{
  "schema_version": "1.0",
  "created_utc": "2026-05-29T17:28:00Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_1a_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
  },
  "camera": {
    "camera_id": "cam1",
    "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": 8,
    "used_marker_ids": [
      210,
      215,
      211,
      208,
      217,
      206,
      205,
      207
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4,
        5,
        6
      ],
      "rms": [
        0.012238825888602721,
        0.0013485501296120386,
        0.0010720241126721643,
        0.0010700649720543842,
        0.0010700240850162058,
        0.0010700235476777484,
        0.0010700235426684534
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05,
        3.125e-05,
        1.5625e-05
      ]
    },
    "residual_rms_px": 2.6178729686079047,
    "residual_median_px": 2.1333107363119628,
    "residual_max_px": 4.82379629519028,
    "sigma2_normalized": 1.8319206108523286e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.6343430876731873,
          -0.7725288271903992,
          0.028426652774214745
        ],
        [
          -0.5990912914276123,
          -0.5145038366317749,
          -0.6134944558143616
        ],
        [
          0.4885677695274353,
          0.37213581800460815,
          -0.7891872525215149
        ]
      ],
      "translation_m": [
        -0.28031569719314575,
        0.19169889390468597,
        0.9508554935455322
      ],
      "rvec_rad": [
        2.289241976117495,
        -1.068731724683893,
        0.4028289864991492
      ]
    },
    "camera_in_world": {
      "position_m": [
        -0.17189589142799377,
        -0.4717695116996765,
        0.8759776949882507
      ],
      "position_mm": [
        -171.89588928222656,
        -471.7695007324219,
        875.9777221679688
      ],
      "orientation_deg": {
        "roll": 154.75408935546875,
        "pitch": -29.24648666381836,
        "yaw": -43.362918853759766
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          0.0003822156649420553,
          -1.9575638833486346e-05,
          0.0002401729876123921,
          -3.455538550581847e-07,
          -8.434305689855638e-06,
          1.3315803977557116e-06
        ],
        [
          -1.9575638833486905e-05,
          9.100791133973781e-06,
          -2.6448385490934555e-05,
          -2.887449407782355e-06,
          1.4831323494675526e-07,
          8.401000542324975e-06
        ],
        [
          0.00024017298761239858,
          -2.644838549093476e-05,
          0.00034334665759104825,
          2.1171203886755963e-05,
          -2.499898798243516e-05,
          -0.00011374771539950262
        ],
        [
          -3.455538550575027e-07,
          -2.8874494077824097e-06,
          2.1171203886756332e-05,
          2.9241707740779787e-06,
          -1.8547372175826365e-06,
          -1.2779915037331006e-05
        ],
        [
          -8.434305689856253e-06,
          1.4831323494680423e-07,
          -2.4998987982435484e-05,
          -1.854737217582637e-06,
          2.922658487863772e-06,
          1.1657487325670498e-05
        ],
        [
          1.331580397752139e-06,
          8.401000542325296e-06,
          -0.00011374771539950486,
          -1.2779915037331031e-05,
          1.1657487325670554e-05,
          7.504600233719707e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          1.120151780762652,
          0.17284714323569167,
          1.06166877499303
        ],
        "tvec_std_m": [
          0.00171002069404963,
          0.001709578453263778,
          0.008662909576879875
        ]
      },
      "camera_center_std_m": [
        0.006227818662745683,
        0.020598334020338196,
        0.011112792063136126
      ],
      "camera_center_std_mm": [
        6.227818662745683,
        20.598334020338196,
        11.112792063136126
      ],
      "orientation_std_deg": {
        "roll": 1.3799127416085473,
        "pitch": 0.5042660958147511,
        "yaw": 0.1500547605224418
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 210,
        "observed_center_px": [
          168.5,
          660.5
        ],
        "projected_center_px": [
          169.5629425048828,
          658.793701171875
        ],
        "reprojection_error_px": 2.01029909703688,
        "confidence": 0.5673043275049208
      },
      {
        "marker_id": 215,
        "observed_center_px": [
          548.5,
          487.5
        ],
        "projected_center_px": [
          550.717041015625,
          487.080810546875
        ],
        "reprojection_error_px": 2.2563223755870454,
        "confidence": 0.7952557920267838
      },
      {
        "marker_id": 211,
        "observed_center_px": [
          455.0,
          424.25
        ],
        "projected_center_px": [
          450.42816162109375,
          425.7886047363281
        ],
        "reprojection_error_px": 4.82379629519028,
        "confidence": 0.6412317666518965
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          657.25,
          397.75
        ],
        "projected_center_px": [
          658.3648071289062,
          398.7890625
        ],
        "reprojection_error_px": 1.5239572873169531,
        "confidence": 0.6280424706698967
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          928.5,
          175.25
        ],
        "projected_center_px": [
          930.192626953125,
          175.83822631835938
        ],
        "reprojection_error_px": 1.7919252785916733,
        "confidence": 0.35596573288593486
      },
      {
        "marker_id": 206,
        "observed_center_px": [
          839.25,
          131.25
        ],
        "projected_center_px": [
          836.46923828125,
          131.34689331054688
        ],
        "reprojection_error_px": 2.7824492897614843,
        "confidence": 0.33820423087105295
      },
      {
        "marker_id": 205,
        "observed_center_px": [
          1004.5,
          113.0
        ],
        "projected_center_px": [
          1007.0062255859375,
          112.83639526367188
        ],
        "reprojection_error_px": 2.5115599131529316,
        "confidence": 0.28724459014346065
      },
      {
        "marker_id": 207,
        "observed_center_px": [
          916.5,
          72.25
        ],
        "projected_center_px": [
          915.0281982421875,
          71.42831420898438
        ],
        "reprojection_error_px": 1.6856357712913363,
        "confidence": 0.27228561618555186
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}