{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T23:05:30Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene12\\render_b_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "b",
    "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": 49,
    "used_marker_ids": [
      48,
      54,
      85,
      71,
      47,
      69,
      95,
      59,
      105,
      55,
      63,
      102,
      58,
      64,
      103,
      92,
      62,
      51,
      96,
      79,
      217,
      205,
      208,
      210,
      206,
      207,
      214,
      100,
      76,
      94,
      75,
      56,
      68,
      104,
      46,
      72,
      50,
      53,
      84,
      60,
      86,
      67,
      82,
      70,
      90,
      61,
      98,
      83,
      73
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3
      ],
      "rms": [
        0.009682558369338363,
        0.00036923779214473264,
        6.198648179529137e-05,
        6.198042239269198e-05
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125
      ]
    },
    "residual_rms_px": 0.17530950289707048,
    "residual_median_px": 0.16797241218034456,
    "residual_max_px": 0.34421841854931445,
    "sigma2_normalized": 4.092110113779701e-09
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.9999231100082397,
          -0.012394449673593044,
          0.0004345531342551112
        ],
        [
          -0.009388556703925133,
          -0.7793867588043213,
          -0.6264727711677551
        ],
        [
          0.00810347031801939,
          0.6264205574989319,
          -0.7794431447982788
        ]
      ],
      "translation_m": [
        -0.31128981709480286,
        0.05271991714835167,
        1.4961113929748535
      ],
      "rvec_rad": [
        2.46453590213762,
        -0.015085340486514099,
        0.005912820004039734
      ]
    },
    "camera_in_world": {
      "position_m": [
        0.2996371388435364,
        -0.8999639749526978,
        1.1992965936660767
      ],
      "position_mm": [
        299.63714599609375,
        -899.9639892578125,
        1199.296630859375
      ],
      "orientation_deg": {
        "roll": 141.2119598388672,
        "pitch": -0.46429967880249023,
        "yaw": -0.5379502177238464
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          1.3104641102737798e-08,
          -2.9288113949011867e-10,
          6.277570232371271e-10,
          4.0496246475241263e-10,
          5.881100650423019e-10,
          3.914671385616851e-09
        ],
        [
          -2.9288113949012415e-10,
          3.0358495217347296e-09,
          1.760567533300325e-10,
          5.147172773147329e-11,
          -9.92272891260795e-10,
          1.2695252678281999e-10
        ],
        [
          6.277570232370881e-10,
          1.7605675333003554e-10,
          2.612039611719402e-08,
          9.713384821008972e-10,
          -3.0353901912758798e-09,
          -8.876638958689427e-09
        ],
        [
          4.049624647524121e-10,
          5.147172773147415e-11,
          9.713384821009016e-10,
          2.6587155674203067e-10,
          -8.410422656528405e-11,
          1.50778388063475e-10
        ],
        [
          5.881100650423105e-10,
          -9.922728912607949e-10,
          -3.0353901912758744e-09,
          -8.410422656528306e-11,
          8.999901574826621e-10,
          1.4679480787469337e-09
        ],
        [
          3.914671385616873e-09,
          1.2695252678281999e-10,
          -8.876638958689396e-09,
          1.5077838806347833e-10,
          1.4679480787469318e-09,
          8.60268854769223e-09
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.006558963258525889,
          0.003156914013341334,
          0.009260032518212159
        ],
        "tvec_std_m": [
          1.630556827412129e-05,
          2.999983595759587e-05,
          9.275067949989494e-05
        ]
      },
      "camera_center_std_m": [
        0.00018107488442986193,
        0.00013287305342961773,
        0.00015556407645007697
      ],
      "camera_center_std_mm": [
        0.18107488442986192,
        0.13287305342961772,
        0.15556407645007697
      ],
      "orientation_std_deg": {
        "roll": 0.005240272722409643,
        "pitch": 0.006725616014214684,
        "yaw": 0.0033156878019738414
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 48,
        "observed_center_px": [
          1296.75,
          1014.0
        ],
        "projected_center_px": [
          1296.840576171875,
          1013.98828125
        ],
        "reprojection_error_px": 0.09133111196679936,
        "confidence": 0.760673653400868
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          773.25,
          1034.0
        ],
        "projected_center_px": [
          773.3701171875,
          1033.9041748046875
        ],
        "reprojection_error_px": 0.15365743323897132,
        "confidence": 0.4409463063063063
      },
      {
        "marker_id": 85,
        "observed_center_px": [
          1017.5,
          1006.0
        ],
        "projected_center_px": [
          1017.4063720703125,
          1005.9723510742188
        ],
        "reprojection_error_px": 0.09762505986899324,
        "confidence": 0.7334418063933661
      },
      {
        "marker_id": 71,
        "observed_center_px": [
          1377.0,
          962.25
        ],
        "projected_center_px": [
          1376.8448486328125,
          962.334228515625
        ],
        "reprojection_error_px": 0.17654005093615818,
        "confidence": 0.5878075337294003
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          774.5,
          972.5
        ],
        "projected_center_px": [
          774.3802490234375,
          972.4898071289062
        ],
        "reprojection_error_px": 0.12018398815485459,
        "confidence": 0.7263332595825196
      },
      {
        "marker_id": 69,
        "observed_center_px": [
          272.5,
          970.75
        ],
        "projected_center_px": [
          272.36309814453125,
          970.8109741210938
        ],
        "reprojection_error_px": 0.14986647882012108,
        "confidence": 0.6999764351430906
      },
      {
        "marker_id": 95,
        "observed_center_px": [
          539.0,
          958.25
        ],
        "projected_center_px": [
          539.0651245117188,
          958.1702270507812
        ],
        "reprojection_error_px": 0.10298021874934464,
        "confidence": 0.6938248147266242
      },
      {
        "marker_id": 59,
        "observed_center_px": [
          1192.25,
          957.25
        ],
        "projected_center_px": [
          1192.3302001953125,
          957.25341796875
        ],
        "reprojection_error_px": 0.08027299569929557,
        "confidence": 0.6970072834744087
      },
      {
        "marker_id": 105,
        "observed_center_px": [
          1040.0,
          942.0
        ],
        "projected_center_px": [
          1040.030517578125,
          942.1184692382812
        ],
        "reprojection_error_px": 0.12233676059776583,
        "confidence": 0.6879793294270834
      },
      {
        "marker_id": 55,
        "observed_center_px": [
          684.0,
          941.25
        ],
        "projected_center_px": [
          684.0659790039062,
          941.1356811523438
        ],
        "reprojection_error_px": 0.13199252965949948,
        "confidence": 0.6507490007228183
      },
      {
        "marker_id": 63,
        "observed_center_px": [
          1401.5,
          898.5
        ],
        "projected_center_px": [
          1401.754638671875,
          898.4579467773438
        ],
        "reprojection_error_px": 0.25808782758983434,
        "confidence": 0.22496309819539395
      },
      {
        "marker_id": 102,
        "observed_center_px": [
          1213.5,
          883.5
        ],
        "projected_center_px": [
          1213.2919921875,
          883.5033569335938
        ],
        "reprojection_error_px": 0.20803489866892047,
        "confidence": 0.6525563227335612
      },
      {
        "marker_id": 58,
        "observed_center_px": [
          345.75,
          886.5
        ],
        "projected_center_px": [
          345.661376953125,
          886.582763671875
        ],
        "reprojection_error_px": 0.12125951434687966,
        "confidence": 0.6367497422354562
      },
      {
        "marker_id": 64,
        "observed_center_px": [
          247.75,
          850.0
        ],
        "projected_center_px": [
          247.99905395507812,
          849.7623901367188
        ],
        "reprojection_error_px": 0.34421841854931445,
        "confidence": 0.5966625464303152
      },
      {
        "marker_id": 103,
        "observed_center_px": [
          429.75,
          847.25
        ],
        "projected_center_px": [
          429.7467956542969,
          847.1818237304688
        ],
        "reprojection_error_px": 0.06825153154752488,
        "confidence": 0.5644916934603736
      },
      {
        "marker_id": 92,
        "observed_center_px": [
          1197.75,
          835.5
        ],
        "projected_center_px": [
          1197.7119140625,
          835.4557495117188
        ],
        "reprojection_error_px": 0.05838359656943849,
        "confidence": 0.5608112640925816
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          855.25,
          827.0
        ],
        "projected_center_px": [
          855.4197387695312,
          827.02490234375
        ],
        "reprojection_error_px": 0.17155575363777797,
        "confidence": 0.5915048217773438
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          519.75,
          827.0
        ],
        "projected_center_px": [
          519.5943603515625,
          826.846923828125
        ],
        "reprojection_error_px": 0.21830257571007525,
        "confidence": 0.5915048217773438
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          806.5,
          841.75
        ],
        "projected_center_px": [
          806.567138671875,
          841.65869140625
        ],
        "reprojection_error_px": 0.11333516909477594,
        "confidence": 0.5707100255698545
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          724.0,
          808.75
        ],
        "projected_center_px": [
          724.1491088867188,
          808.8240356445312
        ],
        "reprojection_error_px": 0.1664774361877988,
        "confidence": 0.5317700588218801
      },
      {
        "marker_id": 217,
        "observed_center_px": [
          1190.5,
          701.5
        ],
        "projected_center_px": [
          1190.3538818359375,
          701.3744506835938
        ],
        "reprojection_error_px": 0.19264773219291303,
        "confidence": 0.4942630920410156
      },
      {
        "marker_id": 205,
        "observed_center_px": [
          1328.5,
          699.75
        ],
        "projected_center_px": [
          1328.4326171875,
          699.9850463867188
        ],
        "reprojection_error_px": 0.2445143090494917,
        "confidence": 0.5085178133372956
      },
      {
        "marker_id": 208,
        "observed_center_px": [
          775.25,
          705.5
        ],
        "projected_center_px": [
          775.186767578125,
          705.552001953125
        ],
        "reprojection_error_px": 0.08186905584525007,
        "confidence": 0.47918126981398634
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          327.5,
          631.5
        ],
        "projected_center_px": [
          327.62908935546875,
          631.5826416015625
        ],
        "reprojection_error_px": 0.15327653442113146,
        "confidence": 0.45180041003079296
      },
      {
        "marker_id": 206,
        "observed_center_px": [
          1173.25,
          612.5
        ],
        "projected_center_px": [
          1173.2593994140625,
          612.5452880859375
        ],
        "reprojection_error_px": 0.046253212997593024,
        "confidence": 0.415572869657266
      },
      {
        "marker_id": 207,
        "observed_center_px": [
          1306.75,
          611.25
        ],
        "projected_center_px": [
          1306.720947265625,
          611.2506103515625
        ],
        "reprojection_error_px": 0.029059144923657902,
        "confidence": 0.4319802331725756
      },
      {
        "marker_id": 214,
        "observed_center_px": [
          772.0,
          616.25
        ],
        "projected_center_px": [
          772.0049438476562,
          616.4378662109375
        ],
        "reprojection_error_px": 0.18793125030622623,
        "confidence": 0.4123737373737374
      },
      {
        "marker_id": 100,
        "observed_center_px": [
          1320.25,
          451.5
        ],
        "projected_center_px": [
          1320.2322998046875,
          451.691650390625
        ],
        "reprojection_error_px": 0.1924660207434438,
        "confidence": 0.29718147824605307
      },
      {
        "marker_id": 76,
        "observed_center_px": [
          1176.75,
          458.0
        ],
        "projected_center_px": [
          1176.9024658203125,
          458.13812255859375
        ],
        "reprojection_error_px": 0.2057271677636365,
        "confidence": 0.2962709127620767
      },
      {
        "marker_id": 94,
        "observed_center_px": [
          1408.25,
          449.75
        ],
        "projected_center_px": [
          1408.4112548828125,
          449.7029724121094
        ],
        "reprojection_error_px": 0.16797241218034456,
        "confidence": 0.08771815461586722
      },
      {
        "marker_id": 75,
        "observed_center_px": [
          306.0,
          440.25
        ],
        "projected_center_px": [
          305.8489990234375,
          440.444580078125
        ],
        "reprojection_error_px": 0.24629799375139005,
        "confidence": 0.303144246426618
      },
      {
        "marker_id": 56,
        "observed_center_px": [
          947.75,
          458.5
        ],
        "projected_center_px": [
          947.7064819335938,
          458.48211669921875
        ],
        "reprojection_error_px": 0.04704927789638691,
        "confidence": 0.2904081389745076
      },
      {
        "marker_id": 68,
        "observed_center_px": [
          1039.75,
          455.75
        ],
        "projected_center_px": [
          1039.55810546875,
          455.8240661621094
        ],
        "reprojection_error_px": 0.20569226405791113,
        "confidence": 0.3018093319641008
      },
      {
        "marker_id": 104,
        "observed_center_px": [
          1332.0,
          391.5
        ],
        "projected_center_px": [
          1332.1981201171875,
          391.4405517578125
        ],
        "reprojection_error_px": 0.20684698289695305,
        "confidence": 0.30576462173461916
      },
      {
        "marker_id": 46,
        "observed_center_px": [
          992.25,
          442.5
        ],
        "projected_center_px": [
          992.3832397460938,
          442.62451171875
        ],
        "reprojection_error_px": 0.18236227144123335,
        "confidence": 0.29023840891081715
      },
      {
        "marker_id": 72,
        "observed_center_px": [
          874.75,
          435.5
        ],
        "projected_center_px": [
          874.923828125,
          435.5760192871094
        ],
        "reprojection_error_px": 0.18972387581333355,
        "confidence": 0.28925843574260846
      },
      {
        "marker_id": 50,
        "observed_center_px": [
          1033.75,
          418.25
        ],
        "projected_center_px": [
          1033.56787109375,
          418.31182861328125
        ],
        "reprojection_error_px": 0.1923375052144112,
        "confidence": 0.2745977478127983
      },
      {
        "marker_id": 53,
        "observed_center_px": [
          928.25,
          419.25
        ],
        "projected_center_px": [
          928.2841186523438,
          418.9086608886719
        ],
        "reprojection_error_px": 0.3430400433769034,
        "confidence": 0.27204531918123787
      },
      {
        "marker_id": 84,
        "observed_center_px": [
          830.5,
          379.0
        ],
        "projected_center_px": [
          830.4904174804688,
          379.04132080078125
        ],
        "reprojection_error_px": 0.042417369764879795,
        "confidence": 0.2669997914632161
      },
      {
        "marker_id": 60,
        "observed_center_px": [
          860.5,
          357.0
        ],
        "projected_center_px": [
          860.704833984375,
          356.9733581542969
        ],
        "reprojection_error_px": 0.20655931133068503,
        "confidence": 0.2669997914632161
      },
      {
        "marker_id": 86,
        "observed_center_px": [
          776.5,
          350.75
        ],
        "projected_center_px": [
          776.2936401367188,
          350.74658203125
        ],
        "reprojection_error_px": 0.2063881674995739,
        "confidence": 0.24741065232219583
      },
      {
        "marker_id": 67,
        "observed_center_px": [
          967.0,
          370.5
        ],
        "projected_center_px": [
          966.808349609375,
          370.4043884277344
        ],
        "reprojection_error_px": 0.21417620077361518,
        "confidence": 0.24199632263183596
      },
      {
        "marker_id": 82,
        "observed_center_px": [
          607.75,
          347.75
        ],
        "projected_center_px": [
          607.5985717773438,
          347.78302001953125
        ],
        "reprojection_error_px": 0.15498654234053663,
        "confidence": 0.2428118097214472
      },
      {
        "marker_id": 70,
        "observed_center_px": [
          1055.25,
          341.5
        ],
        "projected_center_px": [
          1055.359619140625,
          341.33154296875
        ],
        "reprojection_error_px": 0.20098290317568557,
        "confidence": 0.23929733651024956
      },
      {
        "marker_id": 90,
        "observed_center_px": [
          1101.25,
          327.5
        ],
        "projected_center_px": [
          1101.0936279296875,
          327.5
        ],
        "reprojection_error_px": 0.1563720703125,
        "confidence": 0.23929733651024956
      },
      {
        "marker_id": 61,
        "observed_center_px": [
          328.75,
          318.0
        ],
        "projected_center_px": [
          328.8371887207031,
          318.0613098144531
        ],
        "reprojection_error_px": 0.10658689584617874,
        "confidence": 0.23586633094211165
      },
      {
        "marker_id": 98,
        "observed_center_px": [
          1022.5,
          329.5
        ],
        "projected_center_px": [
          1022.4512329101562,
          329.3094177246094
        ],
        "reprojection_error_px": 0.1967227306258644,
        "confidence": 0.2333535968235561
      },
      {
        "marker_id": 83,
        "observed_center_px": [
          406.5,
          314.75
        ],
        "projected_center_px": [
          406.3450927734375,
          314.62628173828125
        ],
        "reprojection_error_px": 0.19824847319461208,
        "confidence": 0.2227662572065438
      },
      {
        "marker_id": 73,
        "observed_center_px": [
          611.5,
          317.75
        ],
        "projected_center_px": [
          611.5215454101562,
          317.89715576171875
        ],
        "reprojection_error_px": 0.14872465466702744,
        "confidence": 0.22184788855049195
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}