{
  "schema_version": "1.0",
  "created_utc": "2026-06-01T21:52:02Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9b\\render_a_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
  },
  "camera": {
    "camera_id": "a",
    "camera_matrix": [
      [
        6800.0,
        0.0,
        2448.0
      ],
      [
        0.0,
        6800.0,
        1632.0
      ],
      [
        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": 14,
    "used_marker_ids": [
      55,
      47,
      54,
      51,
      210,
      85,
      79,
      96,
      105,
      62,
      75,
      102,
      92,
      206
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
        3,
        4
      ],
      "rms": [
        0.010139004951637958,
        0.0004286608001403729,
        6.262308842089574e-05,
        6.254351366795767e-05,
        6.254351176931245e-05
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
        0.000125,
        6.25e-05
      ]
    },
    "residual_rms_px": 0.6014534961197234,
    "residual_median_px": 0.38385325886254007,
    "residual_max_px": 1.6219706909527913,
    "sigma2_normalized": 4.978515645646214e-09
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
          0.8082370758056641,
          -0.5888572335243225,
          9.628586849430576e-05
        ],
        [
          -0.343298077583313,
          -0.4713272452354431,
          -0.8124020099639893
        ],
        [
          0.47843417525291443,
          0.65658038854599,
          -0.5830976963043213
        ]
      ],
      "translation_m": [
        -0.22868585586547852,
        0.17095765471458435,
        1.1347154378890991
      ],
      "rvec_rad": [
        2.1067939753531193,
        -0.6860254912939823,
        0.35217747403497723
      ]
    },
    "camera_in_world": {
      "position_m": [
        -0.2993648648262024,
        -0.7991182208061218,
        0.80055832862854
      ],
      "position_mm": [
        -299.3648681640625,
        -799.1182250976562,
        800.558349609375
      ],
      "orientation_deg": {
        "roll": 131.60772705078125,
        "pitch": -28.58318328857422,
        "yaw": -23.013320922851562
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
          8.996703709683232e-08,
          -2.1012542895534855e-08,
          3.6511497337719655e-09,
          3.3373015185071936e-09,
          1.7037481423130286e-09,
          9.408125321532836e-09
        ],
        [
          -2.101254289553488e-08,
          2.3065028926974945e-08,
          -1.287613343238575e-08,
          -2.588315778866506e-09,
          -3.5769353406216967e-09,
          3.493734866691989e-09
        ],
        [
          3.651149733771734e-09,
          -1.2876133432385476e-08,
          7.279354673760181e-08,
          5.117591404967612e-09,
          -8.226455842710908e-09,
          -2.5161216950257857e-08
        ],
        [
          3.3373015185071832e-09,
          -2.588315778866492e-09,
          5.117591404967632e-09,
          1.3104439405249452e-09,
          4.1920590195539545e-11,
          5.489245482334101e-10
        ],
        [
          1.7037481423130921e-09,
          -3.5769353406217464e-09,
          -8.226455842710834e-09,
          4.192059019554739e-11,
          3.046527791587539e-09,
          4.724864467964654e-09
        ],
        [
          9.408125321532988e-09,
          3.493734866691872e-09,
          -2.5161216950257817e-08,
          5.48924548233422e-10,
          4.7248644679646746e-09,
          2.5501848547251976e-08
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
          0.017185585840268094,
          0.008701610392604229,
          0.015458561300136437
        ],
        "tvec_std_m": [
          3.620005442709921e-05,
          5.51953602360519e-05,
          0.0001596929821477825
        ]
      },
      "camera_center_std_m": [
        0.0002279398237834652,
        0.00029628647795982774,
        0.0003110862317275831
      ],
      "camera_center_std_mm": [
        0.2279398237834652,
        0.29628647795982777,
        0.3110862317275831
      ],
      "orientation_std_deg": {
        "roll": 0.016392470746165667,
        "pitch": 0.012181058615131335,
        "yaw": 0.009124599273526565
      }
    }
  },
  "observations": {
    "markers": [
      {
        "marker_id": 55,
        "observed_center_px": [
          3395.75,
          2971.25
        ],
        "projected_center_px": [
          3395.6708984375,
          2971.872314453125
        ],
        "reprojection_error_px": 0.6273215569053954,
        "confidence": 0.9327901995983151
      },
      {
        "marker_id": 47,
        "observed_center_px": [
          3765.25,
          2900.5
        ],
        "projected_center_px": [
          3764.711669921875,
          2898.969970703125
        ],
        "reprojection_error_px": 1.6219706909527913,
        "confidence": 0.8820535206405639
      },
      {
        "marker_id": 54,
        "observed_center_px": [
          3951.5,
          3065.75
        ],
        "projected_center_px": [
          3951.466064453125,
          3066.275146484375
        ],
        "reprojection_error_px": 0.5262418183621741,
        "confidence": 0.8576132554297061
      },
      {
        "marker_id": 51,
        "observed_center_px": [
          2498.25,
          2949.25
        ],
        "projected_center_px": [
          2498.268798828125,
          2949.729248046875
        ],
        "reprojection_error_px": 0.479616603520328,
        "confidence": 0.9080770184132253
      },
      {
        "marker_id": 210,
        "observed_center_px": [
          1241.0,
          2673.5
        ],
        "projected_center_px": [
          1241.027587890625,
          2673.8125
        ],
        "reprojection_error_px": 0.3137153832841752,
        "confidence": 0.7451448168607637
      },
      {
        "marker_id": 85,
        "observed_center_px": [
          4529.5,
          2590.5
        ],
        "projected_center_px": [
          4529.7607421875,
          2590.789794921875
        ],
        "reprojection_error_px": 0.3898302003267865,
        "confidence": 0.6527759750411095
      },
      {
        "marker_id": 79,
        "observed_center_px": [
          3116.0,
          2547.25
        ],
        "projected_center_px": [
          3115.82275390625,
          2547.234375
        ],
        "reprojection_error_px": 0.1779334661457304,
        "confidence": 0.9344142778068937
      },
      {
        "marker_id": 96,
        "observed_center_px": [
          3463.25,
          2501.5
        ],
        "projected_center_px": [
          3463.6240234375,
          2501.49755859375
        ],
        "reprojection_error_px": 0.37403140545119196,
        "confidence": 0.6048466456716369
      },
      {
        "marker_id": 105,
        "observed_center_px": [
          4400.25,
          2399.5
        ],
        "projected_center_px": [
          4400.5068359375,
          2399.33837890625
        ],
        "reprojection_error_px": 0.3034568778862166,
        "confidence": 0.2535397062867033
      },
      {
        "marker_id": 62,
        "observed_center_px": [
          3562.5,
          2389.0
        ],
        "projected_center_px": [
          3562.705322265625,
          2388.35888671875
        ],
        "reprojection_error_px": 0.6731890315182836,
        "confidence": 0.43198381102734873
      },
      {
        "marker_id": 75,
        "observed_center_px": [
          492.75,
          2224.5
        ],
        "projected_center_px": [
          492.7984619140625,
          2224.125244140625
        ],
        "reprojection_error_px": 0.3778763173982936,
        "confidence": 0.346873831556842
      },
      {
        "marker_id": 102,
        "observed_center_px": [
          4660.0,
          2020.75
        ],
        "projected_center_px": [
          4659.751953125,
          2020.877197265625
        ],
        "reprojection_error_px": 0.27875867086019485,
        "confidence": 0.7605882165177812
      },
      {
        "marker_id": 92,
        "observed_center_px": [
          4488.75,
          1931.0
        ],
        "projected_center_px": [
          4488.86474609375,
          1930.84619140625
        ],
        "reprojection_error_px": 0.19189515247195885,
        "confidence": 0.7981307357037608
      },
      {
        "marker_id": 206,
        "observed_center_px": [
          3878.0,
          1406.0
        ],
        "projected_center_px": [
          3877.7763671875,
          1406.508544921875
        ],
        "reprojection_error_px": 0.5555443928179907,
        "confidence": 0.903357464550398
      }
    ]
  },
  "qa": {
    "sanity_notes": []
  }
}