{
  "schema_version": "1.0",
  "created_utc": "2026-05-31T08:08:18Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene4\\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": 15,
    "used_marker_ids": [
      95,
      79,
      208,
      69,
      51,
      103,
      58,
      215,
      214,
      64,
      211,
      72,
      84,
      86,
      73
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.007841850707986807,
        0.0017810362643680003,
        0.0017658251375722333,
        0.0017658250893408992
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 3.770822452245494,
    "residual_median_px": 2.791685612075873,
    "residual_max_px": 6.203082572758287,
    "sigma2_normalized": 3.897672807680698e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.8218587040901184,
          0.5696675777435303,
          -0.005202787928283215
        ],
        [
          0.22700649499893188,
          -0.33585092425346375,
          -0.9141510725021362
        ],
        [
          -0.5225096344947815,
          0.7501219511032104,
          -0.4053402543067932
        ]
      ],
      "translation_m": [
        -0.11614544689655304,
        0.010630420409142971,
        1.1226513385772705
      ],
      "rvec_rad": [
        1.9193529437820334,
        0.5965934328062594,
        -0.395180108840082
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.6796380877494812,
        -0.7723909020423889,
        0.46416929364204407
      ],
      "position_mm": [
        679.6380615234375,
        -772.3909301757812,
        464.1692810058594
      ],
      "orientation_deg": {
        "roll": 118.38526153564453,
        "pitch": 31.500741958618164,
        "yaw": 15.440743446350098
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          2.751145436049188e-05,
          1.3401513105335499e-05,
          1.4312381001913197e-05,
          9.36895982720579e-08,
          -5.6106559832537664e-06,
          5.280148089620792e-08
        ],
        [
          1.3401513105335502e-05,
          1.795030033962097e-05,
          2.5613386096834456e-06,
          1.6499095292815893e-06,
          -3.5811468864126333e-06,
          3.546830461776452e-06
        ],
        [
          1.431238100191327e-05,
          2.5613386096835036e-06,
          3.5498124463694455e-05,
          -1.87005267791892e-06,
          -5.419343738566485e-06,
          -9.14992749873344e-06
        ],
        [
          9.368959827205494e-08,
          1.6499095292815834e-06,
          -1.870052677918922e-06,
          5.315003696200177e-07,
          1.0602224587116693e-08,
          9.616573221245425e-07
        ],
        [
          -5.610655983253775e-06,
          -3.5811468864126405e-06,
          -5.41934373856647e-06,
          1.0602224587114902e-08,
          1.8275286429825955e-06,
          1.2287899005592294e-06
        ],
        [
          5.280148089619168e-08,
          3.546830461776437e-06,
          -9.14992749873345e-06,
          9.616573221245397e-07,
          1.2287899005592346e-06,
          9.156468527647838e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.30052417052989433,
          0.242749582779303,
          0.34136998755444714
        ],
        "tvec_std_m": [
          0.0007290407187668037,
          0.0013518611774078712,
          0.003025965718187805
        ]
      },
      "camera_center_std_m": [
        0.004718941135480535,
        0.0029222981526787076,
        0.005827855101734415
      ],
      "camera_center_std_mm": [
        4.718941135480534,
        2.9222981526787075,
        5.827855101734415
      ],
      "orientation_std_deg": {
        "roll": 0.4257217334695992,
        "pitch": 0.2695484665227,
        "yaw": 0.29806926575912746
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 95,
        "observed_center_px": [
          383.5,
          671.25
        ],
        "projected_center_px": [
          384.897216796875,
          666.64501953125
        ],
        "reprojection_error_px": 4.812282191958261,
        "confidence": 0.5518116657099041
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          744.0,
          648.0
        ],
        "projected_center_px": [
          744.4780883789062,
          641.8153686523438
        ],
        "reprojection_error_px": 6.203082572758287,
        "confidence": 0.589171450268867
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          884.75,
          562.25
        ],
        "projected_center_px": [
          885.0848388671875,
          566.4490356445312
        ],
        "reprojection_error_px": 4.212364824065382,
        "confidence": 0.4569666605043164
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          118.25,
          575.0
        ],
        "projected_center_px": [
          117.68472290039062,
          575.1051025390625
        ],
        "reprojection_error_px": 0.574964992899717,
        "confidence": 0.5412868278516675
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          492.25,
          577.5
        ],
        "projected_center_px": [
          492.4128112792969,
          575.0668334960938
        ],
        "reprojection_error_px": 2.438607542922323,
        "confidence": 0.5367694875460974
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          382.75,
          557.25
        ],
        "projected_center_px": [
          382.0443115234375,
          556.164794921875
        ],
        "reprojection_error_px": 1.2944752942954878,
        "confidence": 0.5683985238307451
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          265.5,
          551.5
        ],
        "projected_center_px": [
          265.0464782714844,
          551.0245971679688
        ],
        "reprojection_error_px": 0.6570310578192885,
        "confidence": 0.5703994452422884
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          713.0,
          512.0
        ],
        "projected_center_px": [
          713.172607421875,
          517.9434814453125
        ],
        "reprojection_error_px": 5.945987303456029,
        "confidence": 0.408432388349621
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          956.25,
          505.25
        ],
        "projected_center_px": [
          956.2235107421875,
          509.92266845703125
        ],
        "reprojection_error_px": 4.672743539946769,
        "confidence": 0.32753550791646946
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          216.0,
          499.0
        ],
        "projected_center_px": [
          213.61605834960938,
          500.45269775390625
        ],
        "reprojection_error_px": 2.791685612075873,
        "confidence": 0.4466430195499723
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          791.0,
          461.25
        ],
        "projected_center_px": [
          791.0151977539062,
          467.3743896484375
        ],
        "reprojection_error_px": 6.1244085051221235,
        "confidence": 0.29690586628373444
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          1244.75,
          464.25
        ],
        "projected_center_px": [
          1245.1998291015625,
          460.7070617675781
        ],
        "reprojection_error_px": 3.571380340900303,
        "confidence": 0.03479010216782576
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          1223.25,
          418.25
        ],
        "projected_center_px": [
          1223.9171142578125,
          415.5768737792969
        ],
        "reprojection_error_px": 2.7551125611828087,
        "confidence": 0.09228958358804855
      },
      {
        "marker_id": 86,
        "observed_center_px": [
          1172.75,
          387.25
        ],
        "projected_center_px": [
          1172.7916259765625,
          385.6545104980469
        ],
        "reprojection_error_px": 1.5960324159513217,
        "confidence": 0.12403848180952393
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          998.75,
          329.0
        ],
        "projected_center_px": [
          998.980712890625,
          329.2904052734375
        ],
        "reprojection_error_px": 0.3708957545468165,
        "confidence": 0.09713673917158988
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}