], [ 1.1805545462917622e-06, 1.3006179395894494e-06, -9.383855515631793e-07, 6.114916640528385e-07, 1.9914253218962134e-07, 6.673975218231367e-06 ] ], "parameter_std": { "rvec_std_deg": [ 0.15787087215722048, 0.14169106809664392, 0.18704009756220435 ], "tvec_std_m": [ 0.0009012688707867666, 0.0010933643120723507, 0.002583403804717986 ] }, "camera_center_std_m": [ 0.002812458287975274, 0.0026290388618917465, 0.0036455256535571448 ], "camera_center_std_mm": [ 2.812458287975274, 2.6290388618917464, 3.645525653557145 ], "orientation_std_deg": { "roll": 0.23766211154154268, "pitch": 0.14357418490705923, "yaw": 0.23114476822135022 } } }, "observations": { "markers": [ { "marker_id": 92, "observed_center_px": [ 1021.25, 690.0 ], "projected_center_px": [ 1024.0626220703125, 689.132568359375 ], "reprojection_error_px": 2.9433451312352674, "confidence": 0.14766715850245912 }, { "marker_id": 85, "observed_center_px": [ 674.25, 666.75 ], "projected_center_px": [ 673.724365234375, 665.7597045898438 ], "reprojection_error_px": 1.1211498143469427, "confidence": 0.31040235026858615 }, { "marker_id": 54, "observed_center_px": [ 485.0, 582.75 ], "projected_center_px": [ 482.4621887207031, 585.3682250976562 ], "reprojection_error_px": 3.6463116640412845, "confidence": 0.261936977185694 }, { "marker_id": 62, "observed_center_px": [ 737.25, 553.75 ], "projected_center_px": [ 737.9098510742188, 555.6582641601562 ], "reprojection_error_px": 2.019127421705841, "confidence": 0.29470267815689305 }, { "marker_id": 96, "observed_center_px": [ 693.5, 544.25 ], "projected_center_px": [ 689.2086791992188, 544.3147583007812 ], "reprojection_error_px": 4.29180939147324, "confidence": 0.2320355751581732 }, { "marker_id": 55, "observed_center_px": [ 521.0, 533.75 ], "projected_center_px": [ 518.1393432617188, 533.8983764648438 ], "reprojection_error_px": 2.8645021468997798, "confidence": 0.18434674728219572 }, { "marker_id": 66, "observed_center_px": [ 329.75, 537.25 ], "projected_center_px": [ 328.9336242675781, 537.1644287109375 ], "reprojection_error_px": 0.8208482088663962, "confidence": 0.15690567239379535 }, { "marker_id": 53, "observed_center_px": [ 1203.5, 466.0 ], "projected_center_px": [ 1201.3028564453125, 465.584716796875 ], "reprojection_error_px": 2.236045603001554, "confidence": 0.13639287915585202 }, { "marker_id": 79, "observed_center_px": [ 664.0, 511.5 ], "projected_center_px": [ 665.2855224609375, 511.4860534667969 ], "reprojection_error_px": 1.2855981111386217, "confidence": 0.15466714018740998 }, { "marker_id": 51, "observed_center_px": [ 526.25, 463.5 ], "projected_center_px": [ 528.0184326171875, 462.99383544921875 ], "reprojection_error_px": 1.8394446102017357, "confidence": 0.12790377393343658 }, { "marker_id": 95, "observed_center_px": [ 422.0, 500.0 ], "projected_center_px": [ 424.55230712890625, 498.7919006347656 ], "reprojection_error_px": 2.823787484309923, "confidence": 0.1889374000059173 }, { "marker_id": 103, "observed_center_px": [ 460.75, 447.75 ], "projected_center_px": [ 464.3034973144531, 446.9329528808594 ], "reprojection_error_px": 3.6462184738056447, "confidence": 0.10911142441352696 }, { "marker_id": 214, "observed_center_px": [ 854.75, 444.25 ], "projected_center_px": [ 858.39208984375, 444.10150146484375 ], "reprojection_error_px": 3.6451159439571263, "confidence": 0.1602523119115797 }, { "marker_id": 215, "observed_center_px": [ 685.0, 432.75 ], "projected_center_px": [ 683.5889892578125, 432.52532958984375 ], "reprojection_error_px": 1.4287855359599275, "confidence": 0.1299020584933079 }, { "marker_id": 86, "observed_center_px": [ 1129.25, 407.75 ], "projected_center_px": [ 1127.775390625, 408.2088623046875 ], "reprojection_error_px": 1.544353399808805, "confidence": 0.10688762057177302 } ] }, "qa": { "sanity_notes": [] } }